JP6967493B2 - Endoscope control device, endoscope device, endoscope state identification method, endoscope state identification program - Google Patents

Description

The present invention relates to an endoscope control device, an endoscope device, an endoscope state identification method, and an endoscope state identification program.

The endoscope device has a function to identify whether the endoscope is in a used state or an unused state for various purposes such as suppressing heat generation or extending the life of the device. It is known to have (see, for example, Patent Documents 1 and 2).

Patent Document 1 describes an endoscope device that reduces the amount of light incident on a light guide when it recognizes that the endoscope is in an unused state. This endoscope device recognizes that the endoscope is in an unused state when there is little change in the shape of the captured images continuously captured by the image pickup element of the endoscope.

Patent Document 2 describes a light source device for an endoscope that reduces the amount of illumination light supplied to the endoscope when it recognizes that the endoscope is in an unused state. This endoscope light source device recognizes that the endoscope is in an unused state when the change in the brightness of the captured images continuously captured by the image pickup element of the endoscope is small.

Japanese Unexamined Patent Publication No. 2006-334076 Japanese Unexamined Patent Publication No. 04-36716

As described in Patent Document 1, in the method of identifying the state of the endoscope based on the shape change of the captured image, the amount of processing required for determining the shape change of the captured image increases, and the endoscope device The load will increase.

As described in Patent Document 2, in the method of recognizing that the endoscope is in an unused state when the change in brightness of the captured image is small, for example, the endoscope is placed in a predetermined place in an unused state. If it is placed and the brightness of the place fluctuates, the endoscope may be mistakenly recognized as being in use.

The present invention has been made in view of the above circumstances, and is an endoscope control device for endoscopy, which can identify whether an endoscope is in a used state or an unused state by a simple process. It is an object of the present invention to provide a mirror device, a method for identifying the state of an endoscope, and a program for identifying the state of an endoscope.

The control device for an endoscope of the present invention acquires a first image pickup image signal and a second image pickup image signal output from an image pickup element included in the endoscope and have different imaging time points, and the first image pickup image is described above. Normalization processing for matching the average luminance value of the signal with the average luminance value of the second captured image signal is performed on one or both of the first captured image signal and the second captured image signal. Whether the endoscope is in an unused state or a used state is determined based on the change in brightness of the first image pickup image signal and the second image pickup image signal after the normalization processing and the normalization processing unit. The state identification unit includes a state identification unit for recognizing the luminance of the pixel signal at the same pixel position in the first image pickup image signal and the second image pickup image signal after the normalization process is performed. When the average value of the difference is calculated and the average value is equal to or less than the predetermined first threshold value, it is recognized that the endoscope is in an unused state, and the average value exceeds the first threshold value. In addition, it recognizes that the endoscope is in use .
Further, the endoscope control device of the present invention acquires the first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope at different time points of imaging, and obtains the first image pickup image signal and the second image pickup image signal. The normalization process for matching the average luminance value of the captured image signal with the average luminance value of the second captured image signal is applied to one or both of the first captured image signal and the second captured image signal. The endoscope is in an unused state or a used state based on the luminance change of the normalization processing unit to be performed and the brightness change of the first captured image signal and the second captured image signal after the normalization processing. The state identification unit is provided with a state identification unit for recognizing whether or not the image is normalized. The degree of matching of shapes is obtained, and when the degree of matching is equal to or higher than a predetermined second threshold, it is recognized that the endoscope is in an unused state, and when the degree of matching is less than the second threshold. , Recognizes that the endoscope is in use.

The endoscope device of the present invention includes the control device and an endoscope controlled by the control device.

In the state identification method of the endoscope of the present invention, the first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the first image pickup is performed. The normalization process for matching the average luminance value of the image signal with the average luminance value of the second captured image signal is performed on one or both of the first captured image signal and the second captured image signal. Whether the endoscope is in an unused state or a used state based on the normalization processing step and the brightness change of the first captured image signal and the second captured image signal after the normalization processing. In the state identification step, the pixel signal at the same pixel position in the first captured image signal and the second captured image signal after the normalization process is performed. The average value of the brightness difference is calculated, and when the average value is equal to or less than the predetermined first threshold value, it is recognized that the endoscope is in an unused state, and the average value exceeds the first threshold value. In some cases, it recognizes that the endoscope is in use .
Further, in the state identification method of the endoscope of the present invention, the first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the above-mentioned first image pickup image signal is acquired. The normalization process for matching the average luminance value of the captured image signal of the above and the average luminance value of the second captured image signal is performed by one or both of the first captured image signal and the second captured image signal. Based on the normalization processing step to be performed and the change in the brightness of the first captured image signal and the second captured image signal after the normalization processing, the endoscope is placed in an unused state or a used state. A state identification step for recognizing the presence or absence is provided, and in the state identification step, a histogram of the brightness of each of the first captured image signal and the second captured image signal after the normalization process is performed. When the degree of matching of the shapes is obtained and the degree of matching is equal to or higher than a predetermined second threshold, it is recognized that the endoscope is in an unused state, and the degree of matching is less than the second threshold. In addition, it recognizes that the endoscope is in use.

The state identification program for an endoscope of the present invention acquires a first image pickup image signal and a second image pickup image signal output from an image pickup element included in the endoscope and have different imaging time points, and the first image pickup is described above. The normalization process for matching the average luminance value of the image signal with the average luminance value of the second captured image signal is performed on one or both of the first captured image signal and the second captured image signal. Whether the endoscope is in an unused state or a used state based on the normalization processing step and the brightness change of the first captured image signal and the second captured image signal after the normalization processing. This is a state identification program for an endoscope for causing a computer to execute a state identification step for recognizing the above, and in the state identification step, the first captured image signal after the normalization process is performed. The average value of the luminance difference of the pixel signals at the same pixel position in the second captured image signal is calculated, and when the average value is equal to or less than a predetermined first threshold value, the endoscope is in an unused state. When the average value exceeds the first threshold value, it is recognized that the endoscope is in use .

According to the present invention, the state of an endoscope control device, an endoscope device, and an endoscope that can identify whether the endoscope is in a used state or an unused state by a simple process. Methods and endoscopic condition identification programs can be provided.

It is a figure which shows the schematic structure of the endoscope apparatus 100 which is one Embodiment of the endoscope apparatus of this invention. It is a schematic diagram which shows the schematic structure of the endoscope 1 in the endoscope apparatus 100 shown in FIG. 1. It is a schematic diagram which shows the internal structure of the endoscope apparatus 100 shown in FIG. It is a figure which shows the functional block of the system control unit 44 of the processor apparatus 4 shown in FIG. It is a flowchart for demonstrating the operation of the system control unit 44 shown in FIG. It is a flowchart for demonstrating the modification of the operation of the system control unit 44 shown in FIG. It is a figure which shows an example of the histogram of the captured image signal. It is a figure which shows another example of the histogram of the captured image signal.

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

FIG. 1 is a diagram showing a schematic configuration of an endoscope device 100, which is an embodiment of the endoscope device of the present invention. FIG. 2 is a schematic diagram showing a schematic configuration of the endoscope 1 in the endoscope device 100 shown in FIG.

As shown in FIG. 1, the endoscope device 100 includes an endoscope 1 and a control device 2 for controlling the endoscope 1. The control device 2 includes a processor device 4 and a light source device 5.

The processor device 4 is connected to a display unit 7 that displays a captured image or the like, and an input unit 6 that is an interface for inputting various information to the processor device 4. The processor device 4 controls the endoscope 1, the light source device 5, and the display unit 7.

As shown in FIGS. 1 and 2, the endoscope 1 is a tubular member extending in one direction and is an insertion portion 10 inserted into a body cavity, and an observation mode switching provided at a base end portion of the insertion portion 10. An operation unit 11 provided with an operation member for performing an operation, a shooting recording operation, a forceps operation, an air supply / water supply operation, a suction operation, an electric knife operation, and the like, and an angle knob 12 provided adjacent to the operation unit 11. And a universal cord 13 including connector portions 13A and 13B for detachably connecting the endoscope 1 to the light source device 5 and the processor device 4, respectively.

Although omitted in FIG. 2, inside the operation unit 11 and the insertion unit 10, a forceps hole for inserting a biopsy forceps, which is a collection instrument for collecting a biological tissue such as a cell or a polyp, and an electric knife are stored. Various channels such as a storage hole, a channel for air supply and water supply, and a channel for suction are provided.

The insertion portion 10 is composed of a flexible portion 10A, a curved portion 10B provided at the tip of the flexible portion 10A, and a hard tip portion 10C provided at the tip of the curved portion 10B.

The curved portion 10B is configured to be bendable by the rotation operation of the angle knob 12. The curved portion 10B can be curved in an arbitrary direction and an arbitrary angle according to the part of the subject in which the endoscope 1 is used, and the tip portion 10C can be directed in a desired direction.

As shown in FIG. 1, the control device 2, the input unit 6, and the display unit 7 are housed in a cart unit 3 provided with casters 31 on a lower base 33. The cart unit 3 constitutes an accommodating unit for accommodating the control device 2.

The cart unit 3 is provided with an endoscope holding unit 32 for suspending the operating unit 11 of the endoscope 1 and holding the endoscope 1. In the endoscope 1 held by the endoscope holding portion 32, the insertion portion 10 always hangs down at the same position. In this state, the tip portion 10C of the endoscope 1 faces the floor of the endoscopy room in which the cart portion 3 is installed.

FIG. 3 is a schematic view showing the internal configuration of the endoscope device 100 shown in FIG.

The light source device 5 includes a light source control unit 51 and a light source unit 52.

The light source unit 52 generates illumination light for irradiating the subject. The illumination light emitted from the light source unit 52 enters the light guide 20 built in the universal cord 13, and irradiates the subject through the illumination lens 20a provided at the tip portion 10C of the insertion portion 10.

As the light source unit 52, a white light source that emits white light, or a plurality of light sources including a white light source and a light source that emits light of other colors (for example, a blue light source that emits blue light) are used. A plurality of illumination lenses 20a may be provided on the tip surface of the tip portion 10C according to the type of light emitted from the light source portion 52.

The light source control unit 51 is composed of various processors that execute programs to perform processing, and is connected to the system control unit 44 of the processor device 4. The light source control unit 51 controls the light source unit 52 based on a command from the system control unit 44.

The tip portion 10C of the endoscope 1 is illuminated with an image pickup optical system including an objective lens 21 and a lens group 22, an image pickup element 23 for capturing a subject through the image pickup optical system, and illumination light emitted from a light source unit 52. A light guide 20 for guiding to the lens 20a is provided.

The light guide 20 extends from the tip portion 10C to the connector portion 13A of the universal cord 13. With the connector portion 13A of the universal cord 13 connected to the light source device 5, the illumination light emitted from the light source portion 52 of the light source device 5 can be incident on the light guide 20.

As the image pickup device 23, a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like is used.

The image pickup element 23 has a light receiving surface in which a plurality of pixels are arranged two-dimensionally, and the optical image formed on the light receiving surface by the above-mentioned image pickup optical system is converted into an electric signal (pixel signal) in each pixel. And output. As the image pickup device 23, for example, one equipped with a color filter such as a primary color or a complementary color is used. A set of pixel signals output from each pixel on the light receiving surface of the image sensor 23 is called an image pickup image signal.

When a light source unit 52 that generates illumination light by separating white light emitted from a white light source by color filters of a plurality of colors in a time-divided manner is used, the image pickup element 23 is equipped with a color filter. You may use the one that does not exist.

An endoscope control unit 26 is provided inside the connector unit 13B of the universal cord 13. The endoscope control unit 26 is composed of various processors that execute programs to perform processing. The endoscope control unit 26 is connected to the system control unit 44 of the processor device 4 by an internal wiring of the connector unit 13B. The endoscope control unit 26 controls the image pickup device 23 based on a command from the system control unit 44. The signal corresponding to the operation of the operation unit 11 shown in FIG. 1 (for example, a shooting operation for recording a still image) is input to the endoscope control unit 26.

The processor device 4 includes a signal processing unit 42, a display control unit 43, and a system control unit 44.

The signal processing unit 42 generates captured image data by receiving and processing the captured image signal output and transmitted from the image pickup element 23. The captured image data generated by the signal processing unit 42 is recorded on a recording medium such as a hard disk or a flash memory (not shown).

The display control unit 43 causes the display unit 7 to display an image captured image based on the image captured image data generated by the signal processing unit 42.

The system control unit 44 controls each unit of the processor device 4 and sends a command to the endoscope control unit 26 of the endoscope 1 and the light source control unit 51 of the light source device 5, so that the entire endoscope device 100 is controlled. Centrally control. The system control unit 44 controls the image pickup device 23 via the endoscope control unit 26, and controls the light source unit 52 via the light source control unit 51.

The system control unit 44 includes various processors for executing and processing programs, a RAM (Random Access Memory), and a ROM (Read Only Memory).

As various processors in the present specification, a processor whose circuit configuration can be changed after manufacturing such as a CPU (Central Processing Unit), which is a general-purpose processor that executes a program and performs various processes, and an FPGA (Field Programmable Gate Array). A programmable logic device (PLD) or a dedicated electric circuit which is a processor having a circuit configuration specially designed for executing a specific process such as an ASIC (Application Specific Integrated Circuit) is included. ..

More specifically, the structure of these various processors is an electric circuit in which circuit elements such as semiconductor elements are combined.

The system control unit 44 may be configured by one of various processors, or may be configured by a combination of two or more processors of the same type or different types (for example, a combination of a plurality of FPGAs or a combination of a CPU and an FPGA). May be done.

FIG. 4 is a diagram showing a functional block of the system control unit 44 of the processor device 4 shown in FIG.

The processor of the system control unit 44 executes a program (a program including a state identification program of the endoscope) stored in the ROM built in the system control unit 44 to execute the normalization processing unit 44A and the state identification unit 44B. , And functions as the control unit 44C.

The normalization processing unit 44A acquires the first image pickup image signal and the second image pickup image signal output from the image pickup element 23 at different time points, and obtains the average luminance value of the first image pickup image signal and the first image pickup image signal. Normalization processing for matching the average luminance value of the second captured image signal is performed on one or both of the first captured image signal and the second captured image signal.

Specifically, the normalization processing unit 44A calculates the average value Av1 of the luminance of all the pixel signals constituting the first captured image signal, and the luminance of all the pixel signals constituting the second captured image signal. The average value Av2 of is calculated. Then, the normalization processing unit 44A performs normalization processing for multiplying each pixel signal of the second captured image signal by (Av1 / Av2). Alternatively, the normalization processing unit 44A performs normalization processing by multiplying each pixel signal of the first captured image signal by (Av2 / Av1). Alternatively, the normalization processing unit 44A uses Av3 as a reference average value, multiplies each pixel signal of the first captured image signal by (Av3 / Av1), and multiplies each pixel signal of the second captured image signal by (Av3 / Av1). Performs normalization processing by multiplying Av2).

The normalization processing unit 44A supplies the first image pickup image signal and the second image pickup image signal to be normalized to the light guide 20 of the endoscope 1 from the light source device 5. Is obtained by imaging the subject with the image pickup device 23 under the same conditions.

The first captured image signal and the second captured image signal may have different imaging times by the time of the frame rate of the moving image imaging performed by the imaging element 23, or may be a plurality of times of this frame rate. Minutes and imaging times may be different.

The state identification unit 44B determines whether the endoscope 1 is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization processing by the normalization processing unit 44A. Recognize if it is in.

The state in which the endoscope 1 is in use means a state in which the endoscope 1 is removed from the endoscope holding portion 32 and moved by the user. The state in which the endoscope 1 is in an unused state means a state in which the endoscope 1 is suspended by the endoscope holding portion 32 and is not moved by the user.

The control unit 44C has changed from a state in which the state identification unit 44B recognizes that the endoscope 1 is in an unused state to a state in which the state identification unit 44B recognizes that the endoscope 1 is in a used state. In the case, at least one of various controls exemplified in the following (A) to (G) is executed.

(A) The emission of the illumination light is started from the light source unit 52.
(B) Recording of the moving image captured by the image sensor 23 is started.
(C) Start a timer that counts various times to be recorded when performing an endoscopy.
(D) If the lighting of the examination room can be controlled remotely, this lighting is dimmed.
(E) In the case of an inspection in which the colon navigation system is used, the magnetic field drive of the colon navigation system is started.
(F) For the final confirmation before the inspection, the information of the inspected person is displayed on the display unit 7.
(G) Start the pump for water supply or air supply.

The control unit 44C may terminate various controls shown in the above (A) to (G) by, for example, performing a button operation provided on the operation unit 11 by the user, but the state identification unit 44B may terminate the control unit 44C. When the state in which the endoscope 1 is recognized as being in use is changed to the state in which the endoscope 1 is recognized as being in an unused state by the state identification unit 44B, the above (A) to ( The various controls shown in G) may be terminated.

FIG. 5 is a flowchart for explaining the operation of the system control unit 44 shown in FIG. When the first image pickup image signal and the second image pickup image signal are output from the image pickup element 23, the normalization processing unit 44A acquires them (step S1).

Next, the normalization processing unit 44A performs normalization processing on one or both of the acquired first captured image signal and the second captured image signal (step S2).

Next, the state identification unit 44B calculates the luminance difference between the pixel signal at the same pixel position in the first captured image signal and the second captured image signal after the normalization processing is performed, and the calculated luminance difference is calculated. The average value is calculated (step S3).

The average luminance value of the first captured image signal and the second captured image signal are the same by the processing of step S2. Therefore, even if the subject included in the first captured image signal and the subject included in the second captured image signal are the same (that is, the endoscope 1 is held in the endoscope holding unit 32 in an unused state). For example, the average value calculated in step S3 is a very small value.

On the other hand, if the subject included in the first captured image signal and the subject included in the second captured image signal are different (that is, the usage state in which the endoscope 1 is moved), it is calculated in step S3. The average value is large.

The state identification unit 44B determines whether or not the average value calculated in step S3 is equal to or less than the predetermined threshold value TH1 (step S4), and when the average value exceeds the threshold value TH1 (step S4: NO). In), the count value of the built-in counter is reset (step S5), and it is recognized that the endoscope 1 is in use (step S6). The threshold TH1 constitutes the first threshold.

When the average value calculated in step S3 is equal to or less than the threshold value TH1 (step S4: YES), the state identification unit 44B counts up by increasing the count value of the built-in counter by one (step S7). Then, the state identification unit 44B determines whether or not the count value of the built-in counter has reached a predetermined predetermined value (natural number of 2 or more) (step S8).

When the count value has not reached a predetermined value (step S8: NO), the state identification unit 44B shifts the process to step S1. When the count value reaches a predetermined value (step S8: YES), the state identification unit 44B recognizes that the endoscope 1 is in an unused state (step S9).

After step S6 and step S9, the control unit 44C performs control according to the state of the endoscope 1 (step S10).

As described above, according to the endoscope device 100, after normalization processing is performed so that the average luminance values of the first captured image signal and the second captured image signal are the same, the first image is obtained. When the above average value corresponding to the amount of change in brightness between the first captured image signal and the second captured image signal is calculated and the average value continues to be equal to or less than the threshold value TH1, the endoscope is in an unused state. It is recognized that it is in.

According to this configuration, the brightness of the room in which the endoscope 1 is placed at the time of capturing the first captured image signal and the room in which the endoscope 1 is placed at the time of capturing the second captured image signal. Even if the brightness is different from that of the endoscope 1, the state of the endoscope 1 can be identified without being affected by the change in the brightness of the room.

Further, as compared with the method of discriminating the state of the endoscope 1 based on the change of the subject shape included in the first captured image signal and the subject shape included in the second captured image signal, the identification process is required. The amount of calculation can be reduced. Therefore, the processing load of the system control unit 44 can be reduced.

Further, according to the endoscope device 100, even if the endoscope 1 has already been sold to the market, the usage state of the endoscope 1 can be obtained only by updating the firmware of the system control unit 44. And it becomes possible to identify the unused state. Therefore, it is possible to construct a highly versatile system using the existing endoscope 1. Further, even when a new endoscope 1 is sold, a special mechanism is not required for the endoscope 1, and it is possible to prevent an increase in the manufacturing cost of the endoscope 1.

FIG. 6 is a flowchart for explaining a modified example of the operation of the system control unit 44 shown in FIG. The flowchart shown in FIG. 6 is the same as the flowchart shown in FIG. 5, except that step S3 is changed to step S3a and step S4 is changed to step S4a. In FIG. 6, the same processing as in FIG. 5 is designated by the same reference numeral and description thereof will be omitted.

After the normalization process is performed in step S2, the state identification unit 44B has a histogram HS1 of the brightness of each pixel signal of the first captured image signal and a histogram of the brightness of each pixel signal of the second captured image signal. HS2 and are generated (step S3a).

FIG. 7 is a diagram showing an example of the histogram HS1 and the histogram HS2 in a state where the endoscope 1 is held by the endoscope holding unit 32. FIG. 8 is a diagram showing an example of the histogram HS1 and the histogram HS2 in a state where the endoscope 1 is removed from the endoscope holding portion 32 and moved.

The horizontal axis in FIGS. 7 and 8 indicates the luminance value (for example, 0 to 255). The vertical axis in FIGS. 7 and 8 shows the cumulative relative frequency. The histograms HS1 and HS2 shown in FIGS. 7 and 8 are referred to as cumulative histograms.

As shown in FIG. 7, in the state where the endoscope 1 is not moved, that is, in the unused state, the shapes of the histogram HS1 and the histogram HS2 substantially match. On the other hand, as shown in FIG. 8, the shapes of the histogram HS1 and the histogram HS2 are significantly different in the state where the endoscope 1 is moved, that is, in the used state.

In the modified example of FIG. 6, after step S3a, the state identification unit 44B determines whether or not the degree of coincidence between the shapes of the histogram HS1 and the histogram HS2 is equal to or higher than the predetermined threshold value TH2 (step S4a). The threshold TH2 constitutes the second threshold.

This degree of coincidence is represented by, for example, the reciprocal of the area S of the region surrounded by the histogram HS1 and the histogram HS2 in the graphs shown in FIGS. 7 and 8. Assuming that the cumulative relative frequency of the histogram HS1 corresponding to the value Y on the horizontal axis is Hp [Y] and the cumulative relative frequency of the histogram HS2 corresponding to the value Y on the horizontal axis is Hc [Y], this area S is Hp [Y]. It is obtained by integrating the absolute value of the difference between Y] and Hp [Y] for all Y values.

In the example shown in FIG. 7, the area S is small, and the reciprocal of the area S is a large value. Therefore, the degree of coincidence between the shapes of the histogram HS1 and the histogram HS2 is equal to or higher than the threshold value TH2. In the example shown in FIG. 8, the area S is large, and the reciprocal of the area S is a small value. Therefore, the degree of coincidence between the shapes of the histogram HS1 and the histogram HS2 is less than the threshold value TH2.

When the state identification unit 44B determines in step S4a that the degree of coincidence of the shapes of the histogram is the threshold value TH2 or more (step S4a: YES), the processing after step S7 is performed, and the degree of coincidence of the shapes of the histogram is less than the threshold value TH2. If it is determined (step S4a: NO), the processing after step S5 is performed.

According to the operation of the above modification, the normalization process is performed so that the average luminance values of the first captured image signal and the second captured image signal are the same, and then the first captured image is obtained. The endoscope 1 is in an unused state when the above-mentioned degree of coincidence corresponding to the amount of change in brightness between the signal and the second captured image signal is calculated and the state in which the degree of coincidence is equal to or higher than the threshold value TH2 continues. Is recognized.

According to this configuration, the brightness of the room in which the endoscope 1 is placed at the time of capturing the first captured image signal and the room in which the endoscope 1 is placed at the time of capturing the second captured image signal. Even when the brightness of the endoscope 1 is significantly different from that of the endoscope 1, the state of the endoscope 1 can be identified without being affected by the change in the brightness of the room.

Further, as compared with the method of discriminating the state of the endoscope 1 based on the change of the subject shape included in the first captured image signal and the subject shape included in the second captured image signal, the identification process is required. The amount of calculation can be reduced. Therefore, the processing load of the system control unit 44 can be reduced.

The vertical axis of the histogram HS1 and the histogram HS2 shown in FIGS. 7 and 8 may be a cumulative frequency instead of a cumulative relative frequency, or may be a frequency or a relative frequency.

Further, in the flowcharts of FIGS. 5 and 6, it is assumed that the endoscope 1 is in an unused state when the count value reaches a predetermined value in step S8, but the determination in step S4 or step S4a. When is YES, it may be recognized that the endoscope 1 is in an unused state.

That is, in FIGS. 5 and 6, the processing of step S5, step S7, and step S8 is omitted, and when the determination of step S4 or step S4a is YES, the processing of step S9 is performed, and the determination of step S4 or step S4a is performed. When is NO, the operation of step S6 may be performed. According to the operation of performing the process of step S8, it is possible to recognize that the endoscope 1 is in an unused state with higher accuracy.

Although the endoscope device 100 described so far uses the flexible endoscope 1, the present invention can be similarly applied to the endoscope device using a rigid mirror.

As described above, the following matters are disclosed in the present specification.

(1)
It is a control device for endoscopes.
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup image signal are obtained. A normalization processing unit that performs normalization processing for matching the average luminance value of the captured image signal on one or both of the first captured image signal and the second captured image signal.
A state identification unit that recognizes whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And an endoscope control device.

(2)
(1) The endoscope control device according to the above.
The state identification unit calculates the average value of the luminance difference between the first imaged image signal and the pixel signal at the same pixel position in the second imaged image signal after the normalization process is performed, and the average value. When the value is equal to or less than the predetermined first threshold value, it is recognized that the endoscope is in an unused state, and when the average value exceeds the first threshold value, the endoscope is put into the used state. An endoscope control device that recognizes the existence.

(3)
(1) The endoscope control device according to the above.
The state identification unit uses the endoscope based on the degree of matching of the shapes of the histograms of the brightness of each of the first captured image signal and the second captured image signal after the normalization process is performed. An endoscope control device that recognizes whether a is in an unused state or a used state.

(4)
(3) The endoscope control device according to the above.
The state identification unit recognizes that the endoscope is in an unused state when the degree of coincidence is equal to or higher than a predetermined second threshold value, and when the degree of coincidence is less than the second threshold value, the state identification unit recognizes that the endoscope is in an unused state. An endoscope control device that recognizes that the endoscope is in use.

(5)
(4) The endoscope control device according to the above.
The state identification unit generates a cumulative histogram of the first captured image signal and a cumulative histogram of the second captured image signal after the normalization process is performed, and the above-mentioned first captured image signal. Control of the endoscope that calculates the integrated value of the cumulative relative frequency difference or the cumulative frequency difference of the same brightness in the cumulative histogram and the cumulative histogram of the second captured image signal, and calculates the inverse of the integrated value as the matching degree. Device.

(6)
The endoscope control device according to any one of (1) to (5).
Each of the first image pickup image signal and the second image pickup image signal is obtained by imaging with the image pickup element under the same conditions of the amount of illumination light supplied to the endoscope. Mirror control device.

(7)
The endoscope control device according to any one of (1) to (6), and
An endoscope device including an endoscope controlled by the control device.

(8)
It is a method of identifying the state of an endoscope.
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope are acquired at different time points, and the average luminance value of the first image pickup image signal and the second image pickup image signal are obtained. The normalization processing step for performing the normalization processing for matching the average luminance value of the captured image signal on one or both of the first captured image signal and the second captured image signal, and
A state identification step for recognizing whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And, a method of identifying the state of an endoscope.

(9)
(8) The method for identifying the state of an endoscope according to the above method.
In the state identification step, the average value of the luminance difference between the first imaged image signal after the normalization process and the pixel signal at the same pixel position in the second imaged image signal is calculated, and the average value is calculated. When the value is equal to or less than the predetermined first threshold value, it is recognized that the endoscope is in an unused state, and when the average value exceeds the first threshold value, the endoscope is put into the used state. A method of identifying the state of an endoscope that recognizes the existence.

(10)
(8) The method for identifying the state of an endoscope according to the above method.
In the state identification step, the endoscope is based on the degree of matching of the shapes of the histograms of the brightness of each of the first captured image signal and the second captured image signal after the normalization process is performed. A method for identifying the state of an endoscope that recognizes whether the is in an unused state or a used state.

(11)
(10) The method for identifying the state of an endoscope according to the above method.
In the state identification step, when the degree of coincidence is equal to or higher than a predetermined second threshold value, it is recognized that the endoscope is in an unused state, and when the degree of coincidence is less than the second threshold value, the endoscope is recognized. A method for identifying the state of an endoscope that recognizes that the endoscope is in use.

(12)
(11) The method for identifying the state of an endoscope according to the above method.
In the state identification step, the cumulative histogram of the first captured image signal and the cumulative histogram of the second captured image signal after the normalization process is performed are generated, and the above-mentioned first captured image signal is described. The state of the endoscope that calculates the integrated value of the cumulative relative frequency difference or the cumulative frequency difference of the same brightness in the cumulative histogram and the cumulative histogram of the second captured image signal, and calculates the inverse number of the integrated value as the matching degree. Identification method.

(13)
The method for identifying the state of an endoscope according to any one of (8) to (12).
Each of the first image pickup image signal and the second image pickup image signal is obtained by imaging with the image pickup element under the same conditions of the amount of illumination light supplied to the endoscope. How to identify the state of the mirror.

(14)
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup are taken. A normalization processing step for performing a normalization process for matching the average luminance value of the image signal on one or both of the first captured image signal and the second captured image signal, and the like.
A state identification step for recognizing whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And, a state identification program for endoscopes to make a computer run.

100 Endoscope device 1 Endoscope 2 Control device 20 Light guide 20a Illumination lens 21 Objective lens 22 Lens group 23 Image pickup element 26 Endoscope control unit 3 Cart unit 32 Endoscope holding unit 33 Base 4 Processor device 42 Signal processing unit 43 Display control unit 44 System control unit 44A Normalization processing unit 44B State identification unit 44C Control unit 5 Light source device 51 Light source control unit 52 Light source unit 6 Input unit 7 Display unit 10 Insertion unit 10A Flexible unit 10B Curved unit 10C Tip Section 11 Operation section 12 Angle knob 13 Universal cord 13A, 13B Connector section

Claims (10)

It is a control device for endoscopes.
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup image signal are obtained. A normalization processing unit that performs normalization processing for matching the average luminance value of the captured image signal on one or both of the first captured image signal and the second captured image signal.
A state identification unit that recognizes whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And with
The state identification unit calculates the average value of the luminance difference between the first imaged image signal and the pixel signal at the same pixel position in the second imaged image signal after the normalization process is performed, and the average value. When the value is equal to or less than a predetermined first threshold value, it is recognized that the endoscope is in an unused state, and when the average value exceeds the first threshold value, the endoscope is put into a used state. An endoscope control device that recognizes the existence. It is a control device for endoscopes.
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup image signal are obtained. A normalization processing unit that performs normalization processing for matching the average luminance value of the captured image signal on one or both of the first captured image signal and the second captured image signal.
A state identification unit that recognizes whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And with
The state identification unit obtains the degree of matching of the shape of the histogram of the luminance of each of the first captured image signal and the second captured image signal after the normalization processing is performed, and the matching degree is determined in advance. When the second threshold value or more is determined, it is recognized that the endoscope is in an unused state, and when the degree of coincidence is less than the second threshold value, the endoscope is in the used state. Recognizing endoscope control device. The endoscope control device according to claim 2.
The state identification unit generates a cumulative histogram of the first captured image signal and a cumulative histogram of the second captured image signal after the normalization process is performed, and said the first captured image signal. Control of the endoscope that calculates the integrated value of the cumulative relative frequency difference or the cumulative frequency difference of the same brightness in the cumulative histogram of the cumulative histogram and the second captured image signal, and calculates the inverse number of the integrated value as the matching degree. Device. The endoscope control device according to any one of claims 1 to 3.
Each of the first image pickup image signal and the second image pickup image signal is obtained by imaging with the image pickup element under the same conditions of the amount of illumination light supplied to the endoscope. Mirror control device. The endoscope control device according to any one of claims 1 to 4.
An endoscope device comprising an endoscope controlled by the control device. It is a method of identifying the state of an endoscope.
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup image signal are obtained. A normalization processing step for performing a normalization process for matching the average luminance value of the captured image signal on one or both of the first captured image signal and the second captured image signal, and the like.
A state identification step of recognizing whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And with
In the state identification step, the average value of the luminance difference between the first imaged image signal after the normalization process and the pixel signal at the same pixel position in the second imaged image signal is calculated, and the average value is calculated. When the value is equal to or less than a predetermined first threshold value, it is recognized that the endoscope is in an unused state, and when the average value exceeds the first threshold value, the endoscope is put into a used state. A method of identifying the state of an endoscope that recognizes the existence. It is a method of identifying the state of an endoscope.
The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup image signal are obtained. A normalization processing step for performing a normalization process for matching the average luminance value of the captured image signal on one or both of the first captured image signal and the second captured image signal, and the like.
A state identification step of recognizing whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. And with
In the state identification step, the degree of matching of the shape of the histogram of the luminance of each of the first captured image signal and the second captured image signal after the normalization processing is performed is obtained, and the matching degree is determined in advance. When the second threshold value or more is determined, it is recognized that the endoscope is in an unused state, and when the degree of coincidence is less than the second threshold value, the endoscope is in the used state. How to identify the state of the endoscope to be recognized. The method for identifying the state of an endoscope according to claim 7.
In the state identification step, a cumulative histogram of the first captured image signal and a cumulative histogram of the second captured image signal after the normalization process is performed are generated, and the first captured image signal is described. The state of the endoscope that calculates the integrated value of the cumulative relative frequency difference or the cumulative frequency difference of the same brightness in the cumulative histogram of the cumulative histogram and the second captured image signal, and calculates the inverse of the integrated value as the degree of coincidence. Identification method. The method for identifying the state of an endoscope according to any one of claims 6 to 8.
Each of the first image pickup image signal and the second image pickup image signal is obtained by imaging with the image pickup element under the same conditions of the amount of illumination light supplied to the endoscope. How to identify the state of the mirror. The first image pickup image signal and the second image pickup image signal output from the image pickup element included in the endoscope and having different imaging time points are acquired, and the average luminance value of the first image pickup image signal and the second image pickup are obtained. A normalization processing step for performing a normalization process for matching the average luminance value of the image signal on one or both of the first captured image signal and the second captured image signal, and the like.
A state identification step for recognizing whether the endoscope is in an unused state or a used state based on the brightness change of the first captured image signal and the second captured image signal after the normalization process. Is an endoscope state identification program for making a computer execute
In the state identification step, the average value of the luminance difference between the first imaged image signal after the normalization process and the pixel signal at the same pixel position in the second imaged image signal is calculated, and the average value is calculated. When the value is equal to or less than a predetermined first threshold value, it is recognized that the endoscope is in an unused state, and when the average value exceeds the first threshold value, the endoscope is in the used state. Endoscope state identification program that recognizes.

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