JP5791989B2 - Endoscope apparatus and program - Google Patents

Description

  The present invention relates to an endoscope apparatus having a measurement function. The present invention also relates to a program for realizing a measurement function in an endoscope apparatus on a computer.

  In recent years, industrial endoscopes have been widely used to observe internal scratches and corrosion in inspection of boilers, turbines, engines, chemical plants, and the like. As an example of an industrial endoscope, a measurement endoscope apparatus that provides two optical systems at the tip of an endoscope and realizes three-dimensional measurement by stereo measurement using the principle of triangulation (see, for example, Patent Document 1) ) When a defect such as a scratch is found inside the inspection object during inspection, it is necessary to disassemble and repair the inspection object by measuring the size of the wound using such a measurement endoscope device. Sex can be judged. In addition to stereo measurement, there is also used an apparatus that provides a means for projecting pattern light at the tip and analyzes a pattern reflected on a subject to perform three-dimensional measurement.

  In general, the uncertainty of the measurement value (measurement value) of the three-dimensional measurement has a property that the smaller the distance from the subject (hereinafter referred to as the object distance), the smaller the uncertainty, and the greater the object distance, the larger the uncertainty. Here, the uncertainty is a scale indicating how much the true value is within the measured value. Therefore, in order to perform three-dimensional measurement with high accuracy, it is necessary to bring the tip of the endoscope as close as possible to the subject. However, it is difficult for the user to determine whether or not the endoscope is sufficiently close to the subject simply by looking at the image of the endoscope. For this reason, Patent Documents 2 and 3 disclose measurement endoscope apparatuses that can inform a user of an object distance while observing a subject.

JP 2004-49638 A JP 2006-136706 A JP 2006-325741 A

  However, even if the user can know the object distance during observation, it is difficult to estimate the uncertainty according to the object distance. This is because uncertainty is not determined only by the object distance. When the contrast of the subject image is not sufficient in stereo measurement, matching (the position of the subject in the image based on the light through the other optical system, corresponding to the position of the subject in the image based on the light through one optical system) ) Is inaccurate and the uncertainty is increased. In the method of projecting pattern light, if the diffuse reflectance of the surface is small, the image quality of the pattern reflected on the subject is lowered and the uncertainty is increased. Therefore, although the object distance is a standard for estimating the uncertainty, there is a problem that it is not clear whether or not the accuracy desired by the user can be obtained.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an endoscope apparatus and program capable of notifying the user of the accuracy of measurement values.

The present invention has been made in order to solve the above-described problem, and an image based on the image data based on an imaging unit that captures an image of the subject and generates image data and an instruction input via the input device. A designating unit for designating a measurement position, a first calculation unit for calculating three-dimensional coordinates corresponding to the measurement position, and a measurement unit for measuring the size of the subject based on the three-dimensional coordinates corresponding to the measurement position And an estimated value of variation in three-dimensional coordinates corresponding to each of the plurality of positions in the image, and the size of the subject for each of the plurality of positions based on the estimated value of variation in the three-dimensional coordinates. A second calculation unit that calculates an estimated value of the measured value variation when the measurement value is measured, and information indicating the measured value variation is displayed based on the estimated value of the measured value variation It includes a radical 113, a second calculating unit, each of the plurality of positions to set a plurality of areas as a reference position, 3-dimensional other locations with respect to the reference position in the region Based on the coordinates, a plane that approximates the surface of the subject is calculated, and the three-dimensional of the reference position in the region is calculated from the variation in the distance between the other position based on the reference position and the plane in the region. An endoscope apparatus characterized by calculating an estimated value of variation in coordinates .

  In the endoscope apparatus according to the present invention, the display unit displays the image in a display form based on an estimated value of variation in the measurement values for each of the plurality of positions.

  Further, in the endoscope apparatus according to the present invention, the display unit has a display form based on an estimated value of the variation of the measurement value for each of the plurality of positions and a reference value input via the input device. The image is displayed.

  In the endoscope apparatus of the present invention, the display form is a color.

According to the present invention, a designation unit that designates a measurement position in an image based on image data of a subject based on an instruction input via an input device, and a first unit that calculates a three-dimensional coordinate corresponding to the measurement position. A calculation unit that calculates the size of the subject based on the three-dimensional coordinates corresponding to the measurement position, and an estimated value of variation in the three-dimensional coordinates corresponding to each of the plurality of positions in the image. A second calculation unit that calculates an estimated value of the variation of the measured value when the size of the subject is measured for each of the plurality of positions based on the estimated value of the variation of the three-dimensional coordinates; and the measurement based on the estimated value of the variation values, a program for causing a computer to function as a display unit, for displaying information indicating the variation of the measured value, said second meter The unit sets a plurality of regions with the plurality of positions as reference positions, and approximates the surface of the subject based on the three-dimensional coordinates of other positions with the reference position as a reference within the region. A program for calculating a plane and calculating an estimated value of a variation in three-dimensional coordinates of the reference position in the region from a variation in distance between the plane and another position based on the reference position in the region. .

  According to the present invention, for each of a plurality of positions in the image, an estimated value variation of the measured value when the size of the subject is measured is calculated, and based on the estimated value of the measured value variation, the measured value variation By displaying the information indicating, the accuracy of the measurement value can be notified to the user.

1 is a perspective view showing an overall configuration of an endoscope apparatus according to an embodiment of the present invention. It is a block diagram which shows the internal structure of the endoscope apparatus by one Embodiment of this invention. It is a block diagram which shows the structure of the image processing circuit with which the endoscope apparatus by one Embodiment of this invention is provided. It is a perspective view of the stereo optical adapter used for the endoscope apparatus by one Embodiment of this invention. It is sectional drawing which shows the internal structure of the stereo optical adapter used for the endoscope apparatus by one Embodiment of this invention. It is a reference figure for demonstrating how to obtain | require the three-dimensional coordinate by the stereo measurement in one Embodiment of this invention. It is a flowchart which shows the procedure of operation | movement of the endoscope apparatus by one Embodiment of this invention. It is a reference figure which shows the calculation method of the estimated value of the dispersion | variation in the three-dimensional coordinate in one Embodiment of this invention. It is a reference diagram showing an uncertainty estimation image in an embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an overall configuration of an endoscope apparatus according to an embodiment of the present invention. As shown in FIG. 1, an endoscope apparatus 1 is a control unit that is a control device including an endoscope 2 having an elongated insertion portion 20 and a storage portion that stores the insertion portion 20 of the endoscope 2. 3, a remote controller 4 for performing operations necessary for various operation control of the entire apparatus, and an LCD 5 (liquid crystal display) that displays an endoscopic image and operation control contents (for example, a processing menu). Monitor).

  The insertion portion 20 is configured by connecting a hard distal end portion 21 and a flexible tube portion having flexibility (for example, a bending portion 22 that can be bent vertically and horizontally (FIG. 2)). Various optical adapters such as stereo optical adapters 7a and 7b having two observation fields or a normal observation optical adapter 7c 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 control unit 3, and the proximal end portion of the insertion portion 20 is the endoscope unit 8. It is connected to the. 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. .

  A solid-state imaging device 2a (see FIG. 4) is built in the distal end portion 21 of the insertion portion 20. The solid-state imaging device 2a captures a subject and generates an imaging signal. That is, the solid-state imaging device 2a photoelectrically converts the subject image formed through the optical adapter and generates an imaging signal. An imaging signal output from the solid-state imaging device 2a is input to the CCU 9. This imaging signal is converted into image data in the CCU 9 and supplied to the control unit 10.

  In the control unit 10, an audio signal processing circuit 11, an image processing circuit 12 to which a video signal is input, a ROM 13, a RAM 14, a PC card I / F 15 (PC card interface), a USB I / F 16 (USB interface), an RS- A 232C I / F 17 (RS-232C interface) and a CPU 18 are provided.

  The RS-232C I / F 17 is connected to the CCU 9 and the endoscope unit 8, and is connected to the remote controller 4 for controlling and operating the CCU 9 and the endoscope unit 8. When the user operates the remote controller 4, 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 3 and the personal computer 31. By connecting the control unit 3 and the personal computer 31 via the USB I / F 16, various instruction controls such as an endoscope image display instruction and image processing at the time of measurement are performed on the personal computer 31 side. In addition, control information and data necessary for various processes between the control unit 3 and the personal computer 31 can be input / output.

  Further, a so-called memory card, which is a storage medium such as the PCMCIA memory card 32 and the flash memory card 33, can be freely attached to and detached from the PC card I / F 15. By mounting the memory card on the PC card I / F 15, the CPU 18 controls the control processing information and image data stored in the memory card to be taken into the control unit 3 or the control processing information and image. It becomes possible to record data such as information in a memory card.

  The image processing circuit 12 displays a composite image obtained by synthesizing a subject image captured by the endoscope 2 with a graphic operation menu and various GUI parts (cursor, etc.), and therefore a graphic based on the operation menu and various GUI parts. Processing for combining the data and image data from the CCU 9, image processing necessary for display on the screen of the LCD 5, and the like are performed, and the processed data is supplied to the LCD 5.

  Since the stereo optical adapter is attached to the distal end portion 21 at the time of measurement, the image based on the image data from the image processing circuit 12 includes a plurality of subject images related to the same subject as the measurement target. In this embodiment, as an example, a pair of left and right subject images are included.

  In the audio signal processing circuit 11, an audio signal recorded by a microphone 34 and recorded on a storage medium such as a memory card, an audio signal obtained by reproducing a storage medium such as a memory card, or generated by the CPU 18 is generated. The audio signal is supplied. The audio signal processing circuit 11 performs processing such as amplification processing necessary for reproducing the supplied audio signal and outputs the processed signal to the speaker 35. As a result, sound is output from the speaker 35.

  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 system. The RAM 14 is used by the CPU 18 as a work area for temporarily storing data.

  FIG. 3 shows the configuration of the image processing circuit 12. The image processing circuit 12 includes a three-dimensional coordinate calculation unit 12a, a measurement unit 12b, an uncertainty estimation unit 12c, and an image composition unit 12d.

  The three-dimensional coordinate calculation unit 12 a calculates three-dimensional coordinates corresponding to a position designated on the image based on the image data input to the image processing circuit 12. The position for calculating the three-dimensional coordinates is a measurement position (measurement point) designated by the user in the image and a predetermined position in the image. The three-dimensional coordinates of the measurement point designated by the user are used to obtain the size (distance between two points, area, etc.) of the three-dimensional shape of the subject. The three-dimensional coordinates at the predetermined position are used to determine the uncertainty of the measurement value itself when the subject is measured. This uncertainty corresponds to an estimated value of variation in measured values when the subject is measured.

  The measurement unit 12b calculates the size (measurement value) of the three-dimensional shape of the subject based on the three-dimensional coordinates of the measurement points calculated by the three-dimensional coordinate calculation unit 12a. The uncertainty estimation unit 12c calculates an estimated value of the variation of the three-dimensional coordinate based on the three-dimensional coordinate at a predetermined position in the image calculated by the three-dimensional coordinate calculation unit 12a. The uncertainty estimation unit 12c calculates the uncertainty of the measurement value itself when the subject is measured based on the calculated estimated value of the three-dimensional coordinate variation. By estimating the uncertainty of the measurement value itself, not the index such as the object distance that indirectly indicates the accuracy of the measurement result, and notifying the user, the user can be notified of the more accurate accuracy of the measurement value.

  The image composition unit 12d uses the measurement value calculated by the measurement unit 12b and the uncertainty calculated by the uncertainty estimation unit 12c for the image data input from the CCU 9 or the image data read from the memory card or the like by the CPU 18. Processing for combining information for display is performed, and the processed image data is output to the LCD 5. Regarding the uncertainty, in order to be able to determine from the image whether or not the measurement can be performed with the accuracy desired by the user (the value defined by the uncertainty as the reference uncertainty), the image composition unit 12d The display form of the image is changed between an area where the uncertainty is larger than the reference uncertainty and an area where the uncertainty is smaller. In the example of the present embodiment, in the image displayed on the LCD 5, an area where the uncertainty is larger than the reference uncertainty and a small area are displayed in different colors.

  Information on measurement points and reference uncertainties is input from the CPU 18 to the image processing circuit 12 having the above configuration. The CPU 18 detects an aim movement instruction based on a signal from the remote controller 4 used by the user as an input device, and calculates the position on the image of the aim after the movement. When the user inputs a measurement point designation instruction (confirmation instruction) via the remote controller 4, the CPU 18 designates (recognizes) the calculated aim position as the measurement point position, and the designated measurement point position. Information (pixel position) is output to the image processing circuit 12. When the user inputs information on the reference uncertainty via the remote controller 4, the CPU 18 outputs the information to the image processing circuit 12.

  4 and 5 show a configuration of an example of a stereo optical adapter 7a that is one of the optical adapters used in the endoscope apparatus 1 of the present embodiment. As shown in FIGS. 4 and 5, a pair of illumination lenses 51 and 52 and two objective lens systems 53 and 54 are provided on the front end surface of the direct-viewing type stereo optical adapter 7a. As described above, the internal thread 50 a of the fixing ring 50 is integrally fixed by being screwed into the external thread 21 a formed at the tip portion 21.

  As shown in FIG. 5, two optical images are formed on the imaging surface of the solid-state imaging device 2 a disposed in the distal end portion 21 by the two objective lens systems 53 and 54. Then, the imaging signal photoelectrically converted by the solid-state imaging device 2a is supplied to the CCU 9 through the electrically connected signal line 2b and the endoscope unit 8 and converted into image data, and then the image processing circuit. 12 is supplied.

  Next, with reference to FIG. 6, how to obtain the three-dimensional coordinates by stereo measurement will be described. The three-dimensional coordinate calculation unit 12a calculates the three-dimensional coordinates (X, Y, Z) of the point 60 on the image by the triangulation method using the left and right images captured by the left and right optical systems. calculate. First, the three-dimensional coordinate calculation unit 12a calculates, for example, the position of the point 62 on the right image corresponding to the position of the point 61 on the left image by image pattern matching. The point 61 is a measurement point designated by the user or a point at a predetermined position for calculating the uncertainty of the measurement value itself.

Subsequently, the three-dimensional coordinate calculation unit 12a calculates the three-dimensional coordinates (X, Y, Z) of the point 60 by the following equations (A) to (C). However, the point 61 on the left and right image distortion has been corrected, the coordinates of the point 62, respectively _{(X L, Y L),} (X R, Y R) and the distance of the left and right optical centers 63 and 64 Is D, the focal length is F, and t = D / (X _L −X _R ).
X = t × X _R + D / 2 (A)
Y = t × Y _R (B)
Z = t × F (C)

  By obtaining the three-dimensional coordinates of several measurement points, it is possible to perform various measurements such as the distance between two points, the distance between two points and the distance between one point, area, depth, and surface shape. . It is also possible to obtain the distance (object distance) from the left optical center 63 or the right optical center 64 to the subject. In order to perform the above stereo measurement, optical data indicating the characteristics of the optical system including the tip 21 and the stereo optical adapter is required. 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.

  In the above description, three-dimensional coordinates are calculated by stereo measurement. However, it is also possible to calculate three-dimensional coordinates by analyzing a pattern image captured by projecting pattern light onto a subject.

  Next, the measurement procedure in this embodiment will be described. First, in order to notify the user whether or not the measurement can be performed with the accuracy desired by the user, the endoscope apparatus estimates the uncertainty of the measurement value, and generates an uncertainty estimation image including information on the estimated uncertainty. indicate. FIG. 7 shows a procedure for estimation of uncertainty and display of an uncertainty estimation image. Prior to the processing shown in FIG. 7, it is assumed that a reference uncertainty (u) corresponding to the accuracy desired by the user is input in advance.

  First, image data from the CCU 9 or image data read from a memory card or the like by the CPU 18 is input to the image processing circuit 12 (step S100). Subsequently, the image processing circuit 12 calculates an estimated value of the variation of the three-dimensional coordinates for each pixel in the image based on the input image data, and further calculates the uncertainty that is the estimated value of the variation of the measured value for each pixel. Calculate (step S110).

Details of step S110 will be described below. First, the image processing circuit 12 calculates an estimated value of variation in three-dimensional coordinates for each pixel in a predetermined region (for example, the entire image region or a predetermined partial region) of the image based on the input image data. . Specifically, the image processing circuit 12 calculates the estimated value of the three-dimensional coordinate variation as follows. As shown in FIG. 8, in a rectangular area B including a pixel P (x, y) serving as a reference pixel (reference position) and eight surrounding pixels, each pixel in the area B is represented by P _ij (x + i, y + j). Let εB, −1 ≦ i, j ≦ 1. Since the area B is small, the area of the subject surface corresponding to the area B is also small. In the area B, the shape of the object surface may be approximated by a plane. A plane that approximates the surface of the subject is defined as plane C.

The three-dimensional coordinate calculation unit 12a calculates three-dimensional coordinates at the position of each pixel in the region B. The uncertainty estimation unit 12c calculates the plane C from the three-dimensional coordinates of each pixel calculated by the three-dimensional coordinate calculation unit 12a. When the three-dimensional coordinates calculated at the position of the pixel P _ij are Q _ij (X _ij , Y _ij , Z _ij ) and the plane C equation is aX + bY + cZ + d = 0, the three-dimensional coordinate calculation unit 12a The plane C is approximated by calculating the coefficients a, b, c, and d that minimize e indicated by

The variation when the three-dimensional coordinate is calculated at the position of the pixel P is obtained from the variation in the distance from the point Q _ij to the plane C. The distance from the point Q _ij to the plane C is obtained by components in the X direction, the Y direction, and the Z direction. However, since these variations are generally different, the uncertainty estimation unit 12c calculates the variations in each direction as follows. To calculate separately. That is, the direction vector of the perpendicular line drawn from the point Q _ij to the plane C is n _ij = (n _ijx , n _ijy , n _ijz ), and the standard deviations of n _ijx , n _ijy , and n _ijz are σ _X (P) , Σ _Y (P), σ _Z (P). The uncertainty estimation unit 12c calculates these three standard deviations, and uses them as estimated values of variations in the three-dimensional coordinates corresponding to the pixels P.

  The above calculation is performed for each pixel in a predetermined area of the image. That is, the three-dimensional coordinate calculation unit 12a sets a region B with the pixel as a reference position for each pixel in a predetermined region of the image, and calculates a three-dimensional coordinate at the position of each pixel in the region B. The uncertainty estimation unit 12c calculates the three standard deviations for each pixel in a predetermined region of the image based on the three-dimensional coordinates of each pixel in the region B with the pixel as a reference position, Estimated value.

  After calculating the estimated value of the three-dimensional coordinate variation at each pixel in the predetermined region of the image, the image processing circuit 12 calculates the uncertainty of the measurement value when measurement is performed at each pixel in the predetermined region of the image. Specifically, the image processing circuit 12 calculates the uncertainty of the measurement value as follows. Below, the example which calculates the uncertainty of a measured value in the case of measuring the distance between two points between two points P1 and P2 is demonstrated.

Uncertainty σ ₂ (P1, P2) of the measured value when measuring the distance between two points between an arbitrary point P1 and point P2 is expressed by the following equation (2) using an estimated value of variation in three-dimensional coordinates. Given in.

Consider a condition in which the uncertainty σ ₂ (P1, P2) of the measured value is smaller than the reference uncertainty u. If the following expressions (3) and (4) are satisfied, σ ₂ (P1, P2) <u clearly holds.

When defined as the following equation (5), the condition that the uncertainty σ ₂ (P1, P2) of the measurement value is smaller than the reference uncertainty u is σ (P1) <u / 2 and σ (P2) < It can be expressed as u / 2.

If σ (P1) <u / 2 and σ (P2) <u / 2, then σ ₂ (P1, P2) <u, and the uncertainty of the measured value is smaller than the reference uncertainty u desired by the user. . For this reason, when the distance between two points is measured between the points P1 and P2, the accuracy desired by the user can be obtained. Therefore, in this embodiment, σ (P) defined by equation (5) is used as the uncertainty of the measured value of each pixel. The uncertainty estimation unit 12c calculates σ (P) for each pixel P in a predetermined area of the image based on the image data input to the image processing circuit 12. The above is the details of step S110.

  Subsequent to step S110, the image processing circuit 12 compares the uncertainty σ (P) of the measurement value with the reference uncertainty u, and generates an uncertainty estimation image in which the pixel color is set based on the comparison result (step S110). S120). Details of step S120 will be described below. The image composition unit 12d compares σ (p) of each pixel P calculated by the uncertainty estimation unit 12c with the reference uncertainty u. When σ (p) <u / 2, the image composition unit 12d sets the color of the pixel P to, for example, green. If σ (p) ≧ u / 2, the image composition unit 12d sets the color of the pixel P to, for example, red.

  Further, depending on the pixel, there are cases where the three-dimensional coordinates cannot be calculated in principle. For example, in the case of stereo measurement, a point on the right image corresponding to a point on the left image may not be captured. As described above, for the pixel for which the three-dimensional coordinates cannot be calculated, the image composition unit 12d sets the color of the pixel to, for example, gray. The image compositing unit 12d generates an uncertainty estimation image including the uncertainty information of the measurement value as the color information by setting the pixel color according to the above with respect to the image data input to the image processing circuit 12. To do. The details of step S120 have been described above.

  Subsequent to step S120, the image processing circuit 12 outputs the generated uncertainty estimated image to the LCD 5, and the LCD 5 displays the uncertainty estimated image (step S130). FIG. 9 shows an example of the uncertainty estimation image. The uncertainty estimation image shown in FIG. 9 is displayed as a left image, for example. Each pixel in the region S1 satisfies σ (p) <u / 2, and each pixel in the region S1 is displayed in green. Each pixel in the region S2 satisfies σ (p) ≧ u / 2, and each pixel in the region S1 is displayed in red. Three-dimensional coordinates are not calculated for each pixel in the region S3, and each pixel in the region S3 is displayed in gray.

  When measuring the distance between two points, the user can make the following determination based on the uncertainty estimation image displayed on the LCD 5. If the two points to be measured are both displayed in green, it can be determined that the measurement can be performed with a desired accuracy. On the other hand, if one or both of the two points to be measured are displayed in red, the measurement cannot be performed with a desired accuracy, so that it can be determined that the endoscope 2 needs to be closer to the subject. Also, if one or both of the two points to be measured are displayed in gray, it can be understood that the measurement cannot be performed. Therefore, it is necessary to change the angle at which the subject is photographed or to bring the endoscope 2 closer to the subject. It can be judged that there is.

  In the above, the color of the image is set when the uncertainty estimation image is displayed. However, the brightness of the image is set, or the measurement value uncertainty σ (P) is compared with the reference uncertainty u. The based information may be displayed superimposed on the image.

  When the user inputs a measurement instruction via the remote controller 4 after displaying the uncertainty estimation image, the measurement value is calculated according to the following procedure. Below, the example which measures the distance between two points is demonstrated. When a measurement instruction is input, image data from the CCU 9 or image data read from a memory card or the like by the CPU 18 is input to the image processing circuit 12 according to control by the CPU 18. The measurement value may be calculated using the image data used for estimation of the uncertainty of the measurement value and generation of the uncertainty estimation image without newly inputting the image data. The image data input to the image processing circuit 12 is output to the LCD 5 via the image composition unit 12d, and an image is displayed on the LCD 5.

  The user designates two measurement points on the image displayed on the LCD 5. When the user inputs a measurement point designation instruction via the remote controller 4, the CPU 18 outputs the pixel position of the measurement point to the image processing circuit 12. The three-dimensional coordinate calculation unit 12a of the image processing circuit 12 calculates three-dimensional coordinates corresponding to the pixel positions of the two measurement points, and outputs the three-dimensional coordinates together with the pixel positions of the measurement points to the measurement unit 12b. The measurement unit 12b calculates the three-dimensional coordinate distance between the two measurement points, and outputs the calculation result together with the pixel position of the measurement point to the image composition unit 12d. The image synthesis unit 12 d synthesizes data for displaying the position of the measurement point and the measurement result with the image data input to the image processing circuit 12 and outputs the synthesized data to the LCD 5. The LCD 5 displays an image including the position of the measurement point and the measurement result.

  In this embodiment, the image processing circuit 12 estimates the uncertainty of the measurement value and generates an uncertainty estimated image. However, the CPU 18 fetches the image data from the image processing circuit 12 or reads the image data from the memory card. The estimation of the uncertainty of the measurement value and the generation of the uncertainty estimation image may be performed on the image data. In this case, a program that prescribes the entire procedure of measurement including estimation of measurement value uncertainty and generation of an uncertainty estimation image is stored in the ROM 13 in advance, and the CPU 18 reads this program from the ROM 13 and expands it in the RAM 14. The measurement may be controlled according to this program.

  As described above, according to the present embodiment, the uncertainty that is the estimated value of the measurement value variation is calculated for each pixel in the predetermined region in the image, and the information indicating the measurement value variation is calculated based on the uncertainty. By displaying, it is possible to inform the user in advance of the accuracy of the measured value when the measurement is performed. Further, by estimating the uncertainty of the measurement value itself and notifying the user, the user can be informed of the more accurate accuracy of the measurement value.

  In the techniques of Patent Documents 2 and 3 described above, since the object distance can be known only at a limited number of aiming positions arranged on the image, the user needs to aim at the position to be measured. There was a problem that took time and effort. On the other hand, in the present embodiment, since the uncertainty of the measurement value is calculated for each pixel in the predetermined area in the image, the user does not need to aim and determines whether or not the desired accuracy can be obtained in a short time. Easy to do.

  Further, by displaying the image in a display form based on the uncertainty calculated for each pixel in the predetermined area in the image, it is possible to visually inform the user of the accuracy of the measured value when the measurement is performed. Further, whether or not the accuracy of the measurement value desired by the user can be obtained by displaying the image in a display form based on the uncertainty calculated for each pixel in the predetermined region in the image and the reference uncertainty u specified by the user. It is possible to inform the user visually and easily.

  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. .

  DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus, 2 ... Endoscope, 2a ... Solid-state image sensor (imaging part), 4 ... Remote controller, 5 ... LCD (display part), 8 ... Endoscope unit, 9... CCU (imaging unit), 12... Image processing circuit, 12 a... Three-dimensional coordinate calculation unit (first calculation unit, second calculation unit), 12 b. Measurement unit, 12c ... uncertainty estimation unit (second calculation unit), 12d ... image composition unit, 18 ... CPU (designation unit)

Claims (5)

An imaging unit that images a subject and generates image data;
A designation unit for designating a measurement position in an image based on the image data based on an instruction input via an input device;
A first calculation unit for calculating three-dimensional coordinates corresponding to the measurement position;
A measurement unit that measures the size of the subject based on three-dimensional coordinates corresponding to the measurement position;
An estimated value of three-dimensional coordinate variation corresponding to each of the plurality of positions in the image is calculated, and the size of the subject is measured for each of the plurality of positions based on the estimated value of the three-dimensional coordinate variation. A second calculation unit for calculating an estimated value of variation in the measured value when
A display unit for displaying information indicating the variation of the measurement value based on the estimated value of the variation of the measurement value;
Equipped with a,
The second calculation unit sets a plurality of regions with the plurality of positions as reference positions, and the subject based on the three-dimensional coordinates of other positions with the reference position as a reference within the region. A plane that approximates the surface of the region is calculated, and an estimated value of the variation in the three-dimensional coordinates of the reference position in the region is calculated from the variation in the distance between the other position with reference to the reference position in the region and the plane. An endoscope apparatus characterized by calculating . The endoscope apparatus according to claim 1 , wherein the display unit displays the image in a display form based on an estimated value of variation in the measurement values for each of the plurality of positions. The display unit displays the image in a display form based on an estimated value of variation of the measurement value for each of the plurality of positions and a reference value input via an input device. Item 5. The endoscope apparatus according to Item 2 . The display form endoscope apparatus according to claim 2 or claim 3 characterized in that it is a color. A designation unit for designating a measurement position in an image based on image data of a subject based on an instruction input via an input device;
A first calculation unit for calculating three-dimensional coordinates corresponding to the measurement position;
A measurement unit that measures the size of the subject based on three-dimensional coordinates corresponding to the measurement position;
An estimated value of three-dimensional coordinate variation corresponding to each of the plurality of positions in the image is calculated, and the size of the subject is measured for each of the plurality of positions based on the estimated value of the three-dimensional coordinate variation. A second calculation unit for calculating an estimated value of variation in the measured value when
A display unit for displaying information indicating the variation of the measurement value based on the estimated value of the variation of the measurement value;
A program for causing a computer to function as,
The second calculation unit sets a plurality of regions with the plurality of positions as reference positions, and the subject based on the three-dimensional coordinates of other positions with the reference position as a reference within the region. A plane that approximates the surface of the region is calculated, and an estimated value of the variation in the three-dimensional coordinates of the reference position in the region is calculated from the variation in the distance between the other position with reference to the reference position in the region and the plane. calculate
Program .

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