JP6843518B2 - Stereoscopic endoscopy system - Google Patents

Description

The present invention relates to a stereoscopic endoscopic system, and more particularly to a stereoscopic endoscopic system capable of generating an image for stereoscopic observation using two parallax images.

Conventionally, a technique of acquiring two parallax images having parallax by imaging a subject with a stereoscopic endoscope and using the acquired two parallax images to generate a stereoscopic image which is an image for stereoscopic observation. Are known.

Specifically, for example, in Patent Document 1, a subject is imaged by a right-eye camera and a left-eye camera provided at the tip of an endoscope to acquire a right-eye image and a left-eye image, and the acquired right-eye image and the acquired right-eye image and the left-eye image are acquired. A configuration for generating an image for stereoscopic display using a left-eye image is disclosed.

Further, for example, in a stereoscopic endoscope for surgery, a 3D display in which a stereoscopic image generated by using two parallax images is displayed as an observation image and one of the two parallax images are displayed. Conventionally, there is known a device having a function of switching between a 2D display displayed as an observation image and a function capable of switching between the 2D display.

Here, for example, an endoscope provided with a treatment tool channel for inserting an elongated treatment tool used for treating an affected part in a body cavity, such as an upper gastrointestinal endoscope (hereinafter, also referred to as a flexible scope). ), It is desirable that the treatment of the affected part is proceeded in a state where the visibility of the tip portion of the treatment tool protruding from the tip surface of the endoscope via the treatment tool channel is ensured.

In addition, for example, when incorporating the function of the stereoscopic endoscope for surgery described above into a flexible scope,
It is desirable to ensure the visibility of the tip of the treatment tool during 2D display while considering the parallax between the two parallax images obtained by imaging the subject.

However, Patent Document 1 does not particularly disclose a configuration for ensuring the visibility of the tip portion of the treatment tool during 2D display while considering the parallax between the right eye image and the left eye image. Therefore, according to the configuration disclosed in Patent Document 1, for example, when the field of view of one of the right-eye camera and the left-eye camera is obstructed, which makes stereoscopic display difficult. There is a problem that the visibility of the tip of the treatment tool protruding through the channel is deteriorated, and as a result, the treatment of the affected part using the treatment tool may be hindered.

The present invention has been made in view of the above-mentioned circumstances, and is capable of switching between 3D display and 2D display and performing an appropriate 2D display according to the protruding state of the treatment tool. The purpose is to provide an endoscopic system.

The stereoscopic parallax system of one aspect of the present invention is provided at an insertion portion inserted into the body cavity of a subject and a tip portion of the insertion portion, and is incident from the tip surface of the tip portion of the insertion portion. A first objective optical system that forms a first optical image according to the incident light and a second objective optical system that forms a second optical image corresponding to the incident light are provided, and the first objective optical system is provided. An imaging unit configured to image the optical image and the second optical image, respectively, and output an imaging signal, and an imaging unit provided inside the insertion unit, which is predetermined with respect to the affected portion in the body cavity of the subject. Based on the conduit and the imaging signal configured so that the treatment tool can be inserted and the treatment tool can be projected from the opening provided on the tip surface. An image processing unit configured to generate a first parallax image corresponding to the first optical image and a second parallax image corresponding to the second optical image, and the first with parallax image and using said second parallax images can be generated stereoscopic image display for displaying a stereoscopic image or the first parallax image or the second parallax image thus generated to the display device With the control unit, the input unit that gives an instruction to set the display function of the observation image displayed on the display device to the 2D display, and the information peculiar to the endoscope including the insertion unit, the imaging unit, and the conduit. Therefore, the layout information of the tip of the insertion portion is acquired, the parallax image when the 2D display is set based on the layout information is initially set, and the parallax image is displayed on the display device according to the instruction of the input portion. The image information related to the first parallax image and the second parallax image output from the image processing unit and the initially set parallax image according to the observation image display function being set to 2D display. A selection unit that selects the first parallax image or the second parallax image as a parallax image to be displayed on the display device based on the information related to the above.
A stereoscopic endoscopic system characterized by having.

According to the stereoscopic endoscopy system of the present invention, it is possible to switch between 3D display and 2D display, and it is possible to perform appropriate 2D display according to the protruding state of the treatment tool.

The figure which shows the structure of the main part of the stereoscopic endoscopy system which concerns on Example. The schematic diagram for demonstrating an example of the layout of the front end surface of an endoscope. The figure for demonstrating an example of the process performed in the stereoscopic endoscopy system which concerns on Example. The figure which shows an example of two parallax images PL and PR generated in the stereoscopic endoscopy system which concerns on Example. The figure which shows an example of two parallax images PL and PR generated in the stereoscopic endoscopy system which concerns on Example. The figure for demonstrating an example of the parameter which can be used in the processing of the stereoscopic endoscopy system which concerns on embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 6 relate to an embodiment of the present invention.

As shown in FIG. 1, the stereoscopic endoscope system 1 includes an endoscope 2, a light source device 3, a processor 4, a display device 5, and an input device 6. FIG. 1 is a diagram showing a configuration of a main part of a stereoscopic endoscopy system according to an embodiment.

The endoscope 2 is configured to include an elongated insertion portion 2A that is inserted into the body cavity of the subject. Further, the endoscope 2 is configured as a direct-view type flexible mirror in which the viewing direction is set from the tip end portion of the flexible insertion portion 2A to the front side. Further, the endoscope 2 is configured to be detachably connected to the light source device 3 and the processor 4 via a scope connector (not shown). Further, inside the endoscope 2, a signal processing unit 24 and a non-volatile memory 25 are provided.

Inside the insertion portion 2A, a light guide 7 configured to transmit the illumination light supplied from the light source device 3 to the tip portion of the insertion portion 2A is inserted. Further, at the tip of the insertion portion 2A, an illumination optical system 21 that irradiates the subject with illumination light emitted through the light guide 7, and return light (reflected light) generated from the subject illuminated by the illumination light. An imaging unit 22 that captures an image and outputs an imaging signal is provided. Further, inside the insertion portion 2A, a treatment tool channel 23 through which an elongated treatment tool 8 used for treating the affected portion existing in the body cavity of the subject can be inserted is provided. The treatment tool 8 is provided with, for example, a treatment portion 81 formed by an electrode or the like for applying electrical energy or thermal energy to the affected portion in the body cavity at the tip portion, and the energy output from the treatment portion 81. The base end portion is provided with an operation unit 82 capable of performing operations related to changing the output level and the like. That is, the treatment tool 8 is configured to be able to perform a predetermined treatment on the affected part in the body cavity of the subject.

The illumination optical system 21 is configured to be able to irradiate the subject with the illumination light supplied from the light source device 3 from the tip surface 2B of the tip of the insertion portion 2A. Specifically, in the illumination optical system 21, the illumination light emitted through the light guide 7 is incident on the lens 21A, and the illumination light emitted through the lens 21A is transferred from the front end surface 2B to the front side of the front end surface 2B. It is configured to have an illumination window 21B, which is an optical member that irradiates a located subject.

The imaging unit 22 is configured to have a viewing direction on the front side of the front end surface 2B. Further, the imaging unit 22 is configured to form two optical images according to the incident light incident from the tip surface 2B and to image the two formed optical images, respectively. Specifically, the imaging unit 22 is incident from the observation window 22A into which the incident light such as the return light from the subject illuminated by the illumination light emitted through the illumination optical system 21 is incident, and the observation window 22A. It includes an objective optical system 22L that forms an optical image according to the incident light, an objective optical system 22R that forms an optical image according to the incident light, and an image sensor 22B.

The image sensor 22B is configured to include, for example, a CCD or CMOS. Further, the image sensor 22B captures two optical images, an optical image formed by the objective optical system 22L and an optical image formed by the objective optical system 22R, respectively, and responds to the two captured optical images. The image pickup signal is generated, and the generated image pickup signal is output to the signal processing unit 24.

The treatment tool channel 23 is configured to have an insertion port 23A which is an opening provided at the base end portion of the insertion portion 2A and a protrusion 23B which is an opening provided at the tip surface 2B. Further, the treatment tool channel 23 is formed as a conduit capable of projecting the tip end portion of the treatment tool 8 inserted from the insertion port 23A from the protrusion port 23B.

On the other hand, the tip surface 2B is provided with an illumination window 21B, an observation window 22A, and a protrusion 23B having a layout as shown in FIG. 2, for example. In the tip surface 2B of FIG. 2, for convenience of illustration and explanation, the light incident surfaces of the objective optical systems 22L and 22R arranged behind the observation window 22A are the illumination window 21B, the observation window 22A, and the protrusion 23B. It is assumed that each is shown by a solid line in the same manner as above. FIG. 2 is a schematic view for explaining an example of the layout of the front end surface of the endoscope.

The protrusion 23B is formed at a position on the tip surface 2B of FIG. 2 such that the distance DR to the optical axis OR of the objective optical system 22R is smaller than the distance DL to the optical axis OL of the objective optical system 22L. There is. That is, the protrusion 23B is formed at a position closer to the objective optical system 22R on the tip surface 2B of FIG. In other words, the protrusion 23B is formed on the front end surface 2B of FIG. 2 at a position closer to the right side with respect to the viewing direction of the imaging unit 22.

The signal processing unit 24 is configured to include, for example, a signal processing circuit. Further, the signal processing unit 24 generates a digital imaging signal by performing predetermined signal processing such as noise reduction processing and A / D conversion processing on the analog imaging signal output from the image sensor 22B, for example. , The generated digital imaging signal is configured to be output to the processor 4.

Information unique to each endoscope 2 is stored in the memory 25. Specifically, the memory 25 contains, for example, the position of the protrusion 23B on the tip surface 2B, the distance DL between the optical axis OL of the objective optical system 22L and the protrusion 23B, and the optical axis of the objective optical system 22R. The layout information of the tip portion of the insertion portion 2A is stored, including information that can identify the distance DR between the OR and the protrusion 23B. Further, the layout information stored in the memory 25 is read out by the selection unit 42A (described later) of the processor 4 when the endoscope 2 and the processor 4 are connected and the power of the processor 4 is turned on.

The light source device 3 is provided with, for example, a white light source, and is configured so that white light emitted from the white light source can be supplied to the light guide 7 as illumination light.

The processor 4 includes an image processing unit 41 and an observation image generation unit 42. According to this embodiment, for example, each part of the processor 4 may be configured as an individual electronic circuit, or may be configured as a circuit block in an integrated circuit such as an FPGA (Field Programmable Gate Array). May be good.

The image processing unit 41 creates a parallax image for the left eye corresponding to the optical image formed by the objective optical system 22L and an optical image formed by the objective optical system 22R based on the image pickup signal output from the signal processing unit 24. It is configured to generate a corresponding parallax image for the right eye, respectively. That is, since the objective optical system 22L and the objective optical system 22R into which the incident light from the same subject is incident are arranged side by side in the insertion portion 2A, the image and the objective corresponding to the optical image formed by the objective optical system 22L are arranged. The images corresponding to the optical images formed by the optical system 22R are images having parallax. Further, the image processing unit 41 is configured to output the parallax images for the left eye and the right eye generated as described above to the observation image generation unit 42.

The observation image generation unit 42 generates a stereoscopic image, which is an image for stereoscopic observation, using the two differential images for the left eye and the right eye output from the image processing unit 41, and generates the generated stereoscopic image. It is configured so that it can be displayed on the display device 5. Further, the observation image generation unit 42 has two parallaxes, one for the left eye and the other for the right eye, when an instruction for setting the display mode of the observation image displayed on the display device 5 to the 3D display is given in the input device 6. It is configured to perform an operation for displaying the stereoscopic image generated by using the image on the display device 5 as an observation image. Further, the observation image generation unit 42 has a function as a display control unit, and when an instruction for setting the display mode of the observation image displayed on the display device 5 to 2D display is given in the input device 6. , It is configured to perform an operation for displaying either the left-eye parallax image or the right-eye parallax image output from the image processing unit 41 on the display device 5 as an observation image instead of the stereoscopic image. .. Further, the observation image generation unit 42 includes a selection unit 42A that performs processing for selecting a display parallax image to be displayed as an observation image at the time of 2D display.

The selection unit 42A is a process for selecting a parallax image for display to be displayed as an observation image at the time of 2D display based on the layout information read from the memory 25 and the two parallax images output from the image processing unit 41. It is configured to perform (described later).

The display device 5 is provided with, for example, an LCD (liquid crystal display) or the like, and is configured to be able to display an observation image output from the processor 4 on a display screen.

The input device 6 is configured to include, for example, a keyboard, a touch panel, and / or a foot switch. Further, the input device 6 is instructed to the processor 4 to set the display mode of the observation image displayed on the display device 5 to either 3D display or 2D display according to the operation of the user such as the operator. A display changeover switch (not shown) is provided.

Subsequently, the operation of the stereoscopic endoscopic system 1 according to the present embodiment will be described with reference to FIG. 3 as appropriate. In the following, for the sake of simplicity, the description will focus on specific examples of the processing performed by the selection unit 42A, while various operations other than the processing performed by the selection unit 42A will be omitted as appropriate. explain. FIG. 3 is a diagram for explaining an example of processing performed in the stereoscopic endoscopy system according to the embodiment.

The user connects each part of the stereoscopic endoscopy system 1 and turns on the power.

The selection unit 42A reads layout information from the memory 25 when the endoscope 2 and the processor 4 are connected and the power of the processor 4 is turned on, and at the time of 2D display based on the read layout information. The parallax image PA for display to be displayed as the observation image of the above is initially set (step S1 in FIG. 3).

Specifically, the selection unit 42A specifies, for example, the position of the protrusion 23B on the tip surface 2B based on the layout information read from the memory 25, and further, the position of the specified protrusion 23B is the objective optical system 22R. When it is detected that the image is lateral, the parallax image PR for the right eye corresponding to the optical image formed by the objective optical system 22R is initially set as the parallax image for display at the time of 2D display.

When the user feels uncomfortable with the stereoscopic image displayed on the display device 5 at the time of 3D display due to, for example, a part of the field of view of the observation window 22A being obstructed, the input device 6 is used. By operating the display changeover switch, an instruction is given to set the display mode of the observation image displayed on the display device 5 to 2D display.

The selection unit 42A detects whether the display mode of the current observation image is set to 3D display or 2D display based on the instruction from the display changeover switch of the input device 6 (step S2 in FIG. 3).

Then, when the selection unit 42A detects that the display mode of the current observation image is set to 3D display (S2: No), the selection unit 42A enters the standby state without performing the processing after step S3 in FIG. Transition. When the selection unit 42A detects that the display mode of the current observation image is set to 2D display (S2: Yes), the selection unit 42A continues the process of step S3 in FIG. 3, which will be described later.

The selection unit 42A uses, for example, two parallax images output from the image processing unit 41 and a plurality of template images obtained by preliminarily imaging the tip of the treatment tool 8 including the treatment unit 81. By performing the above, it is determined whether or not the tip portion of the treatment tool 8 is included in both of the two parallax images (step S3 in FIG. 3).

Specifically, the selection unit 42A is, for example, a plurality of images obtained by preliminarily imaging the disparity image PL and the disparity image PR output from the image processing unit 41 and the tip portion of the treatment tool 8 including the treatment unit 81. Based on the template image, one template image TI corresponding to the treatment tool 8 projecting from the protrusion 23B is extracted, and at least a part of the similarity RSA between the template image TI and the disparity image PL is obtained. The calculation is performed, at least a part of the similarity RSBs in the template image TI and the parallax image PR are calculated, and the thresholds are individually determined for both the similarity RSA and the RSB. On the other hand, when the selection unit 42A cannot extract the desired template image TI from the plurality of template images because, for example, the tip of the treatment tool 8 does not protrude from the protrusion 23B, the selection unit 42A may not be able to extract the desired template image TI. A determination result is obtained that the tip portion of the treatment tool 8 is not included in both the parallax image PL and the parallax image PR.

The plurality of template images used in the process of step S3 of FIG. 3 may be, for example, read from a memory (not shown) provided inside the processor 4, or the operation unit 82 of the treatment tool 8. It may be read from a memory (not shown) provided inside the.

Then, the selection unit 42A is output from the image processing unit 41 or the determination result that the tip portion of the treatment tool 8 is included in only one of the two parallax images output from the image processing unit 41. When any of the determination results that the tip of the treatment tool 8 is not included in both of the two parallax images (S3: No) is obtained (S3: No), the parallax initially set by the process of step S1 in FIG. Image PA is selected as a parallax image for display during 2D display (step S4 in FIG. 3). Further, when the selection unit 42A obtains a determination result that the tip portion of the treatment tool 8 is included in both of the two parallax images output from the image processing unit 41 (S3: Yes), FIG. The parallax image PB on the side opposite to the parallax image PA initially set by the process of step S1 of 3 is selected as the parallax image for display at the time of 2D display (step S5 in FIG. 3).

Specifically, the selection unit 42A performs threshold determination individually for both the similarity RSA and RSB calculated as described above, so that, for example, the template image TI and the parallax image PL are similar. When it is detected that the template image TI and the parallax image PR are similar to each other, it is determined that the tip of the treatment tool 8 is included only in the parallax image PR. The parallax image PR is selected as a parallax image for display during 2D display. Further, when the selection unit 42A obtains a determination result that the tip portion of the treatment tool 8 is not included in both the parallax image PL and the parallax image PR, the parallax image PR is displayed at the time of 2D display. Select as a parallax image for. Further, the selection unit 42A individually determines the threshold value for both the similarity RSA and RSB calculated as described above, so that, for example, the template image TI and the parallax image PL are similar to each other, and the parallax image PL is similar. When it is detected that the template image TI and the parallax image PR are similar, it is determined that both the parallax image PL and the parallax image PR include the tip of the treatment tool 8. At the same time, the parallax image PL is selected as a parallax image for display at the time of 2D display.

After performing the process of step S4 or S5 of FIG. 3, the selection unit 42A repeats the processes of step S2 and subsequent steps of FIG.

On the other hand, the selection unit 42A of the present embodiment, for example, performs the processing of step S5 in FIG. 3 and then further performs the same processing as the above-mentioned template matching to obtain the two parallax images PL and PR. When it is detected that the treatment unit 81 is included only in the parallax image PX corresponding to one of them, the parallax image PX is selected as the parallax image for display in 2D display. There may be.

Further, the selection unit 42A of the present embodiment performs, for example, the process of step S5 in FIG. 3 and then further performs a process of comparing the two parallax image PLs and PRs, thereby causing the two parallax image PLs. And when it is detected that the length of the tip of the treatment tool 8 included in one of the parallax images PY is longer than the length of the tip of the treatment tool 8 included in the other parallax image PZ, the said A process may be performed to select one parallax image PY as a parallax image for display at the time of 2D display. In the processing of the selection unit 42A, when the parallax image PX described above cannot be selected (the treatment unit 81 is included in both the two parallax images PL and PR output from the image processing unit 41). In this case, or when the treatment unit 81 is not included in both the two parallax images PL and PR).

Here, for example, when the amount of protrusion of the treatment tool 8 from the protrusion 23B of the tip surface 2B having the layout shown in FIG. 2 is relatively short, the distance to the protrusion 23B is relatively short. The parallax image PR for the right eye corresponding to the optical image formed by the system 22R includes the tip of the treatment tool 8, while the optics formed by the objective optical system 22L having a relatively long distance to the protrusion 23B. A situation may occur in which the parallax image PL for the left eye corresponding to the image does not include the tip of the treatment tool 8 (see FIG. 4). FIG. 4 is a diagram showing an example of two parallax images PL and PR generated in the stereoscopic endoscopic system according to the embodiment.

Further, for example, when the amount of protrusion of the treatment tool 8 from the protrusion 23B of the tip surface 2B having the layout shown in FIG. 2 is relatively long, the distance to the protrusion 23B is relatively long. The parallax image PL for the left eye corresponding to the optical image formed from 22L includes the treatment portion 81 of the treatment tool 8, while the optics formed by the objective optical system 22R having a relatively short distance to the protrusion 23B. A situation may occur in which the parallax image PR for the right eye corresponding to the image does not include the treatment portion 81 of the treatment tool 8 (see FIG. 5). FIG. 5 is a diagram showing an example of two parallax images PL and PR generated in the stereoscopic endoscopic system according to the embodiment.

On the other hand, according to the present embodiment, the processing shown in FIG. 3 is performed in the selection unit 42A at the time of 2D display, so that, for example, the amount of protrusion of the treatment tool 8 from the protrusion 23B of the tip surface 2B is relatively large. When it is short, the parallax image PR for the right eye can be displayed on the display device 5 as an observation image, and when the protrusion amount is relatively long, the parallax image PL for the left eye is displayed on the display device 5 as an observation image. Can be made to. Therefore, according to the present embodiment, when the display mode of the observation image displayed on the display device 5 is set to 2D display, an appropriate parallax image according to the protruding state of the treatment tool 8 from the protruding port 23B ( PL or PR) can be displayed.

Further, according to the present embodiment, since the processing shown in FIG. 3 is performed by the selection unit 42A at the time of 2D display, for example, the user manually selects and selects a parallax image to be displayed as an observation image on the display device 5 at the time of 2D display. The visibility of the tip portion and / or the treatment portion 81 of the treatment tool 8 protruding from the protrusion 23B can be ensured without going through a complicated operation such as setting.

In this embodiment, the layout information of the tip of the insertion portion 2A is not limited to the one stored in the memory 25, and for example, the model information which is the information that can identify the model of the endoscope 2 is the memory 25. It may be stored in. Then, in such a case, the selection unit 42A identifies the model of the endoscope 2 based on the model information read from the memory 25, and the tip of the insertion unit 2A corresponding to the model of the specified endoscope 2. The parallax image for display at the time of 2D display may be selected by acquiring the layout information of the unit and performing the process shown in FIG. 3 based on the acquired layout information.

Further, in the present embodiment, for example, detailed position information which is information capable of specifying the detailed position of the protrusion 23B on the tip surface 2B is stored in the memory 25, and the detailed position information is used in FIG. It may be the one in which the processing of is performed. Specifically, for example, as shown in FIG. 6, a line segment LX connecting the optical axis OL and the optical axis OR and a line segment LY orthogonal to the line segment LX at the midpoint OC of the line segment LX. When is virtually set on the tip surface 2B, the distance DA corresponding to the length of the line segment LA connecting the midpoint OC and the central axis CC of the protrusion 23B, the line segment LA, and Detailed position information including the angle θ formed by the line segment LY may be stored in the memory 25. In FIG. 6, for convenience of illustration and explanation, the light incident surfaces of the objective optical systems 22L and 22R arranged behind the observation window 22A are shown by solid lines in the same manner as the protrusion 23B. FIG. 6 is a diagram for explaining an example of parameters that can be used in the processing of the stereoscopic endoscopic system according to the embodiment.

Further, in the present embodiment, for example, size information which is information capable of specifying the size of the protrusion 23B formed on the tip surface 2B is stored in the memory 25, and the size information is used to be used in FIG. The processing may be performed. Specifically, for example, as shown in FIG. 6, when the shape of the protrusion 23B on the tip surface 2B is formed in a circle centered on the central axis CC, the size information including the diameter of the protrusion 23B is obtained. It may be stored in the memory 25.

Further, in this embodiment, for example, optical parameter information which is information capable of specifying a predetermined optical parameter in the objective optical system 22L and the objective optical system 22R is stored in the memory 25, and the optical parameter information is used. The processing of FIG. 3 may be performed. Specifically, for example, the two objective optical systems 22L and 22R are arranged so that the two optical axes of the optical axis OL and the optical axis OR are oblique to the central axis of the insertion portion 2A. If so, the distance DX corresponding to the length of the line segment LX on the tip surface 2B, the size of the angle of view of the two objective optical systems, and the distance from the tip surface 2B to the intersection of the two optical axes. Optical parameter information including the above may be stored in the memory 25.

On the other hand, this embodiment is configured to include one observation window 22A for incidenting the return light from the subject illuminated by the illumination light emitted through the illumination optical system 21 onto the objective optical systems 22L and 22R. It is not limited to the one applied to the endoscope 2. Specifically, in this embodiment, for example, an observation window for the left eye for incidenting the return light from the subject illuminated by the illumination light emitted through the illumination optical system 21 onto the objective optical system 22L, and the said observation window. The same applies to an endoscope configured by individually providing an observation window for the right eye for incidenting the return light on the objective optical system 22R and two observation windows.

It should be noted that the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications and applications can be made without departing from the spirit of the invention.

1 Stereoscopic endoscopy system 2 Endoscope 2A Insertion 2B Tip surface 3 Light source device 4 Processor 5 Display device 8 Treatment tool 22 Imaging unit 22L Objective optical system 22R Objective optical system 23B Projection port 41 Image processing unit 42 Observation image generation Part 42A Selection part 81 Treatment part

Japanese Patent Application Laid-Open No. 2014-147630

Claims (4)

An insertion part that is inserted into the body cavity of the subject,
A first objective optical system provided at the tip of the insertion portion and forming a first optical image corresponding to the incident light incident from the tip surface of the tip of the insertion portion, and the incident light. An imaging unit including a second objective optical system that forms a second optical image, and is configured to image the first optical image and the second optical image, respectively, and output an imaging signal. When,
A treatment tool provided inside the insertion portion and capable of performing a predetermined treatment on the affected part in the body cavity of the subject can be inserted, and the treatment is performed through an opening provided on the tip surface. A pipeline configured to allow the tool to protrude,
An image processing unit configured to generate a first parallax image corresponding to the first optical image and a second parallax image corresponding to the second optical image based on the image pickup signal. When,
A stereoscopic image can be generated by using the first parallax image and the second parallax image, and the generated stereoscopic image, the first parallax image, or the second parallax image can be displayed on the display device. Display control unit to display and
An input unit that gives an instruction to set the display function of the observation image displayed on the display device to 2D display, and
When the layout information of the tip portion of the insertion portion, which is information peculiar to the endoscope including the insertion portion, the image pickup portion, and the conduit, is acquired and set to the 2D display based on the layout information. The first, which is output from the image processing unit in response to the initial setting of the disparity image and the setting of the display function of the observation image displayed on the display device to the 2D display by the instruction of the input unit. Disparity that causes the display device to display the first disparity image or the second disparity image based on the image information related to the disparity image and the second disparity image and the information related to the initially set disparity image. The selection part to be selected as an image and
A stereoscopic endoscopic system characterized by having. In the selection unit, the treatment tool protruding from the opening is the first parallax image based on the image information related to the first parallax image and the second parallax image output from the image processing unit. The solid according to claim 1, wherein when the parallax image is included in only one of the second parallax images, the initially set parallax image is selected as the parallax image at the time of 2D display. Parallax system. In the selection unit, the treatment tool protruding from the opening is the first parallax image based on the image information related to the first parallax image and the second parallax image output from the image processing unit. The stereoscopic vision according to claim 1, wherein when the image is not included in any of the second parallax images, the initially set parallax image is selected as the parallax image at the time of 2D display. Parallax system. In the selection unit, the treatment tool protruding from the opening is the first parallax image based on the image information related to the first parallax image and the second parallax image output from the image processing unit. When it is included in both the second parallax image and the second parallax image, the parallax image on the opposite side of the initially set parallax image is selected as the parallax image at the time of 2D display. The stereoscopic parallax system described in.

Images