JP4373037B2 - Measuring endoscope device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a measurement endoscope apparatus in which a plurality of stereo measurement optical adapters necessary for imaging and measuring a test object (object) can be attached to and detached from the endoscope body. When recording an image that has been subjected to measurement, information necessary for measurement environment setting processing (calibration data) for correcting misalignment errors between the optical adapter and the endoscope body and optical characteristics of the optical adapter itself. ) Is also recorded in association with the image, and when performing measurement again with such an image later, by reading out calibration data for calibration associated with the image and applying it to the subject image, The present invention relates to a measurement endoscope apparatus that can easily perform re-measurement.
[0002]
[Prior art]
In general, in order to examine a test object in more detail with an endoscope, it is necessary to measure the test object, and in order to satisfy such a requirement, a conventional test using an endoscope is required. Various proposals for measuring means capable of measuring a specimen are disclosed.
[0003]
For example, in the proposal described in Japanese Patent Laid-Open No. 10-248806, a measurement endoscope apparatus using stereo measurement is shown. In addition, in the proposal described in Japanese Patent Application No. 2000-101122 filed earlier by the present applicant, a measurement endoscope that automatically selects and executes a different measurement method depending on the type of the optical adapter. A mirror device is shown.
[0004]
In the measurement endoscope apparatus described in the former Japanese Patent Laid-Open No. 10-248806, an optical adapter having two optical systems necessary for imaging and measuring a test object can be attached to and detached from the endoscope body. The image data of the two lens systems in the optical adapter is formed on one image sensor, and measurement is performed by image processing using at least the obtained endoscopic image. Optical data of the optical adapter Processing for reading information from a recording medium on which recording is performed, processing for correcting optical data based on the position error of the imaging system of the endoscope main body, processing for converting the coordinates of an image measured based on the corrected optical data, And a measurement processing means for performing processing for obtaining three-dimensional coordinates of an arbitrary point by matching two images based on the two images that have undergone coordinate conversion.
In the measurement endoscope apparatus having the above configuration, two images are obtained on the basis of two pieces of image information obtained by coordinate conversion of two images of a test object (subject) captured by the image sensor via the optical adapter. The three-dimensional coordinates of an arbitrary point on the test object are obtained by the matching of This makes it possible to realize a measurement endoscope apparatus that is inexpensive and has excellent measurement accuracy.
[0005]
On the other hand, the measurement endoscope apparatus described in the latter Japanese Patent Application No. 2000-101122 has a plurality of connecting portions provided at the distal end portion of the endoscope and a plurality of subject images that can be attached to and detached from the connecting portions. In a measurement endoscope apparatus that connects one type of optical adapter and one of the optical adapters and measures an image signal of the image sensor by image processing, display data associated with the plurality of optical adapters in advance The menu display process for performing the selection operation and the measurement processing means for performing the measurement process based on the selection result of the menu display process are provided.
[0006]
In the measurement endoscope apparatus configured as described above, when an optical adapter is selected on the menu, a measurement method corresponding to the optical adapter is automatically selected. It is possible to execute measurement processing corresponding to the selected measurement method only by pressing the measurement execution switch.
[0007]
In addition, the result of performing the calibration process for each of the plurality of optical adapters in the embodiment described in the above publication is stored as measurement environment data in a compact flash (R) memory card, which is an external storage medium. A configuration in which the measurement environment data suitable for the corresponding optical adapter is used by selecting an appropriate optical adapter is disclosed.
[0008]
[Problems to be solved by the invention]
Usually, a measurement image is a video endoscope body, a measurement optical adapter having an objective lens, a camera control unit (CCU) for converting a signal output from the video endoscope into a TV signal, and a TV signal as a digital signal. Depending on the type of recording device or the individual used for converting to and recording, the characteristics of the image appearance change. Therefore, the measurement endoscope apparatus cannot be measured correctly unless various corrections are made so that the setting of the measurement endoscope apparatus is suitable for the combination of the apparatuses when the measurement image is taken. That is, the measurement environment must be set.
[0009]
In addition, recently, as the types of endoscope main bodies, optical adapters, and CCUs have increased to suit various measurement applications, measurements recorded with various device combinations (measurement environments). Opportunities to re-measure with images are increasing.
[0010]
However, in the conventional apparatus, since there was no means to record in what measurement environment each measurement image was taken in what kind of measurement environment, when trying to remeasure with the same image after a while, The operator may have forgotten the measurement environment at the time of shooting, and may not be able to reset the measurement environment, or may be connected to the wrong device and set the measurement environment for remeasurement. was there.
[0011]
Moreover, since the measurement environment data set in the conventional apparatus is limited to a certain measurement environment, an image that is not suitable for the measurement environment data existing in the measurement endoscope apparatus, for example, an optical adapter If you try to remeasure with different types of measurement images, you must first connect all the devices to this device and set the measurement environment manually again before actually remeasurement. It was. For this reason, the re-measurement work is very complicated and troublesome.
[0012]
Further, in the apparatus shown in Japanese Patent Application No. 2000-101122, a function of recording a photographed image on a removable recording medium such as a floppy (R) disk, or an image recorded on the recording medium is measured by another individual. Even if there is a function that can be taken into the endoscope device, even if it is intended to re-measure on a different individual device than the measurement endoscope device that actually captured the image, the measurement It was necessary to set the endoscope, optical adapter, and CCU that were actually used when the image was taken so that they can be actually connected to the measurement endoscope apparatus to be used for measurement.
[0013]
The present invention has been made in view of the above circumstances, and when performing remeasurement with a recorded measurement image, it is possible to prevent measurement from being performed in an incorrect measurement environment, and to be simple. To provide a measurement endoscope device that can perform re-measurement immediately without being aware of the measurement environment and improve the operability at that time by enabling re-measurement in the correct measurement environment by operation It is an object.
[0014]
[Means for Solving the Problems]
  The measurement endoscope apparatus according to the present invention includes stereo image data including two images having parallax, and calibration data indicating optical characteristics of a stereo measurement adapter that is interposed when the stereo image data is captured. Get the image file you havePossible image acquisitionMeans, display means for displaying the stereo image data, and input means for inputting operation instructions;From the image file, the stereo image data and the calibration data areControl means to refer to, the control means,A determination unit configured to determine whether or not calibration data is added to the image file acquired by the image acquisition unit, wherein the determination unit adds the calibration data to the image file acquired by the image acquisition unit; When it is determined that the calibration data is added to the image file determined to be added by the determination unit from the image file acquired by the image acquisition unit, the determination unit, When it is determined that no calibration data is added to the image file acquired by the image acquisition unit, the input unit stores the calibration data recorded in the storage unit in which at least one arbitrary calibration data is recorded. Read by reading from the storage meansBased on the calibration data,The image file acquired by the image acquisition means hasCorrecting geometric distortion included in the stereo image data to generate corrected stereo image data, performing a matching process between the two images included in the corrected stereo image data, and the result of the matching process and theRead outBased on the calibration data, three-dimensional coordinates at an arbitrary measurement point of the corrected stereo image data are obtained, and the subject is measured using the three-dimensional coordinates.
  In addition, the measurement endoscope apparatus of the present invention includes stereo image data including two images having parallax, and calibration data indicating optical characteristics of the stereo measurement adapter that is interposed when the stereo image data is captured. Image acquisition means capable of acquiring an image file having measurement environment information indicating the type of calibration data, display means for displaying the stereo image data, input means for inputting operation instructions, and the image file Control means for referring to the stereo image data and the calibration data, and the control means comprises determination means for determining whether or not calibration data is added to the image file acquired by the image acquisition means. And when the determination means determines that the calibration data is added to the image file acquired by the image acquisition means, The calibration data added to the image file determined to have the calibration data added by the determination unit is read from the image file acquired by the image acquisition unit, and the determination unit is acquired by the image acquisition unit. When it is determined that calibration data is not added to the image file, the calibration data corresponding to the measurement environment information is stored in the storage means in which at least one arbitrary calibration data is recorded with reference to the measurement environment information. Is read, when it is determined that calibration data corresponding to the measurement environment information is recorded in the storage means, the calibration data corresponding to the measurement environment information is read from the storage means, The stereo included in the image file acquired by the image acquisition unit based on the read calibration data Corrected geometric distortion included in the image data is generated to generate corrected stereo image data, matching processing between the two images included in the corrected stereo image data is performed, and the result of the matching processing and the read-out Based on the calibration data, three-dimensional coordinates at an arbitrary measurement point of the corrected stereo image data are obtained, and the subject is measured using the three-dimensional coordinates.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0016]
First embodiment:
1 to 14 relate to a first embodiment of the present invention, FIG. 1 is a perspective view showing a system configuration of a measurement endoscope apparatus, and FIG. 2 is an electric circuit configuration of the measurement endoscope apparatus of FIG. FIG. 3 is a perspective view showing the configuration of the remote controller in FIG. 1, FIG. 4 is a perspective view showing the configuration of the endoscope tip portion of the endoscope insertion portion in FIG. 5 is a cross-sectional view taken along line AA in FIG. 4, FIG. 6 is a diagram showing an endoscopic image with the stereo measurement adapter shown in FIG. 4, and FIG. 7 is a diagram showing an image of the mask shape of the stereo measurement adapter in FIG. 8 is a diagram showing the relationship between the original image and the corrected image for explaining the setting of the measurement environment in the measurement endoscope apparatus of FIG. 1, and FIG. 9 is an optical adapter selection screen displayed on the LCD of FIG. FIG. 10 shows an example of the endoscope, and FIG. 10 shows an endoscope tip of the endoscope insertion portion of FIG. 11 is a cross-sectional view taken along line AA in FIG. 10, FIG. 12 is a diagram showing an endoscopic image with the normal optical adapter in FIG. 10, and FIG. 13 is a feature of the CPU in FIG. FIG. 14 is a second flowchart showing an example of the control operation performed by the CPU of FIG.
[0017]
(Constitution)
The system configuration of the measurement endoscope apparatus 10 according to the present embodiment will be described. As shown in FIG. 1, the measurement endoscope apparatus 10 incorporates an imaging element and a plurality of stereo measurement optical adapters and a normal measurement use. An endoscope insertion unit 11 configured to be detachably mountable with an optical adapter, a control unit 12 that houses the endoscope insertion unit 11, and various operation controls of the entire system of the measurement endoscope apparatus 10 are executed. A remote controller 13 for performing necessary operations, a liquid crystal monitor (hereinafter referred to as LCD) 14 for displaying an endoscopic image or operation control content (for example, a processing menu), and a normal endoscopic image, or A face mount display (hereinafter referred to as FMD) 17 capable of stereoscopically viewing the endoscopic image as a pseudo stereo image, and an FMD display for supplying image data to the FMD 17. It is configured to include a descriptor 18.
[0018]
Further, the system configuration of the apparatus will be described in detail with reference to FIG. As shown in FIG. 2, the endoscope insertion portion 11 is connected to an endoscope unit 24, and this endoscope unit 24 is mounted in the control unit 12, for example, as shown in FIG. Although not shown, the endoscope unit 24 includes a light source device for obtaining illumination light necessary for imaging, and an electric bending device for bending the endoscope insertion portion 11 electrically freely. It is configured.
[0019]
An imaging signal from the solid-state imaging device 43 (see FIG. 5) at the distal end of the endoscope insertion portion is input to a camera control unit (hereinafter referred to as CCU) 25. The CCU 25 converts the supplied imaging signal into a video signal such as an NTSC signal and supplies it to a main processing circuit group in the control unit 12.
[0020]
The main circuit group mounted in the control unit 12 includes, for example, as shown in FIG. 2, a CPU 26, a ROM 27, a RAM 28, a PC card interface (hereinafter, referred to as a CPU card) that controls various functions based on the main program. PC card I / F) 30, USB interface (hereinafter referred to as USB I / F) 31, RS-232C interface (hereinafter referred to as RS-232CI / F) 29, audio signal processing circuit 32 and video signal processing circuit 33.
[0021]
The RS-232CI / F 29 is connected to the CCU 25, the endoscope unit 24, and the remote controller 13, respectively, and controls the operation of the CCU 25, the endoscope unit 24 and the operation based on the operation by the remote controller 13 that gives an operation instruction. It is for performing communication necessary for each.
[0022]
The USB I / F 21 is an interface for electrically connecting the control unit 12 and the personal computer 21. When the USB I / F 21 is connected via the USB I / F 21, the personal computer 21 side also includes an internal unit in the control unit 12. It is possible to perform various instruction control such as an instruction to display an endoscopic image and image processing at the time of measurement, and input of control information and data necessary for various processes between the control unit 12 and the personal computer 21. Output can be performed.
[0023]
The PC card I / F 30 is configured such that a PCMCIA memory card 22 and a compact flash (R) memory card 23 are detachably connected. That is, when any one of the above memory cards is inserted, the control processing by the CPU 26 reproduces data such as control processing information and image information stored in the memory card as a recording medium, and the PC card I / F 30 Or data such as control processing information or image information can be supplied to the memory card via the PC card I / F 30 and recorded.
[0024]
The video signal processing circuit 33 displays the video signal from the CCU 25 and the operation menu generated by the control of the CPU 26 so as to display a composite image obtained by synthesizing the endoscopic image supplied from the CCU 25 and the graphic operation menu. By combining the display signal based on the display signal and performing processing necessary for display on the screen of the LCD 14 and supplying it to the LCD 14, a composite image of the endoscopic image and the operation menu is displayed on the LCD 14. In the video signal processing circuit 33, it is also possible to simply perform processing for displaying an endoscopic image or an image such as an operation menu alone.
[0025]
The audio signal processing circuit 32 is supplied with an audio signal that is generated by being collected by the microphone 20 and recorded on a recording medium such as a memory card, or an audio signal obtained by reproducing the recording medium such as a memory card. Processing (amplification processing or the like) necessary for reproducing the audio signal is performed and output to the speaker 19. Thereby, an audio signal is reproduced by the speaker 19.
[0026]
The CPU 26 executes a program stored in the ROM 27 and controls various circuit units so as to perform processing according to the purpose, thereby controlling the operation of the entire system.
[0027]
Next, the configuration of the remote controller 13 and an example of the program operation control of the CPU 26 based on the operation will be described with reference to FIG.
[0028]
The remote controller 13 used in the measurement endoscope apparatus 10 of the present embodiment has been improved to further improve operability during use such as measurement.
[0029]
As shown in FIG. 3, the remote controller 13 includes a joystick 47, a lever switch 48, a freeze switch 49, a store switch 50, and a measurement execution switch 51 on at least the upper surface. In other words, the remote controller 13 is easy to operate for the user. Is adopted.
In the remote controller 13 having the above-described configuration, the joystick 47 is a switch for performing a bending operation of the endoscope distal end portion, and can give an operation instruction freely in any direction of 360 degrees. The lever switch 48 is a switch for performing a pointer operation when performing various menu operations for graphic display and measurement, and is configured in substantially the same shape as the joystick switch 47. The freeze switch 49 is a switch used when displaying the endoscope moving image displayed on the LCD 14 as a still image. The store switch 50 is a switch used to record the still image on the PCMCIA memory card 22 (see FIG. 2) when the still image is displayed by pressing the freeze switch 49. The measurement execution switch 51 is a switch used when executing measurement software.
[0030]
The freeze switch 49, the store switch 50, and the measurement execution switch 51 are configured to employ, for example, an on / off pressing type. Further, functions other than those described above can be assigned to the lever switch 48.
[0031]
For example, these functions may be assigned to the lever switch 48 so that the zoom up function of the image can be executed when the lever switch 48 is tilted to the right and the zoom DOWN function can be executed when the lever is tilted to the left. Also, normally, when measurement is performed with a zoom image, measurement cannot be performed correctly because the magnification of the image changes. In such a case, when the measurement execution switch 51 is pressed, the CPU 26 receives this operation signal, cancels the instantaneous zoom function, and controls to execute the measurement after the image is frozen. As another method, control may be performed so that the image can be measured as it is in consideration of the zoom magnification.
[0032]
Next, the configuration of the stereo measurement adapter used in the measurement endoscope apparatus 10 of the present embodiment will be described with reference to FIGS.
[0033]
4 and 5 show a state in which the stereo measurement adapter 37 is attached to the endoscope front end 39. The stereo measurement adapter 37 is connected to the male screw 54 of the endoscope front end 39 by the female screw 53 of the fixing ring 38. It is fixed by screwing.
[0034]
In addition, a pair of illumination lenses 36, two objective lenses 34, and an objective lens 35 are provided at the tip of the stereo measurement adapter 37. The two objective lenses 34 and 35 form two images on the image sensor 43 provided in the endoscope distal end portion 39. The obtained imaging signal is supplied to the CCU 25 through the electrically connected signal line 43a and the endoscope unit 24, converted into a video signal by the CCU 25, and then supplied to the video signal processing circuit 33. As a result, for example, an image as shown in FIG. 6 is displayed on the LCD 14.
[0035]
The measurement endoscope 10 according to the present embodiment, when performing stereo measurement, uses an endoscope image obtained by photographing a white subject as shown in FIG. 7, and further records, for example, optical data of the stereo measurement adapter 37. A stereo measurement process is performed on an object to be measured based on optical data fetched from (for example, a compact flash (R) memory card).
[0036]
Here, in the present measurement endoscope apparatus 10, it is necessary to set the measurement environment and prepare for measurement before actually performing stereo measurement. Next, the setting of the measurement environment will be described.
[0037]
As shown in Japanese Patent Laid-Open No. 10-248806, the stereo measurement adapter has the same type but different optical characteristics depending on the individual, so that optical data is measured in the production process. This optical data includes the following information.
[0038]
a) Geometric distortion correction formula for two optical systems
b) Focal length of the two lens systems
c) The distance between the optical axes of the two lenses and the position coordinates of these optical axes
d) Position information on the degree of attachment in the combination of the endoscope used for data measurement and this optical adapter
The positional information of d) above refers to two visual field regions from an endoscopic image obtained by photographing a white subject (white paper or the like) as shown in FIG. 7 by a combination of the endoscope used for data measurement and this optical adapter. It is the information of the position coordinate and the tilt angle.
[0039]
The stereo measurement adapter after taking the optical data is attached to the endoscope insertion portion, and the endoscope apparatus 10 performs the following processing to set the measurement environment.
[0040]
1) A recording medium on which optical data of the stereo measurement adapter is recorded is mounted on the measurement endoscope apparatus, and this data is read.
[0041]
2) Attach the optical adapter to the endoscope insertion section 11 that is actually used, take a picture of a white subject as shown in FIG. 7, and obtain position information on the degree of attachment. The position information obtained here has the same contents as the position information included in the optical data.
[0042]
3) Compare the position information in the optical data with the position information obtained in 2) above, and actually use the information a) and c) of the optical data recorded on the recording medium. Correct the data suitable for the endoscope. Specifically, rotation correction relating to each coordinate is performed.
[0043]
4) The characteristics of the CCU and the video capture circuit used at the time of data measurement in the production process are different from the characteristics of the measurement endoscope apparatus actually used in the measurement, and the image enlargement ratio may vary depending on the type of the apparatus. In this case, the difference between these characteristics is verified in advance, and the optical data recorded on the recording medium is corrected so as to match the enlargement ratio.
[0044]
5) The corrected optical data obtained by the above processing is used as calibration data used for setting the measurement environment.
[0045]
6) A conversion table for performing geometric distortion correction for the endoscope apparatus is created using the calibration data.
[0046]
7) Create an inverse conversion table for obtaining coordinates on the original image before correction relative to coordinates on the corrected image.
[0047]
8) The calibration data shown in 5) above, the conversion table obtained in 6) above, the inverse conversion table obtained in 7) above, and the measurement environment information indicating the type of equipment are combined into measurement environment data as measurement environment data. For storage, for example, it is recorded on the compact flash card 23.
[0048]
The above is the process related to the setting of the measurement environment.
[0049]
Next, the rotation correction shown in the above 3) will be described using equations.
[0050]
Assume that the geometric distortion correction formula before rotation correction is the following relational formula.
[0051]
x '= fx (x, y), y' = fy (x, y) (1)
(X ′, y ′): coordinates after geometric distortion correction
(X, y): Arbitrary coordinates on the image before geometric distortion correction (coordinates on the original image)
fx (x, y): a function for converting coordinates (x, y) on the original image before correction into x coordinates after correction
fy (x, y): a function for converting coordinates (x, y) on the original image before correction into y coordinates after correction
When the positional information in the optical data before correction and the positional information regarding the endoscope actually used are compared, if a rotation matrix indicating the difference is represented by A, the geometric distortion after correction The correction formula is as follows.
[0052]
(X ″, y ″) = A · (x ′, y ′) plus (a, b) (2)
(X ″, y ″): coordinates after geometric distortion correction including rotation correction (coordinates on the corrected image)
(X ′, y ′): coordinates after geometric distortion correction
(A, b): Amount of displacement in the x and y directions
Further, when formula (1) is substituted into formula (2) and the determinant is expanded, it can be expressed as follows. This relationship is shown in FIG.
[0053]
x ″ = fx ′ (x, y), y ″ = fy ′ (x, y) (3)
(X ″, y ″): coordinates after geometric distortion correction including rotation correction (coordinates on the corrected image)
(X, y): Arbitrary coordinates on the image before geometric distortion correction and rotation correction (coordinates on the original image)
fx '(x, y): a function for obtaining the x coordinate on the corrected image by performing geometric distortion correction and rotation correction on the coordinate (x, y) on the original image
fy '(x, y): a function for obtaining the y coordinate on the corrected image by performing geometric distortion correction and rotation correction on the coordinate (x, y) on the original image
The positional coordinates of the optical axis can also be expressed by the same relational expression as described above using the rotation matrix A and the positional deviation amount (a, b).
[0054]
In order to obtain the reverse conversion table obtained in the above 7), the reverse conversion table is created simultaneously with the creation of the conversion table.
[0055]
That is, when the coordinates on the original image are converted into the coordinates on the corrected image using the expression (3), (x ″, y ″ in the inverse conversion table corresponding one-to-one to the coordinates on the corrected image. ) The coordinates (x, y) on the original image are stored in a location corresponding to the coordinates of).
[0056]
Here, since the coordinates converted by the equation (3) are usually obtained as real numbers, it is necessary to convert them into integers so that these values match the inverse conversion table.
[0057]
In addition, since the coordinates on the original image are converted to the coordinates on the corrected image using the conversion formula, there are places where the values on the original image do not directly enter the inverse conversion table. Are interpolated at neighboring points so that appropriate coordinates on the original image can be entered at all locations in the inverse conversion table.
[0058]
In addition, when the inverse transformation formula with respect to the transformation formula (1) is determined in advance, or when the inverse transformation formula is obtained from the transformation formula (1) by the formula transformation, the direct transformation table is directly converted using the inverse transformation formula. You may ask for it.
[0059]
The inverse matrix of the rotation matrix used in equation (2) is A^-1Then, the equation to return the coordinates on the corrected image to the coordinates before the position deviation correction is
(X ', y') = A^-1(X ", y") (a, b) (4)
(X ′, y ′): coordinates before misregistration correction in which only geometric distortion is corrected
(X ″, y ″): coordinates after geometric distortion correction including rotation correction (coordinates on the corrected image)
(A, b): Amount of displacement in the x and y directions
Therefore, if the inverse transformation formula in the geometric distortion correction when the optical characteristic is measured is defined as the functions gx and gy, the following relational expression is established.
[0060]
x = gx (x ′, y ′), y = gy (x ′, y ′) (5)
(X, y): coordinates before geometric distortion correction (coordinates on the original image)
(X ′, y ′): coordinates before misregistration correction in which only geometric distortion is corrected
gx (x ′, y ′): Inverse transformation function for obtaining x-coordinate before correction in geometric distortion correction
gy (x ', y'): Inverse transformation function for obtaining y-coordinate before correction in geometric distortion correction
When the determinant of Expression (4) is expanded and substituted into Expression (5), the conversion expression from the coordinates on the corrected image to the original image can be expressed as follows. This relationship is shown in FIG.
[0061]
x = gx ′ (x ″, y ″), y = gy ′ (x ″, y ″) (6)
(X, y): Arbitrary coordinates on the image before geometric distortion correction and rotation correction (coordinates on the original image)
(X ″, y ″): coordinates after geometric distortion correction including rotation correction (coordinates on the corrected image)
gx ′ (x, y): a function for obtaining the coordinate (x ″, y ″) on the corrected image to obtain the x coordinate on the original image before geometric distortion correction and rotation correction
gy '(x, y): a function for obtaining coordinates (x ", y") on the corrected image to obtain y coordinates on the original image before geometric distortion correction and rotation correction
The measurement environment information shown in 8) is information indicating the type of measurement environment data (that is, calibration data and conversion table), and therefore includes the following information, for example.
[0062]
・ Stereo measurement adapter type and individual identification number
・ Type of endoscope insertion part and individual identification number
・ TV type such as NTSC
・ CCU type
・ Video capture circuit types
Since the type of CCU and the type of video capture circuit are often equipped as one module of the measurement endoscope apparatus, in this case, these may be read as the type of measurement endoscope apparatus.
[0063]
Once the measurement environment is set as described above, the measurement object can be photographed and measured.
[0064]
Therefore, the stereo measurement by the measurement endoscope apparatus 10 includes the first process of reading optical information from a recording medium (for example, a compact flash (R) memory card) in which the optical data of the stereo measurement adapter 37 is recorded, and the endoscope. Position error from the second process for obtaining the position information of the image sensor 43 and the stereo measurement adapter 37 at the distal end portion 39, and the position information and the position information of the main endoscope and the stereo measurement adapter 37 obtained at the time of production. A third process for correcting optical data from the positional error, a fifth process for creating a conversion table for correcting geometric distortion included in the captured image, and measurement A sixth process for generating a corrected image by performing coordinate conversion on the image taken for conversion using a conversion table, and a map of two left and right images at an arbitrary point based on the corrected image. A seventh process for performing the chinching, an eighth process for obtaining the three-dimensional coordinates from the two left and right coordinates obtained by matching, the position coordinates of the optical axis and the focal length, and two points from the arbitrary three-dimensional coordinates This is performed by executing a ninth process for obtaining a measured value such as an inter-distance or area.
[0065]
For example, the CPU 26 executes the first to fifth processes on the stereo measurement adapter 37 once, and controls the result to be recorded on the compact flash (R) memory card 23 as measurement environment data. Subsequent to this, when performing stereo measurement, the CPU 26 loads the measurement environment data previously recorded on the compact flash (R) memory card 23 onto the RAM and performs the processes of the sixth to ninth. Control to run. Since an image is recorded on a removable memory card, the same type of memory card on which an image is recorded using another individual's measurement endoscope device is attached to this device, so that it can be recorded on the other device. There is an effect that the obtained image can be easily browsed on another apparatus.
[0066]
The brightness of the white image shown in FIG. 7 taken when performing the second process is determined by the gain of the CCU 25 and the shutter speed. Normally, control is performed so that the dyne of the CCU 25 and the shutter speed of the image sensor 43 are automatically optimized. However, when capturing the white image, the gain of the CCU 25 is low and the shutter speed of the image sensor 43 is set high. As a result, the image becomes dark and the mask shape of the optical adapter (in other words, the field of view) cannot be clearly captured, which adversely affects measurement accuracy.
[0067]
Therefore, in the present embodiment, the control is performed by the CPU 26 so that the gain of the CCU 25 and the shutter speed are fixed. As a result, the mask shape that is clearly and clearly reflected can be bare, and the measurement accuracy does not deteriorate.
[0068]
The measurement environment data includes calibration data after position correction, a conversion table, an inverse conversion table, and measurement environment information. This measurement environment data is controlled so as to be recorded on a removable compact flash (R) memory card 23.
[0069]
Further, in the present embodiment, the image is recorded on the PCMCIA memory card 22 under the control of the CPU 26 and is recorded on a memory card different from the compact flash (R) memory card 23 that records the measurement environment data. To control. Note that when recording an image, the measurement environment information of the measurement environment data is simultaneously recorded as a part of the image file or as another file associated with the image file. The calibration data is also recorded as part of the image file or as another file associated with the image file.
[0070]
When performing a stereo measurement by selecting a recorded image from the list, it is searched whether there is an existing measurement environment data having the same measurement environment as the selected image.
[0071]
If the same item is registered, the measurement environment data is read, the setting of the measurement endoscope apparatus is changed, and the sixth process is performed to make the measurement possible. If the same data is not registered, measurement environment data is created using the calibration data attached to the image, and the sixth process is performed to enable measurement. In some cases, it is convenient to register the created measurement environment data in the measurement endoscope device. If you do not register, the wrong optical adapter can be selected on the optical adapter selection screen shown in FIG. Since there is an effect to prevent it, either one may be selected according to the configuration of the measurement endoscope system.
[0072]
As described above, the measurement environment can be automatically set for any image in any measurement environment that is supported by the software installed in the measurement endoscope device. .
[0073]
The information recorded in the image may be not only calibration data and measurement environment information but also measurement environment data including a conversion table. In this case, the image is selected when the image is selected and measurement is performed. When the measurement environment data is directly read and the sixth process is performed, preparation for measurement is completed. However, if the measurement environment data is recorded together with the image, the capacity becomes large, which is not preferable. On the other hand, since measurement environment information and calibration data are often several tens of Kbytes, it is very effective in terms of image capacity to record only measurement environment information and calibration data in an image.
[0074]
When preparation for measurement is completed, for example, when measuring the length of the crack 44 in FIG. 6, the measurement point is designated so that the crack 44 is traced by a broken line on the left image. Each time a new measurement point is designated, the CPU 26 searches for the corresponding point on the right image, obtains a three-dimensional coordinate at each point from the coordinates of the measurement point and the corresponding point, and is adjacent to the three-dimensional coordinate. The distance between two matching points is calculated, and the total of them is calculated to display the length of the crack 44 on the LCD 14 as the total length.
[0075]
Next, the configuration of the normal optical adapter used in the measurement endoscope apparatus 10 of the present embodiment will be described with reference to FIGS.
[0076]
10 and 11 show a state in which the normal optical adapter 42 is attached to the endoscope distal end portion 39. The normal optical adapter 42 is connected to the male screw 54 of the endoscope distal end portion 39 by the female screw 53 of the fixing ring 38. It is fixed by screwing.
[0077]
In addition, a pair of illumination lens 41 and objective lens 40 are provided at the tip of the normal optical adapter 42. The objective lens 40 forms an image on the image sensor 43 provided in the endoscope front end 39. The obtained image pickup signal is supplied to the CCU 25 through the signal line 43a and the endoscope unit 24 that are electrically connected in the same manner as the stereo measurement adapter 37, and is converted into a video signal by the CCU 25 before the video. By being supplied to the signal processing circuit 33, as a result, for example, an image as shown in FIG.
[0078]
The measurement endoscope apparatus 10 according to the present embodiment normally performs a measurement using an optical adapter by using a method based on comparative measurement. In other words, the comparative measurement is a method of measuring with reference to the understood dimensions in the screen.
[0079]
For example, when the diameter of the circle shown in FIG. 12 is known, a pointer is placed at both ends of the diameter of the circle and a length L1 45 between the two points is input. The dimension L2 46 to be obtained is obtained as a ratio by the arithmetic processing by the CPU 26 from the size of the L1 screen. At this time, the distortion correction is performed based on the information of the distortion characteristic of the lens, and adjustment is performed so as to obtain the dimension more accurately. The distortion characteristics of the lens are recorded in advance on the ROM 27, and the CPU 26 performs comparative measurement by loading data corresponding to the selected normal optical adapter 42 onto the RAM 2.
[0080]
(Function)
Next, an example of a control operation that is a feature of the CPU 26 of the measurement endoscope apparatus 10 of the present embodiment will be described in detail with reference to FIGS. 13 and 14.
[0081]
Assume that the measurement endoscope apparatus 10 shown in FIG. 1 is turned on and used. Then, the CPU 26 executes the main program (see FIG. 13), and is in a standby state by a loop configured by the determination processing in steps S100, S101, S102, S103, and S109. Further, when the functions of steps S100, S101, and S102 are instructed, the process proceeds to each function, and when the function of S103 is instructed, the process proceeds to step S104.
[0082]
In the determination process in step S103, the setting of the optical adapter to be attached to the endoscope distal end 39 and the presence / absence of the optical adapter are determined. If the optical adapter is not set, the subsequent process in step S108 is performed. It is determined whether or not the process has ended. If it is determined that the process has ended, the process is completed. If not, the process returns to step S100.
[0083]
On the other hand, if it is determined in step S103 that an optical adapter is attached to the endoscope distal end 39 and the attached optical adapter is set, the process proceeds to step S104. In other words, the process shifts to the determination process in step S104, thereby waiting for an input of the setting function of the optical adapter.
[0084]
For example, when one of the optical adapters is attached to the endoscope distal end portion 39, the CPU 26 calls the setting function of the optical adapter and shifts the processing to step S104, and based on the setting function of the optical adapter by the processing. Then, a display signal of the optical adapter selection screen is generated and supplied to the video signal processing circuit 33 (see FIG. 2), whereby the optical adapter selection screen as shown in FIG. In other words, this optical adapter selection screen is a screen on which, for example, AT60D / 60D and AT60S / 60S, which are stereo measurement adapters, and AT120D and AT60D, which are normal optical adapters, are displayed. The optical adapter is selected by, for example, moving a cursor displayed on the screen (not shown) up and down with the lever switch 48.
[0085]
Thereafter, the CPU 26 determines whether or not the optical adapter selected by the user is a normal optical adapter in the determination process in the subsequent step S105. If the optical adapter is a normal optical adapter, the CPU 26 compares the optical adapter selected in the subsequent step S106. The process proceeds to step S107 with the measurement flag set to 1 (TRUE). Conversely, if the measurement flag is not a normal optical adapter, the process proceeds to step S107.
[0086]
In step S107, the CPU 26 determines whether the optical adapter selected by the user is a stereo measurement adapter. If the optical adapter is a stereo measurement adapter, the CPU 26 sets the stereo measurement flag to 1 in the subsequent step S108. (TRUE) The measurement endoscope apparatus 10 is set in a use standby state until the user depresses the measurement execution switch 51 of the remote controller 13, and is also set in a use standby state when the user is not a stereo measurement adapter. To control.
[0087]
Since the measurement endoscope apparatus 10 is normally in a state of photographing a subject (live video image display state), when the measurement execution switch 51 of the remote controller 13 is pressed by the user, the CPU 26 displays a still image. The video signal processing device 33 is controlled so as to display, and the routine program shown in FIG. 14 is executed on the still image.
[0088]
Further, although not shown, the in-measurement celebratory apparatus can select an image by moving the lever switch 48 up and down from a plurality of image lists recorded on the PCMCIA memory card 22. Thereafter, when the measurement execution switch 51 of the remote controller 13 is pressed, the CPU 26 causes the routine program shown in FIG. 14 to be executed on the selected image.
[0089]
When the CPU detects that the measurement execution switch has been pressed, it is determined whether or not the image is recorded in the PCMCIA memory mode 22 in the determination process of step S111 in FIG. If YES in step S112, it is determined in step S112 whether the image is a stereo measurement image.
[0090]
If it is a stereo measurement image, it is determined whether or not measurement environment information is attached to the header of the image file in the determination process of step S113. If this is recorded, the determination process of step S114 is performed. In step S115, it is determined whether or not the measurement environment data recorded in the compact flash (R) memory card 23 has the same measurement environment. Control is performed to read the data and perform the stereo measurement process. When the stereo measurement is completed, the apparatus 10 is set in a standby state in preparation for displaying the measurement result or for another measurement.
[0091]
If there is no same measurement environment in the determination process in step S114, it is determined in the determination process in step S117 whether or not calibration data is attached to the header of the image file. If calibration data is attached to the image in the determination process of step S117, whether or not the calibration data attached to the image in the determination process of step S118 is supported by software related to the main measurement installed in the apparatus 10. If this is the case, control is performed so that measurement environment data is created using the calibration data in step S119 and stereo measurement processing is performed.
[0092]
On the other hand, if the calibration data is not attached to the image in the determination process of step S117, or if the calibration data attached to the image is not supported by this software in the determination process of step S118, or this determination process in step S113. When the measurement environment information is not attached to the header of the image file, it is displayed that the stereo measurement cannot be performed, and the apparatus 10 is set in a standby state so as to select another image.
[0093]
If the image selected in the determination process in step S112 is not a stereo measurement image, it is determined in the determination process in step S122 whether or not the image is for comparison measurement. If the image is for comparison measurement, the image is attached. The distortion correction information of the optical adapter is read and comparative measurement is performed. If the image is not an image for comparison measurement in the determination process in step S122, it is displayed that stereo measurement or comparison measurement cannot be performed, and the apparatus 10 is set in a standby state to select another image.
[0094]
Further, when the image measured in the determination process of step S111 is an image obtained by stopping the live video display, when the stereo measurement flag is 1 (TRUE) in the determination process of step S126, step S104 of FIG. The measurement environment data of the stereo measurement adapter selected on the screen shown in is read and stereo measurement is executed.
[0095]
If the stereo measurement flag is not 1 (TRUE) in the determination process in step S126 and the comparison measurement flag is 1 in the determination process in step S128, the normal selected on the screen shown in step S104 in FIG. Read distortion information of optical adapter and execute comparative measurement.
[0096]
If the comparison measurement flag is not 1 (TRUE) in the determination process in step S128, the process returns to step S103 in FIG. 12, and control is performed again to confirm the settings necessary for performing the measurement.
[0097]
(effect)
In the present embodiment, in the case of live video display, not only an appropriate measurement program is executed by simply pressing the measurement execution switch 51 of the remote controller, but also when re-measurement is performed on an already recorded image. By selecting and pressing the measurement execution switch 51 of the remote controller, information necessary for correct measurement can be read and an appropriate measurement program can be executed. That is, when re-measurement is performed on a recorded image, measurement is not performed with inconsistent measurement environment data or distortion correction information, and measurement errors due to this can be prevented.
[0098]
Second embodiment:
FIG. 15 is a flowchart showing an example of a control operation which is a feature of the CPU according to the second embodiment of the present invention.
[0099]
Since the second embodiment is almost the same as the first embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0100]
(Constitution)
In the present embodiment, even if measurement environment information and calibration data are not recorded in the image recorded on the recording medium, the execution is performed in the first embodiment in order to quickly perform the optimum measurement. The program will be improved to provide additional functions.
[0101]
Specifically, when the recorded stereo measurement image is selected and the measurement execution switch is pressed, the measurement environment information is not recorded in the header of this image file or a file different from the image file, When the measurement environment information is recorded in the header of the image file or in a file different from the image file but the calibration data is not recorded, the measurement is already recorded in the compact flash (R) memory card. When the user selects an appropriate piece of environment data, the measurement environment data is read and control is performed so that stereo measurement is executed.
[0102]
Further, when the user determines that there is no appropriate measurement environment data already registered, the user selects an appropriate calibration data recorded in another image in the PCMCIA memory card. When selected, stereo measurement is performed after creating measurement environment data using the calibration data.
[0103]
In this calibration data selection operation, in the stereo measurement function, only calibration data and measurement environment information, which are a part of already registered measurement environment data, are recorded on a recording medium for recording images and measurement environment data. If a function capable of copying to another memory card is provided, the memory card is mounted on the apparatus 10 and appropriate data is selected from a plurality of calibration data recorded in the memory card. It may be made like this.
[0104]
This function can be easily applied not only to stereo measurement but also to comparative measurement.
[0105]
(Function)
In the present embodiment, the processing shown in FIG. 15 is operated when the result of determination in step S113 or step S117 in FIG. 14 in the first embodiment is NG. That is, if the measurement environment information is not attached to the header of the image file in the determination process of step S113, or if the calibration data is not attached to the header of the image file in the determination process of step S117, the process proceeds to step S201.
[0106]
In step S201, measurement is performed using already registered measurement environment data, measurement environment is set using another calibration data, or measurement is performed, or this process is terminated and another image is obtained. The user decides whether or not to perform measurement, and performs a process corresponding to that.
[0107]
If it is selected from the measurement environment data in step S201, a list of already registered measurement environment data is displayed as shown in step S203, and the user selects an appropriate one from the list.
[0108]
In step S205, it is determined whether or not measurement environment information is attached to the image. If so, the content of the measurement environment information attached to the image and the selected measurement environment data are determined in step S206. Compare whether or not the contents match. If they match, the process proceeds to step S209. If they do not match, an error message is displayed as shown in S207, and a standby state is entered so that correct measurement environment data or calibration data is selected again in S201.
[0109]
On the other hand, when the measurement environment information is not attached to the image in the determination process of S205, the content of the selected data is displayed and the user is reconfirmed, and the process proceeds to S209.
[0110]
Then, after reading the measurement environment data selected in step S209, stereo measurement is executed.
[0111]
On the other hand, if another calibration data is selected in step S201, a memory card in which appropriate calibration data is recorded is attached to the apparatus 10, and then a list of calibration data in the memory card as shown in step S212. Is displayed. Then, after the user selects an appropriate one from these, it is determined whether or not the calibration data selected in the determination process in step S214 is compatible with this software, and if it is compatible, the process proceeds to S215. If not, an error message is displayed as shown in S216, and a standby state is entered so that the correct measurement environment data or calibration data is selected again in S201.
[0112]
In step S215, it is determined whether or not measurement environment information is attached to the image. If measurement environment information is attached to the image, the contents are compared with the contents of the selected calibration data in step S217. If they match, the process proceeds to step 219. If they do not match, an error message is displayed as shown in S220, and a standby state is entered so that correct measurement environment data or calibration data is selected again in S201.
[0113]
If the measurement environment information is not attached to the image in S215, the content of the selected data is displayed and the user is reconfirmed, and the process proceeds to S219.
[0114]
Then, after creating measurement environment data from the selected calibration data selected in step S219, stereo measurement is executed.
[0115]
Further, when step S209 or S219 is completed, measurement environment information and calibration data may be recorded in the header of the image file as desired by the user before performing stereo measurement.
[0116]
(effect)
Since the calibration data has a capacity of several tens of Kbytes and the measurement environment information is often several Kbytes, it may be desired to record only the measurement environment information in the image in order to reduce one image file.
[0117]
Also, if measurement environment information or calibration data is recorded in a file other than the image file, the measurement environment information or calibration data file recorded in association with the image for some reason is lost or deleted. It is also possible to be trapped.
[0118]
Conventionally, re-measurement cannot be performed with such an image, or the measurement environment setting operation until actual re-measurement is complicated.
[0119]
On the other hand, in this embodiment, the measurement environment can be easily set simply by selecting them from the list of measurement environment data already registered or the list of calibration data recorded on another memory card. Remeasurement can be performed quickly.
[0120]
Furthermore, since it is confirmed whether or not the data selected from the list is compatible with the image to be measured, there is an effect of reducing the case where measurement is performed in an inconsistent state.
[0121]
Third embodiment:
FIG. 16 is a flowchart showing an example of a control operation which is a feature of the CPU according to the third embodiment of the present invention.
[0122]
Since the third embodiment is almost the same as the first embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0123]
(Constitution)
In this embodiment, the positional relationship information included in the calibration data attached to the image and the positional relationship information included in the measurement environment data already registered are included. In the second embodiment, the contents of the information are compared and if the difference is larger than a predetermined threshold value, the measurement is performed using the calibration data attached to the image. This is a configuration added to the first embodiment including the function.
[0124]
(Function)
The measurement endoscope apparatus 10 selects a stereo measurement image to be measured from a plurality of image lists recorded in the PCMCIA memory card 22 (not shown), and when the measurement execution switch 51 of the remote controller 13 is pressed, The CPU 26 causes the routine program shown in FIG. 16 to be executed on the selected image.
[0125]
Steps S111 to S114 in FIG. 16 are the same as those in the first embodiment.
[0126]
In the determination process of step S114, it is determined whether or not the measurement environment data recorded on the compact flash (R) memory card 23 has the same measurement environment information attached to the image. In this case, in the determination process in step S305, the difference between the position information of the visual field area included in the calibration data attached to the image and the positional information of the visual field area included in the registered measurement environment data is determined in advance. It is determined whether it is smaller than a predetermined threshold value.
[0127]
If it is smaller than the threshold value in step S305, control is performed so that measurement environment data matching the image is read and stereo measurement processing is performed, and when the stereo measurement is completed, the measurement result is displayed or measured in preparation for another measurement. The endoscope apparatus 10 is set in a standby state.
[0128]
When the determination process in step S305 is larger than the threshold value, the calibration data attached to the image in the determination process in step S308 is handled by software related to the main measurement installed in the main measurement endoscope apparatus 10. If it corresponds, in the process of step S309, the calibration data is used to create measurement environment data and control to perform stereo measurement processing.
[0129]
On the other hand, if the calibration data attached to the image in the determination process in step S308 is not supported by this software, it is displayed that the stereo measurement cannot be performed, and the measurement endoscope is selected to select another image. The mirror device 10 is put into a standby state.
[0130]
(effect)
As a result, even if the measurement environment information indicating the type of device used when taking the image matches, the appearance of the white image taken to inspect the position of the visual field area changes for some reason, In addition to reducing the number of cases in which measurement accuracy may be reduced due to changes in positional information associated with this, calibration data already attached to the image is used to automatically adjust the measurement environment. Since measurement is performed by setting, it is possible to prepare for measurement with high safety and quick and simple measurement.
[0131]
By the way, when setting of the measurement environment for stereo measurement is completed and a corrected image is created using the measurement environment data for a stereo measurement image recorded on a still image or a recording medium, a stereo as shown in FIG. A measurement screen is displayed, and the user enters a standby state so that the user can specify a measurement point.
[0132]
FIG. 17 shows various menu buttons 55 for executing various measurement functions, a message display field 57 for displaying messages related to operations, and various numerical value display fields 56 for displaying measurement results (numerical values). An example is shown in which an image is displayed on the original image while avoiding two visual field regions.
[0133]
In addition, the size and position that can be measured in the two visual field areas are determined in advance according to the design value of the optical adapter, so that the optical data created during production can be attached to an endoscope that actually uses it. By correcting it accordingly, the size that can be actually measured and its position can be determined.
[0134]
In stereo measurement, since it is impossible to measure an object to be measured in the left and right visual field regions at the same time, it is necessary to perform measurement by designating a point within the measurable visual field region.
[0135]
Therefore,By adding the following functions, the user can easily recognize whether or not the measurement is within the range, and an effect of preventing a measurement error caused by designating a point outside the range can be obtained.
[0136]
The frame of the visual field area 58 that can be measured as defined above is displayed on the measurement image as shown in FIG.
[0137]
・ Although not shown, when specifying a point in the measurement area, the cursor on the screen is moved up, down, left and right by the remote control lever switch. change.
[0138]
For example, when it is inside the visual field area 58, it has a cross shape, and when it is outside the visual field area 58, it has an arrow shape.
[0139]
When specifying a point, control is performed so that it can operate only within the field of view area 58.
[0140]
When a point is to be designated outside the visual field area 58, a caution message may be displayed.
[0141]
As shown in FIG. 18, a viewable field area 58 is cut out from the image, and this is pasted and displayed on a measurement-dedicated screen.
[0142]
Since the size and position of the field of view 58 that can be measured can be obtained by setting the measurement environment, when a live video image is displayed after the stereo measurement adapter is selected in the optical adapter setting in FIG. If the frame is controlled to be displayed, it can be used as an index for confirming whether the object to be measured has been correctly photographed simultaneously on the left and right when photographing a stereo measurement image.
[0143]
In the present invention described in each of the above embodiments, when re-measurement is performed on an already recorded image, it is possible to prevent measurement from being performed on an image that is not a measurement image, Regardless of the current setting status in the device, and without worrying about the type of equipment of the optical adapter, the user can perform measurement corresponding to the correct optical adapter with a simple operation. The operability at the time can be improved, and the inspection efficiency can be improved.
[0144]
In addition, since a large recording medium capacity is not required to obtain the above effect, it can be realized using an inexpensive recording medium.
[0145]
In addition, there is no need to perform re-measurement on the device that actually captured the image, so re-measurement can be performed on another device by attaching the recording medium on which the image is recorded to another device and performing the same simple operation. Can be performed.
[0146]
Accordingly, it is possible to provide a measurement endoscope that is very easy to use and capable of performing high-performance measurement with a relatively inexpensive system.
[0147]
That is, according to the present invention, means for recording measurement environment information and calibration data together with a measurement image, means for selecting a measurement image that has already been recorded, and executing measurement processing, and recorded in the measurement image By providing a means to automatically set the measurement environment using the calibration data that has been recorded, simply select the measurement image that has already been recorded and press the measurement execution switch, the measurement attached to the measurement image The measurement environment is automatically set from the environment information and calibration data, and the measurement process can be executed immediately.
[0148]
Further, means for searching for the same data group already managed in the apparatus with reference to the measurement environment information recorded in the measurement image, and automatically using the data of the search result By providing a means to change the measurement environment settings, when a measurement image that has already been recorded is selected and the measurement execution switch is pressed, measurement environment data that is the same measurement information as the selected measurement image is stored in the device. If it exists, measurement processing can be executed using existing measurement environment data without creating measurement environment data again, and the time required for measurement preparation can be reduced. .
[0149]
Furthermore, means for copying the measurement image recorded in the apparatus together with the measurement environment information and calibration data to a removable recording medium, and the image copied on the recording medium together with the measurement environment information and calibration data in the apparatus By providing the means for capturing the image, it is possible not only to remeasure the image to be measured on the measurement endoscope apparatus of another individual, but also to obtain the same operation as described above.
[0150]
Even if the calibration data is not recorded on the recording medium together with the measurement image due to the capacity of the medium on which the image is recorded, when the image is selected and remeasured, the image is recorded together. It is possible to search whether the same measurement environment data exists in the device by referring to the existing measurement environment information, and if it exists, it can be used for immediate remeasurement. It becomes.
[0151]
Furthermore, even if measurement environment information and calibration data are not recorded in the measurement image for some reason, a measure is provided so that the measurer can check whether the measurement environment of the selected image is recorded. Measurement work can be performed without consciousness. In this case, measurement environment data already existing in the device can be displayed and measurement can be performed by selecting an appropriate one from these. Become.
[0152]
【The invention's effect】
As described above, according to the present invention, when re-measurement is performed with a recorded measurement image, it is possible to prevent measurement from being performed in an incorrect measurement environment, and to perform correct measurement with a simple operation. By enabling remeasurement in the environment, there is an effect that remeasurement can be performed immediately without being aware of the measurement environment, and the operability at that time can be improved.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a system configuration of a measurement endoscope apparatus according to a first embodiment of the present invention.
2 is a block diagram showing an electrical circuit configuration of the measurement endoscope apparatus of FIG. 1. FIG.
3 is a perspective view showing the configuration of the remote controller of FIG. 1. FIG.
4 is a perspective view showing a configuration of an endoscope distal end portion of the endoscope insertion portion of FIG. 1 with a stereo measurement adapter attached. FIG.
5 is a cross-sectional view taken along line AA in FIG.
6 is a view showing an endoscopic image with the stereo measurement adapter of FIG. 4 attached. FIG.
7 is a diagram showing an image of a mask shape of the stereo measurement adapter of FIG. 4;
FIG. 8 is a diagram showing a relationship between an original image and a correction image for explaining setting of a measurement environment in the measurement endoscope apparatus of FIG. 1;
9 is a diagram showing an example of an optical adapter selection screen displayed on the LCD of FIG. 1;
10 is a perspective view showing a configuration of an endoscope distal end portion of the endoscope insertion portion of FIG. 1 with a normal optical adapter attached thereto.
11 is a cross-sectional view taken along line AA in FIG.
12 is a view showing an endoscopic image to which the normal optical adapter of FIG. 10 is attached.
13 is a first flowchart showing an example of a control operation that is a feature of the CPU of FIG. 2;
14 is a second flowchart showing an example of a control operation that is a feature of the CPU of FIG. 2;
FIG. 15 is a flowchart showing an example of a control operation performed by the CPU according to the second embodiment of the present invention.
FIG. 16 is a flowchart showing a control operation example which is a feature of the CPU according to the third embodiment of the present invention;
FIG. 17 is a diagram illustrating an example of a measurement screen in which a frame of a viewable field of view is displayed so as to be superimposed on a subject image.
FIG. 18 is a diagram showing an example of a measurement screen in which left and right visual field areas that can be measured are cut out and displayed;
[Explanation of symbols]
10. Measurement endoscope device
11 ... Endoscope insertion part
12 ... Control unit
13 ... Remote controller
14 ... Liquid crystal monitor (LCD)
17 ... Face cloak display (FMD)
18 ... FMD adapter
19 ... Speaker
20 ... Microphone
21 ... Personal computer
22 ... PCMCIA memory card
23 ... Compact Flash (R) memory card
24 ... Endoscope unit
25 ... Camera Control Unit (CCU)
26 ... CPU (control unit)
27 ... ROM
28 ... RAM
29 ... RS-232CI / F
30 ... PC card I / F
31 ... USB I / F
32. Audio signal processing circuit
33 ... Video signal processing circuit
34, 35, 40 ... Objective lens system
36, 41 ... Illumination lens
37 ... Stereo optical adapter
38 ... Fixing ring
39 ... End of endoscope
42 ... Normal optical adapter
43 ... Image sensor
44 ... crack
45 ... L1 (known dimensions)
46 ... L2 (unknown dimension)
47 ... Joystick
48 ... Lever switch
49 ... Freeze switch
50 ... Store switch
51 ... Measurement execution switch
53 ... Female thread
54 ... Male thread
55 ... Various menu buttons
56 ... Various numerical value display fields
57 ... Message display field
58 ... Measurable field of view

Claims (9)

Image acquisition means capable of acquiring an image file having stereo image data including two images having parallax and calibration data indicating optical characteristics of a stereo measurement adapter through which the stereo image data is captured When,
Display means for displaying the stereo image data;
An input means for inputting operation instructions ;
Control means for referring to the stereo image data and the calibration data from the image file ,
The control means includes
A determination means for determining whether or not calibration data is added to the image file acquired by the image acquisition means;
When the determination means determines that calibration data is added to the image file acquired by the image acquisition means, the determination means adds the calibration data to the image file determined to have been added. Read calibration data from the image file acquired by the image acquisition means,
When the determination unit determines that no calibration data is added to the image file acquired by the image acquisition unit, the input unit records at least one arbitrary calibration data in the storage unit. Reading out the calibration data being selected from the storage means,
Based on the read calibration data, correct the geometric distortion included in the stereo image data included in the image file acquired by the image acquisition means to generate corrected stereo image data,
Performing a matching process between the two images included in the corrected stereo image data;
Based on the result of the matching process and the read calibration data, obtain three-dimensional coordinates at any measurement point of the corrected stereo image data,
A measuring endoscope apparatus that measures a subject using the three-dimensional coordinates. Stereo image data including two images having parallax, calibration data indicating the optical characteristics of the stereo measurement adapter through which the stereo image data was captured, and measurement environment information indicating the type of the calibration data And an image acquisition means capable of acquiring an image file,
Display means for displaying the stereo image data;
An input means for inputting operation instructions;
Control means for referring to the stereo image data and the calibration data from the image file,
The control means includes
A determination means for determining whether or not calibration data is added to the image file acquired by the image acquisition means;
When the determination means determines that calibration data is added to the image file acquired by the image acquisition means, the determination means adds the calibration data to the image file determined to have been added. Read calibration data from the image file acquired by the image acquisition means,
When the determination unit determines that calibration data is not added to the image file acquired by the image acquisition unit, the storage stores at least one arbitrary calibration data with reference to the measurement environment information In the means, it is determined whether calibration data corresponding to the measurement environment information is recorded,
If it is determined that the calibration data corresponding to the measurement environment information is recorded in the storage means, the calibration data corresponding to the measurement environment information is read from the storage means,
Based on the read calibration data, correct the geometric distortion included in the stereo image data included in the image file acquired by the image acquisition means to generate corrected stereo image data,
Performing a matching process between the two images included in the corrected stereo image data;
Based on the result of the matching process and the read calibration data, obtain three-dimensional coordinates at any measurement point of the corrected stereo image data,
A measuring endoscope apparatus that measures a subject using the three-dimensional coordinates. The control means creates a conversion table used for coordinate conversion of the stereo image data from the read calibration data, and based on the conversion table, removes the geometric distortion from the stereo image data. The measurement endoscope apparatus according to claim 1, wherein the image data is coordinate-transformed. The calibration data added to the image file that has been determined that the calibration data has been added by the discriminating means has the optical characteristics measured in the production process of the stereo measurement adapter within the connection of the stereo measurement adapter. The measurement endoscope apparatus according to any one of claims 1 to 3, wherein the measurement endoscope apparatus is corrected as an optical characteristic suitable for an endoscope insertion portion. The control means determines a type of measurement process that can be performed on the stereo image data, and executes a measurement process corresponding to the determined type on the corrected stereo image data. The measurement endoscope apparatus according to any one of claims 1 to 4. The control means acquires the calibration data read from the storage means by the image acquisition means when the determination means determines that the calibration data is not added to the image file acquired by the image acquisition means. The measurement endoscope apparatus according to claim 1, wherein the measurement endoscope apparatus is recorded in an image file. The said display means displays the frame which shows the area | region which can measure the said stereo image data defined for every said stereo measurement adapter, The one of Claims 1-6 characterized by the above-mentioned. Measuring endoscope device. The display means displays a cursor at a position corresponding to an operation instruction by the input means,
The said control means changes the shape of the said cursor, when the said cursor is not located in the position which can measure the said stereo image data, The any one of Claims 1-7 characterized by the above-mentioned. Measuring endoscope device. The display means displays a cursor at a position corresponding to an operation instruction by the input means,
The said control means operates the said cursor only when the said cursor is located in the position which can measure the said stereo image data, The any one of Claims 1-7 characterized by the above-mentioned. Measuring endoscope device.

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