JP5946777B2 - Stereo imaging device - Google Patents

Description

The present invention relates to a stereoscopic imaging apparatus, and in particular, captures a parallax image by an imaging unit provided at a distal end portion of an insertion unit that is inserted into a body cavity, and displays a stereoscopic image (3D image) of a site to be observed in the body cavity. The present invention relates to a stereoscopic imaging apparatus that can be used.

  The stereoscopic endoscope apparatus includes a pair of left and right imaging units (imaging means) including an imaging optical system and a solid-state imaging device at the distal end portion of the insertion unit of the endoscope apparatus that is inserted into a body cavity, and imaging thereof The part to be observed is photographed, and left and right parallax images are obtained as stereoscopic images (3D images) for stereoscopic viewing. The 3D image is displayed in 3D on the 3D display device, and the right eye image is observed with the observer's right eye, and the left eye image is observed with the observer's left eye, so that the object is observed. The part is observed three-dimensionally.

  In such a stereoscopic endoscope apparatus, Patent Document 1 captures a 3D image because it is not possible to confirm the state of a peripheral portion or the position of a treatment tool only by observing a site to be observed with a 3D image. In addition to an imaging unit (herein referred to as a 3D imaging unit), an imaging unit (herein referred to as a 2D imaging unit) for imaging a wide-angle 2D image for planar view is disclosed.

  Patent Documents 1 and 2 disclose a 3D imaging unit having a zoom function.

JP 2003-334160 A JP 2001-66513 A

  According to Patent Document 1, precise observation with a 3D image suitable for observation of a lesion site or treatment of a treatment site with a treatment tool, and orientation when guiding an endoscope or a treatment tool to a treatment site or the like. Observation in a wide field of view using a 2D image suitable for, for example, when grasping or grasping the treatment status is possible.

  However, in Patent Document 1, since the 2D imaging unit is provided separately from the 3D imaging unit, there are many problems in terms of the number of components, difficulty in assembly, accuracy management, and the like. In addition, since many optical elements are used, there is a problem that the screen is dark.

  In addition, since the 3D image capturing unit and the 2D image capturing unit have different visual axes, the 3D image and the 2D image have a misalignment in the center of the field of view and a misalignment between the front and rear, and an accurate positional relationship cannot be displayed. . For this reason, there is a problem in that the center of the screen moves sensuously when switching between a 3D image and a 2D image, which may lead to a determination error.

  Furthermore, in a conventional stereoscopic endoscope device having a zoom function, the left and right zoom magnifications are generally changed by the left and right separate zoom optical systems of the 3D photographing unit, and a difference in left and right zoom magnifications is likely to occur. There was a problem.

  In this regard, Patent Document 2 discloses a configuration in which one zoom optical system shared by the left and right 3D photographing units is arranged, and the zoom magnification of the left and right 3D photographing units is simultaneously changed by the zoom optical system. .

  However, only by changing the zoom magnification with the zoom optical system, there is a need for a wider field of view shooting, especially for the intention of simply moving the observation field in the horizontal direction and expanding the field of view. Therefore, it is only possible to deal with this problem by increasing the change in magnification of the zoom lens, which leads to an increase in the size of the zoom optical system. On the other hand, since the endoscope has a size restriction, it is difficult to increase the magnification change of the zoom optical system, and it is not easy to widen the visual field range.

The present invention has been made in view of such circumstances, and without providing a photographing unit for photographing a 2D image different from a photographing unit for photographing a 3D image, and increasing the size of the photographing unit. It is an object of the present invention to provide a stereoscopic imaging apparatus that can shoot a 3D image in which the zoom magnification can be changed without incurring, and can shoot a 2D image in a wide visual field range.

In order to achieve the above object, a stereoscopic imaging apparatus according to an aspect of the present invention includes a zoom lens unit and a correction lens unit configured to be movable along at least an optical axis direction, and is enlarged from a wide-angle end. A pair of left and right zoom optical systems capable of zooming to the end and a pair of left and right image sensors disposed on the opposite side of the subject side of the zoom optical system, respectively, to form a subject image on each image sensor and an imaging optical system, a stereoscopic imaging device for acquiring a pair of left and right parallax images for stereoscopic viewing by a pair of left and right image pickup devices, to correct the change in the focal position due to movement of the variable power system lens group This is a means for moving the correction system lens group, and when the variable magnification system lens group is at the wide-angle end, it shifts in the optical axis direction from the original position of the correction system lens group and expands the visual field range in the horizontal direction. First moving means for causing A second moving means for moving the pair of left and right imaging optical systems in the direction of the optical axis in order to correct the shift of the focal position caused by the shift of the positive lens group from the original position; .

  According to this aspect, it is possible to take a 3D image in which the zoom magnification can be changed by the zooming lens group and the correction system lens group of the zoom optical system, and the right and left are shifted by the shift from the original position of the correction system lens group. The entire visual field range can be expanded in the horizontal direction by shifting the visual field range of each of the pair of parallax images in the horizontal direction. In that case, the image of the area where the visual field ranges of the pair of left and right parallax images do not overlap can be taken as a wide-angle 2D image. For example, the 2D image can be expanded to the left and right sides of the 3D image of the area where the visual field ranges overlap. Can be displayed.

  Moreover, according to this aspect, since it is not necessary to provide a photographing unit for photographing a wide-angle 2D image different from the photographing unit for photographing a 3D image, the photographing unit does not increase in size.

In the stereoscopic imaging apparatus according to another aspect of the present invention, the first moving unit may include a shift amount changing unit that varies a shift amount with respect to an original position of the correction system lens group. According to this aspect, it is possible to adjust the extent to which the entire visual field range of the pair of left and right parallax images is expanded in the left-right direction, and accordingly, as a region where the visual field ranges of the pair of left and right parallax images overlap, that is, as a 3D image The size of the visual field range that can be displayed and the size of the visual field range that can be displayed as a 2D image can be adjusted according to the situation.

In the stereoscopic imaging apparatus according to still another aspect of the present invention, the first moving unit may be an aspect in which the shift amount with respect to the original position of the correction system lens group is set to a predetermined fixed value. A mode in which the shift amount cannot be varied as in this mode is also possible.

In the stereoscopic imaging apparatus according to still another aspect of the present invention, the zoom optical system may be a non-focal zoom optical system in a four-group zoom mechanical correction zoom lens. In this aspect, among the first lens group to the fourth lens group in the four-group zoom system mechanical correction zoom lens, the first lens group to the third lens group constitute a non-focal zoom optical system, The second lens group and the third lens group correspond to the variable magnification lens group and the correction lens group described above.

In the stereoscopic imaging device according to still another aspect of the present invention, a front lens for setting a convergence angle may be provided on the subject side of the zoom optical system.

  According to this aspect, since the convergence angle is set by the front lens, it is not necessary to set the convergence angle by inclining the optical axes of the left and right optical systems after the front lens, and the narrow space of the endoscope This is advantageous in constructing the optical system.

In the stereoscopic imaging device according to still another aspect of the present invention, an image of a region where the visual field ranges of a pair of left and right parallax images overlap is generated as a stereoscopic 3D image, and an image of a region where the visual field ranges do not overlap is displayed as a 3D image. 3D image generation means for generating a 2D image for planar view that expands both the left and right sides of the image.

  According to this aspect, it is possible to display a 3D image and a 2D image at the same time, and it is possible to perform precise observation using a 3D image and observation of a wide visual field range using a 2D image.

In the stereoscopic imaging apparatus according to still another aspect of the present invention, the 3D image generation unit can reduce the sharpness of the image in the boundary area between the 3D image and the 2D image.

  According to this aspect, it is possible to reduce a sense of incongruity due to failure of stereoscopic recognition in the boundary region between the 3D image and the 2D image when the 2D image is displayed by expanding both the left and right sides of the 3D image.

The stereoscopic imaging apparatus according to still another aspect of the present invention may include a 2D image generation unit that generates an image in the entire visual field range of a pair of left and right parallax images as a 2D image for planar view.

  It is beneficial if an image in a region where the visual field ranges of a pair of left and right parallax images overlap as in this aspect can be displayed as a 2D image, and the entire visual field range of the pair of left and right parallax images can be displayed as a 2D image.

In the stereoscopic imaging apparatus according to still another aspect of the present invention, the 2D image generation unit generates an image of a region where the visual field ranges of the pair of left and right parallax images overlap as a 3D image that cannot be stereoscopically viewed by thinning processing. Can do.

  This mode is a mode for displaying an image of a region where the visual field ranges overlap as a 2D image when the entire visual field range of the pair of left and right parallax images is displayed as a 2D image. A 2D image can be displayed without change.

In the stereoscopic imaging apparatus according to still another aspect of the present invention, the 2D image generation unit may generate an image of a region where the visual field ranges of a pair of left and right parallax images overlap as a 2D image by a synthesis process.

  This aspect is another aspect for displaying an image of a region where the visual field ranges overlap as a 2D image when the entire visual field range of the pair of left and right parallax images is displayed as a 2D image. A pair of parallax images can be combined (or fused) to generate a 2D image.

  According to the present invention, the zoom magnification can be changed without providing a shooting unit for shooting a 2D image different from the shooting unit for shooting a 3D image, and without increasing the size of the shooting unit. A possible 3D image can be taken, and a 2D image with a wide visual field range can be taken.

Overall configuration diagram showing an outline of the appearance of a stereoscopic endoscope system to which the present invention is applied The block diagram which showed the structure relevant to the process part which displays a 3D image and a wide-angle 2D image as an endoscope image in a stereoscopic endoscope system. Front view showing the distal end of the endoscope from the distal end side The figure used to explain the field of view of the imaging unit The figure which showed the parallax image acquired by the imaging | photography part, and its display form Lens sectional view showing the configuration of the first embodiment of the photographing optical system of the photographing unit The figure which showed the change of the visual field range at the time of setting a zoom to a wide-angle end and an expansion end in the state which fixed the 4th lens group of the imaging optical system to the reference position Lens cross section showing the state of the photographic optical system during image shift The figure which showed the field of view range at the time of image shift of the taking optical system The figure which showed the composition of the control system which the photographing optical system controls Lens sectional view showing the configuration of the second embodiment of the photographing optical system of the photographing unit The figure which showed the visual field range at the time of the image shift of the imaging optical system of 2nd Embodiment The figure used for description of the processing when the sharpness of the boundary area between the 3D image and the 2D image is lowered

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is an overall configuration diagram showing an outline of an external appearance of a stereoscopic endoscope system (stereoscopic endoscope apparatus) to which the present invention is applied. A stereoscopic endoscope system 10 shown in the figure is a system capable of capturing and displaying a stereoscopic image (3D image) for stereoscopic viewing. Except for the configuration and processing related to imaging, the imaging system is not greatly different from a known endoscope system that captures and displays a normal 2D image (an image for planar view) instead of a 3D image. Hereinafter, the configuration and processing related mainly to imaging will be described, and other configurations and processing can be configured in the same manner as any known endoscope system.

  As shown in the figure, a stereoscopic endoscope system 10 according to the present embodiment includes a stereoscopic endoscope 12 (hereinafter referred to as an endoscope 12), a processor device 14 to which the endoscope 12 is connected, and a light source device 16. And a 3D display device 18 connected to the processor device 14.

  An endoscope 12 is inserted into the body cavity of a patient, and a pair of left and right parallax images (right image and left image) for displaying a 3D image of a desired observation site are captured by the endoscope 12. It has become. The observation site is irradiated with illumination light supplied from the light source device 16 to the endoscope 12. These parallax images are used not only as 3D images but also as images for displaying wide-angle 2D images.

  The parallax image photographed by the endoscope 12 is captured by the processor device 14 and subjected to necessary processing to be formed into a display image for displaying a 3D image or a 2D image. Then, the display image is output to the 3D display device 18, and a 3D image or a 2D image is displayed on the 3D display device 18 as an endoscopic image. By observing the endoscopic image displayed on the 3D display device 18, the practitioner can observe the site to be observed in the body cavity three-dimensionally or planarly.

  FIG. 2 is a block diagram showing a configuration related to the processing unit until the parallax image captured by the endoscope 12 is displayed as an endoscopic image on the 3D display device 18 in the stereoscopic endoscope system 10. .

  As shown in the figure, the endoscope 12 includes an imaging unit 50 that captures a pair of left and right parallax images of the site to be observed by imaging the site to be observed. Part 50R and left photographing part 50L. Each of the right imaging unit 50R and the left imaging unit 50L includes an imaging optical system (not shown), image sensors 70R and 70L, analog signal processing units (AFE) 80R and 80L, transmission units 82R and 82L, and the like.

  The subject light from the observed region imaged by the imaging unit 50 is reflected on the light receiving surfaces of the image sensors 70R and 70L via the imaging optical systems (not shown) of the right imaging unit 50R and the left imaging unit 50L. Image). These subject images are picked up (photoelectrically converted) by the image sensors 70R and 70L as a pair of left and right parallax images, and output to the analog signal processing units (AFE) 80R and 80L from the image sensors 70R and 70L as image pickup signals. Is done. Note that the parallax image captured by the right imaging unit 50R is referred to as a right image, and the parallax image captured by the left imaging unit 50L is referred to as a left image.

  The imaging signals input to the analog signal processing units (AFE) 80R and 80L are subjected to analog signal processing such as correlated double sampling (CDS), automatic gain (AGC), and analog / digital conversion (A / D). After that, the parallel digital signals are output from the AFEs 80R and 80L to the transmitters 82R and 82L.

  The imaging signals input to the transmission units 82R and 82L are subjected to parallel / serial conversion processing and the like, and are transmitted as serial digital signals to cables (signal lines) connected to the imaging units 50R and 50L. The cable is inserted into the insertion unit 20, the operation unit 22, and the universal cord 24 and connected to the reception unit 100 of the processor device 14, and the imaging signal sent to the cable is received by the reception unit 100. The

  Here, in the present embodiment, assuming that the endoscopic image is displayed as a moving image on the 3D display device 18, the right image and the left image are continuous as frame images constituting the moving image in each of the image sensors 70R and 70L. The image signals of the right image and the left image sequentially captured as frame images are sequentially transmitted from each of the transmission units 82R and 82L to the reception unit 100 as serial digital signals for each frame image. When the endoscope image is displayed as a still image on the 3D display device 18, the endoscope image is stopped in synchronization with the shutter release operation of the operator in the operation unit 22 of the endoscope 12 or the operation unit (not shown) of the processor device 14. The right image and the left image of one frame (one frame) constituting the image are captured, and the imaging signals of the right image and the left image are received as serial digital signals from each of the transmission units 82R and 82L. Is transmitted.

  In addition, it is desirable to use a high-speed digital transmission technique that performs data transmission using, for example, a low voltage operation signal (LVDS) or the like for transmission of the imaging signal from the transmission units 82R and 82L to the reception unit 100. Further, the imaging signals of the right image and the left image may be transmitted in parallel through different signal lines, or may be alternately transmitted through a common signal line.

  The processor device 14 includes a receiving unit 100, an image processing unit 102, a display image generating unit 104, a display control unit 106, and the like as processing units for displaying an endoscopic image.

  As described above, the imaging signals of the right image and the left image that are transmitted as serial digital signals from the transmission units 82R and 82L of the imaging unit 50 of the endoscope 12 and received by the reception unit 100 of the processor device 14 are: Serial / parallel conversion processing and the like are performed. As a result, the imaging signal is restored to a parallel digital signal before being converted by the transmission units 82R and 82L, and is output from the reception unit 100 to the image processing unit 102.

  The imaging signal input to the image processing unit 102 is subjected to digital image processing such as color separation, color interpolation, gain correction, white balance adjustment, gamma correction, contour enhancement processing, and brightness adjustment processing. Thereby, each imaging signal of the right image and the left image is generated as image data suitable for display or the like, and the image data is taken into the display image generation unit 104 from the image processing unit 102.

  In the image processing unit 102, image data of the right image and the left image is sequentially generated, and the image data is temporarily stored in a memory (not shown) and sequentially updated to the latest image data. The display image generation unit 104 is configured to sequentially fetch the latest image data from the memory. The image data of the right image and the left image generated in this way can be used not only for display on the 3D display device 18 but also for recording on a recording medium such as a hard disk or a removable medium.

  The display image generation unit 104 takes in the image data of the right image and the left image generated by the image processing unit 102, and displays an endoscopic image on the screen of the 3D display device 18 using the image data. Image data of the right-eye display image and the left-eye display image are generated.

  The display image for the right eye and the display image for the left eye are images that are displayed on the entire screen of the 3D display device 18, and each is an image that is viewed only by the right eye by an observer observing the screen of the 3D display device 18. The image visually recognized only with the left eye is shown. The right image acquired from the image processing unit 102 constitutes an image of a region corresponding to the display position and size in the screen in the display image for the right eye, and the left image is the screen in the display image for the left eye. An image of an area corresponding to the display position and size in the image is constructed. In addition, other information (image data and character data) such as patient information and status information of the endoscope 12 can be added to the right-eye display image and the left-eye display image.

  The image data of the display image for the right eye and the display image for the left eye generated by the display image generation unit 104 is sequentially updated together with the update of the image data of the right image and the left image, and is output to the display control unit 106.

  The image data of the right-eye display image and the left-eye display image input to the display control unit 106 is formed into a video signal for causing the 3D display device 18 to display the right-eye display image and the left-eye display image. The video signal is output from the display control unit 106 to the 3D display device 18.

  Accordingly, an image (video) according to the video signal from the display control unit 106 is displayed on the screen of the 3D display device 18, and the display image for the right eye generated by the display image generation unit 104 is displayed on the right side of the observer. The display image for the left eye is displayed by the eye so as to be visually recognized by the left eye of the observer. The endoscope image is displayed as a moving image by displaying and updating the endoscope image by the right image and the left image included in each of the display image for the right eye and the display image for the left eye. A 3D image or 2D image of the subject in the region is displayed.

  The 3D display device 18 displays the right image of the right image and the left image captured by the endoscope 12 as an image in a display image for the right eye that is visually recognized only by the right eye of the observer, By displaying an image as an image in a display image for the left eye that is visually recognized only by the left eye of the observer, the subject at the site to be observed photographed by the endoscope 12 is displayed as a 3D image (3D display) It is. In addition, by displaying an image of a subject included in only one of the right image and the left image in the same manner as a 3D image, for example, the image of the subject is displayed as a 2D image.

  Any 3D display device can be used as the 3D display device 18 of the present embodiment. As a well-known device, for example, a display image for the right eye and a display image for the left eye are alternately displayed on the screen of one monitor. And a method of observing the right eye display image with the right eye and the left eye display image with the left eye via shutter glasses that alternately open and close in synchronization with this (frame sequential method) Display the right-eye display image and the left-eye display image alternately, for example, in units of scanning lines on the screen of one monitor, and display the right eye with the right eye via polarization filter glasses with different polarization directions on the left and right A system that observes the image and observes the display image for the left eye with the left eye (polarization system), or a lens that is arranged on the screen of one monitor so that different images can be displayed depending on the viewing angle. To the right eye display image and left Display system images (integral imaging system) that can observe the display image for the right eye with the right eye and the display image for the left eye with the left eye even with the naked eye, or with one monitor A right-eye display image and a left-eye display image are displayed on a screen in which fine vertical-striped light shields are arranged so that different images can be displayed depending on the viewing angle. It is possible to use a method (parallax barrier method) in which the left display image can be observed with the left eye. Further, the right eye display image and the left eye display image are displayed on each of the two monitors for the right eye and the left eye like a head-mounted display, and the right eye display image is observed with the right eye. A method of observing a display image for the left eye with the left eye can also be used. Further, a monitor that displays a 2D image may be provided as the 3D display device 18 in addition to a monitor that displays a 3D image. In the present embodiment, a 3D display device 18 using one monitor is assumed.

  Next, the configuration of the endoscope 12 in FIG. 1 will be described.

  The endoscope 12 includes an insertion unit 20 that can be inserted into a body cavity of a patient (subject), an operation unit 22 that is held by a practitioner and that performs various operations, and the endoscope 12 that includes a processor device 14 and a light source device 16. And a universal cord 24 to be connected.

  The insertion portion 20 is formed in an elongated shape with the longitudinal axis 20a in the longitudinal direction as a central axis, and has an outer peripheral surface that is substantially circular in a cross section orthogonal to the longitudinal axis 20a. The insertion portion 20 includes a distal end portion 30, a bending portion 32, and a flexible portion 34.

  The distal end portion 30 is provided at the distal end of the insertion portion 20, and has a distal end surface 30a substantially orthogonal to the longitudinal axis 20a. As will be described in detail later, the distal end portion 30 includes the above-described components of the imaging unit 50 that captures a site to be observed in a body cavity located in front of the distal end surface 30a, and the subject to be imaged by the imaging unit 50. The components of the illumination unit that emits the illumination light from the light source device 16 are accommodated and held in the observation member at the observation site.

  The bending portion 32 is connected to the proximal end side of the distal end portion 30 and can be actively bent in the vertical and horizontal directions by the turning operation of the angle knob 40 of the operation portion 22. By the bending operation on the bending portion 32, the direction of the distal end portion 30 in the body cavity can be changed, and the direction of the site to be observed that is imaged by the imaging portion 50 of the distal end portion 30 can be adjusted.

  The flexible portion 34 is connected to the proximal end side of the bending portion 32 and is connected to the distal end of the operation portion 22, and connects the proximal end of the bending portion 32 to the distal end of the operation portion 22. The soft portion 34 is soft and flexible, and the soft portion 34 is passively bent according to the shape of the insertion path into the body cavity, etc., so that the distal end portion 30 is moved into the desired position in the body cavity. It can be inserted and placed at the position. Inside the flexible part 34 and the bending part 32, a cable, a light guide, and the like connected to the photographing part 50 and the illumination part of the tip part 30 are inserted.

  The operation unit 22 is connected to the proximal end side of the insertion unit 20, and the operation unit 22 is provided with operation members of the endoscope 12 such as the angle knob 40 and the air / water supply button 42. ing. The practitioner can perform various operations of the endoscope 12 by holding the operation unit 22 and operating an operation member provided in the operation unit 22.

  In addition, a treatment instrument insertion port 44 is provided on the distal end side of the operation unit 22. The treatment instrument insertion port 44 communicates with the distal end portion 30 (a treatment instrument outlet 54 described later) through a treatment instrument channel (pipe) that is inserted through the insertion portion 20. Therefore, by inserting a desired treatment tool from the treatment tool insertion port 44, the treatment tool is led out from the treatment tool outlet 54 of the distal end portion 30, and a treatment corresponding to the type of the treatment tool is applied to the treatment site in the body cavity. It can be applied.

  The universal cord 24 extends from the operation unit 22, and a composite type connector 26 is provided at the end. The universal cord 24 is connected to the processor device 14 and the light source device 16 by the connector 26.

  Inside the universal cord 24, a cable, a light guide, and the like that are inserted through the inside of the insertion unit 20 and the operation unit 22 from the imaging unit 50 and the illumination unit of the distal end portion 30 are inserted and arranged. The cable (signal line) is connected to the processor device 14 via the connector 26, and the light guide connected to the illumination unit is connected to the light source device 16 via the connector 26.

  As a result, the imaging signals of the parallax images (right image and left image) captured by the imaging unit 50 of the distal end portion 30 as described above are transmitted to the processor device 14 through the cable and emitted from the light source device 16. The illumination light transmitted through the light guide is emitted from the illumination part of the tip part 30.

  FIG. 3 is a front view showing the distal end portion 30 of the endoscope 12 from the distal end surface 30a side. As shown in the figure, the distal end portion 30 is provided with the above-described imaging unit 50 that captures an observed region on the front side of the distal end surface 30a and an illumination unit 52 that emits illumination light that illuminates the observed region. It is installed.

  The imaging unit 50 has a pair of a right imaging unit 50R and a left imaging unit 50L arranged side by side on the left and right sides, and the right imaging unit 50R and the left imaging unit 50L allow the subject at the same site to be observed in the body cavity. A pair of right and left right images and left images having a parallax taken from different positions are photographed.

  The front end surface 30a is provided with a front lens 310 that takes in light from the subject at the observation site in each of the right imaging unit 50R and the left imaging unit 50L, and emits illumination light from the illumination unit 52 to the observation site. An illumination window 94 is provided. Further, on the distal end surface 30a, a treatment instrument outlet 54 through which the treatment instrument inserted through the treatment instrument insertion port 44 of the insertion section 20 and inserted through the treatment instrument channel is led out from the distal end face 30a, and the air supply / An air / water supply nozzle 56 is provided for injecting cleaning water or air toward the front lens 310 by operating the water supply button 42.

  Next, the visual field range of the imaging unit 50 of the endoscope 12 will be described.

  FIG. 4 is a conceptual diagram showing the visual field range of the imaging unit 50 using the schematic configuration of the imaging unit 50.

  The configuration of the photographing unit 50 in the figure is shown in a simplified manner, and includes a right photographing unit 50R and a left photographing unit 50L that are arranged symmetrically with a center plane 50a perpendicular to the paper surface as a symmetry plane, and the right photographing unit 50R. However, a configuration in which the imaging optical system 60R and the image sensor 70R are configured, and the left imaging unit 50L includes the imaging optical system 60L and the image sensor 70L is illustrated. The configuration of the photographing optical system of the photographing unit 50 will be described later.

  In the drawing, the visual field range in which the right photographing unit 50R photographs a subject is indicated by VFR, and the visual field range in which the left photographing unit 50L photographs a subject is indicated by VFL. These field-of-view range VFR and field-of-view range VFL are bilaterally symmetric with respect to the center plane 50a, and overlap in the center portion.

  The visual field range VF obtained by combining the visual field range VFR and the visual field range VFL, that is, the visual field range VF from the right end of the visual field range VFR to the left end of the visual field range VFL is at least one of the right photographing unit 50R and the left photographing unit 50L. The entire visual field range VF of the photographing unit 50 to be photographed is shown.

  The reference plane (observation setting plane) RP in the figure is a plane orthogonal to the central plane 50a, and is orthogonal to the longitudinal axis 20a of the insertion portion 20, for example. The distance is assumed to be a position that is a predetermined distance L from the distal end surface 30a of the distal end portion 30 and is in focus by the right photographing unit 50R and the left photographing unit 50L.

  The reference plane RP is recognized as being present at a position on the screen when the right image and the left image captured by each of the right photographing unit 50R and the left photographing unit 50L are displayed as 3D images on the screen of the 3D display device 18. It shows the position of the object point. That is, the object points on the reference plane RP are displayed so as to exist on the screen in the 3D image. The distance L from the distal end surface 30a of the reference plane RP is preferably 8 cm to 10 cm, which is a focus position in a general endoscope. Further, it is desirable that about 1 cm before and after the reference plane RP is in focus as the range of the depth of field.

  In the reference plane RP, a region where the visual field range VFR and the visual field range VFL overlap is indicated by a visual field range 3DR from the left end of the visual field range VFR and a visual field range 3DL from the right end of the visual field range VFL. In the reference plane RP, among the regions where the visual field range VFR and the visual field range VFL do not overlap, the region of only the visual field range VFR is indicated by the visual field range 2DR from the right end of the visual field range VFR, and the region of the visual field range VFL only A visual field range 2DL from the left end of the visual field range VFL is shown.

  In the following description, it is assumed that the visual field range VFR is the right full visual field range VFR, the visual field range VFL is the left full visual field range VFL, the visual field range 3DR is the right 3D visual field range 3DR, and the visual field range 3DL is the left 3D visual field range 3DL. In RP, the visual field range where the right full visual field range VFR and the left full visual field range VFL overlap (that is, the visual field range that combines the right 3D visual field range 3DR and the left 3D visual field range 3DL) is referred to as a 3D visual field range 3DR & 3DL. Further, the visual field range 2DR is referred to as a right 2D visual field range 2DR, and the visual field range 2DL is referred to as a left 2D visual field range 2DL.

  Next, display of parallax images (right image and left image) with respect to the visual field range of the imaging unit 50 configured as described above will be described.

  FIGS. 5A and 5B show image areas of the right image IR and the left image IL captured by the right photographing unit 50R and the left photographing unit 50L, respectively.

  In FIG. 6A, among the image areas of the right image IR captured by the right imaging unit 50R, an image area in which a subject in the right 3D visual field range VFR is shown is shown as a right 3D image area 360R, and the right 2D visual field range 2DR. An image region in which the subject is reflected is shown as a right 2D image region 362R.

  Similarly, in FIG. 5B, among the image areas of the left image IL captured by the left photographing unit 50L, an image area in which a subject in the left 3D visual field range VFL is shown as a left 3D image area 360L, and the left 2D visual field An image area in which a subject in the range 2DL is reflected is shown as a left 2D image area 362L.

  The right image IR and the left image IL are captured as image data by the processor device 14 as shown in FIG. 2, and the display image generating unit 104 of the processor device 14 displays the right eye display image including the right image IR. An image for the left eye including the left image IL is generated, and the display image for the right eye and the display image for the left eye are output to the 3D display device 18 via the display control unit 106.

  As a result, the 3D display device 18 displays the right image IR of the right entire visual field range VFR of the right photographing unit 50R as an endoscopic image so as to be viewed only by the right eye of the observer, and the left photographing unit 50L. The left image IL of the entire left visual field range VFL is displayed so as to be viewed only by the left eye.

  Further, in the display image generation unit 104, the position and size of the right image IR in the right-eye display image (in the screen of the 3D display device 18) and the left-eye display image (in the screen of the 3D display device 18). The position and size of the left image IL are adjusted, and an image in the right 3D visual field range 3DR (an image in the right 3D image region 360R) in the right image IR, as in the endoscopic image IR & IL in FIG. The image of the left 3D visual field range 3DL (the image of the left 3D image region 360L) in the image IL is displayed so as to overlap on the screen of the 3D display device 18 (so as to be visually recognized at the overlapping position).

  According to this, in the endoscopic image IR & IL, the image of the 3D image area 360 (the right image area 360R and the left image area 360L) in which the subject in the 3D visual field range 3DR & 3DL is reflected, and the subject in the right 2D visual field range 2DR are reflected. It consists of an image in the right 2D image area 362R and an image in the left 2D image area 362L in which a subject in the left 2D visual field range 2DL is reflected.

  Then, of the entire image area of the endoscopic image IR & IL, the image of the subject reflected in the 3D image area 360, that is, the 3D visual field range 3DR & 3DL (the visual field range of both the right 3D visual field range 3DR and the left 3D visual field range 3DL). Is displayed as a 3D image that the observer can stereoscopically view.

  That is, among the subjects existing in the 3D visual field range 3DR & 3DL, a subject present on the reference plane RP is recognized as a subject present on the screen of the 3D display device 18, and a subject present at a position closer to the reference plane RP is A subject present at a position closer to the screen of the 3D display device 18 is recognized, and a subject present at a position farther than the reference plane RP is recognized as a subject present at a position farther than the screen of the 3D display device 18.

  On the other hand, of the entire image area of the endoscopic image IR & IL, the image reflected in the right 2D image area 362R and the left 2D image area 362L, that is, the image of the subject existing in the right 2D visual field range 2DR or the left 2D visual field range 2DL. Is displayed as a 2D image that an observer can visually recognize with only the right eye or the left eye.

  With the images of the right 2D image region 362R and the left 2D image region 362L, it is possible to observe the state of the observed region having a wider visual field range in the horizontal direction (left-right direction) than the 3D image of the 3D visual field range 3DR & 3DL.

  Next, as shown in FIG. 5, an imaging image 50 (right imaging unit 50R and left imaging unit) that can generate an endoscopic image IR & IL that is a fusion of a 3D image and a 2D image and has a zoom function. 50L) will be described in detail. FIG. 6 is a lens cross-sectional view showing the configuration of the first embodiment of the photographing optical system of the photographing unit 50.

  The photographic optical system 60 shown in the figure includes an optical system including both a photographic optical system 60R (referred to as a right photographic optical system 60R) of the right photographic unit 50R and a photographic optical system 60L (referred to as a left photographic optical system 60L) of the left photographic unit 50L. The system is configured based on a mechanically corrected zoom lens of a four-group zoom system for one eye as a whole.

  In this figure, zooming is performed at a wide angle end on a cross section (upper cross section) on the upper side (right side of the photographing optical system 60) in the figure than a central plane 50a (corresponding to the central plane 50a in FIG. 4) that divides the photographing optical system 60 symmetrically. A state in which the zoom is set to the telephoto end (enlarged end) is shown in the lower cross section (the left cross section of the photographing optical system 60) in the figure. Note that an intersection line between a symmetry plane (paper surface) that divides the photographing optical system 60 vertically and a center plane 50a is a central axis 60a (observation axis indicating an observation direction) of the photographing optical system 60.

  As shown in the figure, the photographing optical system 60 is provided separately for the shared unit 300 shared by the right photographing optical system 60R and the left photographing optical system 60L, and the right photographing optical system 60R and the left photographing optical system 60L. The separation unit 302 is formed.

  The shared unit 300 includes a first lens group 312, a second lens group 314, and a third lens group 316 among the first to fourth lens groups that constitute a four-group zoom system mechanical correction type zoom lens. And a front lens 310 disposed at a position closer to the object side than the first lens group 312.

  The front lens 310 is disposed at the foremost part of the photographing optical system 60 and is disposed at the distal end surface 30a of the distal end portion 30 of the endoscope 12 as shown in FIG. The opening of the front end face 30 a that takes light into the front end 30 is shielded.

  Further, the front lens 310 has a function as a convex lens (a lens having a positive refractive power), and a visual axis (right side) serving as a central axis of a visual field range (right full visual field range VFR) of the right photographing unit 50R. The cross point (intersection) where the visual axis (304A) and the visual axis (left visual axis) 304L, which is the central axis of the visual field range (left full visual field range VFL) of the left photographing unit 50L, is set as an observation plane. A convergence angle (an angle formed by the right visual axis 304R and the left visual axis 304L) is created so as to be a position on the fourth reference plane RP (the position of the intersection of the reference plane RP and the central axis 60a).

  Here, when the front lens 310 is not disposed, it is necessary to match the optical axes (visual axes) of the left and right photographing optical systems with the convergence angle. In other words, it is necessary to incline the optical axes of these photographic optical systems according to the convergence angle, and to secure a necessary distance as a distance between the optical axes.

  On the other hand, when the front lens 310 is arranged as in the present embodiment, the convergence angle can be determined by the design of the front lens 310. The left and right imaging optical systems at the rear stage of the front lens 310 can be arranged in parallel, for example, while ensuring only the distance between the optical axes.

  Accordingly, in configuring the photographing optical system in a narrow space like the distal end portion 30 of the insertion portion 20 of the endoscope 12, the angle of convergence is designed by keeping only the distance between the optical axes of the left and right photographing optical systems. Can be set with a front lens, which is very advantageous.

  The first lens group 312 is a convex lens having a positive refractive power, and is arranged at the rear portion of the front lens 310 so as to be movable in a direction (front-rear direction) along the central axis 60a. Note that the optical axis of the first lens group 312 and the central axis 60a coincide with each other, and the first lens group 312 moves in the optical axis direction.

  The first lens group 312 is a focus system lens group (focusing lens), and focus adjustment is performed when the first lens group 312 moves in the front-rear direction.

  The first lens group 312 is shown as a single lens in the figure, but is a lens group configured by combining one or a plurality of single lenses. Similarly, the second lens group 314 and the third lens group 316 are lens groups configured by combining one or more single lenses.

  The second lens group 314 is a concave lens having a negative refractive power, and is arranged at the rear part of the first lens group 312 so as to be movable in the front-rear direction. Note that the optical axis of the second lens group 314 coincides with the central axis 60a, and the second lens group 314 moves in the optical axis direction.

  The second lens group 314 is a variable power (variator) lens group (variable power lens group), and the second lens group 314 moves in the front-rear direction so that the photographing optical system. The focal lengths (zoom magnifications) of 60R and 60L are changed.

  In the figure, the zoom magnification was lowered (focal length was shortened) so that the state at the wide-angle end setting shown in the upper cross section and the state at the enlarged end setting shown in the lower cross-section can be compared. ) The second lens group 314 is set to a forward position as the angle is widened.

  The third lens group 316 is a convex lens having a positive refractive power, and is arranged at the rear portion of the second lens group 314 so as to be movable in the front-rear direction. The optical axis of the third lens group 316 coincides with the central axis 60a, and the third lens group 316 moves in the optical axis direction.

  The third lens group 316 is a correction system (compensator) lens group (correction system lens group). The third lens group 316 has a predetermined positional relationship with the second lens group 314 and moves as the second lens group 316 moves. A change (shift) in the focal position accompanying the movement of the lens group 314 is corrected. The third lens group 316 moves nonlinearly to a position determined in advance according to the position of the second lens group 314.

  The first lens group 312, the second lens group 314, and the third lens group 316 constitute a non-focal system (afocal) zoom optical system that does not focus, and changes its afocal magnification. The entire focal length (zoom magnification) is changed. Here, the first lens group 312, the second lens group 314, and the third lens group 316 are referred to as a zoom unit 301.

  The separation unit 302 is a portion corresponding to the fourth group lens group of the first to fourth lens groups constituting the four-group zoom system mechanical correction type zoom lens, and is arranged in parallel at the rear portion of the third lens group 316. It has a pair of left and right fourth lens groups 318R and 318L arranged. In addition, when these 4th lens groups 318R and 318L are said separately, the 4th lens group 318R which comprises the right imaging | photography optical system 60R is called the right 4th lens group 318R, and comprises the left imaging | photography optical system 60L. The fourth lens group 318L is referred to as a left fourth lens group 318L. Each of these fourth lens groups 318R and 318L is shown as a single lens in the figure, but represents a lens group configured by combining one or a plurality of single lenses.

  The right fourth lens group 318R and the left fourth lens group 318L are lens groups (imaging optical systems) of an imaging system (master lens) and have positive refractive power. The characteristics of the right fourth lens group 318R and the left fourth lens group 318L are the same.

  A virtual image formed by the zoom unit 301 (the first lens group 312, the second lens group 314, and the third lens group 316) by the fourth lens groups 318R and 318L is a real image, and each of the right photographing unit 50R. An image is formed on the light receiving surface (imaging surface) 71R of the image sensor 70R and the light receiving surface 71L of the image sensor 70L of the left photographing unit 50L.

  Further, when attention is paid to a certain object point as a point of interest, among the light rays diffused from the point of interest and incident on the front lens 310, the light ray diffused in the angle range on the left side as viewed from the point of interest is the right fourth lens. An image point of the point of interest passing through the group 318R is formed on the light receiving surface 71R of the image sensor 70R. On the other hand, the light beam diffused in the right angle range when viewed from the point of interest passes through the left fourth lens group 318L, and the image point of the point of interest is formed on the light receiving surface 71L of the image sensor 70L. Yes.

  Therefore, each image when the subject is observed with both the left and right eyes is formed on the light receiving surfaces 71R and 71L of the image sensors 70R and 70L, and a pair of left and right parallax images are captured by the image sensors 70R and 70L. Yes.

  Furthermore, in a general four-group zoom system mechanically corrected zoom lens, the fourth lens group is fixed at a predetermined reference position, but the fourth lens groups 318R and 318L of the present embodiment move in the front-rear direction. Arranged to be possible. The optical axes of the fourth lens groups 318R and 318L are parallel to the central axis 60a and move in the optical axis direction.

  Although details will be described later, by setting the third lens group 316 to a position ahead of the position at that time when the wide-angle end is set, a cross point that is an intersection of the right visual axis 304R and the left visual axis 304L. Changes to a position farther than the reference plane RP. Accordingly, the right entire visual field range VFR of the right photographing unit 50R is shifted to the right in the left-right direction, and the left full visual field range VFL of the left photographing unit 50L is shifted to the left in the left-right direction. That is, the entire visual field range VF of the photographing unit 50 that combines the right full visual field range VFR and the left full visual field range VFL is expanded in the left-right direction, and the left and right of the 3D visual field range 3DR & 3DL in which a 3D image is photographed as shown in FIG. A right 2D visual field range 2DR and a left 2D visual field range 2DL in which a wide-angle 2D image is taken on both sides are formed.

  On the other hand, when the third lens group 316 is set to a position in front of the position at the wide-angle end setting, the focal position is deviated. The focal position deviation is caused by moving the fourth lens groups 318R and 318L. to correct.

  Here, the right fourth lens group 318R and the left fourth lens group 318L are arranged so that their optical axes are parallel to the left and right, and light rays that pass on the optical axis of the right fourth lens group 318R. However, the path from the object point through the front lens 310, the first lens group 312, the second lens group 314, and the third lens group 316 is defined as the center of the visual field range (full visual field range VFR) of the right photographing unit 50R. The right visual axis 304R (the optical axis of the right imaging optical system 60R), and the light rays passing through the optical axis of the left fourth lens group 318L from the object point to the front lens, the first lens group 312 and the second lens group A path passing through 314 and the third lens group 316 is a left visual axis 304L (an optical axis of the left photographing optical system 60L) that is the center of the visual field range (full visual field range VFL) of the left photographing unit 50L.

  At this time, in a state where the fourth lens groups 318R and 318L are set to the reference position, the right visual axis 304R and the left visual axis 304L intersect at a position on the reference plane RP as an observation plane (the cross point is The convergence angle, which is the angle formed by them, is adjusted by the front lens 310 so that it is on the reference plane RP.

  In addition, each of the image sensors 70R and 70L is disposed at a position where the centers of the light receiving surfaces 71R and 71L intersect the right visual axis 304R and the left visual axis 304L.

  FIG. 7 is a diagram illustrating a change in the field of view of the photographing unit 50 when the zoom is set to the wide angle end and the enlargement end in a state where the fourth lens groups 318R and 318L of the photographing optical system 60 are fixed at the reference position. Similarly to FIG. 6, a state at the wide-angle end setting is shown in the upper section of the photographing optical system 60, and a state at the enlarged end setting is shown in the lower section.

  In the drawing, in the state at the wide-angle end setting shown in the upper cross section of the photographing optical system 60, the visual field range of the right photographing unit 50R (right photographing optical system 60R), that is, the right full visual field range VFR is VFR-W. The visual field range of the left photographing unit 50L (left photographing optical system 60L), that is, the left full visual field range VFL is VFL-W which is symmetrical to the right full visual field range VFR-W with respect to the central plane 50a (central axis 60a). Become. The right full-view range VFR-W and the left view range VFL-W coincide with each other on the reference plane RP where the cross point CP exists, and the view range on the reference plane RP is the full-view range VF-W of the photographing unit 50. Is shown as

  Also, in the same figure, the convergence angle that is an angle formed by the right visual axis 304R and the left visual axis 304L when the wide angle end is set is indicated by an angle αW. The cross point CP exists at the position of the intersection between the reference plane RP and the central axis 60a.

  On the other hand, in the state at the time of enlargement end setting shown in the lower cross section of the photographic optical system 60 in FIG. 5, the left full visual field range VFL of the left photographing unit 50L is VFL-T having a narrower angle range than VFL-W. The right entire visual field range VFR of the right photographing unit 50R is VFR-T that is symmetrical to the left full visual field range VFL-T with respect to the central plane 50a (the central axis 60a). The right full-field range VFR-T and the left visual field range VFL-T coincide with each other on the reference plane RP where the cross point CP exists, and these field-of-view ranges on the reference plane RP are the full-view range VF-T of the photographing unit 50. Is shown as

  Also, in the same figure, the convergence angle when the enlarged end is set is indicated by an angle αT, and the convergence angle αT when the enlarged end is set is larger than the convergence angle αW when the wide-angle end is set. It becomes.

  According to this, when the second lens group 314 is moved to move the zoom from the wide-angle end to the enlargement end, and the third lens group 316 is moved so as to correct the focal position shift accompanying this, The visual field range VFR and the left entire visual field range VFL are gradually narrowed from the visual field ranges VFR-W and VFL-W to the visual field ranges VFR-T and VFL-T, respectively. That is, the entire visual field range VF of the photographing unit 50 gradually narrows from the entire visual field range VF-W to the full visual field range VF-T.

  At this time, since the right entire visual field range VFR and the left full visual field range VFL overlap in the same range on the reference plane RP, the entire right full visual field range VFR corresponds to the right 3D visual field range 3DR shown in FIG. The entire visual field range VFL corresponds to the left 3D visual field range 3DL.

  Therefore, in a state where the fourth lens groups 318R and 318L of the photographing optical system 60 are fixed at the reference position, the entire image area of the right image IR acquired by the right photographing unit 50R is the right shown in FIG. A 3D image region 360R is formed, and the entire image region of the left image IL acquired by the left photographing unit 50L is a left 3D image region 360L illustrated in FIG.

  Then, using the right image IR and the left image IL, the image in the right 3D visual field range 3DR (the image in the right 3D image region 360R) in the right image IR, similarly to the endoscopic image IR & IL in FIG. 5C. ) And the image of the left 3D visual field range 3DL (the image of the left 3D image region 360L) in the left image IL are displayed so as to overlap each other on the screen of the 3D display device 18, whereby the image of the right image IR and the left image IL is displayed. The whole is displayed as a 3D image.

  Further, the angle of view of the 3D image at that time changes according to the zoom magnification.

  Thus, in a state where the fourth lens groups 318R and 318L are fixed at the reference position, the normal zoom when the zoom magnification is changed by moving the second lens group 314 and the third lens group 316 of the photographing optical system 60 is changed. Is referred to as “standard zoom”.

  On the other hand, FIG. 8 shows a state at the time of image shift that expands the entire visual field range VF of the photographing unit 50 in the left-right direction by moving the third lens group 316 from the position at the wide-angle end setting in the standard zoom. The upper cross section of the photographic optical system 60 shows the state at the time of image shift, and the lower cross section shows the state at the wide-angle end setting with the standard zoom.

  As can be seen in comparison with the state at the wide-angle end setting in the standard zoom shown in the lower cross section in the same figure, the second lens group 314 has the wide angle in the standard zoom in the image shift state shown in the upper cross-section. Set to the edge setting position.

  On the other hand, the third lens group 316 is set to a position ahead by the amount of movement Xa from the position at the wide-angle end setting with the standard zoom at the time of image shift. Further, the fourth lens groups 318R and 318L are also set to positions ahead of the reference position by the amount of movement Xb so as to correct the focal position shift caused by the movement of the third lens group 316.

  FIG. 9 is a diagram showing the field of view of the photographing unit 50 at the time of image shift. Similarly to FIG. 8, the upper cross section of the photographing optical system 60 is in the state at the time of image shift, and the lower cross section is at the wide angle end with standard zoom. The state at the time of setting is shown.

  In the same figure, in the state at the wide-angle end setting with the standard zoom shown in the lower cross section of the photographing optical system 60, the left full visual field range VFL of the left photographing unit 50L (left photographing optical system 60L) is shown in FIG. Similarly to VFL-W. The right entire visual field range VFR of the right photographing unit 50R (right photographing optical system 60R) is symmetrical to the left full visual field range VFL-W with respect to the central plane 50a (central axis 60a), as shown in FIG. Becomes VFR-W. At this time, the entire visual field range VF of the imaging unit 50 on the reference plane RP is indicated by VF-W, and the convergence angle is indicated by an angle αW.

  On the other hand, in the state at the time of image shift shown in the upper cross section of the photographic optical system 60 in the same figure, the right full visual field range VFR of the right photographic unit 50R is VFR-S. The left entire visual field range VFL of the left photographing unit 50L is VFL-S that is symmetrical to the right full visual field range VFR-S with respect to the central plane 50a (central axis 60a).

  According to this, the entire right field-of-view range VFR-S is shifted to the right side (upper side in the drawing) with respect to the entire right field-of-view range VFR-W. That is, in the same figure, the direction of the right visual axis 304R of the right photographing unit 50R is the central axis by moving the third lens group 316 from the position at the wide-angle end setting in the standard zoom to the position at the time of image shift. It changes in a direction parallel to 60a. As a result, the entire right visual field range VFR-S is also shifted to the right as a whole.

  Similarly, the left full visual field range VFL-S is shifted to the left (lower side in the figure) as a whole with respect to the left full visual field range VFL-W. That is, in the same figure, the direction of the left visual axis 304L of the left photographing unit 50L is the central axis by moving the third lens group 316 from the position at the wide-angle end setting in the standard zoom to the position at the time of image shift. It changes in a direction parallel to 60a. This means that the right viewing axis 304R of the right photographing unit 50R is also parallel and the convergence angle is 0 degree. As a result, the entire left visual field range VFL-S is also shifted to the left as a whole.

  As described above, the right full-view range VFR-S and the left full-view range VFL-S are shifted in the left-right direction so as to be separated from each other, whereby the photographing on the reference plane RP taken by the right photographing unit 50R and the left photographing unit 50L. The entire visual field range VF of the unit 50 becomes VF-S, and is expanded in the left-right direction as compared with the entire visual field range VF-W of the photographing unit 50 when the wide angle end is set with the standard zoom.

  Similarly to the visual field range shown in FIG. 4, the right 3D visual field range 3DR-S and the left 3D visual field range 3DL-S (3D visual field range) in which the right full visual field range VFR-S and the left full visual field range VFL-S overlap. 3DR & 3DL-S) is formed, and the right 2D visual field range 2DR-S and the left 2D visual field range 2DL-S in which the right full visual field range VFR-S and the left full visual field range VFL-S do not overlap are formed.

  Therefore, when the angle of view is shifted, the right 3D image in which the subject of the right 3D visual field range 3DR-S appears in the image area of the right image IR acquired by the right photographing unit 50R as shown in FIG. The region 360R and the right 2D image region 362R in which the subject in the right 2D visual field range 2DR-S is reflected are configured. Further, as shown in FIG. 5B, the image area of the left image IL acquired by the left imaging unit 50L includes the left 3D image area 360L and the left 2D field of view range in which the subject in the left 3D field of view range 3DL-S is reflected. A left 2D image area 362L in which a 2DL-S subject is reflected is formed.

  Then, using the right image IR and the left image IL, similarly to the endoscopic image IR & IL in FIG. 5C, the image of the right 3D image region 360R in the right image IR and the left 3D in the left image IL. By displaying the right image IR and the left image IL so that the image of the image region 360L overlaps on the screen of the 3D display device 18, the 3D view range 3DR & 3DL-S, the right 2D view range 2DR-S, An endoscopic image IR & IL obtained by fusing the 2D image of the left 2D visual field range 2DL-S is displayed. This makes it possible to observe a wider visual field range in the left-right direction than when the wide-angle end is set during standard zoom.

  Note that the amount of shift in the left-right direction of the right full-view range VFR-S and the left full-view range VFL-S is the amount of movement Xa from the position of the third lens group 316 when the wide-angle end is set with the standard zoom. Can be changed. As a tendency, the shift amount can be increased as the movement amount Xa is increased.

  That is, as the movement amount Xa is increased, the 3D visual field range 3DR & 3DL in which the right visual field range VFR (VFR-S) and the left visual field range VFL (VFL-S) overlap with each other on the reference plane RP is decreased, and the right visual field range VFR (VFR) is reduced. The right 2D visual field range 2DR and the left 2D visual field range 2DL in which -S) and the left visual field range VFL (VFL-S) do not overlap can be increased, and the entire visual field range VF of the imaging unit 50 can be increased in the left-right direction.

  The movement amount Xb of the fourth lens groups 318R and 318L at this time is changed according to the magnitude of the movement amount Xa of the third lens group 316.

  Next, the configuration of a control system for controlling the photographing optical system 60 will be described with reference to FIG.

  In the figure, the photographing optical system 60 is provided in the photographing unit 50 mounted on the distal end portion 30 of the endoscope 12. The figure shows the first lens group 312, the second lens group 314, the third lens group 316, and the fourth lens groups 318R and 318L, which are arranged so as to be movable in the direction of the central axis 60a of the photographing optical system 60. The motors 552, 554, 556, 558R, and 558L are connected to the motors 552, 554, 556R, and 558L by a power transmission mechanism (not shown). As a result, the first lens group 312, the second lens group 314, the third lens group 316, and the fourth lens group 318R, 318L are electrically driven by the power of the motors 552, 554, 556, 558R, 558L, and the central shaft 60a. It is designed to move in the direction. Each of the motors 552, 554, 556, 558R, and 558L is driven by a voltage signal supplied from a drive unit 560 mounted on the tip portion 30.

  On the other hand, the processor device 14 includes an operation unit 562 (including an input device such as a keyboard connected to the processor device 14) through which an operator inputs various types of information. Instruction information for specifying the focus position of the optical system 60, instruction information for specifying whether the zoom mode is the standard zoom mode or the image shift mode, instruction information for specifying the zoom magnification in the standard zoom, and the shift amount in the image shift are specified. Instruction information and the like can be input. Such instruction information may be input not on the processor device 14 but on the operation unit 22 of the endoscope 12.

  The instruction information input from the operation unit 562 is read by the control unit 564 of the processor device 14, and the instruction position where each of the first lens group 312 to the fourth lens groups 318R and 318L should be set based on the instruction information. A control signal that is determined and instructed to move to the determined indication position is transmitted from the control unit 564 to the driving unit 560 of the endoscope 12.

  Based on the control signal given from the control unit 564, the drive unit 560 moves the motors 552, 554, 556, 558R, 558L so that the first lens group 312 to the fourth lens groups 318R, 318L move to the designated positions. Drive.

  As a result, the first lens group 312 is controlled to be at a position corresponding to the focal position designated by the operator.

  The second lens group 314 to the fourth lens group 318R, 318L are controlled differently depending on whether the mode designated and set by the operator is the standard zoom mode or the image shift mode.

  In the standard zoom mode, the second lens group 314 is controlled to a position corresponding to the zoom magnification designated by the operator, and the third lens group 316 corresponds to the position of the second lens group 314. Thus, the position is controlled to be a predetermined position (a position for correcting the deviation of the focal position). The fourth lens groups 318R and 318L are set at reference positions determined in advance.

  On the other hand, in the image shift mode, the second lens group 314 is controlled to be in the position at the wide-angle end setting with the standard zoom, and the third lens group 316 has a shift amount designated by the operator. Control is performed so as to be a position ahead of the position at the wide-angle end setting with the standard zoom by the corresponding movement amount Xa.

  The fourth lens groups 318R and 318L are positioned in front of the reference position (fixed position at the standard zoom) by a movement amount Xb determined in advance corresponding to the movement amount Xa of the third lens group 316. Controlled.

  As described above, the standard zoom control and the image shift control of the photographing optical system 60 are performed according to the operation of the operator.

  In the image shift mode, the right 3D image region 360R in the right image IR obtained by the right photographing unit 50R as shown in FIG. 5A and the left photographing unit 50L as shown in FIG. 5B. The size of the left 3D image region 360L in the left image IL varies depending on the amount of movement Xa of the third lens group 316.

  Therefore, when the endoscopic image IR & IL is displayed on the 3D display device 18 as shown in FIG. 5C using the right image IR and the left image IL, the size of the 3D image region 360 displayed as a 3D image ( Width), that is, the size (horizontal width) of the image region recognized as the right image region 360R of the right image IR and the left image region 360L of the left image IL needs to be changed according to the amount of movement Xa of the third lens group 316. There is.

  Therefore, the display image generation unit 104 generates data related to the size (horizontal width) of the right 3D image region 360R and the left 3D image region 360L with respect to the movement amount Xa of the third lens group 316 and generates the endoscopic image IR & IL. (See FIG. 2), the data is stored in the storage means so that the data can be referred to. The storage means may be a storage medium built in the processor device 14 or a storage medium detachable from the processor device 14. Further, it may be a storage medium built in the endoscope 12.

  When the display image generation unit 104 generates the endoscope image IR & IL, the information on the movement amount Xa of the third lens group 316 is acquired, and the data stored in the storage unit is referred to. The size (horizontal width) of the image areas recognized as the right 3D image area 360R in the right image IR and the left 3D image area 360L in the left image IL may be changed according to the movement amount Xa of the lens group 316. The information of the movement amount Xa of the third lens group 316 is obtained by information from the position detecting means for detecting the movement amount Xa of the third lens group 316, information from the control unit 564 in FIG. Information on the position being controlled), or instruction information input from the operation unit 562 (information indicating the position of the third lens group 316) or the like.

  In the image shift mode, the moving amount Xa of the third lens group 316 may be changed to a continuous value or may be changed to a discrete value. Further, the movement amount Xa of the third lens group 316 is not changeable as described above, and can be taken as only one value (fixed value). When the image shift mode is selected, the movement amount Xa is the value of the movement amount Xa. The third lens group 316 may be set at a position where the value is a fixed value, and the fourth lens groups 318R and 318L may be set at a position where the movement amount Xb corresponds to the movement amount Xa.

  In the image shift mode, the second lens group 314 is set to the position at the wide-angle end setting at the standard zoom (when the zoom magnification is minimum), and the third lens group 316 is set to the wide-angle end at the standard zoom. The time position is used as a reference position, and the position is moved from the reference position by the movement amount Xa. However, the setting position of the second lens group 314 and the reference position of the third lens group 316 in the image shift mode are as follows. The position does not necessarily have to be a position at the time of setting the wide angle end, and may be a position at the time of setting another zoom magnification.

  As described above, in the imaging optical system 60 of the first embodiment shown in FIG. 6 and the like, the first lens group 312, the second lens group 314, and the third lens group 316 of the zoom unit 301 are convex (positive) (A refracting power) lens group, a concave (negative refracting power) lens group, and a convex (positive refracting power) lens group. However, the present invention is not limited to this, and the second embodiment of the photographing optical system 60 based on the same four-group zoom mechanical correction zoom lens is a first lens group, a second lens group, and a second lens unit of the zoom unit. The three lens groups may be configured by a concave lens group, a convex lens group, and a concave lens group.

  FIG. 11 is a lens cross-sectional view showing the configuration of the second embodiment of the photographing optical system 60 of the photographing unit 50. Note that the second embodiment is the same as that shown in FIG. 6 except that the first lens group, the second lens group, and the third lens group of the zoom unit are different in whether they are concave or convex. The configuration is the same as that of the first embodiment, and the driving and control related to the standard zoom and image shift described above are performed in the same manner as in the first embodiment, and thus a part of the description is omitted.

  In the figure, a state in which the zoom is set at the wide-angle end at the time of the standard zoom is shown in the lower section from the center plane 50a, and a state at the time of image shift is shown in the upper section.

  As shown in the figure, the photographing optical system 60 is provided separately for the shared unit 400 shared by the right photographing optical system 60R and the left photographing optical system 60L, and the right photographing optical system 60R and the left photographing optical system 60L. And the separation unit 402.

  The shared unit 400 includes a first lens group 412, a second lens group 414, and a third lens that constitute the zoom unit 401 among the first to fourth lens groups that constitute a four-group zoom type mechanical correction zoom lens. It has a lens group 416 and a front lens 410 arranged at a position closer to the object side than the first lens group 412.

  The front lens 410 has the same configuration and function as the front lens 310 of the first embodiment, and a right visual axis 404R serving as a central axis of the right entire visual field range VFR of the right photographing unit 50R; A convergence angle formed by the left visual axis 304L that is the central axis of the left entire visual field range VFL of the left photographing unit 50L is created.

  The first lens group 412 is a focusing lens group (focusing lens), and is configured as a concave lens having negative refractive power. Focus adjustment is performed by moving the first lens group 412 in the front-rear direction. The first lens group 412 is shown as a single lens in the drawing, but is a lens group configured by combining one or a plurality of single lenses. Similarly, the second lens group 414 and the third lens group 416 are lens groups configured by combining one or more single lenses.

  The second lens group 414 is a variable power (variator) lens group, and is configured as a concave lens having negative refractive power. In the second lens group 314, the focal lengths (zoom magnifications) of the photographing optical systems 60R and 60L are changed as the second lens group 314 moves in the front-rear direction. The second lens group 414 is set to a rear position as the zoom angle in the standard zoom is lowered (focal length is shortened) at a wide angle.

  The third lens group 416 is a correction system (compensator) lens group, and is a convex lens having positive refractive power. The third lens group 416 has a predetermined positional relationship with the second lens group 414, and the displacement of the focal position due to the movement of the second lens group 414 is corrected by the movement of the third lens group 416.

  Similarly to the first embodiment, the separation unit 402 includes a pair of left and right right fourth lens groups 418R and a left fourth lens group 418L. Each of these fourth lens groups 418R and 418L is shown as a single lens in the figure, but indicates a lens group configured by combining one or a plurality of single lenses.

  The fourth lens groups 418R and 418L are lens groups of an imaging system (master lens), and are configured as convex lenses having positive refractive power. The characteristics of the right fourth lens group 418R and the left fourth lens group 418L are the same. A virtual image formed by the zoom unit 401 (a zoom optical system including the first lens group 412, the second lens group 414, and the third lens group 416) by the fourth lens groups 318R and 318L is a real image, respectively. An image is formed on the light receiving surface 71R of the image sensor 70R of the right photographing unit 50R and the light receiving surface 71L of the image sensor 70L of the left photographing unit 50L.

  At the time of standard zoom, as in the first embodiment of FIG. 6, the fourth lens groups 418R and 418L are fixed at predetermined reference positions as in the upper cross section of FIG. Then, the zoom magnification is changed by moving the second lens group 414 in the direction of the central axis 60a, and the deviation of the focal position caused by the movement of the second lens group 414 is corrected by the movement of the third lens group 416. Is done.

  On the other hand, at the time of image shift, as in the first embodiment, the third lens group 416 is set at a position ahead of the position at the wide-angle end setting in the standard zoom, as in the upper cross section of FIG. The fourth lens groups 418R and 418L are set at positions ahead of the reference position. The second lens group 414 is set at the wide-angle end position.

  As a result, the directions of the right visual axis 404R and the left visual axis 404L change in a direction parallel to the central axis 60a, and the visual field range (right full visual field range VFR) of the right photographing unit 50R and the visual field range of the left photographing unit 50L ( The left total visual field range VFL) shifts in the left-right direction away from each other. Accordingly, the entire visual field range VF of the photographing unit 50 that combines the right full visual field range VFR and the left full visual field range VFL is expanded in the left-right direction as compared with the wide angle end setting in the standard zoom.

  FIG. 12 is a diagram showing a field range at the time of image shift in the photographing optical system 60 of the second embodiment. Similarly to FIG. The cross section shows the state at the wide-angle end setting with the standard zoom.

  In the figure, in the state at the wide-angle end setting with the standard zoom shown in the lower cross section of the photographic optical system 60, the left full visual field range VFL of the left photographic unit 50L (left photographic optical system 60L) is VFL-W. The right entire visual field range VFR of the right photographing unit 50R (right photographing optical system 60R) is symmetrical to the left full visual field range VFL-W with respect to the central plane 50a (central axis 60a), as shown in FIG. Becomes VFR-W. At this time, the entire visual field range VF of the imaging unit 50 on the reference plane RP is indicated by VF-W, and the convergence angle is indicated by an angle αW. When the zoom magnification is changed during standard zoom, the size of the reference plane RP changes within the range in which the right full visual field range VFR and the left full visual field range VFL substantially coincide with each other as in the first embodiment. To do.

  On the other hand, in the state at the time of image shift shown in the upper cross section of the photographic optical system 60 in the same figure, the right full visual field range VFR of the right photographic unit 50R is VFR-S. The left entire visual field range VFL of the left photographing unit 50L is VFL-S that is symmetrical to the right full visual field range VFR-S with respect to the central plane 50a (central axis 60a).

  According to this, the configuration of the field-of-view range of the photographing unit 50 at the time of standard zoom and image shift matches the field-of-view range of the photographing unit 50 in the first embodiment shown in FIG. Therefore, as in the first embodiment, at the time of image shift, the full field-of-view range VF (VF-S) of the photographing unit 50 photographed by the right photographing unit 50R and the left photographing unit 50L is set to the wide-angle end with the standard zoom. The entire field of view VF-W of the photographing unit 50 at the time is enlarged in the left-right direction.

  Then, the right 3D visual field range 3DR-S and the left 3D visual field range 3DL-S (3D visual field range 3DR & 3DL-S) are formed by overlapping the right full visual field range VFR-S and the left full visual field range VFL-S. The right 2D visual field range 2DR-S and the left 2D visual field range 2DL-S in which the range VFR-S and the left full visual field range VFL-S do not overlap each other are formed.

  Therefore, as in the first embodiment, at the time of image shift, an endoscope in which the 3D image and the 2D image are fused to expand the visual field range in the left-right direction as in the endoscopic image IR & IL in FIG. The mirror image can be displayed on the 3D display device 18.

  The first and second embodiments of the photographic optical system 60 described above are basically composed of a four-group zoom system mechanically corrected zoom lens. The photographing optical system 60 can also be configured with a correction zoom lens as a basic configuration.

  When the photographic optical system 60 is configured with the optical correction type zoom lens as a basic configuration, the position of the third lens unit of the correction system is fixed and the zooming system first lens is fixed during standard zoom (in standard zoom mode). Only the two lens groups are moved, the second lens group is set at a position where the deviation of the focal position is allowed, and the zoom magnification is changed. For example, the second lens group may be set only at two positions, that is, the wide-angle end position and the enlargement end position where no shift of the focal position occurs.

  On the other hand, at the time of image shift, the second lens group is set at the wide-angle end position in the same manner as in the embodiment shown in FIGS. By moving the fourth lens group (the right fourth lens group and the left fourth lens group), the entire visual field range VF of the photographing unit 50 can be expanded in the left-right direction as compared with the wide-angle end setting in the standard zoom. .

  As described above, in the first and second embodiments, the entire third lens group (the third lens group 316 in FIG. 6 and the third lens group 416 in FIG. 11) is moved during image shift. Only part of the optical elements constituting the third lens group may be moved. In addition, as a configuration of the zoom unit (the zoom unit 301 in FIG. 6 and the zoom unit 401 in FIG. 11) of the first and second embodiments, that is, the configuration of the zoom optical system, only the standard zoom is used ( In the case of using as a normal zoom lens, the number of lens groups that move as a single unit (the first lens group to the third lens group) is shown, but the configuration of the zoom unit is not limited to this. The present invention can be applied to, for example, an afocal zoom optical system including an arbitrary number of lens groups.

  Assuming that the zoom unit is composed of an arbitrary number of lens groups, at the time of standard zoom, a predetermined (one or more) lens group is moved in the same way as when used as a normal zoom lens to increase the zoom magnification. change.

  At the time of image shift, the lens group included in the zoom unit is set to a state where the zoom unit is set to a predetermined zoom magnification (for example, a state where the zoom magnification is minimized) and, for example, in the vicinity of the emission unit of the zoom unit from which subject light is emitted In other words, the entire or a part of the last lens unit of the zoom unit is moved to the optical axis direction by a predetermined movement amount from the reference position with the set position at that time as the reference position. Set. As a result, the pair of right and left full visual field ranges VFR and left full visual field range VFL of the photographing unit are shifted in directions opposite to each other in the left and right directions.

  Then, the focal position shift due to the movement of the optical element is corrected by setting the fourth lens group to a position moved in the optical axis direction by a predetermined movement amount from the reference position, as in the above embodiment. Control is sufficient.

  In the above-described photographic optical system 60, the front lens is provided at the forefront, but the front lens is not necessarily required. The function of the front lens can be replaced by the first lens group by moving the first lens group of the focal system instead of the front lens to focus on the reference plane RP.

  Further, in the display form of the endoscopic image in the above-described embodiment, a 3D image and a 2D as shown in FIG. 5C using the right image IR and the left image IL captured by the imaging unit 50 at the time of image shift. Although the endoscope image IR & IL combined with the image is displayed, the display form of the endoscope image is not limited to this. The following processing related to the display mode of the endoscopic image can be handled by the processing of the display image generation unit 104 in the processor device 14 shown in FIG.

  For example, in FIG. 5C, the image of only the 3D image area 360 (3D visual field range 3DR & 3DL) (the right 3D image area 360R of the right image IR and the left 3D image area 360L of the left image IL) is displayed on the 3D display device 18. You may display as an endoscopic image only of 3D image.

  Then, on the screen of the 3D display device 18, the endoscope image of only the 3D image (or the endoscope image obtained by fusing the 3D image and the 2D image) can be switched by a predetermined operation or in parallel. Thus, an image of the 3D image area 360 (3D visual field range 3DR & 3DL), an image of the right 2D image area 362R (right 2D visual field range 2DR) on both sides thereof, and an image of the left 2D image area 362L (left 2D visual field range 2DL) The entire image including the entire image (the entire image of the entire visual field range VF of the endoscope 12) may be displayed as an endoscopic image including only a 2D image.

  As a form in which the 3D image of the 3D image area 360 is displayed as a 2D image, the image of the right 3D image area 360R of the right image IR and the image of the left 3D image area 360L of the left image IL are thinned out to reduce the resolution, and 3D Only the image in the 3D image area 360 is configured such that it cannot be recognized as an image (a 3D image that cannot be stereoscopically viewed) or the image in the right 3D image area 360R and the image in the left 3D image area 360L. A form to be displayed as an image, or a 2D image (combined 2D image) generated by combining or merging the image of the right 3D image region 360R and the image of the left 3D image region 360L as the image of the 3D image region 360 A display form or the like can be adopted. As a 2D image obtained by combining (merging) the image in the right 3D image region 360R and the image in the left 3D image region 360L, for example, a mode in which an image (averaged image) obtained by superimposing these images is considered.

  In addition, when displaying a 2D image on the 3D display device 18, the same 2D image may be displayed on both the display image for the right eye and the display image for the left eye, or the 2D image is displayed on only one of them. May be. When displaying the entire image of the entire visual field range VF of the endoscope 12 as an endoscopic image of only the 2D image, the 2D image of the right 2D image region 362R of the right image IR and the 2D of the left 2D image region 362L of the left image IL are displayed. The same applies to images. The same applies to the case of displaying an endoscopic image IR & IL in which a 3D image and a 2D image are fused as shown in FIG. Further, the endoscopic image of only the 2D image may be displayed on a monitor for 2D display different from the monitor that displays the 3D image.

  In addition, as shown in FIG. 5C, an endoscopic image IR & IL obtained by fusing a 3D image and a 2D image, and an endoscopic image including only a 3D image or an endoscopic image including only a 2D image are displayed as described above. In this case, instead of displaying all of them in the screen, only an image of a partial area may be cut out and displayed. For example, when the aspect ratio of the display area that displays the endoscopic image on the screen (the width / height value) is larger than that of the endoscopic image, the width of the display area and the width of the endoscopic image are The images in the upper and lower partial regions of the endoscopic image that are outside the display area may be hidden.

  Furthermore, the endoscope image displayed on the screen by the observer or the like may be enlarged or reduced by a predetermined operation on the operation unit 22 of the endoscope 12 or the operation unit 562 of the processor device 14. When a part of the endoscopic image is outside the display area, an image of a partial area of the endoscopic image may be cut out and displayed in the display area. At this time, the operator may be able to change the image area to be cut out from the endoscopic image and displayed in the display area by a scroll operation or the like.

  Further, in the case of displaying an endoscopic image IR & IL obtained by fusing a 3D image and a 2D image as shown in FIG. 5C, the boundary area between the 3D image area 360 and the right 2D image area 362R, and the 3D image In the boundary region between the region 360 and the left 2D image region 362L, a stereoscopic recognition failure occurs. In order to reduce this failure, it is preferable to perform a thinning process or the like on the images in these boundary regions so as to reduce the rapid jump from the 3D image to the 2D image.

  For example, the boundary region 620R on the left end side of the right 3D image region 360R of the right image IR as shown in FIG. 13A and the right end side of the left 3D image region 360L of the left image IL as shown in FIG. The image of the boundary region 620L is subjected to thinning processing or blurring processing to reduce the definition of the images of the boundary regions 620R and 620L, and the endoscopic image IR & IL is displayed as shown in FIG. To do. In that case, the effect of reducing the sharpness may be given uniformly to the images of the boundary region 620R of the right image IR and the boundary region 620L of the left image IL by thinning processing or blurring processing. (The closer to the left end for the image in the boundary region 620R of the right image IR, the closer to the right end for the image in the boundary region 620L of the left image IL), the sharpness by thinning or blurring processing. The effect of lowering may be gradually strengthened.

  Note that the processing for reducing the sharpness is performed on the boundary region on the left end side of the left 3D image region 360L of the left image IL together with or instead of the boundary region 620R of the right image IR. A process for reducing the sharpness may be applied to the boundary region on the right end side of the right 3D image region 360R of the right image IR together with the boundary region 620L or instead of the boundary region 620L. Moreover, this process can be similarly applied when displaying an endoscopic image of only a 3D image.

  In the above embodiment, the case where the present invention is applied to the flexible endoscope 12 has been described. However, the present invention can be applied regardless of the type of endoscope such as a rigid endoscope. .

  DESCRIPTION OF SYMBOLS 10 ... Stereoscopic endoscope system, 12 ... Stereoscopic endoscope (endoscope), 14 ... Processor apparatus, 16 ... Light source, 18 ... 3D display apparatus, 20 ... Insertion part, 22 ... Operation part, 24 ... Universal cord, 30 ... tip part, 30a ... tip surface, 32 ... curved part, 34 ... soft part, 50 ... photographing part, 50R ... right photographing part, 50L ... left photographing part, 52 ... illumination part, 60 ... photographing optical system, 60a ... Central axis, 60R ... right imaging optical system, 60L ... left imaging optical system, 70R, 70L ... image sensor, 71R, 71L ... light receiving surface (imaging surface), 80R, 80L ... analog signal processing unit (AFE), 82R, 82L DESCRIPTION OF SYMBOLS ... Transmission part, 100 ... Reception part, 102 ... Image processing part, 104 ... Display image generation part, 106 ... Display control part, 150 ... 3D image & wide angle 2D image display area, 160 ... 3D image display area, 170 ... Wide angle 2D Picture Display area, 200R, 200L ... processing unit, 202R, 202L ... drive unit, 300, 400 ... shared unit, 301, 401 ... zoom unit, 302, 402 ... separation unit, 304R, 404R ... right visual axis, 304L, 404L ... Left visual axis, 310, 410 ... front lens, 312, 412 ... first lens group, 314, 414 ... second lens group, 316, 416 ... third lens group, 318R, 418R ... right fourth lens group, 318L 418L: left fourth lens group, 560: drive unit, 562 ... operation unit, 564 ... control unit, RP ... reference plane, VF ... full field of view, VFR ... right full field of view, VFL ... left full field of view, 3DR ... Right 3D viewing range, 3DL ... Left 3D viewing range, 3DR & 3DL ... 3D viewing range, 2DR ... Right 2D viewing range, 2DL ... Left 2D viewing range

Claims (10)

A zoom optical system including at least a variable magnification system lens group and a correction system lens group configured to be movable along the optical axis direction and capable of zooming from a wide-angle end to an expansion end, and a subject side of the zoom optical system A pair of left and right imaging optical systems that are respectively disposed between a pair of left and right imaging elements disposed on opposite sides, and each forms an image of a subject on the imaging element, for stereoscopic viewing by the pair of left and right imaging elements A stereoscopic imaging device that acquires a pair of left and right parallax images,
Means for moving the correction system lens group in order to correct a change in the focal position accompanying the movement of the zoom system lens group, and the correction system lens group when the zoom system lens group is at the wide-angle end First moving means for shifting the field of view in the left-right direction by shifting in the optical axis direction from the original position of
Second moving means for moving the pair of left and right imaging optical systems in the direction of the optical axis in order to correct a shift of a focal position due to the correction system lens group being shifted from its original position;
3D imaging device . The stereoscopic imaging apparatus according to claim 1, wherein the first moving unit includes a shift amount changing unit that varies a shift amount with respect to an original position of the correction system lens group. The stereoscopic imaging apparatus according to claim 1, wherein the first moving unit sets a shift amount with respect to an original position of the correction system lens group to a predetermined fixed value. 4. The stereoscopic imaging apparatus according to claim 1, wherein the zoom optical system is a non-focal zoom optical system in a four-group zoom mechanical correction zoom lens. 5. 5. The stereoscopic imaging apparatus according to claim 1, wherein a front lens for setting a convergence angle is provided on a subject side of the zoom optical system. A 2D image for planar view that generates an image of a region where the visual field ranges of the pair of left and right parallax images overlap as a 3D image for stereoscopic viewing and expands an image of the region where the visual field ranges do not overlap on the left and right sides of the 3D image The stereoscopic imaging device according to claim 1, further comprising: a 3D image generation unit that generates the image as a 3D image. The stereoscopic imaging device according to claim 6, wherein the 3D image generation unit reduces the sharpness of an image in a boundary region between the 3D image and the 2D image. The stereoscopic imaging apparatus according to claim 1, further comprising: a 2D image generation unit configured to generate an image in the entire visual field range of the pair of left and right parallax images as a 2D image for planar view. The stereoscopic imaging apparatus according to claim 8, wherein the 2D image generation unit generates an image of an area where the visual field ranges of the pair of left and right parallax images overlap as a 3D image that cannot be stereoscopically viewed by thinning processing. The stereoscopic imaging apparatus according to claim 8, wherein the 2D image generation unit generates an image of a region where the visual field ranges of the pair of left and right parallax images overlap as a 2D image by a synthesis process.

Images