JPH02244021A - Endoscope device for measurement - Google Patents

Abstract

PURPOSE:To exactly assign the positions on respective screens of an object point even if there are no distinct characteristic points by computing the position conditions at the object point on the other image by a guide line display means when the object point is assigned on one image. CONSTITUTION:The information on a cursor position is supplied from a cursor information instructing means 6 as a measuring object point assigning means to a cursor control means 7 as a computing means and a guide line display means. In which way the straight line in the space passing an image pickup means picking up the image of the measuring object point assigned on one screen and the measuring object point is ought to be visible to the other image pickup means is computed, when the measuring object point on one screen is assigned. This straight line is displayed as a guide line on the other screen. Further, the assignment of the points exclusive of the points on this guide line as the object point is not possible and, therefore, the exact position assignment of the object point is possible. The position assignment on the respective screens of the object point is executed in this way even if the object desired to be measured has no distinct characteristic points.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention relates to a measurement endoscope device that can display a subject in multiple images with parallax, and in particular, a measurement endoscope device that can display a target point on a single screen. The present invention relates to a measurement endoscope device that can display a guide line corresponding to a target point on another screen when the target point is detected.

[Prior Art] In recent years, endoscopes have come to be widely used in the medical and industrial fields.

For example, in images observed using a normal endoscope, the region to be examined is generally flat, making it difficult to recognize irregularities. For this reason, for example, in Japanese Patent Application No. 62-18188 Mei 111l, the present applicant provided two systems of objective lenses at the distal end of an endoscope, and two images obtained by these two systems of objective lenses were They proposed a device that was guided to the eyepieces through an image guide to obtain a stereoscopic field of view with binoculars.

However, this device has a problem in that although it is possible to obtain a stereoscopic field of view using a binocular endoscope, it is not possible to obtain the distance to an image within the field of view.

The technology to eliminate this problem was proposed in a patent application published in 1986-30.
It was proposed by the present applicant in specification No. 5384. In this technique, as shown in FIG. 40(a), in order to specify a target point in space, the position of the target point in each image is given on a plurality of images with parallax using a pointing device, etc. Accordingly, a straight line in space passing through the imaging means that captured the image and the target point is determined. When the position of the target point is given for each image by a plurality of m image means arranged at positions with parallax, a plurality of 'ti lines are determined in space according to the position of the target point. -For boat fishing, it cannot be said that a group of straight lines in space necessarily have an intersection point, but all of these multiple straight lines should pass through the target point, so if the position specification is sufficiently accurate, these straight lines can be The position of the target point relative to the imaging means in space can be calculated as the intersection point.

[Problems to be Solved by the Invention] However, in endoscopic images, the target to be measured does not necessarily have clear feature points, and if there are no clear feature points, There was a problem in that the position specification was likely to be inaccurate. For this reason, as shown in FIG. 40(b), straight lines in space that are supposed to pass through the target point no longer have any intersections, and distance measurement may not be possible.

[Object of the Invention] The present invention has been made in view of the above circumstances, and it is an object of the present invention to accurately specify the position of a target point on each screen even when the target to be measured does not have clear feature points. The purpose of the present invention is to provide a measuring endoscope device that makes it possible to perform measurements.

[! ! Means for Solving the Problem] The measurement endoscope device of the present invention captures a plurality of images from a plurality of positions having parallax at the distal end of the insertion section.
am means for displaying a plurality of images obtained by the imaging means on a plurality of screens; and a display means for specifying a target point on one of the plurality of images displayed by the display means. a target point specifying means, and calculating a position condition of the target point on the other image from the position of the target point specified by the target point specifying means on the two images, and based on the calculated position condition. and guide line display means for displaying a guide line corresponding to the target point on the other image.

[Operation] In the present invention, when a target point is specified on one image, the positional condition of the target point on another image is calculated by the guide line display means, and based on this positional condition, the positional condition of the target point on another image is calculated. A guide line corresponding to the target point is displayed above.

[Embodiments] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

FIGS. 1 to 5 relate to the first embodiment of the present invention.
The figure is a block diagram showing the configuration of the measurement endoscope device of the present invention, FIG. 2 is an explanatory diagram of the tip of the stereoscopic endoscope image capture device, and FIG. 3 is a diagram showing the operation panel of the cursor information specifying means. , FIG. 4 is a diagram showing an example of an operation screen, and FIG. 5 is an explanatory diagram of a method of calculating the position of the guide line and the position of the target point.

As shown in FIG. 1, the measurement endoscope device of this example is as follows:
A stereoscopic endoscope image capture device 1 is provided. This stereoscopic endoscopic image capturing device 1 has an elongated insertion section 1a, and an imaging optical system 21, 22 is provided at the distal end of the insertion section 1a, as shown in FIG. , this imaging optical system 2
Solid-state imaging devices 23 and 24, such as COD, serving as imaging means are provided at imaging positions 1 and 22, respectively. Of the illumination light emitted from the illumination means (not shown), the light reflected from the subject is transmitted to the imaging optical system 21.22.
The images are formed by the solid-state image sensors 23 and 24, and are photoelectrically converted and output as left (L) and right (R) electrical image signals, respectively. These left and right image signals are stored in the image memory 51.5H after being digitally converted by A/D converters 2L and 2R, respectively.

Further, a synchronization signal is supplied from the stereoscopic endoscope image capturing device 1 to the write timing control means 3L and 3R. Write timing control means 3
In L and 3R, a write timing control signal is supplied to write control means 4L and 4R based on this synchronization signal. And this write control means 4L.

The A/D converter 2L is controlled by a control signal from 4R.

Writing of image signals from 2R to the memories 5L and 5R is controlled.

The measurement endoscope device of this embodiment is also provided with a cursor information indicating means 6 as a measurement target point specifying means for indicating information regarding the position of the cursor in an image, and this cursor information indicating means 6 From there, cursor position information is supplied to cursor control means 7, which serves as calculation means and guide line display means. This cursor control means 7 is constituted by a CPU having a counting function, and calculates the display position of the cursor on the screen from the cursor position information, and then calculates the display position of the point on the screen constituting the cursor. The address specifying means 81.8H stores the colors to be written in the data holding means 9L and 9R, respectively, and further determines whether or not the cursor is on the guide line. Further, the outputs of the addressing means 8 and the data holding means 9L, 9R are stored in the graphic memories 11L, 11R. This graphic memory 11 and 211R
are memories that hold cursor images on the left and right screens, respectively, and have a storage capacity of 3 bits per pixel if there are, for example, seven types of cursor colors. The cursor images held by the graphic memories 11L and 11R are read out by the readout control means 13L and 13.
By writing the color data read out from the data holding means 9L, 9R at the coordinate positions on the screen read out from the addressing means 8L, 8R during the vertical retrace period or horizontal retrace period of the synchronization signal from R. It is set to be updated.

A read synchronization signal from the read synchronization signal generation means 12 is applied to the read control means 13L and 13R. This readout control means 13 uses the image memories 5L and 5R based on this synchronization signal.
and the graphic memories 11L and 11R,
A synchronization signal is supplied to read data corresponding to the same screen position from each memory in synchronization.

Each data read from the image memories 5L, 5R and the graphic memories 11L, IIR is
It is designed to be input to logical sum operators 14L and 14R.

The logical sum operators 14m and 14R calculate the logical sum of the data output from the image memories 5L and 5R and the data output from the graphic memories 11L and 11R, and send the result to the D/A converter 15L. , 15R. And this D/A converter 15
1.15R converts a digital image signal into an analog video signal, and displays the image display bag as a display means. Images are displayed on 16L and 16R.

The measurement endoscope device of this embodiment further includes cursor position storage means 17 for storing a plurality of cursor positions in a stereoscopic image when storage is instructed by the cursor information specifying means 6, and the cursor position A distance calculation means for reading the cursor position stored in the storage means 17 according to a distance calculation instruction from the cursor information designation means 6, calculating the distance between each cursor position, and outputting the result to a display device (not shown). A distance calculation means 18 is also provided.

Next, the actual operation of the measurement endoscope apparatus of this embodiment configured as described above will be explained.

The left and right image signals from the stereoscopic endoscope image capture device 1 are digitally converted by A/D converters 2L and 2R, respectively, and then transferred to an image memory 5L.

Stored in 5R. The image signals stored in the image memories 5L and 5R are usually read out in real time, and the logical sum is calculated by the logical sum operators 14L and 14R.
The image is displayed on the display device 16 after being converted into an analog type signal by the /A converters 15L and 15R.

When the operator has the object to be measured within the field of view, in order to prevent the position specification from shifting due to internal movement of the living body,
First, the image memory 5 is operated by an operation means (not shown),
Make the image stored in 5R still. Next, the cursor information indicating means 6 having an operation panel configured as shown in FIG. 3 moves the cursor in the left image to the position of the target point whose length is to be measured. Display device 150 at this time
The state of the screen is as shown in FIG. 4(A).

The position of the cursor can be moved by operating a cursor movement switch provided on the cursor information indicating means 6. Next, by pressing a selection switch provided in the cursor information indicating means 6, the position of the specified target point is memorized. The target points selected in this way are shown in Fig. 4 (8) in order to clarify their positions.
The selected position is displayed on the screen as shown in . and,
The cursor control means 7 specifies the position of the guide line from the specified target position by a method described later, and displays it in the image on the right. The state of the screen in the image of the display device 16 at this time is shown in FIG. 4(C). Next, the operator selects the position of the target point in the right image by a similar operation, but at this time, only points on the guide line can be specified.

The cursor control means 7 checks whether the position of the selected point is above the already calculated position of the guide line, and if the position of the selected point is not above the position of the guide line. , a warning device (not shown) emits an alarming sound, and then invalidates the selection. Also, when a point on the guide line is selected, the position of the target point in space is determined, so
This position is calculated and stored in the main memory using a method described later.

The state on the screen of the display device 16 at this time is shown in FIG. 4(C).
is shown. After repeating such operations to memorize the positions of the points to be measured, the distance between the specified points is displayed on a display device (not shown) by pressing the length measurement switch.

The coordinates of the two points at this time are (X+, Vt, Zt), (X
2 , V2 , Z2 ), then the distance between the two points is 11
1d is given by the following formula.

d=[(XI −X2 >2+(yt−V2)20(Z
t - Z2 )2 1172 Furthermore, the distance from the tip of the insertion section to a certain point can also be found in the same way.

Next, a method for calculating the position of the guide line and the position of the target point will be explained with reference to FIG.

The operation of specifying a point in the image is similar to the operation of specifying the imaging plane of the objective optical system. Here, for the sake of explanation, the center of the spatial coordinates is taken as a point midway between the left and right imaging means, the direction of the X axis is taken as a direction passing through the center of both the left and right imaging means, and the direction of the Z axis is taken as a point between the left and right imaging means. The direction is perpendicular to the distal end surface of the device, and the direction of the Y-axis is perpendicular to both the X-axis and the Y-axis.

Furthermore, the parallax is assumed to be d. Then, the center of the left ms means is C(-d/2.O,O), and the center of the right imaging means is R.
e (d/2.0.0>), and the position of the target point is A <X
a, Va, Za), the focal length is f,
The position of the target in the specified left image is set as LP(xl yi
f), a straight line passing through LP and A is expressed as follows, where t is a mediation coefficient.

(x, y, z) − (−d/2−Xj!, −Vl, f) t+(
-d/2.0.0) (t>0) Then,
Find the point of intersection between a point on this straight line and the right plane IIi of the v: straight line passing through RC. The coordinates of this intersection RP are (Xr,'/r
, -f), the following relational expression holds true.

(Xr, Vr, -f) (x1+d+d/l, yl -f) (t>O) As a result, the guide line moves from the left edge of the screen to (XI! +d.

'/1. -f).

When a point on the guide line is specified, the position of the target point is t,
If s is a parameter, it is the intersection of straight lines expressed by the following two equations.

(xa, ya, za) Award (-d/2-xl, -yl, f) t+ (-d/2.O, O) (t>0) (X
a, ya, Za) - (d/2-Xr, Vr, f)S+ (d/2.O,O) (s>0)
Therefore, by solving the above equation, (xa, ya, za) = (-d/2-Xj!, -112, f)t+(-d/2,
0.0) [t-d/ (Xr-Xj!-d): 1 is given.

By performing the above calculations, the position of the guide line and the position of the target point are calculated.

As described above, according to this embodiment, when a point to be measured is designated on one screen, a straight line in space passing through the imaging means that carried the image and this point to be measured is used to convey another image. What it should look like on the device is calculated and displayed as a guide line on another screen, and furthermore, it is impossible to specify points other than points on this guide line as target points. The position of the target point can be specified accurately, thereby allowing accurate distance measurement and length measurement.

In this embodiment, the display device is set to 1 for each of the left and right images.
Although two display devices are provided, it is also possible to combine the display devices into one and display both left and right images on that one display device.

6 to 25 relate to a second embodiment of the present invention, FIG. 6 is a block diagram showing the general configuration of this embodiment, FIG. 7 is an explanatory diagram of the distal end of the insertion section of the endoscope, Fig. 8 is a block diagram showing the configuration of the measurement endoscope device, Fig. 9 is a block diagram showing the configuration of the host computer, Fig. 10 is a principle explanatory diagram showing how to obtain the guide line, and Fig. 11 is an explanatory diagram of the principle showing how to obtain three-dimensional coordinates, Fig. 12 is an explanatory diagram of the principle showing how to obtain the index circle, and Fig. 13 is an explanation of the conversion between the position on the screen and the position on the imaging probe. Fig. 14 is an explanatory drawing showing the guide line displayed on the left screen, Fig. 15 is an explanatory drawing showing the index circle displayed on the right screen, and Figs. 16 to 25 are explanatory drawings showing the guide line displayed on the left screen. 12 is a flowchart for explaining an example operation.

For measurement in this example? ! As shown in FIG. 8, the mirror device includes a stereo video image endoscope (hereinafter referred to as an endoscope) 101 and a right image and a left image conveyed by this endoscope 101. A right image video processor 110R and a left image video processor 110L that process image signals, and a right image frame storage that stores each image signal, for example, an RGB signal output from each video processor 110R, 110L. 11
2R and left image frame memories 112L, and a right image monitor 130R and a left image monitor that receive image signals such as RGB signals output from the respective frame memories 112R and 112L and display right and left images. 130, and each of the frame memories 112R, 112L.
a host computer 120 that performs stereoscopic measurement calculations using images stored in the host computer 120;
External storage device connected to (hereinafter referred to as external storage)
140 and connected to the post combi coater 120,
A mouse 145 is provided for operating the cursor displayed on the monitors 130R and 130L, specifying a point to be measured, and the like.

Both video processors 110R and 110L are designed to perform mutually synchronized signal processing.

Further, in this embodiment, each of the frame memories 112R,
112L is equipped with multiple sets of each memory for R, G, and B. Images are stored in one set, cursors are written in the other sets, and the signals written in each set are added up. This makes it possible to display an image and a cursor on the monitor screen. Further, the external storage 140 is capable of storing images in the frame memories 112R and 112L, and can also store a large amount of images as image files.

The host computer 120 is configured as shown in FIG.

That is, the host computer 120
．． Right frame memory interface 122R2 Left frame memory interface 122, Main memory 1
23. External storage interface 124. Mouse interface 125° Keyboard 126 and CRT 127
are connected to each other by a bus. Additionally, the right frame memory interface 122
R.

The left frame memory interface 122L is connected to the right image frame memory 112R and the left image frame memory 112L, respectively, and transmits and receives image data between them.
2R and 122L, the frame memory 112R
, 112m. Further, the external storage interface 124 is connected to an external storage 140 to send and receive image data. Further, the mouse interface 12
5 is connected to a mouse 145.

Next, the general structure of this embodiment will be explained with reference to FIGS. 6 and 7.

As shown in FIG. 7, the endoscope 101 has an elongated insertion section 1.
02, and the distal end of this insertion section 102 has a plurality of
For example, two observation windows and an illumination window are provided. Inside each of the observation windows, a right eye objective lens system 103R9 and a left eye objective lens system 103 are disposed at positions having parallax with each other.
L is provided. Each objective lens system 103R, 103
Imaging means 104R and 104L using solid-state imaging devices are arranged at the imaging positions L, respectively. A light distribution lens 105 is provided inside the illumination window, and a light guide 106 made of a fiber bundle is connected to the rear end of the light distribution lens 105. This light guide 106 is inserted into the insertion section 102, and its entrance end is connected to a light source device (not shown). Illumination light output from this light source device is irradiated onto the subject via the light guide 106 and the light distribution lens 105. The light from this object is captured by the objective lens systems 103R, 103L as a right image and a left image, respectively, by the imaging means 104R, 10.
The image is formed on 4L.

The image signals captured by the imaging means 104R, 104m are sent to video processors 110R, 1, respectively.
The signal is input to 10L and subjected to video signal processing. Each image signal output from each of the video processors 110R and 110L is sent to an A/D converter 1.
After being converted into digital signals by 11R and 111L,
Image memory, that is, each frame memory 112R, 11
It is designed to be stored in the image memory of 2L.

The image signals read from the image memories 112R and 112L pass through OR gates 157R and 157L, and are converted into analog signals by D/A converters 158R and 158L, and are input to monitors 130R and 130L. It has become.

Then, on these monitors 130R and 130L, respectively,
The right image and left image are displayed.

Further, cursor display means 151R for displaying a cursor on the right screen and cursor display means 151L for displaying a cursor on the left screen are provided, and the mouse 145 is connected to the cursor display means 151R, 1 through the switching means 150.
51L, and operations such as moving the cursor for each screen can be performed. Cursor display signals output from the cursor display means 151R, 151L are input to the OR gates 157R, 157L, so that the cursor is superimposed on the screens of the monitors 130R, 130L. It has become.

Further, a guide line display means 153 is connected to the cursor display means 151R for the right screen, and this guide line display means 15
3, if a target point is specified on the right screen, calculate the position condition for the target point on the left screen,
Based on the positional conditions, a signal for displaying the guide line is output. This signal for displaying the guide line is input to the OR gate 157L, so that the guide line is displayed in a superimposed manner on the screen of the left image monitor 130L.

Further, a target point position calculation means 154 is connected to both the cursor display means 151R, 151L, and when a target point is specified on both screens, the target point position calculation means 154 The three-dimensional coordinates of the target point are determined from the coordinates of the point on each screen.

Furthermore, the target point position calculation means 154 and the right image cursor display means 151R are connected to an index circle display means 155, and this index circle display means 155
Based on the dimensional coordinates and the position information of the target point on the right screen,
It is designed to output a signal to display an index circle that is a guide to the size of the object. This signal for displaying the index circle is input to the OR gate 157R, so that the index circle is displayed in a vertical manner on the screen of the right image monitor 130R.

In this embodiment, the switching means 150. Cursor display means 151R, 151L, guide line display means 153. Target point position calculation means 154. and the indicator circle display means 155,
This is achieved by operating the host cocipitator 120 according to the procedure described below.

Before explaining the detailed operation 1 of the three-dimensional measurement system in this embodiment, first, we will briefly explain the operation when calculating the three-dimensional coordinates of the specified target point and the operation when displaying the index circle. do.

To calculate the three-dimensional coordinates of a specified target point, (1) select an image from an endoscope or an image from an image file; (2) if you select an image from an endoscope, Freeze (still) the image (video) from the endoscope at an appropriate timing and store it in the frame memory 112R, 112.
Fix the image on L. In addition, when an image from an image file is selected, the image is stored in the frame memory 111.
R, fixed on 112L.

(3) Next, the first target point is hereinafter referred to as point 1. ). The effect of specifying point 1 is as follows.

1. If the target point has already been specified, do not erase the cursor on the left and right screens.

2. A cursor that moves arbitrarily (hereinafter referred to as a moving cursor) for specifying a point appears on the right screen.

3. Operate the mouse 145 and move the moving cursor over the point you want to specify.

4.7 When a designation is made using the mouse 145, a designation cursor appears on the right screen. Note that this designation can be repeated.

5. Use the mouse 145 to confirm the specified point.

6. The moving cursor on the right screen disappears and the specified cursor remains.

7°A guide line will be displayed on the left screen.

8. A moving cursor will appear on the left screen.

9.7 Operate the mouse 145 and move the cursor over the point you want to specify.

10.7 When a designation is made using the mouse 145, a designation cursor appears on the left screen. Note that this designation can be repeated.

11. The designated point is determined using the 7mm 145.

12. The moving cursor on the left screen disappears and the designated cursor remains.

13. The guide line disappears.

14. The three-dimensional coordinates of the specified target point are calculated and output.

15. The distance from the endoscope tip to the target point is calculated and output. Note that this distance will be displayed if necessary.

16. If there is another specified target point, the distance to that point is output. Note that this distance will be displayed if necessary.

(4) Designation of point 2 is the same as in (3) above, and it is also possible to designate two or more target points in the same way.

On the other hand, if you want to display the indicator circle, (5) Enter the radius of the index circle.

(6) Next, a circled point is designated by the same actions as (3) 1 to 16 of the action when calculating the three-dimensional coordinates of the designated target point. Note that the circled point is the target point specified to display the index circle, and is the point specified in (3) 1 above.
Point 1 in ~16 can be read as a circled point.

(a) Then, based on the input radius and three-dimensional coordinates of the circled point, the inside of the index, which is a guide to the size, is displayed on the right image.

Next, detailed operations of the three-dimensional measurement system in this embodiment will be described with reference to FIGS. 16 to 25.

The effect will be explained.

First, the main routine will be explained using FIG. When the system starts operating, step 5l-1 (hereinafter referred to as
The steps are omitted and simply written as 81-1. )in,
It is determined whether the image to be measured is an image from an endoscope.

If not (hereinafter referred to as No. If affirmative, it will be referred to as YES), it is determined at $1-2 whether the image to be measured is an image from a file. If No, 51-
In step 3, it is determined whether or not to end, and if YES, the process ends. If it is determined in step 51-1 that the image is from an endoscope (YES>, a subroutine called record N is performed in step 51-4, and the process returns to step 51-1.
ord is a routine that freezes and processes images from an endoscope.

Also, before &! If it is determined in step S1-2 that the image is from a file (YES), in step 51-5, the file
A subroutine called s() is executed and the process returns to 51-1. The above files is a routine that reads an image from external storage and performs various processes described below. In addition, the above 51-3
If the answer is No, the process returns to 51-1. In addition, the above-mentioned record
d is shown in FIG. 17, and the files are shown in FIG. 19, respectively. Note that the parentheses at the end of a routine name indicate that the routine is a subroutine.Furthermore, the parentheses may contain arguments.

In this way, in the main routine, the steps 5l-1 to 51 are performed until an image from the endoscope or an image from external storage is selected or an instruction is given to end the operation using an operation means (not shown) such as the keyboard 126. -3 is repeated. Note that the order of 51-1 and 81-2 is arbitrary.

Next, the record O will be explained using FIG. 17.

When this routine starts, first, in 52-1, it is determined whether or not there is a freeze. In other words, here is the timing to freeze. If No, it is determined in step 52-2 whether or not to end, and if YES, the process ends. Said 52-
If it is determined to be frozen at 1 (YES), 82-3
r, freeze) and executes the subroutine 52-
Return to 1.

The TreeZ is a routine that freezes the image from the endoscope and performs various processes described below. This freez
is shown in FIG. Also, in 52-2 above, No.
In this case, the process returns to 82-1.

Next, the freeze O will be explained using FIG. 18.

When this routine starts, first, in step 83-1, left and right images from the endoscope are frozen in the frame memory. Next, in 53-2, it is determined whether or not point 1 is designated, and if No, it is determined in 53-3 whether or not point 2 is designated, and if No, in 53-4, Determine whether a circled point is specified. If the above 53-4 is No, it is determined in 53-5 whether or not the point is to be canceled.If it is No, it is determined in 53-6 whether or not the circled point is to be canceled; In step 83-7, it is determined whether or not image recording is to be performed. 53-7 is N.

If so, it is determined in 53-8 whether or not the process has ended, and if YES, in 83-9 the frozen image is released and a through image from the endoscope is displayed.

Next, in step 83-10, all points are returned to the unspecified state, and the process ends.

If it is determined in 53-2 that point 1 is specified (Y
ES) executes a subroutine called paintlo at 83-11, and returns to 83-2.

This paintl specifies point 1 on the left and right screen, and
This is a routine to obtain dimensional coordinates.

If it is determined that point 2 is specified in 53-3 above (Y
ES) executes a subroutine called point2() at 83-12, and returns to 53-2.

This paint2 specifies point 2 on the left and right screen, and then
This is a routine to obtain dimensional coordinates.

If it is determined in step 53-4 that the point with a circle is specified (YES>, the subroutine pointm() is executed in step 83-13, and the process returns to step 53-2.
tm specifies a circled point in the left and right images, performs measurements similar to those performed with paintl, obtains the 3D coordinates of the circled point, and changes the size depending on the distance based on the 3D coordinates. This is a routine that displays an index (yen) on the right screen.

If it is determined that the point is canceled in 53-5 above (YE
S) erases the cursor at the designated point in 83-14, returns to the unspecified state, and returns to 53-2.

If it is determined in step 53-6 that the circled point is to be canceled (YES), in step 83-15, the circled point cursor and circle are erased, the circled point is returned to the unspecified state, and the process proceeds to step 53-15. Return to 2.

If it is determined that the above $3-7 is an image recording (YE
S) records the left and right images in the frame memory to external storage in 33-16, and then returns to 53-2.

Also, if the answer in 53-8 is NO, the process returns to 53-2.

Note that the point 1 is shown in FIG. 20 as the ρOintm
are shown in FIG. 21, respectively.

Note that the order of 53-2 to 53-7 is arbitrary.

Next, the fitsN will be explained using FIG. 19.

When this routine starts, first, in step 54-1, specified left and right image files are loaded from external storage into the frame memory.

The following 84-2 to 54-6 are exactly the same as 53-2 to 53-6 in free2(). That is, it is determined whether point 1 is designated, whether point 2 is designated, whether a circled point is designated, whether a point is canceled, and whether a circled point is deleted. Y in each step 53-2 to 53-6
In the case of ES, respectively, 8 in the f'reezN
84-11 or S similar to 3-11 or 83-15
Perform step 4-15 and return to step 54-2.

If No in step 54-6, it is determined in step 54-7 whether or not the image is to be changed. If this 84-7 is No, 54-
8, it is determined whether it is finished or not, and if YES, 84-1
0 returns all points to unspecified state and ends.

If it is determined in step 54-7 that the image has been changed (YE
S) loads the specified left and right image files from the external storage to the frame memory in 84-16, and returns to $4-2.

Also, in the case of 84-8rNO(7), the price returns to $4-2.

Note that the order of $4-2 to $54-7 is arbitrary.

Next, the above pointl□ will be explained using FIG. 20.

When this routine starts, first, in step 55-1, it is determined whether point 1 has been designated. If NO, proceed directly to 85-4; if YES, proceed to 55-2 and 8.
After performing 5-3, proceed to 55-4. In step 55-2 above, the point 1 cursor is erased for each left and right screen, and then 5
In step 5-3, point 1 is returned to the unspecified state.

Next, in step 55-4, a subroutine called RmovecurO is executed. This RmOVecur is a routine that specifies a point on the right screen, and obtains the x and y coordinates of the specified point as (SRx1,5-RYl). This Rmov
ecur is shown in FIG.

Next, at 35-5, on the right screen, move the point 1 cursor to (
S Rxl, S Ryl) (7) Position D writing.

Next, in 55-6, the LQLJide□ and E5 subroutines are executed. This Lguide is a routine that draws a guide line on the left screen based on the X, y coordinates (S Rxl, S RVl) of the right screen designated point (7). This guide is shown in FIG.

Next, in 55-7, a subroutine called l-movecur□ is executed. This 1movecur is a routine that specifies a point on the left screen, and calculates the x and y coordinates of the specified point by (S Lxl, S Lyl) 1. :obtain.

Next, at 55-8, after erasing the guide line, at 55-9, move the point 1 cursor to (S-xl, S
Write it in the position of ``Lye''.

Next, in 85-10, the x, y coordinates of the specified point on each left and right screen (S-Rx1. S Ryl, S Lxl,
5-Lyl) as an argument, 3dpoint (>
This subroutine is executed. This 3dDOint has a routine that calculates the three-dimensional coordinates of the target point (point 1) corresponding to the two specified points based on the specified points on the left and right screens, and the results are (S Xl, S Yl, S -21)
attributed to. This 3dpoint O is shown in FIG.

Second, 85-11F, the three-dimensional coordinates (S Xl.

3 Yl, 3 Zl) to calculate the distance to point 1.

Next, at 85-12, it is determined whether point 2 is specified or not, and if No, the process ends, and if YES, 85-1
Step 3 calculates the distance between points 11 and 2 m and ends.

In this way, in paintl, first, point 1 is specified on the right screen, then a guide line is displayed on the left screen, and point 1 on the left screen is specified on this guide line. By specifying point 1, the three-dimensional coordinates of point 1 are calculated, and if point 2 is specified, the distance between points 11 and 2 is calculated. Note that the three-dimensional coordinates of the point 1 and the distance between the points 11 and 2 may be displayed as necessary.

Although paint20 is not shown, the paint20 is
This is basically the same as l(), but the descriptions (including coordinates) regarding points 1 and 2 are exchanged.

Next, the po intm N will be explained using FIG. 21.

When this routine starts, first, at 86-01, the radius rr of the circle is input. Next, in 56-1, it is determined whether a circled point has been designated.

Next, in 56-1, it is determined whether a circled point has been designated. If NO, proceed directly to 56-4 and select Y.
In the case of ES, after performing 56-2 and 56-3, 56
-Go to 4. In the above 56-2, for each left and right screen,
The circled point cursor is erased, and then, in step 86-3, the circle is erased and the circled point is returned to the unspecified state.

Next, in step 86-4, a subroutine called Rmovecur is executed to obtain the x and y coordinates of the designated point on the right screen as (S-Rxm, S Rye).

Next, at 56-5, move the circled dot cursor to the position (SRxm, SRym) on the right screen.

Next, in 56-6, a subroutine called l-guide N is executed to obtain the x, y coordinates (S
Draw a guide line on the left screen based on R: +v, S Ryl).

Next, in step 56-7, a subroutine called Lmovecur N is executed, and the X of the specified point on the left screen is moved.

Obtain the y coordinate at (S Lxm, S 1yI11).

Next, at 56-8, after erasing the guide line, at 56-9, move the circled dot cursor (Slxm, S
LVII) position.

Next, at 86-10, the x, y coordinates of the specified point on each of the left and right screens (S Rx++, S Rym, S Lxm
, 5-Lye) as an argument, a subroutine called 3dpO1ntO is executed to calculate the three-dimensional coordinates of the circled point, and the results are attributed to (3Xs, SYm, SZm).

Next, at 86-11, the three-dimensional coordinates (S

S Ym, S Zm, ) is used to calculate the distance to the circled point.

Next, in S6-12, a subroutine called RacircleO is executed, and then the process ends. This Rgcircle
is the three-dimensional coordinate of the circled point (SXi, 3 Ya+,
5-Zn+) and radius rr, target point (point with circle)
Draw a circle around it to serve as an indicator. This Ro
c i rCl 8 is shown in FIG.

In this way, in pointm, first, a point with a circle is specified on the right screen, a guide line is displayed on the left screen, and a point with a circle on the left screen is specified on this guide line. By specifying this circled point, the three-dimensional coordinates of the circled point are calculated, and based on these three-dimensional coordinates and the input radius, an index circle is displayed on the right image as a guide for the size.

Next, the RmovecurO will be explained using FIG. 22.

When this routine starts, first, in step 57-1, the target screen is designated as the right screen.

Next, in 57-2, it is determined whether there is a Nichido cursor,
If NO, proceed directly to 57-5; if YES, proceed to 87-5 after performing steps 57-3 and 57-4. If YES in step 57-2, the old moving cursor is erased in step 87-3, and then, in SA4, the position of the new moving cursor is substituted for the position of the daily moving cursor. In the above 57-5,
The position of the new moving cursor is obtained from the position information of the mouse 145 as a cursor operating means. Next, at 57-6, a new rib cursor is written.

In this way, in steps 57-2 to 57-6, the moving cursor is erased, G is written, and the moving cursor is moved.

Next, in 57-7, it is determined whether or not the mouse 145, which is the designated switch, has been clicked 1. If NO, proceed to 87-13; if YES, proceed to the next 87-13.
After performing steps 8 to 87-12, proceed to step 87-13. If YES in step 57-7, it is first determined in step 57-8 whether or not there is an old designated cursor, and in case of No, the process directly advances to S7-11; After performing 87-10, proceed to 37-11. Said 57-
If YES in step 8, the old specified cursor is deleted in step 57-9, and then the position of the new specified cursor is substituted for the position of the old specified cursor in step 87-10.

In step 37-11, the position of the new moving cursor is assigned to the position of the newly specified cursor. Next, at 87-12, a new designated cursor is written.

In this way, for 57-7 to 5-12, click 1
is entered, the position of the dynamic cursor becomes the specified cursor.

Next, at 87-13, it is determined whether or not there is a newly designated cursor and the mouse 145, which is a confirmation switch, has been clicked 2. If NO, the process returns to 57-2 and YES is selected.
If so, proceed to S7-14. If the answer in 87-13 is No, the process returns to 87-2, allowing the point designation to be repeated. In S7-14, the new power input is erased, and then in S7-15, the new specified cursor is erased. Next, in step 87-16, the position of the newly specified cursor is set as the fixed cursor position and is used as the return value to the parent routine, and the process ends. Then, the obtained x, y coordinates are sent to the parent routine (
point (pointl, pointm, etc.).

In this way, Rmovecur specifies a point on the right screen.

Although 1movecur N is not shown, the above Rm
This is basically the same as overcur N, and processes the left screen instead of the right screen.

Here, the designation of points on the right screen and the designation of points on the left screen will be explained in relation to FIGS. 6 and 9. The mouse 145, which is a cursor operating means, is operatively connected to the cursor display means 151R for the right screen (also realized by Rmovecur) by Rmovecur, which implements the switching means 150, and only then points to the right screen. A cursor for specification is displayed. When the point designation on the right screen is confirmed, the cursor for point designation is deleted from the right screen. Next, the mouse 145 is disconnected from the cursor display means 151R, and is switched to the left screen cursor display means 151L (also Lmovecur) by 1movecur which realizes the switching means 150.
The cursor for specifying a point is displayed on the left screen for the first time.

When the point designation on the left screen is confirmed, the cursor for point designation is deleted from the left screen.

The switching means 150 in FIG. 6 performs the first step of Rmovecur, ``Designate the target screen as the right screen.
(The same applies to l m o v e CLJ r.) corresponds to this. This operation will be explained with reference to FIG. The mouse position information from the mouse interface 125 is provided by CPLJ.
121, and in the step "designate to right screen", the CPU 121 transfers this mouse position information via the right frame memory interface 122R.
It is sent to the right image frame memory 112R to control the cursor.

Then, the cursor is superimposed on the image in the right image frame memory 112R.

Similarly, for 1-movecur, the first step is [Specify the target screen as the left screen]. ” step and this c
When you enter movecur, the position information of the mouse 145 is
Sent to left frame memory interface 122L.

In this way, one mouse 145 is switched between moving the cursor on the right screen and moving the cursor on the left screen by the )0- of the CPU 121. That is, the CPU 121 moves the mouse 145 between the right image frame memory 112R and the left image frame memory 112R.
It has a function of selectively operatively connecting with L. This switching is performed under the following conditions.

First, in the first step of Rmovecur, click the mouse 14
5 is connected to the frame memory 112R for the right screen, and 8
Until click 2 is confirmed in the judgment step of 7-13 "There is a new specified cursor, did click 2 enter?"
It goes around the loop from 57-2 to S7-13. Then, when click 2 is entered, Rmovecur is terminated, the point 1 cursor is moved to the position of (S-Rx1. 5-LVl) ←Lmovecur
I do.

Then, in the first step of this l-movecur,
The mouse 145 will be connected to the left image frame memory 112L.

In this way, the image to which the mouse 145 is operatively connected is switched by click 2.

Next, before explaining the L guide O, the principle of how to find the guide line will be explained with reference to FIG. Note that the guide line is a line that indicates the position where the target point should be on the other screen when the target point is specified on one screen.

The xy coordinates of the specified point on the right image sensor are (CRX.

CRY), the three-dimensional coordinates of the target point are determined from the spatial positional relationship (similarity) by using t as a parameter, the center of the right eye 3
Expressed in dimensional coordinates, it becomes (txcRx, tXcRy, txF). However, F is the focal length of the objective lens system.

Further, the right eye center three-dimensional coordinates are three-dimensional coordinates with the center of the right imaging means as the origin. In addition, the X direction of the three-dimensional coordinates is a direction passing through the center of both the left and right imaging means, the two directions are perpendicular to the distal end surface of the endoscope, and the X direction is a direction perpendicular to both the X direction and the X direction. shall be.

The three-dimensional coordinates of the target point are expressed as three-dimensional coordinates centered on the left eye as (txcRx+D, txcRy, txF). However, D is parallax.

When this coordinate is divided by t to represent it as an xy coordinate on the left image sensor, it becomes (cRx+D/l, cRy). The leftmost end of the guide line displayed on the left screen is the position when the target point is at infinity, so if t → ■, the x, y coordinates (cLx, cLy) of the leftmost end of the guide line are (CLx, cLy)=(cRx, cRy). Also, as the target point approaches, the X coordinate on the left image sensor increases, but the y coordinate does not change, so the guide line is determined from the above (cLx, cLy) = (cRx, cRy) It becomes a straight line with a constant y-coordinate up to the rightmost edge.

The above explanation is based on the case where the distortion aberration of the objective lens system of the endoscope is ignored. If the distortion aberration is not corrected in this way, the leftmost end of the guide line will be located on the image carrier. x of
Calculations can be made using xy coordinates on the screen instead of y coordinates. The xy coordinates of the leftmost end of the guide line on the left screen are equal to the xy coordinates of the specified point on the right screen. That is,
The xy coordinates of the specified point on the right screen are (Rx, Ry) and 16
and the xy coordinates (dLX,
dLl/) becomes (dLx, dL'/)=(Rx, Ry).

Drawing a guide line using the above principle will be explained using FIG. 23.

This routine uses parent routines (po intl, p
The x and y coordinates (dLx, dLy) of the specified point on the right screen passed from (e.g. o + ntm) are taken as arguments.

When this routine starts, first, at 58-1, point (d
Write Lx, day) on the left screen.

Next, at 58-2, dLX is increased by 1.

Next, S 8-3-(-1dLx≦(R3X+5XL)
Determine. Incidentally, as shown in FIG. 13(a), the R
8X is the number of pixels in the X direction of the portion where the endoscopic image is displayed on the left screen, and SXL is the X coordinate of the leftmost pixel of the portion where the endoscopic image is displayed on the left screen. That is, 5
In 8-3, it is determined whether dLx has reached the rightmost end. If it has not been reached (YES), the process returns to step 58-1. If dlX reaches the rightmost end (NO), the process ends.

In this way, a guide line is drawn from the point with the same coordinates as the specified point on the right screen to the rightmost edge of the screen. An example of the left screen with guide lines drawn in this way is shown in FIG.

Note that this Lguide realizes the guide line display means 153 in FIG.

Next, the 3d po int () (Di[Q
(1) The principle of how to obtain the three-dimensional coordinates of a target point will be explained with reference to FIGS. 11 and 13.

The xy coordinates of the specified point on the right image element are (CRX.

CRy), xlI mark of the specified point on the left image sensor (cLx
, CL”/), and the three-dimensional coordinates of the target point are (X.

Let Y,':l>.

First, the three-dimensional coordinates of the center of the right eye of the target point are calculated from the spatial positional relationship (similarity) using the parameter t: X--txcR
It is expressed as xY--txcRy--txF. Note that the parameter t becomes t-D/(cLx-cRx) from the spatial positional relationship (similarity).

When the three-dimensional coordinates of the center of the right eye are converted to the three-dimensional coordinates of the center of the scope, X=X"+D/2-txcRx+D/2Y=Y"
=tXcRy Z−Z−=tXF. The scope center three-dimensional coordinates are three-dimensional coordinates whose origin is a point midway between the centers of the left and right imaging means.

Furthermore, when two target points are specified, the distance between the two points is determined from the three-dimensional coordinates of these two points.

In other words, the three-dimensional coordinates of the two points are (Xl, Yt, Zl)
, (X2.Y2.Z2), the distance lid between the two points is given by the following formula.

d= [(Xt −X2)2+ (Yt −Y2)
2+(Zt −Z2)2]" By the way, the specified point is specified at a position on each of the left and right screens, so in order to perform the above calculation, it is necessary to convert the position on the screen to the position on the image carrier element. There is.

Therefore, conversion between the position on the screen and the position on the image sensor will be explained using FIG. 13.

As shown in Fig. 13 (a) and (b),
The origin of the y-coordinate is the upper left of the screen, and the number of pixels in the X direction of the portion where the endoscopic image is displayed on the left and right screens is R8.
The number of pixels in the
XL, the y-coordinate of the topmost pixel is SYL, the X-coordinate of the leftmost pixel of the portion where the endoscopic image is displayed on the right screen is SXR, and the y-coordinate of the topmost pixel is SYR.

Further, as shown in FIGS. 13(c) and 13(d), the origin of the xy coordinates of the left and right imaging elements is set as the center of the image carrier, and the length of each imaging element in the X direction is 5IZEX, y Let the length in the direction be 5IzEY.

Also, the xy coordinates of the specified point on the left screen are (Lx.

Ly), the xy coordinates of the specified point on the right screen are (Rx.

Ry), the xy coordinates of the specified point on the left image sensor are (CLx,
cLy), and the xy coordinates of the designated point on the right image sensor as (cRx
, cRy).

(LX, Ly) and (cLx, cLy) (7) The fm coefficient is expressed by the following formula.

cLx-(Lx-(R8X/2+SXL))X5IZE
X/R8X cLy--I X (Ly-(R8Y/2+5YL)
)XS I ZEY/R8Y Similarly, the relationship between (Rx, Ry) and (cRx, CRy> is expressed by the following formula.

cRx'-(Rx-(R8X/2+5XR))XS I
ZEX/R8X cRy--IX (Ry-(R8Y/2+5YR))x
sIZEY/R8Y The 3dpoint □ using the above-described coordinate transformation and the principle of how to obtain three-dimensional coordinates will be explained using FIG. 24.

This routine uses parent routines (pOintl, poi
The xy coordinates (Rx, Ry) of the specified point on the right screen and the xy coordinates (Lx, Ry) of the specified point on the left screen passed from the
Ly) is taken as an argument.

When this routine starts, first, at 59-1, (Rx
-(R8X/2+5XR))xs IZEX/R8X is calculated and this is set as the X coordinate CRX of the right specified point on the image carrier element.

Next, at 59-2, -1X (Ry-(R8Y/2+5
YR))xs IZEY/R8Y is calculated, and this is set as the y-coordinate cRy of the right designated point on the image sensor.

Next, at 59-3, (LX-(R8X/2+5XL))
xs IZEX/R8X is calculated, and this is the I of the left specified point.
Let the X coordinate on the l image element be clx.

Next, at 59-4, -1X (LV-(R8Y/2+5
YL))XS IZEY/R8Y is calculated, and this is set as the y coordinate C1j/ of the left designated point on the image carrier element.

That is, in 59-1 to 59-4, a position on the screen is converted to a position on the image sensor based on the conversion formula.

Next, in 59-5, it is determined that CRXf=CLX.

In the case of No, that is, in the case of cRx=cLx, the target point is at infinity, and in this case, the process ends. On the other hand, if YES, 59-6, D/(cLx-cRx
) is calculated and set as a parameter t.

Next, in 59-7, let tXCRX+D/2 be X, and tX
The three-dimensional coordinates of the target point are determined by setting cRy to Y and txFfz.

Next, at 89-8F, the three-dimensional coordinates (X, Y, Z) are returned to the parent routine, and the process ends.

Note that this 3dpOint realizes the target point position calculation means 154 in FIG.

Next, before explaining Rgc i rCI e □ (7), the principle of how to obtain the index circle will be explained with reference to FIG. 12.

If the three-dimensional coordinates of the circled point are (X3.Y3.Z3) and the three-dimensional coordinates of point P in the coordinate system centered on the circled point are (j x3. j Ly3. Z3), then the scope of point P is The center three-dimensional coordinates are (QX3
．． cLy3. Z3) −(J x3+X3. fl uya ten Y3. Z3)
becomes. Converting this scope center 3D coordinate to the right eye center 3D coordinate, dividing it by the parametric variable t, and converting it to xy coordinates (CRX, CRUV) on the right image sensor, (cRx, cRLIy) - ( (ox3-D/2)fl, cly3/l).

Further, the parametric variable °C is expressed as t-23/F using the three-dimensional coordinate Z of the circled point.

If the point P is moved on the condition that it is at a distance of rr from the circled point, a corresponding index circle is drawn on the image carrier element.

Also, the xy coordinates on the 11ffl image element are set to
By converting to the y coordinate, an index circle is drawn on the screen.

The Rqc i rce() using the above principle
This will be explained using FIG. 25.

This routine takes as arguments the three-dimensional pressure a (x3.y3.z3) and the radius rr of the circle passed from the parent routine (pointm).

When this routine starts, first, in 810-1, z3
Let /F be the parameter t.

Next, at 810-2, -1,0xrr is set to 41x3. !
: and let 0 be jtJ1/3. That is, find the X and y coordinates of the leftmost point of the index circle, centered on the circled point.

Next, in 810-3, set X3-111X3 to gx3,
Let y3-I LIy3 be oLJy3. T Nawachi,
The coordinates of the leftmost point are converted to scope center coordinates.

Next, 810-4F, (ax3-D/2)/t
Let CRX be CRX, and Q U V3/t be cRUy.

That is, the left end point is converted to a point on the right image sensor.

Next, 5IO-5T-1cRxxR8X/5IZEX+
(R3X/2+5XR) is calculated and this is set as the X coordinate dRx on the right screen.

Next, at 810-6, -1xcRUyXR8Y/S I
Let ZEY+ (R8Y/2+5YR) be the y coordinate dRIJy on the right screen.

510-5 and 810-6 are for converting the position on the image carrier element to the position on the screen, as explained with reference to FIG.

Next, in S'l0-7, the point (dRX, dRtJ/) is written on the right screen.

In this way, in 810-2 to 810-7, the leftmost point of the index circle is written on the right screen.

Next, 310-8'T", 11 x3 + S I ZEX
/R3X is set to 41 x3. That is, the X coordinate of the point on the index circle is moved to the right.

Next, in 810-9, (rr2-JIX32)l'2 is set as the y coordinate jllJy3 of the upper point on the index circle corresponding to the 41 x3, and -(r r2-J x32)I/
2 is the y coordinate ρDV3 of the lower point on the index circle corresponding to 1×3.

Next, in 810-10, set x3+Jx3 to GX3, and y
3+jlLJy3 as gLIy3, y3+J)Dy3
Let be oDy3. That is, the coordinates of the two points on the index circle are converted into scope center coordinates.

Next, at 810-11, (gx3-D/2)/
Let t be cRx, gU y3/ t be cRUy, q
-DV3/t is cRDy. That is, the two points on the index circle are converted to points on the right m image element.

Next, 810-12r, CRXXR8X/5IZEX+
Let (R8X/2+5XR) be dRx.

Next, 810-13F, -1XCRUVXR8Y/5I
Let ZEY+ (R3X/2+5XR) be dRUy.

Next, at 810-14, -1XCRD”)/XR8Y/
S I ZEY+ (R8Y/2+5YR), dRD
Let it be y.

That is, in steps 810-12 to 810-14, the position on the image carrier element is converted to a position on the screen.

Next, at 810-15, the points (dRx, dRUy) and (dRx, dR[)y) are written on the right screen.

Next, in 510-16, Jx3+5IZEX/R8X is set to jx3. That is, the X coordinate of the point on the index circle is moved to the right.

Next, 810-17r, fJx3<rrt-judgment successful.

If YES, that is, if the point on the index circle has not reached the right end, the process returns to step 510-9.

On the other hand, if NO, that is, if the point on the index circle has reached the right end, the process advances to the next step 5IO-18. In this way, two points on the index circle are sequentially written on the screen from the left until the point on the index circle reaches the right end.

Next, in 810-18, rr is 1x3+! :L,
Let O be fJUy3. That is, the X and y coordinates of the rightmost point of the index circle, centered on the circled point, are determined.

Next, 310-19 No Shun 5IO-23 is performed and the process ends. Said 810-19 to 510-23 are said 81
Same as 0-3 to 810-7. That is, 81
0-19 converts the coordinates of the rightmost point to scope center coordinates, 810-20 converts the rightmost point also to a point on the image carrier, and 810-21.810-22! The position on the Ill element is converted to the position on the screen, and at 810-23, the point (dRx
, dRUy) on the right screen.

In this way, in steps 810-18 to 810-23, the rightmost point of the index circle is written on the right screen.

An example of the right screen where the indicator circle is displayed in this way is shown in the 15th example.
Note that this RgCircIe realizes the index circle display means 155 in FIG. 6.

As explained above, according to this embodiment, when a measurement target point is specified on the right screen, the position condition of the measurement target point on the left screen is calculated, and the position where the measurement target point should be on the left screen is calculated. A guide line is displayed. Therefore, on the left screen, by specifying the target point on this guide line, even if the target to be measured does not have clear feature points, you can accurately specify the position of the target point. It is possible to measure distance and length.

In addition, in this embodiment, a mouse 1 serving as a cursor operation means is used.
45 is first operatively connected to the cursor display means 151R for the right screen by the switching means 150, and only then is a cursor for specifying a point displayed on the right screen. When the point designation on the right screen is confirmed, the moving cursor for point designation and the designated cursor are deleted from the right screen, and then the mouse 145 is moved to the cursor display means 151R.
I with! The connection is released and the switch is operatively connected to the left screen cursor display means 151L by the switching means 150.
At this time, a cursor for specifying a point is displayed on the left screen for the first time. When the point designation on the left screen is confirmed, the moving cursor and designated cursor for point designation are deleted from the left screen. Therefore, it is possible to easily move the cursor and specify points on both the left and right screens using one cursor operating means (mouse 145). Moreover, the cursor display means 151R
, 151L displays a cursor for specifying a point on the screen only after it is operatively connected to the mouse 145, so you can visually see which screen the cursor is moving on and which point can be specified. Good sex.

In addition, in this example, the measurement results are displayed on the right screen.
An index circle, which is a two-dimensional index whose size corresponds to the distance to the target object, can be displayed.

Therefore, by comparing it with the index circle, the size of the object can be visually determined. Also, by comparing with this two-dimensional index, the relationship between the vertical size and the horizontal size of the object can be determined.

Next, four modified examples of this embodiment will be described.

FIGS. 26 and 27 are flowcharts for explaining the operation of the first modification.

In this example, when a point other than the guide wheel is specified on the left screen, a wild accusation is issued without calculating the three-dimensional coordinates.

First, paintlo will be explained using FIG. 26.

811-1 to 811-7 are 85-1 to 85-7 of paintl in the embodiment shown in FIG. 20 after this routine starts.
is exactly the same. In this example, 1-m0V of 811-7
After ecur, 511-8, checkgu id
Execute a subroutine called eO. This routine calculates the coordinates (S Rx1. S R
yl, S Lxl.

S Lyl) is used as an argument to check whether the point specified on the left screen is on the guide line.If it is on the guide line, 1 is returned, and if it is not on the guide line, O is returned.
It is assigned to flQ. The checkgut de
() is shown in FIG.

Next, in 811-9, flo is determined. In case of O,
At steps 811-10, a warning is issued that the designated left point is not on the guide line, and the process returns to 311-7. That is, the point on the left screen is specified again. On the other hand, if flg is 1, 311-
Go to 11 and erase the guide line.

Then, steps 511-12 to 811-16 are performed, and the process ends. In addition, the above-mentioned 5ll-12 to 811-16
is pointl 55 in the example shown in FIG.
-8 to 85-13.

Note that paint2 in this example is the second
This is basically the same as paintl shown in Fig. 6, but the descriptions (including coordinates) regarding points 1 and 2 are exchanged.

Also, when specifying a point with a circle, as in Paint 1 above, what if there is no left specified point on the guide line? ) It is also possible to file a complaint, but in that case, po in tm
k: Oi T, just add the same steps as 511-8 to 511-10 above.

Next, using FIG. 27, the checkguideN
Explain.

This routine uses parent routines (pointl, po+
nt2 etc.) and the xy coordinates of the specified point on the right screen (Rx, Ry, Lx, L
y) as an argument.

When this routine starts, first, at 812-1, Ry
=Ly and determines that RX<LX≦SXL+R8X. That is, the left designated point (Lx).

Ly) is on the guide line whose leftmost point is (Rx, Ry). If YES, 812-2 sets the return value to the parent routine to 1; if NO, 51
In step 2-3, the return value to the parent routine is set to O and the process ends.

In this way, according to this modification, since points can only be specified on the guide line on the left screen, the target point can be specified in the stirrup,
Accurate distance measurement and length measurement can be performed.

FIGS. 28 and 29 are flowcharts for explaining the operation of the second modification.

In this example, the cursor is prevented from moving anywhere other than the guide line on the left screen.

First, l, movecur() will be explained using FIG. 28.

In Lmovecur in this example, first, 513-1
Set the target screen to the left screen. Next, steps 813-2 to 813-4 are performed, which corresponds to Rm shown in FIG.
Same as 7-2 to 57-4 in overcur.

Next, at 814-5, a subroutine called Loetcur O is performed. This routine repositions the moving cursor on the left screen to the guide line based on the coordinates (S Rx, S RV) of the specified point on the right screen, and displays the resulting xy
Set the coordinates as the position of the new employee cursor.

Next, steps 813-6 to 813-16 are performed and the process ends, which is the same as steps 7-6 to 87-16 in Rmovecur shown in FIG.

Next, the L(JetCLJrO) will be explained using FIG.

This routine uses the xy coordinates (Rx, R
y) as an argument.

When this routine starts, first, in 814-1, the position of the cursor on the left screen is obtained using the mouse 145, and the
Substitute the coordinates into lx.

Next, in 814-2, it is determined whether Lx<Rx.

However, it is determined whether Lx is to the left of the leftmost end of the guide line. If YES, RX is assigned to Lx in 514-3. In other words, Lx is the leftmost X of the guide line.
coordinates and proceed to 514-6.

On the other hand, if 814-2 is No, 514-4,
Determine whether SXL+R8X<Lx. That is, it is determined whether Lx is on the right side of the rightmost edge of the left screen. YE
In the case of S, SXL+R8X is assigned to lx in 814-5. Then, set LX as the X coordinate of the rightmost edge of the left screen, and proceed to 814-6. On the other hand, if 814-4 is No, the process directly proceeds to 814-6.

In step 514-6, Ry is transferred to Ly.

That is, Ly is the y coordinate of the guide line.

Next, in 514-7, (LX, Ly) is set as the return value to the parent routine. This (Lx, Ly) is a point on the guide line.

In this way, according to this modification, the mouse 14 is displayed on the left screen.
Even if you move 5 two-dimensionally, only the movement information in the X direction will be used as the cursor movement information, and if the cursor position is off the guide line, the displayed cursor will be moved onto the guide line. Points can be specified without fail on the guide line.

30 to 37 relate to the third modification, where FIG. 30 is an explanatory diagram of the principle of distortion aberration correction, FIG. 31 is an explanatory diagram showing guide lines displayed on the left screen, and FIG. 32 is an explanatory diagram of the right screen. 33 to 37 are flowcharts for explaining the operation of this example.

The previous example ignored the difference in the number of distortions of the objective lens system of the endoscope, but this modification example shows the guide line, the index circle, and the three-dimensional coordinates of the target point. In addition, the effect of distortion is taken into account and correction is added.

First, the principle of distortion aberration correction will be explained with reference to FIG.

As shown in FIG. 30(a), the position of the point before distortion correction on the image sensor is (cx, ay), and the effect after distortion correction is Let (dix, diy) be the position of the point when it is not affected.

Correction of distortion aberration is performed based on the following relational expression.

vh=FO rh-Ftanθ However, vh is the distance between the origin and (cx, cy), rh is the distance between the origin and (dix, diy), and FIG.
As shown in b), F is the focal length, and θ is the angle formed by the optical axis and a straight line passing through the center of the imaging means and (dtx, dty>).

Therefore, the conversion formula is as follows.

In the case of distortion aberration correction: vh - (cx2 + CV2 ) l'2θ=vh/F rh=FX janθ 5-rh/vh d + x=cxxs d i y-CyXS In the case of reverse distortion aberration correction: rh= (d i x2 + d i y2 ) L'2θ
=tan-1rh/F) vh-FXθ 5-vh/rh cx=d i xxs cy=d i yxs Next, Iguide Okm will be explained using FIG. 33.

This Lguide is a routine that displays a guide line, but in order to perform distortion aberration, the coordinates on the screen are - degrees,
It is necessary to convert to coordinates on the image sensor. because,
Since coordinates on the screen are usually expressed as integers, the decimal places cannot be expressed, making accurate correction impossible. Therefore,
After the coordinates are changed to the coordinates on the image carrier represented by real numbers, distortion aberration correction is performed. Note that the coordinate transformation is as explained using FIG. 13.

The above 1-Quide uses the xyX coordinates (sdRx, 5dRy) of the specified point on the right screen passed from the parent routine as an argument. When this routine starts, first 815-
11', (sdRx-(R3X/2+5XR))xs
IZEX/R8X is calculated, and this is set as the X coordinate 5cRx of the right designated point on the image sensor.

Next, at 515-2, -(sdRy-(R3X/2+5
XR)) xs I ZEY/R8Y is calculated and this is set as the y coordinate 5cRy of the right designated point on the Ii@element.

Next, at 815-3, the coordinates (SCRX, 5
A subroutine called distot() is executed using cRy) as an argument. This routine performs distortion aberration correction, and thereby the xyX coordinates sd i x, sd when not affected by distortion on the right II image element.
i y) is obtained. The dstot is shown in FIG.

Next, at 815-4, the (sd i x, 5dy)
A subroutine called 1nvdistO is executed with ``1nvdistO'' as an argument. This routine performs inverse distortion aberration correction, and thereby, the xyX coordinates CLX, CLy of the leftmost end of the guide line when affected by the distortion aberration on the left image sensor.
). The 1nvdist is shown in FIG. Note that 8154 uses the fact that the coordinates of the right designated point and the leftmost end of the guide line, which are affected by distortion, are equal.

Next, 515-5T-1cLxxR3X/S 12EX
+ (R8X/2+5XL) is dlx by 6 degrees, that is, the X coordinate on the left image sensor is converted to the X coordinate on the left screen.

Next, in 815-6, it is determined whether dlx≦(R8X+5XL). That is, it is determined whether dLx has reached the right edge of the left screen. If YES, the process proceeds to 515-10 after performing the next steps 815-7 to 815-9, and if No, the process directly proceeds to 515-10.

In the above 815-7, -1,0xcLyxR3Y/S
(ZEY+ <R3X/2+5XR)lj-1dLl.

Next, in 515-8, (dLx, dLV) is written on the left screen.

Next, at 815-9, sd i x + S I ZEX/
Let R8X be 5dix. That is, the X coordinate of the point on the image sensor is moved to the right by the minimum unit by 8.

Next, at 815-10, dLx≦(R3X+5XL
) is determined. That is, it is determined whether dLx has reached the right edge of the left screen. If YES, the above 816-
Return to step 4 and write the next point on the guide line on the left screen, NO
If so, terminate.

In this way, the guide line corrected for distortion is displayed on the left screen. FIG. 31 shows an example of the left screen on which this guide line is displayed.

Next, using FIG. 34, R(JCirc leo
I will explain about it.

In this routine, the parent routine (+) Oi n trn
) and the radius rr of the circle are taken as arguments.

When this routine starts, first, at 816-1, Z3
Let /F be the parameter t.

Next, in 816-2, set -1,0Xrr to j x3,
Let 0 be JLly3. That is, the x and y coordinates of the leftmost point of the index circle centered on the circled point are determined.

Next, in 816-3, x3-IX3 is set to gx3, and Y3
Let +jlUy3 be ouy3. That is, the coordinates of the leftmost point are converted to scope center coordinates.

Next, at 316-4, (Qx3-D/2)/l is diR
x and gIJ V3/t as diRLIV.

That is, the left end point is converted to xy coordinates in the case where it is not affected by distortion in the right-hand image element.

Next, at 816-5, (d i Rx, d i RU”
y) as an argument, and calculate the xy coordinates (cRx
, cRjJy).

Next, with 516-6, CRXXR8X/S IZEX+
(R3X/2+5XR) is calculated and this is set as the X coordinate dRx on the right screen.

Next, 816-7r, -1,0xcRUVXR8Y/S
Calculate IZEY+(R3X/2+5XR) and set this as the y coordinate dRUy on the right screen.

The above 816-6 and 816-7 convert the position on the image sensor to the position on the screen.

Next, at 816-8, the point (dRx, dRLIV) is written to the right screen.

In this way, in 816-2 to 816-8, the left end point of the index circle when affected by distortion is drawn on the right screen.

Next, at 816-9, 41 x3 + S I ZEX/R
Set 8X to jX3 and move the X coordinate of the point on the index circle to the right.

Next, in 816-10, (rr2-j
Let lJy3 be −(r r2−(J x32 )I/2
y! of the lower point on the index circle corresponding to 1x3 above! The name shall be JDV3.

Next, in Sl 6-11, set X3 + JX3 to gx3,
Y3+ρt13 is gUy3, Y3+1lDy3 is Q
Let it be Dy3. That is, the coordinates of the two points on the index circle are converted into scope center coordinates.

Next, at 816-12, (gx3-D/2)/l is di
Rx, Q U y3/t as diRUV, Q
Let DV3/t be diRDV. That is, the two points on the index circle are converted into xy coordinates in the case where they are not affected by distortion in the right image sensor.

Then, at 816-13, (d i Rx, d i R
Perform t nvd i s t with LJy), (d iRx, d 1RDy) as arguments, and calculate the xy coordinate (CRU
x, cRUy), (cRDx, cRDy) are obtained.

Next, at 816-14, cRUxXR8X/5IZEX
+ (R8X/2+5XR) is dRUx.

Then, at 816-15, -1xcRLlyxR8Y/S
Let IZEY+ (R8Y/2+5YR) be dRUy.

Next, at 816-16, cRDxxR8X/SI ZE
Let X+ (R8X/2+5XR) be dRDX.

Then, at 816-17, -1xcRDyxR8Y/SI
Let ZEY+ (R8Y/2+5YR) be dRDV.

In steps 516-14 to 816-17, the position on the imaging probe is converted into a position on the screen.

Then, at 816-18, the point (dRLlx, dRLly)
and write the points (dRUx, dRDy) on the right screen.

Next, at 816-19, jx3+s! Let ZEX/R5x be j x3. That is, the X coordinate of the point on the index circle is moved to the right.

Next, at 816-20, it is determined whether JX3<rr.

If YES, that is, if the point on the index circle has not reached the right end, the process returns to 816-10.

On the other hand, in the case of No, that is, if the point on the index circle has reached the right end, the process advances to the next step 816-21. In this way, two points on the index circle affected by distortion are sequentially written on the screen from the left until the point on the index circle reaches the right end.

Next, the above 816-21F sets rr to j x3 and 0
Let J)jl■3. That is, the x and y coordinates of the rightmost point within the index, centered around the circled point, are determined.

Next, steps 816-22 to 816-27 are performed and the process ends. Said 316-22 to 516-27 are said 31
6-3 to 816-8. In other words, the coordinates of the rightmost point are converted to scope center coordinates, converted to a point on the right image sensor, converted to coordinates affected by distortion, further converted to a position on both sides, and then converted to a point on the right image sensor. (dRx, dR
Write Uy) on the right screen.

In this way, in 816-21 to 316-27, the rightmost point within the index is written on the right screen.

The inside of the index for which distortion aberration has been corrected in this manner is displayed. FIG. 32 shows an example of the right screen displaying this index.

Next, using FIG. 35, 3dpOint) will be explained.

This routine uses parent routines (pointl, poi
The xy coordinates (RX, RV) of the specified point on the right screen and the xy coordinates (Lx, RV) of the specified point on the left screen passed from the
Ly) is taken as an argument.

317-1 to 817-4 of this routine are the 24th
59-1 at t3d po int N shown in the figure.
to 59-4. That is, the positions on the left and right screens are converted to positions on the image sensor. Note that the coordinates on the imaging probe obtained here are affected by distortion aberration.

Then, at 817-5, (cRx, cRy).

(cLx, c I y) as arguments, dis
xy constellation 411 (d iRx, d 1Ry) when tot is performed and there is no effect of distortion on the image sensor.

(d i Lx, d i Ly) Obtain.

Next, at 817-6, d i RX+d i lx is determined. If No, the target point is at infinity,
In this case, the process ends. On the other hand, if YES, 817-
In step 7, D/(d i L x−d + Rx) is calculated and set as a parameter t.

Next, in 817-8, the three-dimensional coordinates of the target point are determined by setting txd i Rx+D/2 to The return value is exit.

In this way, the three-dimensional coordinates of the target point for which the distortion aberration has been corrected are determined.

Next, the distotO will be explained using FIG. 36.

In this routine, the parent routine (ltjulde, 3d
position (CX) when affected by distortion aberration on the image sensor transferred from point).

cy) as an argument.

First, with 818-1, (cx2 +cy2) I/2 is v
Let it be h. Next, in 818-2, vh/F is set to rad. Next, 818-3 sets FXtan (rad) to rh. Next, rh/v h is set to S in 818-4.

Next, in 318-5, cxxs is set to dix and cyxs is set to diy. Then, the position after distortion aberration correction (cti
The routine ends with X, diy> as the return value to the parent routine.

Each of the steps described above executes the conversion formula explained using FIG.

Next, the 1nvdistO will be explained using FIG. 37.

In this routine, parent routines (L guide and RQ
C: Position (dix, d
iy) as an argument.

First, in 819-1 <d ix2 +d iy2 )L
/2 is rh. Next, tan-1(r
h/F') is rad. Next, Fx at 819-3
Let rad be vh. Next, vh/rh is set to S in 819-4. Next, in 819-5, set dixxS to cx,
Let d+yxs be cy. Then, the position (cx, ay) after inverse distortion correction is used as a return value to the parent routine, and the process ends. Each of the steps described above executes the conversion formula explained using FIG.

Lqu ide, RQci r in this third modification
cIe, 3dpoint, respectively, at the 23rd point.
25 and 24, it becomes possible to correct distortion aberration when displaying a guide line, displaying an index circle, and determining three-dimensional coordinates of a target point. The other routines are the same as in the second embodiment.

FIGS. 38 and 39 are flowcharts for explaining the operation of the fourth modification.

In the case of the second embodiment and its first to third variations,
The case where there are multiple sets of R, G, and B memories has been described. In this case, the cursor will be written to an RGB memory different from the RGB memory in which the image is written, and will be added together later. On the other hand, the fourth modification is an example in which there is only one set of each RGB memory.

In this case, the cursor will be written on top of the RGB memory where the image is written, erasing the image at the cursor, and if you just write the cursor, the image at the cursor will be lost. .

Therefore, in this example, before writing the cursor, save the image at the cursor, and when erasing the cursor, restore the saved image so that the image at the cursor is not lost. I have to.

First, paintlO will be explained using FIG. 38.

When this routine starts, first, the point 1 is 820-1.
Determine whether or not is specified. If NO, proceed directly to 820-8; if YES, proceed to 820-2
After performing steps 820-7 to 820-7, the process proceeds to 520-8.

If YES in step 820-1, first, in step 520-2, the saved image of the point 1 cursor portion on each of the left and right screens is restored. Next, in 520-3, it is determined whether point 2 is specified, and if YES, 820-
After writing the 2 point cursor on each screen on the left and right in 4, 3
Proceed to 20-5, and if No, proceed directly to 820-5. At 520-5, it is determined whether or not a circled point has been specified. If YES, the program moves to 520-7 after writing the circled point cursor on each of the left and right screens at 520-6. If NO, the process proceeds to 520-7. , proceed directly to 8207. 820
At -7, point 1 is returned to the unspecified state and the process proceeds to 820-8.

In this way, if point 1 is specified, 820-
In step 2, the point 1 cursor is erased by restoring the saved image of the point 1 cursor.
If the point 1 cursor is close to other point 2 cursors or circled point cursors, there is a possibility that the other cursors will be filled in by erasing the point 1 cursor. Therefore, if another point is specified, a cursor for the other point is newly lit at steps 520-4 and 820-6.

Next, in 320-8, Rmovecur is performed,
The xy coordinates of the specified point on the right screen are (S-Rx1.S
Ryl). In this example, Rmo vecur (
) is shown in FIG.

Next, in 820-9, it is determined whether point 2 has been specified or not, and if YES, in 820-10, after restoring the saved image of the point 2 cursor area on the right screen, Proceed to 820-11 and N.

If so, proceed directly to 820-11. 820-11
Now, determine whether the circled point has been specified or not, and return YE
In the case of S, after restoring the saved image of the circled dot cursor area on the right screen at 820-12,
Proceed to -13, and if No, proceed directly to 820-13. At 520-13, the image at the point 1 cursor portion is saved on the right screen. Then, at 520-14, point 1 is written on the right screen.

In this way, before writing point 1 cursor, S5-13
The image of the point 1 cursor part is saved, but if the point 1 cursor and another point (point 21 with a circle) are close to each other, when saving the image of the point 1 cursor part, Point cursors may be included. Therefore, if another point is specified, 520-10.8
In step 20-12, the images of the cursor portions at other points are restored.

Next, in 520-15, it is determined whether or not point 2 is specified, and if YES, in 520-16, after writing the point 2 cursor on the right screen, the process proceeds to 520-17, and N
If o, proceed directly to 520-17. 820-1
In 7, it is determined whether a circled point is specified, and Y
In the case of ES, the process moves to 820-19 after writing a dot cursor with a circle on the right screen at 820-18, and in the case of NO, the process directly proceeds to 820-19.

As mentioned above, when saving the image of the point 1 cursor part, the cursors of other points were erased, so the above 320
-15 to 820-18, a new cursor is rewritten on the right screen.

Next, perform S2S20-19T-1I de, and calculate the coordinates of the designated point in the right image (S Rxl, S Ry
Draw a guide line based on l).

Next, at 820-20, LmOVeCLIr is performed to obtain the xy coordinates of the designated point on the left screen (ILXI.

5-Lyl).

Next, at 820-21, after erasing the guide line, 520-2
2, the specified point in each left and right image (S RXI).

Perform 3(jpoint) using 5-Ryl, 5-Lxl, S LVl) as arguments, and calculate the three-dimensional coordinates of point 1 (S
-Xl, S Yl, S Zl) wo48ru.

Next, in 5-23, it is determined whether or not point 2 has been specified, and if YES, in 820-24, the saved image of the point 2 cursor area is restored on the left screen, and then 8
Proceed to 20-25, if NO, continue to 820-2
Proceed to step 5. At step 520-25, it is determined whether the circled point has been specified or not, and if YES, at 520-26, the saved image of the circled point cursor area is restored on the left screen, and then at step 520-25. Proceed to step 27, if NO,
Proceed directly to 520-27. At 520-27, the image at the point 1 cursor portion is saved on the left screen. Then, at 520-28, a point 1 cursor is written on the left screen.

In the above 820-23 to 820-26, 520-9
For the same reason as what we did for the right screen in or 820-12, before writing the point 1 cursor on the left screen,
On the left screen, the images of the cursor portions at points other than point 1 are restored, and the cursors at other points are erased.

Next, in 820-29, it is determined whether or not point 2 has been specified, and if YES, in 820-30, after writing the point 2 cursor on the left screen, the process advances to 520-31, and N
In the case of O, the process directly proceeds to 520-31. 820-3
1, it is determined whether a circled point is specified, and Y
In the case of ES, the process advances to 820-33 after writing a dot cursor with a circle on the left screen at 820-32, and in the case of No, the process directly advances to 820-33.

In the above 320-29 to 820-32, 520-1
For the same reason as what was done for the right screen in steps 5 through 820-18, the cursors at points other than point 1 are rewritten on the left screen.

Next, at 820-33, the distance from the endoscope tip to point 1 is calculated.

Next, at 820-34, it is determined whether point 2 is designated or not. If No, the process ends; if YES, 820-34
-35, calculate the distance between the points 12 and 21iI and end.

Note that paint2 in this example is not shown, but is
It is essentially the same as intl, and the descriptions (including coordinates) regarding points 1 and 2 are exchanged.

Also, for pointm, as with paintl, the image at the cursor is saved before writing the h-curse, and the saved image is restored when the cursor is erased.

Next, Rmovecur N will be explained using FIG. 39.

When this routine starts, first, in step 821-1, the target screen is designated as the right screen.

Next, in 821-2, it is determined whether or not there is a new moving cursor. If No, the process directly proceeds to 821-4; if YES, the process proceeds to 321-4 after performing 521-3. In step 321-3, the position of the new dynamic cursor is assigned to the position of the daily dynamic cursor.

Next, in step 321-4, the position of the new rib cursor is obtained from the position information of the mouse 145.

Next, at 321-5, it is determined whether the moving cursor has moved. If No, proceed directly to 521-10 and press Y.
In the case of ES, the process advances to 521-6, and it is determined whether or not there is a Nichido cursor. If NO, just go to 521-8
If YES, go to 521-7 and then 52
Proceed to 1-8.

In step 521-7, the saved image in the old moving cursor area is restored.

Next, in step 521-8, the image of the new moving cursor is saved, and then, in step 521-9, the new moving cursor is written.

In this way, in steps 521-2 to 521-9, erasing and writing are performed on the official cursor, and the official cursor is moved. At that time, if you want to erase the cursor,
When restoring a saved image and writing with the cursor, the image is saved.

Next, in 821-10, it is determined whether or not click 1 of the mouse 145 has been entered, and if no, 821-10 is entered.
If the answer is YES, the process proceeds to 321-18 after performing the following steps 521-11 to 821-17. Said 8
If YES at 21-10, first dial 821-11,
Determine whether there is a new specified cursor, and if No,
Continue to 821-13, and if YES, 821
After performing step 12, proceed to step 821-13. Said 521-1
2, the position of the newly specified cursor is assigned to the position of the old specified cursor. Next, in step 521-13, the position of the new moving cursor is assigned to the position of the new specified cursor.

Next, in 521-14, it is determined whether there is an old specified cursor. If NO, proceed directly to 521-16; if YES, proceed to 521-15, then proceed to 521-16.
Proceed to step 16. In step 821-15, the saved image of the previously designated cursor area is restored.

Next, in step 821-16, the image of the newly designated cursor is saved, and then, in step 821-17, the new designated cursor is written.

In this way, in steps 821-10 to 821-17, when click 1 is entered, the position of the moving cursor is set as the designated cursor. Similarly to the above, when erasing the cursor, the saved image is restored, and when writing the cursor, the image is saved.

Next, in 821-18, it is determined whether there is a newly specified cursor and click 2 of the mouse 145 has been made. If NO, the process returns to 821-2; if YES, 321
Proceed to -19. If NO in 82118, 821-
By returning to step 2, point designation can be repeated.

At step 821-19, the saved image in the new moving cursor area is restored, the new moving cursor is erased, and then, at 32
At step 1-20, the saved image of the newly specified cursor is restored and the newly specified cursor is erased. Next, 821-2
1, the position of the newly designated cursor is set as the fixed cursor position, the return value is returned to the parent routine, and the process ends.

Although Lmovecur in this example is not shown,
This is basically the same as Rmovecur, and processes the left screen instead of the right screen.

In this way, according to this modification, each RGB memory has one
Even if there are only sets, the h-vine can be displayed without losing the image at the cursor portion.

Note that the present invention is not limited to the above-described embodiment, and for example, the number of target points specified is not limited to two, but may be three or more.

Furthermore, the cursors indicating each target point may be distinguished by color or shape.

Further, the target point may be specified first on either the left or right screen.

Furthermore, the imaging means is not limited to a plurality of imaging means provided at the distal end of the insertion section of the endoscope, but a plurality of image transmission means made of, for example, a fiber bundle are provided within the insertion section, and a plurality of imaging means are provided at the rear end of the image transmission means. An image carrying means may also be provided. Moreover, one image carrying means may be provided at the distal end of the insertion section, and by moving this, a plurality of images covering parallax may be captured.

Furthermore, the left and right images may be displayed on the left and right sides of one monitor.

Further, the index serving as a guide for the size is not limited to a circle, but may be a square, or a line segment with a length depending on the distance.

[Effects of the Invention] As explained above, according to the present invention, when a target point is specified on one screen, a guide line is displayed on another screen, so that the target to be measured has clear feature points. Even if there is no target point, it is possible to accurately specify the position of the target point on each screen.

[Brief explanation of drawings]

1 to 5 relate to the first embodiment of the present invention, FIG. 1 is a block diagram showing the configuration of the measurement endoscope device of the present invention, and FIG. 2 is a block diagram showing the configuration of the 3D endoscopic image capturing device. Showing the tip 1
3 is a diagram showing the operation panel of the cursor information specifying means, FIG. 4 is a diagram showing an example of an operation screen, FIG. 6 to 25 relate to a second embodiment of the present invention, in which FIG. 6 is a block diagram showing the general configuration of this embodiment, FIG. 7 is an explanatory diagram of the distal end of the insertion section of the endoscope, and FIG. Figure 8 is a block diagram showing the configuration of the endoscopic m device for measurement, Figure 9 is a block diagram showing the configuration of the host computer, Figure 10 is a principle explanatory diagram showing how to obtain the guide line, and Figure 11 is a three-dimensional diagram. Fig. 12 is an explanatory diagram of the principle showing how to obtain coordinates, Fig. 12 is an explanatory diagram of the principle showing how to obtain the index, and Fig. 13 is an explanatory diagram to explain the conversion between the position on the screen and the position on the image carrier element. , Fig. 14 is an explanatory diagram showing the guide line displayed on the left screen, Fig. 15 is an explanatory diagram showing the finger reprint displayed on the right screen, and Figs. 16 to 25 explain the operation of this embodiment. 26 and 27 are flowcharts for explaining the operation of the first modification, FIGS. 28 and 29 are flowcharts for explaining the operation of the second modification, and FIG. 30 is a flowchart for explaining the operation of the second modification. 37 relate to the third modification, FIG. 30 is an explanatory diagram of the principle of distortion aberration correction, FIG. 31 is an explanatory diagram showing the guide line displayed on the left screen, and FIG. 32 is an explanatory diagram showing the guide line displayed on the right screen. An explanatory diagram showing the index used,
33 to 37 are flowcharts for explaining the operation of this example, FIGS. 38 and 39 are flowcharts for explaining the operation of the fourth modification, and FIG. 40 is for measurement of the prior art example. FIG. 2 is an explanatory diagram showing the position designation of a measurement target point in an endoscope device. 1... Stereoscopic endoscope image capture device 6... Cursor information designation means 7... Cursor control means 16L, 16R... Display device 18... Distance calculation means 101... Stereo video image end Scope 102... Insertion parts 104R, 104L... Image carrier means 110R, 110L... Video processor 112R,
112L...Frame memory 120...Host computer 130R, 130L--E chive 145...Mouse 150...Switching means 15
1R, 151L... Cursor display means 153... Guide line display means 154... Target point position calculation means 155... Index circle display means Fig. 2 Fig. 1 Fig. 1 L Fig. 4 ◇ ◇ 8th Fig. 1 Fig. 12 Fig. 14 Fig. 31 I song despise n distortion and not include image hate i gate and Natsume Kokyu Igu's ball and inclusion Figure 15 Figure 32 ρ Figure 20 Figure 2 Figure 23 Figure 24 Figure 27rIA Figure 39rjA Figure 3D Figure 35- Figure 36 Figure 37rIA Figure 40 (a) (b) Procedure Hoshosho (self-authored) May 26, 1989 1, page 2 of the specification, line 12 [62-181
No. 88..." will be corrected to r62-181888...]. 2. On page 44 of the Middle East specification, line 9:
Correct "..." to "And...". 3. Correct "to parent routine..." in the fourth line of page 53 of the statement box to "to parent routine...". Representative 4, Substitute drawings (Figures 25 and 26) 7. Contents of amendments as per attached sheet

Claims (1)

[Scope of Claims] An imaging means for capturing a plurality of images from a plurality of positions having parallax at the distal end of the insertion section; and a display means for displaying the plurality of images obtained by the imaging means on a plurality of screens. , a target point specifying means for specifying a target point on one of the plurality of images displayed by the display means, and a position of the target point specified by the target point specifying means on the one image. a guide line display means for calculating a positional condition of the target point on another image from the above, and displaying a guide line corresponding to the target point on the other image based on the calculated positional condition; A measuring endoscope device comprising: