JP5231173B2 - Endoscope device for measurement and program - Google Patents

Description

  The present invention relates to a measurement endoscope apparatus that performs measurement based on the principle of triangulation using image data, and a program for controlling the operation thereof.

  Industrial endoscopes are used for observation and inspection of internal scratches and corrosion of boilers, turbines, engines, chemical plants, water pipes, and the like. In an industrial endoscope, a plurality of types of optical adapters are prepared so that various observation objects can be observed and inspected, and the distal end portion of the endoscope is replaceable.

As the optical adapter, there is a stereo optical adapter that forms two left and right visual fields in the observation optical system. In Patent Document 1, a stereo optical adapter is used, and based on the coordinates of the right and left optical system ranging points when the subject image is captured by the left and right optical systems, the subject is three-dimensional using the principle of triangulation. An endoscope apparatus for measurement is described that obtains spatial coordinates and measures the distance between two points on a subject. Similarly, Patent Document 2 describes an endoscope apparatus for measurement that similarly obtains a three-dimensional spatial coordinate of a subject at high speed using the principle of triangulation, and measures the distance to the subject (object distance) in real time. Has been.
JP 2006-15117 A JP 2006-325741 A

  24 and 25 show screens (hereinafter referred to as display screens) displayed by the display device of the measurement endoscope apparatus. FIG. 24 shows a display screen when measuring the distance between two points, and FIG. 25 shows a display screen when measuring the object distance. On the display screen 2400 shown in FIG. 24, a left image 2410 and a right image 2420 corresponding to the left and right subject images captured by the optical adapter are displayed. Similarly, a left image 2510 and a right image 2520 are displayed on the display screen 2500 shown in FIG.

  As shown in FIG. 24, when the user designates measurement points 2440a and 2440b on the subject 2430 in the left image 2410, the positions of the corresponding points 2450a and 2450b on the right image 2420 corresponding to the measurement points are obtained by image pattern matching. The matching process to calculate is performed. Subsequently, the three-dimensional coordinates of the first point on the subject corresponding to the measurement point 2440a are calculated from the two-dimensional coordinates of the measurement point 2440a and the corresponding point 2450a and the optical data. Similarly, the three-dimensional coordinates of the second point on the subject corresponding to the measurement point 2440b are calculated from the two-dimensional coordinates of the measurement point 2440b and its corresponding point 2450b and the optical data. A distance between two points is calculated from the three-dimensional coordinates of the first point and the second point, and is displayed as a measurement result 2460.

  As shown in FIG. 25, when the user designates a measurement point 2540 on the subject 2530 in the left image 2510, the position of the corresponding point 2550 on the right image 2520 corresponding to the measurement point 2540 is calculated by the matching process. Subsequently, the three-dimensional coordinates of the point on the subject corresponding to the measurement point 2540 are calculated from the two-dimensional coordinates of the measurement point 2540 and its corresponding point 2550 and the optical data. The object distance is calculated from the three-dimensional coordinates of this point and displayed as a measurement result 2560.

  However, when the image used for measurement is too bright or too dark, such as when the brightness of the image is not appropriate, or when there is no characteristic pattern on the image, or the distance to the subject is too far, the measurement accuracy is ensured. If it is difficult, the matching process may fail. For example, in FIG. 24, the matching process related to the measurement point 2440b has failed, and in FIG. 25, the matching process related to the measurement point 2540 has failed. As a result, an incorrect measurement result was displayed.

  If it is immediately known that the measurement result is incorrect, the measurement can be performed again. However, at the time of measurement, the measurement result is incorrect because it was not confirmed whether the point on the right image corresponding to the measurement point specified on the left image was correctly calculated by the matching process. In particular, when the user is not aware of it and later finds that the measurement result is incorrect, for example, the measurement is restarted from the beginning, and the work efficiency of the user is reduced.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a measurement endoscope apparatus that can improve the work efficiency of a user.

The present invention has been made in order to solve the above-described problem. An endoscope that photoelectrically converts a subject image to generate an imaging signal; an imaging signal processing unit that processes the imaging signal to generate image data; A measurement unit that performs measurement based on the principle of triangulation using the image data, a display signal generation unit that generates a display signal for displaying the measurement result, and the reliability of the measurement result based on the image data A determination unit for determining, and a control unit for executing control according to the determination result . When the control unit determines that the reliability of the measurement result is low, the measurement of one subject image related to the same subject is performed. An endoscope apparatus for measurement, characterized by executing control for shifting to a correction mode for correcting a corresponding point in another subject image corresponding to a point .
In addition, the present invention is based on the principle of triangulation using the image data, an endoscope that photoelectrically converts a subject image to generate an imaging signal, an imaging signal processing unit that processes the imaging signal and generates image data, and the image data. Measuring means for executing measurement, display signal generating means for generating a display signal for displaying the measurement result, determination means for determining the reliability of the measurement result based on the image data, and according to the determination result Control means for executing control, wherein the measurement means performs the measurement based on a measurement point on the first subject image and a corresponding point corresponding to the measurement point on the second subject image. When the control means determines that the reliability of the measurement result is low, the control means executes a control for displaying the measurement result before the area including the corresponding point. It is a mirror device.

  In the measurement endoscope apparatus of the present invention, the control unit determines the reliability of the measurement result and controls the display form of the measurement result according to the determination result.

  In the measurement endoscope apparatus of the present invention, the control unit controls the display form of the measurement result according to the value of the distance from the measurement position on the subject to the imaging plane of the endoscope. It is characterized by.

  In the measurement endoscope apparatus of the present invention, the control unit controls the display form of the measurement result according to the correlation function value of a plurality of subject images related to the same subject.

  In the measurement endoscope apparatus of the present invention, the control unit controls the display form of the measurement result according to the texture contrast values of a plurality of subject images related to the same subject.

  In the measurement endoscope apparatus according to the present invention, the control means may perform the measurement according to the amount of deviation from the epipolar line of the corresponding point in the other subject image corresponding to the measurement point in the one subject image related to the same subject. The display form of the result is controlled.

  In the measurement endoscope apparatus according to the present invention, the determination unit determines the reliability of the measurement result based on the image data before the measurement unit executes the measurement. .

  Moreover, in the endoscope apparatus for measurement according to the present invention, the determination unit is configured to determine a reliability of the measurement result based on the image data before the measurement unit performs the measurement. And after the measurement means executes the measurement, a second determination process for determining the reliability of the measurement result based on the image data is performed.

  The measurement endoscope apparatus of the present invention further includes an input unit for a user to input a pointer movement instruction indicating the position of the measurement point on the subject image and a measurement start instruction, and the display signal generation The means generates an image based on the image data, the measurement result, and a display signal for displaying the pointer, and the determination means performs the measurement after the pointer movement instruction is input to the input means. Until the start instruction is input, the reliability of the measurement result at the position of the measurement point is determined.

  In the measurement endoscope apparatus according to the present invention, the display signal generation unit generates a display signal for displaying an image based on the image data and the measurement result, and the control unit displays the determination result. Control that displays outside the measurable area on the image is executed.

In addition, the present invention is based on the principle of triangulation using the image data, an endoscope that photoelectrically converts a subject image to generate an imaging signal, an imaging signal processing unit that processes the imaging signal and generates image data, and the image data. Measuring means for executing measurement, display signal generating means for generating a display signal for displaying the measurement result, determination means for determining the reliability of the measurement result based on the image data, and according to the determination result A control means for performing control, and a program for causing the measurement endoscope apparatus to function as a subject when the measurement means determines that the reliability of the measurement result is low. A program for executing control for shifting to a correction mode for correcting a corresponding point in another subject image corresponding to a measurement point in an image .
In addition, the present invention is based on the principle of triangulation using the image data, an endoscope that photoelectrically converts a subject image to generate an imaging signal, an imaging signal processing unit that processes the imaging signal and generates image data, and the image data. Measuring means for executing measurement, display signal generating means for generating a display signal for displaying the measurement result, determination means for determining the reliability of the measurement result based on the image data, and according to the determination result Control means for executing control, wherein the measurement means performs the measurement based on a measurement point on the first subject image and a corresponding point corresponding to the measurement point on the second subject image. When the control means determines that the reliability of the measurement result is low, the control means executes a control for displaying the measurement result before the area including the corresponding point. It is a mirror device.

  In the program of the present invention, the determination unit determines the reliability of the measurement result based on the image data before the measurement unit executes the measurement.

  In the program of the present invention, the determination unit executes a first determination process for determining reliability of the measurement result based on the image data before the measurement unit performs the measurement, After the measurement unit executes the measurement, a second determination process is performed to determine the reliability of the measurement result based on the image data.

  The program of the present invention causes the measurement endoscope apparatus to function as input means for a user to input a pointer movement instruction indicating the position of a measurement point on a subject image and a measurement start instruction. The display signal generation unit generates an image based on the image data, the measurement result, and a display signal for displaying the pointer, and the determination unit is configured to input the pointer movement instruction to the input unit. Before the measurement start instruction is input, the reliability of the measurement result at the position of the measurement point is determined.

  In the program of the present invention, the display signal generation unit generates an image based on the image data and a display signal for displaying the measurement result, and the control unit can measure the determination result on the image. Control is performed to display outside the area.

  According to the present invention, it is possible to improve the user's work efficiency by executing the control according to the determination result of the reliability of the measurement result. In particular, by controlling the display form of the measurement result according to the determination result of the reliability of the measurement result, it becomes easier for the user to make a determination such as ending the measurement or starting over, thereby improving the user's work efficiency Can do. In addition, when it is determined that the reliability of the measurement result is low, by executing control to shift to the correction mode to correct the measurement position, the reliability of the measurement result is improved, and it is difficult to repeat the measurement. The work efficiency of the user can be improved.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of a measurement endoscope apparatus according to an embodiment of the present invention. As shown in FIG. 1, the measuring endoscope apparatus 1 includes an endoscope 2 and an apparatus main body 3 connected to the endoscope 2. The endoscope 2 includes an elongated insertion unit 20 and an operation unit 6 for performing operations necessary for performing various operation controls of the entire apparatus. The apparatus body 3 includes a monitor 4 (liquid crystal monitor) that is a display device that displays an image of a subject imaged by the endoscope 2 and operation control contents (for example, a processing menu), and a control unit 10 (FIG. 2). And a housing 5 having a reference).

  The insertion portion 20 is configured by connecting a hard distal end portion 21, a bending portion 22 that can be bent vertically and horizontally, and a flexible tube portion 23 having flexibility in order from the distal end side. Various optical adapters such as a stereo optical adapter having two observation fields and a normal observation optical adapter having one observation field are detachably attached to the distal end portion 21.

  As shown in FIG. 2, an endoscope unit 8, a CCU 9 (camera control unit), and a control unit 10 are provided in the housing 5, and the proximal end portion of the insertion portion 20 is attached to the endoscope unit 8. It is connected. The endoscope unit 8 includes a light source device (not shown) that supplies illumination light necessary for observation, and a bending device (not shown) that bends the bending portion 22 that constitutes the insertion portion 20. .

  An imaging element 28 is built in the distal end portion 21 of the insertion portion 20. The image sensor 28 photoelectrically converts the subject image formed through the optical adapter to generate an image signal. An imaging signal output from the imaging device 28 is input to the CCU 9. The imaging signal is converted into a video signal (image data) such as an NTSC signal in the CCU 9 and supplied to the control unit 10.

  In the control unit 10, a video signal processing circuit 12, to which a video signal is input, a ROM 13, a RAM 14, a card I / F 15 (card interface), a USB I / F 16 (USB interface), and an RS-232C I / F 17 (RS -232C interface) and a CPU 18 that executes these various functions based on a main program and performs operation control.

  The RS-232C I / F 17 is connected to the CCU 9 and the endoscope unit 8, and to the operation unit 6 that performs control and operation instructions for the CCU 9 and the endoscope unit 8. When the user operates the operation unit 6, communication necessary for controlling the operation of the CCU 9 and the endoscope unit 8 is performed based on the operation content.

  The USB I / F 16 is an interface for electrically connecting the control unit 10 and the personal computer 31. By connecting the control unit 10 and the personal computer 31 via the USB I / F 16, various instruction control such as an endoscopic image display instruction and image processing at the time of measurement is performed on the personal computer 31 side. And control information and data necessary for various processes between the control unit 10 and the personal computer 31 can be input / output.

  Further, the memory card 32 can be freely attached to and detached from the card I / F 15. By attaching the memory card 32 to the card I / F 15, in accordance with control by the CPU 18, control processing information and image information stored in the memory card 32 are taken into the control unit 10, or control processing information or It is possible to record data such as image information in the memory card 32.

  The video signal processing circuit 12 displays a composite image obtained by combining the endoscopic image supplied from the CCU 9 and the graphic operation menu, so that the graphic image signal based on the operation menu and the CCU 9 generated by the control of the CPU 18 are displayed. The processing for synthesizing the video signals from the video and the processing necessary for displaying on the screen of the monitor 4 are performed, and the display signal is supplied to the monitor 4. Further, the video signal processing circuit 12 can simply perform processing for displaying an endoscopic image or an image such as an operation menu alone. Therefore, an endoscope image, an operation menu image, a composite image of the endoscope image and the operation menu image, and the like are displayed on the screen of the monitor 4.

  The CPU 18 executes the program stored in the ROM 13 to control various circuit units and the like so as to perform processing according to the purpose, thereby controlling the operation of the entire measurement endoscope apparatus 1. The RAM 14 is used by the CPU 18 as a work area for temporarily storing data.

  3 is a perspective view of the distal end portion 21 of the insertion portion 20 included in the endoscope 2, and FIG. 4 is a cross-sectional view taken along the line AA in FIG. As shown in FIG. 3, the distal end portion 21 includes a distal end portion main body 39 and an optical adapter 46 that can be attached to and detached from the distal end portion main body 39. The distal end surface of the distal end portion 21 is provided with two illuminations 24 made of LEDs, for example, and an observation window 25 for capturing a subject image. As shown in FIG. 4, the observation window 25 provided in the distal end portion main body 39 constituting the distal end portion 21 is closed with a cover glass 30, and a pair of objective optical systems, that is, a right side is interposed inside the observation window 25 through a lens frame 36. An objective optical system for image 26R and an objective optical system for left image 26L are attached.

  The lens frame 36 extends rearward, and a front-stage optical system 27a of a common image transmission optical system 27 is attached. The image sensor 28 is fixed to the image sensor fixing frame 37 housed in the hole on the rear end side of the lens frame 36. A rear side optical system 27b of the image transmission optical system 27 is attached to the front side of the image pickup surface of the image pickup element 28 via a lens frame. Further, the outer periphery of the front end side of the front end portion main body 39 is covered with a cylindrical cover member 38, and the cover member 38 is fixed to the front end portion main body 39 with screws. An O-ring for sealing is inserted between the cover member 38 and the tip end body 39 to form a watertight structure.

  Images by the objective optical system 26R and the objective optical system 26L are formed at different positions on the left and right on the image sensor 28 via the image transmission optical system 27. That is, a right imaging optical system that is an optical system including the objective optical system 26R and the image transmission optical system 27 and a left imaging optical system that is an optical system including the objective optical system 26L and the image transmission optical system 27 are configured. . The imaging signal photoelectrically converted by the imaging device 28 is supplied to the CCU 9 via the endoscope unit 8 and converted into a video signal, and then supplied to the video signal processing circuit 12.

  Further, the front side of the image sensor 28 is protected by a cover glass 47, and the cover glass 47 faces the cover glass 48 on the optical adapter 46 side. A fixing ring 49 is provided on the outer peripheral surface on the rear end side of the optical adapter 46, and is provided on the inner peripheral surface of the rear end endoscope of the fixing ring 49 on the male screw portion provided on the outer peripheral surface of the distal end body 39. By attaching the female screw part, it can be detachably attached. A positioning concave portion is provided on the outer peripheral surface of the distal end surface of the distal end main body 39, and a positioning pin is provided on the optical adapter 39 side. .

  Next, a measurement method using the measurement endoscope apparatus 1 will be described. In the production process, the optical data peculiar to each optical adapter 46 shown in the following (a1) to (e) is measured for each optical adapter 46 with different individuals. The optical data is recorded on a recording medium such as a memory card. The optical data recorded on the memory card has a one-to-one correspondence with the characteristics of the optical adapter 46 and is handled as one combination after shipment. The optical data of this embodiment is as follows. The details of the optical data are described in, for example, Japanese Patent Application Laid-Open No. 2004-49638, and the description thereof is omitted.

(A1) Geometric distortion correction table for the two objective optical systems (a2) Geometric distortion correction table for the image transmission optical system (b) Focal lengths of the left and right imaging optical systems (c) Left and right imaging optical systems (D) Optical axis position coordinates on the images of the left and right imaging optical systems (e) Position when the images of the left and right imaging optical systems are imaged on the master image sensor information

  Hereinafter, a method for measuring optical data will be described with reference to FIG. The production measurement jig 51 can be mounted with an optical adapter 46, and includes a master imaging unit 52, a CCU 53, a personal computer 31, and a chart 54.

  The master imaging unit 52 has the same structure as the distal end portion main body 39 of the endoscope 2. The CCU 53 is connected to the master imaging unit 52 through a signal line. The personal computer 31 has a memory card slot 54 to which the memory card 33 can be attached and detached, and performs image processing on image data from the CCU 53. The chart 54 has a lattice pattern for analyzing the optical characteristics of the optical adapter 46.

  When optical data is captured using the production measurement jig 51, first, as shown in FIG. 5, the optical adapter 46 is attached to the master imaging unit 52, and the image of the chart 54 is captured via the optical adapter 46. Image processing is performed by the personal computer 31 based on the image data, and the optical data (a1) to (e) are obtained and recorded in the memory card 33.

  The optical adapter 46 after the collection of the specific optical data is attached to the endoscope 2, and the measurement endoscope apparatus 1 performs the following processes (1) to (8) to measure various dimensions ( Stereo measurement). Note that details of stereo measurement are described in, for example, Japanese Patent Application Laid-Open No. 2004-49638, and thus description thereof is omitted.

(1) Read the optical data (a1) to (e) from the memory card 33.
(2) A white subject is imaged using the measurement endoscope apparatus 1.
(3) Using the data of (e) and the imaging data of (2), the displacement of the image position due to the combination of the optical adapter 46 and the endoscope 2 is obtained.
(4) A conversion table for performing geometric distortion correction for the endoscope 2 is created using the data of (3) and the data of (1).
(5) The to-be-measured object which is a subject is imaged by the endoscope 2 and an image is captured.
(6) The coordinates of the captured image are converted based on the table created in (3).
(7) Based on the coordinate-converted image, the three-dimensional coordinates of an arbitrary point are obtained by the imaging data matching in (2) above.
(8) Various dimension measurements are performed based on the three-dimensional coordinates.

(First operation example)
Next, an operation at the time of measuring a distance between two points will be described as a first operation example of the measurement process. As shown in FIG. 6, first, a first measurement point is set (step S100). At this time, the user operates the operation unit 6 while viewing the display screen of the monitor 4 and inputs the first measurement point on the subject. The CPU 18 calculates the in-image position (two-dimensional coordinates) of the first measurement point based on a signal output from the operation unit 6 and input via the RS-232C I / F 17. The above is the process of step S100.

  Subsequently, the CPU 18 executes a three-dimensional coordinate analysis process to calculate the three-dimensional coordinates of the first measurement point (step S110). Details of the three-dimensional coordinate analysis processing will be described later. Further, the second measurement point is set in the same manner as described above (step S120), the three-dimensional coordinate analysis process is executed, and the three-dimensional coordinate of the second measurement point is calculated (step S130).

  Subsequently, the CPU 18 determines whether or not the matching process is successful based on the value of the matching confirmation flag (step S140). As described above, the matching process is a matching point (matching) on the second subject image (eg, right image) corresponding to the first measurement point designated on the first subject image (eg, left image) regarding the same subject. This is a process of calculating the position of (point) by pattern matching of images. The matching process is executed as part of the processes of steps S110 and S130. The matching confirmation flag is a flag used in the determination in step S140 regarding the reliability of the measurement result, and two types of flags, a flag related to the first measurement point and a flag related to the second measurement point, are used. .

  As will be described later, the value of the matching confirmation flag is set to 0 or 1 in the three-dimensional coordinate analysis processing in steps S110 and S130. If the value of the matching confirmation flag is 1, the matching process has succeeded. If the value of the matching confirmation flag is 0, the matching process has failed.

  If the values of the two types of matching confirmation flags are both 1, the matching process executed as part of steps S110 and S130 is successful, and the process proceeds to step S150. If at least one of the two types of matching confirmation flags is 0, at least one of the matching processes executed as part of steps S110 and S130 has failed, and the process is Proceed to step S170.

  When the matching process executed as part of steps S110 and S130 is successful, the CPU 18 calculates the distance between the two points from the three-dimensional coordinates of the first measurement point and the second measurement point (step S150). Subsequently, the CPU 18 executes control for displaying the distance between the two points calculated in step S150 as a measurement result (step S160).

  At this time, the CPU 18 generates a graphic image signal for displaying the operation menu and the measurement result, and outputs the graphic image signal to the video signal processing circuit 12. The video signal processing circuit 12 synthesizes the graphic image signal and the video signal from the CCU 9, performs processing necessary to display the synthesized image on the screen of the monitor 4, and outputs the display signal to the monitor 4. The monitor 4 displays a composite image based on the display signal. At this time, the measurement result of the distance between the two points is displayed (for example, “L = 2.00 mm”). The above is the process of step S160.

  On the other hand, when at least one of the matching processes executed as a part of steps S110 and S130 has failed, the CPU 18 executes control to display the failure of the matching process as a measurement result (step S170). The control executed by the CPU 18 at this time is the same as in step S160, but the graphic image signal for displaying the measurement result is different. As a result, the display form of the measurement result is displayed in the composite image displayed on the monitor 4. Different from the successful matching process.

  FIG. 7 shows a display screen of the monitor 4. On the display screen 700 shown in FIG. 7, a left image 710 and a right image 720 corresponding to the left and right subject images captured by the optical adapter 46 are displayed. When the user moves the pointer 715 on the left image 710 to specify the measurement points 740a and 740b on the subject 730, the positions of the corresponding points 750a and 750b on the right image 720 corresponding to the measurement points are calculated by the matching process. The For example, as shown in FIG. 7, when the calculation accuracy of the measurement point 750b is low, the measurement result 760 shows “−.−−−” (FIG. 7A) indicating the failure of the matching process or “not measurable” (FIG. 7 (B)) is displayed.

  Thus, when the matching process fails, the measurement result is displayed as a special character, symbol, graph, message, or the like. For this reason, the user can know from the measurement result that the matching process has failed. The display position of the measurement result indicating the failure of the matching process may be different from the display position of the measurement result when the matching process is successful, but the user is more surely notified of the failure of the matching process without confusing the user. In order to do this, it is desirable that the display position be the same. In order to make the endoscopic image easier to see, it is desirable to display the measurement result outside the endoscopic image, and in particular, display the measurement result outside the measurable area (area where measurement points can be set). It is desirable to do. If the measurement point on the right image is also displayed when the matching process fails, the cause of the matching process failure can be easily confirmed.

  An enlarged image at the position of the measurement point 740b is displayed on the zoom window 770 on the left image 710, and an enlarged image at the position of the corresponding point 750b is displayed on the zoom window 780 on the right image 720. Since the positions of the measurement point 740b and the corresponding point 750b are different and the image of the zoom window 770 and the image of the zoom window 780 are also different, the user can know that the matching process has failed.

  Next, details of the three-dimensional coordinate analysis processing in steps S110 and S130 will be described. As shown in FIG. 8, first, the CPU 18 executes a pattern matching process to detect matching points that are corresponding points of the left and right two images (stereo images) (step S200). Details of the pattern matching process will be described later. Subsequently, the CPU 18 obtains a shift amount between the left and right images from the coordinates of the corresponding points (step S210).

  Subsequently, the CPU 18 determines a value of a confirmation flag relating to a normalized cross-correlation coefficient described later (step S220). The value of the confirmation flag relating to the normalized cross-correlation coefficient is set by the pattern matching process in step S200. If the value of the confirmation flag related to the normalized cross correlation coefficient is 1, the process proceeds to step S230. If the value of the confirmation flag related to the normalized cross correlation coefficient is 0, the process proceeds to step S230. Advances to step S270.

  If the value of the confirmation flag relating to the normalized cross-correlation coefficient is 1, the CPU 18 determines the value of the confirmation flag relating to the texture contrast value (step S230). The value of the confirmation flag relating to the texture contrast value is set in the pattern matching process in step S200. If the value of the confirmation flag related to the texture contrast value is 1, the process proceeds to step S240. If the value of the confirmation flag related to the texture contrast value is 0, the process proceeds to step S270. move on.

  If the value of the confirmation flag regarding the texture contrast value is 1, the CPU 18 calculates the three-dimensional coordinates of the target point (step S240). Hereinafter, the basic principle of the three-dimensional coordinate analysis will be described with reference to FIG. FIG. 9 shows the positional relationship between two left and right images on a three-dimensional spatial coordinate system having x, y, and z axes. FIG. 9 shows a state where a point P that is a measurement target of the distance to the subject (object distance) is imaged on the right imaging surface 28R and the left imaging surface 28L of the image sensor. In FIG. 9, the points OR and OL are the principal points of the optical system, the distance f is the focal length, the points QR and QL are the imaging positions of the point P, and the distance L is the distance between the point OR and the point OL.

In FIG. 9, equation (1) is established from the straight line QR-OR.
x / xR = {y− (L / 2)} / {yR− (L / 2)} = z / (− f) (1)
Moreover, Formula (2) is materialized from the straight line QL-OL.
x / xL = {y + (L / 2)} / {yL + (L / 2)} = z / (− f) (2)
If this equation is solved for x, y, z, the three-dimensional coordinates of the point P can be obtained. Thereby, the distance (object distance) from the imaging surface of the endoscope 2 to the subject is obtained. Actually, due to the effect of the image transmission optical system 27, the light beams of the two left and right images are bent, and the distance between the right imaging surface 28R and the left imaging surface 28L becomes smaller, but here, in order to simplify the drawing, image transmission is performed. The effect of the optical system 27 is omitted for illustration.

  Subsequent to step S250, the CPU 18 determines the value of the object distance (step S250). If the object distance value is 0 or more, the process proceeds to step S260. If the object distance value is less than 0, the process proceeds to step S270. In the determination in step S250, it is determined whether or not the object distance is equal to or greater than 0, but this is combined with the result of determination whether or not the object distance is equal to or less than a predetermined value α (α> 0). A determination may be made. That is, if the object distance is greater than or equal to 0 and less than or equal to α, the process proceeds to step S260, and otherwise, the process proceeds to step S270.

  When the value of the object distance is 0 or more, it can be seen from the determination results in steps S220, S230, and S250 that the matching process is successful and the measurement result is reliable. In this case, the CPU 18 sets the value of the matching confirmation flag to 1 (step S260). On the other hand, if the matching process fails and the measurement result is unreliable from the determination results of steps S220, S230, and S250, the CPU 18 sets the value of the matching confirmation flag to 0 (step S270).

  Next, details of the pattern matching process in step S200 will be described. As shown in FIG. 10, first, as initialization processing, the CPU 18 sets the value of the confirmation flag related to the normalized cross-correlation coefficient and the value of the matching confirmation flag related to the texture contrast value to 0 (step S300).

Subsequently, the CPU 18 narrows down the pattern area indicating the size of the pattern for pattern matching (step S310). In the example of this embodiment, a pattern area corresponding to the value k is set. That is,
When k = 1, the pattern area is 35 × 35 (pixels),
When k = 2, the pattern area is 23 × 23 (pixels),
When k = 3, the pattern area is 11 × 11 (pixels),
Then, the value k is switched from small to large to narrow the region from large to small so as to improve the accuracy of corresponding point detection.

  Subsequently, the CPU 18 sets a search range. That is, the area of the right image for searching for a pattern is determined (step S320). In setting the search range, the epipolar line is set within ± 5 pixels in consideration of errors in the epipolar line, or within ± 7 pixels horizontally on the monitor screen, or manually specified on the screen. There are cases where the approximate matching point is within ± 10 pixels. The above ± 10 pixels is an optimum value in consideration of manual error.

  Subsequently, the CPU 18 performs pattern matching within the set search range (step S330). In this pattern matching, corresponding points are detected by normalized cross-correlation, and coordinates (X, Y) having the largest normalized cross-correlation coefficient (−1 to +1) are used as corresponding points. The pattern matching is repeatedly performed while incrementing the value k, narrowing down the pattern corresponding to the value k, and moving the pattern area within the search range.

The following formula is generally used for the normalized cross-correlation function M (u, v) used for pattern matching. That is, t (x, y) is a template, g (x, y) is image data, t ′ is the average luminance of the template, and g ′ is the average luminance of the image. Applied. Here, ΣΣ _S represents taking the sum of pixels.
M (u, v) = {ΣΣ _S (g (x + u, y + v) −g ′) (t (x, y) −t ′)} / {ΣΣ _S (g (x + u, y + v) −g ′) ² × ΣΣ _S (t (x, y) −t ′) ² } ^1/2 (3)

  After the pattern matching is completed, the CPU 18 determines the value of the normalized cross correlation coefficient (step S340). The value of the normalized cross-correlation coefficient used for this determination is the largest value in pattern matching.

  If the normalized cross-correlation coefficient value is equal to or greater than the predetermined value, the process proceeds to step S350. If the normalized cross-correlation coefficient value is less than the predetermined value, the pattern matching process ends. To do. When the value of the normalized cross correlation coefficient is equal to or greater than the predetermined value, the CPU 18 sets the value of the confirmation flag relating to the normalized cross correlation coefficient to 1 (step S350). Subsequently, the CPU 18 calculates a texture contrast value (step S360).

The image area for calculating the texture contrast value is 11 × 11 pixels, which is the size of the pattern area subjected to pattern matching. The texture contrast value C (d, θ) is generally calculated as follows. The co-occurrence matrix D (a, b; d, θ) is a specific relative positional relationship “(d, θ)” (d is a distance, θ is an angle) [(x, y), (u, v)] with respect to the concentration pair (a, b). However, it is assumed that f (x, y) = a and f (u, v) = b. When there are 0 to (L-1) th L types of pixels, D (a, b; d, θ) is an L × L matrix. What normalized D so that the sum of all elements is 1 is expressed by the following equation (4). However, N _L = {0, 1, 2,..., L−1}.

  The texture contrast value is expressed by the following equation (5).

  Subsequently, the CPU 18 determines the texture contrast value (step S370). If the difference between the left and right images of the texture contrast value is less than the predetermined value, the process proceeds to step S380. Otherwise, the pattern matching process ends. When the difference between the left and right images of the texture contrast value is less than the predetermined value, the CPU 18 sets the value of the confirmation flag relating to the texture contrast value to 1 (step S380).

  In the first operation example described above, three types of determination regarding the reliability of the matching process (determination regarding the value of the normalized cross-correlation coefficient, determination regarding the contrast value of the texture, and determination regarding the object distance) are performed. In this determination, the distance between the two points is calculated and the measurement result is displayed only when it is determined that the result of the matching process is reliable. If it is determined that the result of the matching process is not reliable in at least one of these determinations, a measurement result indicating the failure of the matching process is displayed.

  Note that the processing shown in FIG. 6 may be performed as follows. After the three-dimensional coordinate analysis process for the first measurement point (step S110), the CPU 18 determines whether or not the matching process is successful based on the value of the matching confirmation flag (the same process as step S140). If the value of the matching confirmation flag is 1, the process proceeds to step S120. If the value of the matching confirmation flag is 0, the process returns to step S100. That is, the setting of the first measurement point and the three-dimensional coordinate analysis process are repeated until the matching process performed in the three-dimensional analysis process regarding the first measurement point is successful.

  Further, in the determination regarding the reliability of the matching process, a deviation amount of the corresponding point in the right image corresponding to the measurement point in the left image from the epipolar line may be used. For example, when the coordinates of the corresponding points on the right image obtained by the matching process are deviated from the epipolar line by a predetermined value or more, it is determined that the matching process has failed.

The specific method for obtaining the epipolar line is as follows. As shown in FIG. 11, the capture range of the left image 65 in the present embodiment is an image in the vicinity of the distance measuring point P. In FIG. 11, when the coordinates of the ranging point P are (lx, ly), the left acquisition width is L_WIDTH, and the left acquisition height is L_HEIGHT, the coordinates of the base point SPL of the left image acquisition range LAREA are as follows:
(Lx-L_WIDTH / 2, ly-L_HEIGHT / 2)
It becomes. Further, the acquisition range RAREA of the right image 66 is an image in the vicinity of the epipolar line 77 as shown in FIG.

  The epipolar line 77 is obtained as follows. From the optical data, the coordinates of the left reference point OL and the coordinates of the right reference point OR are read. The left reference point OL and the b right reference point OR are the coordinates of the same observation target near the optical center, and are set at the time of optical data production. The coordinates of the left reference point OL are (olx, ly), and the coordinates of the right reference point OR are (orx, ory).

If the X coordinate of the left end of the right image 66 is rsx, the coordinates (esx, esy) of the epipolar line start point ES are:
(Esx, esy) = (rsx, ly-oliy + ory)
It becomes. In addition, the coordinates (eex, ey) of the end point EE of the epipolar line are as follows:
(Eex, eyy) = (rsx + R_WIDTH, ly-oliy + ory)
It becomes.

Therefore, if the acquisition height is R_HEIGHT, the coordinates of the base point SPR of the acquisition range RAREA of the right image 66 are
(Esx, esy-R_HEIGHT / 2)
It becomes. Note that the method of obtaining the epipolar line is not limited to the above, but may be another method known in the field of general stereo vision.

(Second operation example)
Next, an operation at the time of object distance measurement will be described as a second operation example of the measurement process. As shown in FIG. 12, first, measurement points are set (step S400), and three-dimensional coordinate analysis processing is executed to calculate the three-dimensional coordinates of the measurement points (step S410). The three-dimensional coordinate analysis process is the same as in the first operation example. Subsequently, the CPU 18 determines whether or not the matching process is successful based on the value of the matching confirmation flag (step S420). If the value of the matching confirmation flag is 1, the matching process executed as part of step S410 is successful, and the process proceeds to step S430. If the matching confirmation flag is 0, the matching process executed as part of step S410 has failed, and the process proceeds to step S440.

  If the matching process executed as part of step S410 is successful, the value of the matching confirmation flag is 1. In this case, the CPU 18 executes control to display the object distance calculated in the three-dimensional coordinate analysis process in step S410 as a measurement result (step S430). If the matching process executed as part of step S410 has failed, the CPU 18 performs control to display the failure of the matching process as a measurement result (step S440). The measurement result display method is the same as that in the first operation example.

  FIG. 13 shows the display screen of the monitor 4. On the display screen 1300 shown in FIG. 13, a left image 1310 and a right image 1320 corresponding to the left and right subject images captured by the optical adapter 46 are displayed. When the user designates a measurement point 1340 on the subject 1330 on the left image 1310, the position of the corresponding point 1350 on the right image 1320 corresponding to the measurement point 1340 is calculated by the matching process. As shown in FIG. 13, when the calculation accuracy of the corresponding point 1350 is low, the measurement result 1360 shows “−.−−−” (FIG. 14 (a)) or “not measurable” (FIG. 14 (b) )) Is displayed.

  Subsequent to steps S430 and S440, the CPU 18 determines whether or not to end the measurement process (step S450). When the user operates the operation unit 6 and inputs an instruction to end the measurement process, the measurement process ends. In other cases, the process returns to step S400, and various processes are executed based on the endoscopic image data newly acquired from the video signal processing circuit 12.

(Third operation example)
Next, a third operation example regarding the measurement process will be described. Hereinafter, the operation at the time of measuring the distance between two points shown in the first operation example will be described, but the operation at the time of measuring the object distance shown in the second operation example is the same. FIG. 14 shows processing of the third operation example. The same reference numerals are assigned to the same processes as those shown in FIG. In the process shown in FIG. 14, when the value of the matching confirmation flag is confirmed in step S140, if at least one of the two types of matching confirmation flags is 0, the CPU 18 corrects the measurement point. Control for shifting to the correction mode is executed (step S500).

  When the operation mode of the measurement endoscope apparatus 1 shifts to the correction mode, the user can manually correct the position of the corresponding point on the right image by operating the operation unit 6. This correction mode itself is also prepared for a conventional measuring endoscope apparatus. When the correction of the corresponding point is completed, the three-dimensional coordinates are calculated based on the corrected position of the corresponding point. Subsequently, the distance between the two points is calculated and the measurement result is displayed (steps S150 and S160). As a result, it can be expected that the reliability of the measurement result is improved. In the process shown in FIG. 14, the process of step S170 shown in FIG. 6 may be performed to display the measurement result indicating the failure of the matching process and then shift to the correction mode.

(Fourth operation example)
Next, a fourth operation example regarding the measurement processing will be described. Hereinafter, the operation at the time of measuring the distance between two points shown in the first operation example will be described, but the operation at the time of measuring the object distance shown in the second operation example is the same. In the fourth operation example, it is possible to select a mode in which the determination regarding the reliability of the matching process (hereinafter referred to as matching reliability determination) and a mode in which the determination is not performed. One of the two modes is set in advance before the start of the measurement process. Alternatively, the setting may be performed immediately after the start of the measurement process.

  FIG. 15 shows the processing of the fourth operation example. The same reference numerals are assigned to the same processes as those shown in FIG. In the process illustrated in FIG. 15, after the three-dimensional coordinate analysis process in step S <b> 130, the CPU 18 determines whether to perform matching reliability determination (step S <b> 600). If the setting for performing the matching reliability determination is made, the process proceeds to step S140. If the setting for not performing the matching reliability determination is performed, the process proceeds to step S150.

  FIG. 16 shows pattern matching processing in the fourth operation example. The same reference numerals are given to the same processes as those shown in FIG. In the process shown in FIG. 16, after pattern matching in steps S310 to S330, the CPU 18 determines whether or not to perform matching reliability determination (step S700). If the setting for performing the matching reliability determination is made, the process proceeds to step S340. If the setting for not performing the matching reliability determination is performed, the pattern matching process is ended. When the setting for not performing the matching reliability determination is performed, the processing related to the matching reliability determination is omitted, and accordingly, the processing can be speeded up.

(Fifth operation example)
Next, a fifth operation example regarding the measurement processing will be described. In the description of the above operation example, the order in which the measurement results are displayed when it is determined that the result of the matching process is not reliable is not defined. However, in order to improve the user's work efficiency, it is desirable to display the measurement result indicating the failure of the matching process earlier. Therefore, in the fifth operation example, when it is determined that the result of the matching process is not reliable, the measurement result is displayed earlier than the others. Hereinafter, the operation at the time of measuring the distance between two points shown in the first operation example will be described, but the operation at the time of measuring the object distance shown in the second operation example is the same.

  As shown in FIG. 17A, first, when the first measurement point 1730a is set on the left image 1710 of the display screen 1700, the first corresponding point 1740a on the right image 1720 corresponding to the first measurement point 1730a. Is set. At this time, the zoom window 1750 displays an enlarged image at the first measurement point 1730a, and the zoom window 1760 displays an enlarged image at the first corresponding point 1740a. Subsequently, as shown in FIG. 17B, a second measurement point 1730b is set on the left image 1710. At this time, the CPU 18 executes control to add the second measurement point 1730b to the display screen 1700 and display it. Further, the CPU 18 executes processing after step S130 in FIG. 6 in parallel with the control for displaying the second measurement point 1730b.

  When it is determined that the matching process has failed as a result of the process of step S140 in FIG. 6, the CPU 18 executes control to add a measurement result indicating the failure of the matching process to the display screen 1700 and display it. As a result, a measurement result 1770 is displayed as shown in FIG. Subsequently, the CPU 18 executes control for adding and displaying the second corresponding point on the right image 1720 corresponding to the second measurement point 1730b on the display screen 1700. Thereby, as shown in FIG. 18B, the second corresponding point 1740b is displayed on the right image 1720. When the matching reliability determination is performed before the three-dimensional coordinate analysis processing as in a sixth operation example described later, the second position is not set to the predetermined position without obtaining the actual position of the second corresponding point 1740b. The corresponding point 1740b may be displayed, or the second corresponding point 1740b may be controlled not to be displayed on the right image 1720 (FIG. 19B).

  Subsequently, the CPU 18 performs control to display an enlarged image at the second measurement point 1730b on the left image 1710 on the zoom window 1750 and display an enlarged image at the second corresponding point 1740b on the right image 1720 on the zoom window 1760. To do. Thereby, as shown in FIG. 19A, the display of the zoom windows 1750 and 1760 is updated. When the second corresponding point 1740b is controlled not to be displayed, the enlarged image is not displayed in the zoom window 1760. As described above, when it is determined that the result of the matching process is not reliable, the process of displaying the measurement result is performed by the process of displaying the corresponding point on the right image corresponding to the measurement point on the left image, By performing before the process of displaying the enlarged image in the zoom window, it is possible to notify the user of the failure of the matching process earlier and to improve the user's work efficiency.

  In summary, it is desirable to perform the process of displaying the measurement result indicating the failure of the matching process before the process of displaying the region including the corresponding point on the right image corresponding to the measurement point on the left image. The area including the corresponding point on the right image includes the second corresponding point 1740b on the right image 1720 in FIG. 19 and its surrounding area (area for displaying a graphic including the second corresponding point 1740b), and the zoom window 1760. It is at least one of the region and the entire right image 1720.

(Sixth operation example)
Next, a sixth operation example regarding the measurement processing will be described. Hereinafter, the operation at the time of object distance measurement shown in the second operation example will be described, but the operation at the time of measuring the distance between two points shown in the first operation example is also the same. In the sixth operation example, the matching reliability determination is performed before the three-dimensional coordinate analysis process.

  FIG. 20 shows a measurement process corresponding to FIG. The same processes as those shown in FIG. 12 are given the same reference numerals. The difference from FIG. 12 is that the processes of steps S800 to S820 are added, and the process of step S410 is changed to the process of step S830. After the measurement point is set in step S400, the CPU 18 calculates a texture contrast value (step S800). At this time, the CPU 18 calculates the texture contrast value from the image of the 11 × 11 pixel pattern area centered on the measurement point set on the left image.

  Subsequently, the CPU 18 determines the texture contrast value (step S810). In this determination, it is determined whether the image is suitable for measurement (particularly matching processing) by comparing the texture contrast value calculated in step S800 with a predetermined value. If the texture contrast value is greater than or equal to the predetermined value, the process proceeds to step S830. If the contrast value of the texture is less than the predetermined value, the image is not suitable for measurement, and thus the CPU 18 performs control to display that the image is not suitable for measurement as a measurement result (step S820).

  FIG. 21 shows the three-dimensional coordinate analysis processing in step S830. The same processes as those shown in FIG. 8 are given the same reference numerals. The difference from FIG. 8 is that the process of step S230 regarding the contrast value of the texture is omitted, and the process of step S200 of FIG. 8 is changed to the process of step S900. FIG. 22 shows the pattern matching process in step S900. The same reference numerals are given to the same processes as those shown in FIG. The difference from FIG. 10 is that the processing in steps S360 to S380 regarding the texture contrast value is omitted, and the processing in step S300 in FIG. 10 is changed to the processing in step S1000. In step S1000, the CPU 18 sets the value of the confirmation flag related to the normalized cross correlation coefficient to 0 as an initialization process.

  As described above, by using the texture contrast value that can be calculated without performing the pattern matching processing, the matching reliability determination is performed before the three-dimensional coordinate analysis processing, so that the matching processing reliability is low. It is possible to communicate to the user quickly and improve the user's work efficiency. In addition, after the matching process for calculating the position of the corresponding point on the right image corresponding to the measurement point on the left image, the matching reliability determination regarding the object distance and the matching reliability determination regarding the normalized cross-correlation coefficient are performed. As a result, the accuracy of the matching reliability determination can be maintained.

(Seventh operation example)
Next, a seventh operation example regarding the measurement processing will be described. Hereinafter, the operation at the time of object distance measurement shown in the second operation example will be described, but the operation at the time of measuring the distance between two points shown in the first operation example is also the same. In the seventh operation example, the matching reliability determination is performed while the pointer for designating the position of the measurement point is moved by the user.

  FIG. 23 shows a measurement process corresponding to FIGS. The same processes as those shown in FIGS. 12 and 20 are denoted by the same reference numerals. The difference from FIG. 12 and FIG. 20 is that the processing of steps S1100 to S1150 is added. As shown in FIG. 23, first, the CPU 18 determines whether or not an instruction to move the pointer on the display screen is input based on a signal output from the operation unit 6 and input via the RS-232C I / F 17. Is determined (step S1100).

  If no instruction to move the pointer is input, the process proceeds to step S1150. If an instruction to move the pointer is input, the CPU 18 performs processing for updating the display position of the pointer and calculates the contrast value of the texture (step S1110). At this time, the CPU 18 calculates the texture contrast value from the image of the 11 × 11 pixel pattern area centered on the measurement point set on the left image.

  Subsequently, the CPU 18 determines the texture contrast value (step S1120). In this determination, it is determined whether the image is suitable for measurement (particularly matching processing) by comparing the texture contrast value calculated in step S1110 with a predetermined value. If the texture contrast value is greater than or equal to the predetermined value, the process proceeds to step S1140. If the contrast value of the texture is less than the predetermined value, the image is not suitable for measurement, and the CPU 18 executes control to display that the image is not suitable for measurement as a measurement result (step S1130).

  Subsequent to step S1120 or step S1130, the CPU 18 determines whether or not an instruction to move the pointer on the display screen is input (step S1140). The determination method is the same as the determination method in step S1100. If an instruction to move the pointer is input, the process returns to step S1110. When no instruction to move the pointer is input, the CPU 18 outputs an instruction to set a measurement point based on a signal output from the operation unit 6 and input via the RS-232C I / F 17. It is determined whether or not an input has been made (step S1100). The instruction to set the measurement point also serves as an instruction to start actual measurement (particularly matching processing). If an instruction to set a measurement point has not been input, the process returns to step S1100. If an instruction to set a measurement point is input, the process proceeds to step S400. The subsequent processing is as described above.

  In the above description, the matching reliability determination using the texture contrast value is performed after the instruction to move the pointer is input until the instruction to set the measurement point (measurement start instruction) is input. Therefore, similar to the sixth operation example, it is possible to quickly inform the user that the reliability of the matching process is low, and to improve the user's work efficiency. Further, the user can know in real time where the reliability of the matching process is low by operating the operation unit 6 and moving the pointer.

  As described above, according to the present embodiment, the user's work efficiency can be improved by executing the control according to the determination result of the reliability of the measurement result. In particular, by controlling the display form of the measurement result according to the determination result of the reliability of the measurement result, it becomes easier for the user to make a determination such as ending the measurement or starting over, thereby improving the user's work efficiency Can do. In addition, when it is determined that the reliability of the measurement result is low, by executing control to shift to the correction mode to correct the measurement position, the reliability of the measurement result is improved, and it is difficult to repeat the measurement. The work efficiency of the user can be improved. In addition, by displaying the measurement result indicating the failure of the matching process earlier than the others, or by performing the matching reliability determination before the three-dimensional coordinate analysis process, the matching process is less likely to be less reliable. It is possible to improve the work efficiency of the user.

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to the above-described embodiments, and includes design changes and the like without departing from the gist of the present invention. . For example, in the above-described embodiment, the example in which the optical adapter is replaceable is shown. However, the optical adapter may be fixed to the distal end portion of the insertion portion instead of the replaceable type.

1 is a perspective view showing an overall configuration of a measurement endoscope apparatus according to an embodiment of the present invention. It is a block diagram which shows the internal structure of the endoscope apparatus for measurement by one Embodiment of this invention. It is a perspective view of the front-end | tip part of the insertion part of the endoscope which the endoscope apparatus for measurement by one Embodiment of this invention has. It is sectional drawing of the front-end | tip part of the insertion part of the endoscope which the endoscope apparatus for measurement by one Embodiment of this invention has. It is a perspective view which shows a mode that the optical data peculiar to the optical adapter applied to the endoscope apparatus for measurement by one Embodiment of this invention are measured. It is a flowchart which shows the procedure of the measurement process (1st operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a reference figure showing the display screen (the 1st example of operation) of the endoscope apparatus for measurement by one embodiment of the present invention. It is a flowchart which shows the procedure of the three-dimensional coordinate analysis process (1st operation example) which the endoscope apparatus for a measurement by one Embodiment of this invention performs. It is a reference figure which shows the basic principle of the three-dimensional coordinate analysis in one Embodiment of this invention. It is a flowchart which shows the procedure of the pattern matching process (1st operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a reference figure for demonstrating how to obtain the epipolar line in one embodiment of the present invention. It is a flowchart which shows the procedure of the measurement process (2nd operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a reference figure showing the display screen (the 2nd example of operation) of the endoscope apparatus for measurement by one embodiment of the present invention. It is a flowchart which shows the procedure of the measurement process (3rd operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a flowchart which shows the procedure of the measurement process (4th operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a flowchart which shows the procedure of the pattern matching process (4th operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a reference figure showing the display screen (the 5th example of operation) of the endoscope apparatus for measurement by one embodiment of the present invention. It is a reference figure showing the display screen (the 5th example of operation) of the endoscope apparatus for measurement by one embodiment of the present invention. It is a reference figure showing the display screen (the 5th example of operation) of the endoscope apparatus for measurement by one embodiment of the present invention. It is a flowchart which shows the procedure of the measurement process (6th operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a flowchart which shows the procedure of the three-dimensional coordinate analysis process (6th operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a flowchart which shows the procedure of the pattern matching process (6th operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a flowchart which shows the procedure of the measurement process (7th operation example) which the endoscope apparatus for measurement by one Embodiment of this invention performs. It is a reference figure which shows the display screen of the conventional endoscope apparatus for measurement. It is a reference figure which shows the display screen of the conventional endoscope apparatus for measurement.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Measuring endoscope apparatus, 2 ... Endoscope, 3 ... Apparatus main body, 4 ... Monitor, 5 ... Case, 6 ... Operation part (input means), 8 ... endoscope unit, 9 ... CCU (imaging signal processing means), 10 ... control unit, 12 ... video signal processing circuit (display signal generating means), 18 ... CPU (measurement) Means, determination means, control means), 20 ... insertion part, 21 ... tip part, 22 ... bending part, 23 ... flexible tube part, 28 ... imaging element

Claims (17)

An endoscope that photoelectrically converts a subject image to generate an imaging signal;
Imaging signal processing means for processing the imaging signal and generating image data;
Measuring means for performing measurement based on the principle of triangulation using the image data;
Display signal generating means for generating a display signal for displaying the measurement result;
Determination means for determining the reliability of the measurement result based on the image data;
Control means for executing control according to the determination result;
Equipped with a,
When it is determined that the reliability of the measurement result is low, the control unit performs control to shift to a correction mode for correcting a corresponding point in another subject image corresponding to a measurement point in one subject image related to the same subject. An endoscope apparatus for measurement, characterized in that: An endoscope that photoelectrically converts a subject image to generate an imaging signal;
Imaging signal processing means for processing the imaging signal and generating image data;
Measuring means for performing measurement based on the principle of triangulation using the image data;
Display signal generating means for generating a display signal for displaying the measurement result;
Determination means for determining the reliability of the measurement result based on the image data;
Control means for executing control according to the determination result;
Equipped with a,
The measurement unit performs the measurement based on a measurement point on the first subject image and a corresponding point corresponding to the measurement point on the second subject image;
The measurement endoscope apparatus, wherein the control unit performs control to display the measurement result before an area including the corresponding point when it is determined that the reliability of the measurement result is low. . Wherein, the determination result measuring endoscope apparatus according to claim 1 or claim 2, characterized in that to control the display form of the measurement results in accordance with the. The measurement internal according to claim 3 , wherein the control means controls the display form of the measurement result according to the value of the distance from the measurement position on the subject to the imaging plane of the endoscope. Endoscopic device. It said control means measuring endoscope apparatus according to claim 3 or claim 4, characterized in that to control the display form of the measurement results depending on the value of the correlation function of a plurality of object images related to the same subject . Wherein, in a measurement according to any one of claims 3 to 5, characterized in that to control the display form of the measurement results according to the contrast value of the texture of a plurality of object images related to the same subject Endoscopic device. The control means controls a display form of the measurement result in accordance with a deviation amount of a corresponding point in another subject image from an epipolar line corresponding to a measurement point in one subject image related to the same subject. The measurement endoscope apparatus according to any one of claims 3 to 6 . Said determination means before said measurement means performs said measurements, according to any of claims 1 7, characterized in that to determine the reliability of the measurement result based on the image data Endoscope device for measurement. The determination unit performs a first determination process for determining reliability of the measurement result based on the image data before the measurement unit performs the measurement, and the measurement unit performs the measurement. The measurement endoscope apparatus according to any one of claims 1 to 7 , wherein a second determination process for determining reliability of the measurement result is executed later based on the image data. An input unit for the user to input a pointer movement instruction indicating the position of the measurement point on the subject image and a measurement start instruction;
The display signal generating means generates an image based on the image data, the measurement result, and a display signal for displaying the pointer;
The determination means determines the reliability of the measurement result at the position of the measurement point between the input of the pointer movement instruction to the input means and the input of the measurement start instruction. measuring endoscope apparatus according to any one of claims 1 to 7, characterized. The display signal generation means generates a display signal for displaying an image based on the image data and the measurement result,
The measurement endoscope apparatus according to any one of claims 1 to 10 , wherein the control unit executes control to display the determination result outside a measurable region on an image. An endoscope that photoelectrically converts a subject image to generate an imaging signal;
Imaging signal processing means for processing the imaging signal and generating image data;
Measuring means for performing measurement based on the principle of triangulation using the image data;
Display signal generating means for generating a display signal for displaying the measurement result;
Determination means for determining the reliability of the measurement result based on the image data;
Control means for executing control according to the determination result;
As a program for causing the measurement endoscope apparatus to function ,
When it is determined that the reliability of the measurement result is low, the control unit performs control to shift to a correction mode for correcting a corresponding point in another subject image corresponding to a measurement point in one subject image related to the same subject. Do
A program characterized by that . An endoscope that photoelectrically converts a subject image to generate an imaging signal;
Imaging signal processing means for processing the imaging signal and generating image data;
Measuring means for performing measurement based on the principle of triangulation using the image data;
Display signal generating means for generating a display signal for displaying the measurement result;
Determination means for determining the reliability of the measurement result based on the image data;
Control means for executing control according to the determination result;
As a program for causing the measurement endoscope apparatus to function ,
The measurement unit performs the measurement based on a measurement point on the first subject image and a corresponding point corresponding to the measurement point on the second subject image;
The control means executes control to display the measurement result before an area including the corresponding point when it is determined that the reliability of the measurement result is low.
A program characterized by that . The program according to claim 12 or 13 , wherein the determination unit determines the reliability of the measurement result based on the image data before the measurement unit executes the measurement. The determination unit performs a first determination process for determining reliability of the measurement result based on the image data before the measurement unit performs the measurement, and the measurement unit performs the measurement. The program according to any one of claims 12 to 14 , wherein a second determination process for determining reliability of the measurement result is executed later based on the image data. Causing the measurement endoscope apparatus to function as an input means for a user to input a pointer movement instruction indicating the position of a measurement point on a subject image and a measurement start instruction;
The display signal generating means generates an image based on the image data, the measurement result, and a display signal for displaying the pointer;
The determination means determines the reliability of the measurement result at the position of the measurement point between the input of the pointer movement instruction to the input means and the input of the measurement start instruction. The program according to any one of claims 12 to 14 , wherein the program is characterized. The display signal generation means generates a display signal for displaying an image based on the image data and the measurement result,
The program according to any one of claims 12 to 16 , wherein the control unit executes control to display the determination result outside a measurable region on an image.

Images