JPH07253548A - Device and method for automatically pursuing sample image - Google Patents

Abstract

PURPOSE:To surely and easily observe and record a sample without missing it even when it moves when a living sample is observed for a long time by a microscope. CONSTITUTION:This device is provided with the microscope 10 provided with a motor driven stage 15 and a stage controller 16 controlling the movement of the motor driven stage 15, a magnification adjustable video camera 31 attached to the microscope 10, an enlargement controller 35 controlling the magnification of the video camera 31, an image input/output device 45 incorporating an image recorder 51 recording the image data of the video camera 31 and a frame memory storing the image data and outputting the image data to a monitor TV and a computer 41 allowing the image data to be stored in the frame memory at each interval of a prescribed time, comparing the reference image data with the data in the frame memory, detecting the movement of the sample, controlling the movement of the motor driven stage 15 to adjust the sample to be at the center of visual field, and allowing the image recorder 51 to perform intermittent video recording, to further adjust the photographing magnification of the video camera 31.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking device and a tracking method for positioning a target sample image in the center of an observation field when observing a living sample with a microscope.

[0002]

2. Description of the Related Art Conventionally, various specimens have been observed with a microscope, and many living microorganisms, cells, etc. have been observed and recorded. At the time of this observation and recording, today, not only is a steel camera attached to a microscope to record and record specimens with this camera, but also recording and recording with a video camera are performed, and lighting that ensures sufficient brightness is used for this photography. By operating the motorized stage so that the sample is in the center of the observation field while the observer observes the target sample image, the image of the target sample is always positioned in the center of the observation field. Adjusted and also
The necessary magnification was determined by operating the revolver of the microscope to switch the objective lens, and the specimen image was formed by observing the desired range and observed, and recorded as necessary. .

Therefore, the applicant of the present application uses two video cameras, uses one video camera for recording, and performs image processing on the image data of the other one video camera to move a sample image by a computer. We have proposed another device that automatically adjusts the sample image to the center of the field of view of the microscope by detecting and detecting the movement of the stage.

[0004]

As described above, it is necessary for the observer to position the target sample image at the center of the observation visual field by operating the electric stage with a joystick or the like. If the speed is high, there is a drawback that the specimen image cannot be overtaken unless the user is proficient in operating the electric stage.

Further, when observing and recording the movement and deformation of the specimen image, there is a drawback that the observer cannot stay away from the microscope or the monitor television for a long time when observing a long-term change. Further, in order to record an image, it is preferable to record a high-magnification sample image, but at a high magnification, there is a drawback that tracking of a moving sample image is difficult. It is also possible to switch to a higher magnification when doing this.However, when the magnification is switched, the optical axis shifts inside the microscope and the sample moves during the switching, so when taking a sample image with a camera In some cases, the position of the target sample image in the field of view of the subject was not located in the center of the field of view.

The strong illumination required for photographing deteriorates the specimen when it is irradiated for a long time, and is unnecessary for observation with the naked eye. Therefore, the light source is turned on only during photographing. However, the light amount of the light source is not stable immediately after the light source is turned on, and the color of the photographed sample image may differ from the color of the actual sample. Further, by attaching two video cameras to the microscope proposed by the present applicant and performing automatic tracking, the observer can record the sample image without having to repeat the operation while the microscope is attached to the microscope for a long time. Since the optical path for the camera is divided into two inside the microscope, the brightness of the image data input to each video camera becomes dark, and stronger illumination is required to avoid this. Further, there is a drawback that the image quality to be recorded is slightly deteriorated by passing through the prism for dividing the optical path and the intermediate variable power.

[0007]

According to the present invention, a microscope equipped with an electric stage movable in the X-axis direction and the Y-axis direction and a stage control device for controlling the movement of the electric stage is attached to the microscope and a specimen image is attached. A video camera having a magnification changing means for picking up an image, an enlargement control device for controlling the magnification of the magnification changing means, an image recording device for intermittently recording the image data of the video camera, and a digital image of the image data of the video camera. An image input / output device that has a built-in frame memory that stores data as well as converts it back to analog image data and outputs it to a monitor TV, and stores the image data of a video camera in the frame memory at predetermined time intervals and stores the image data of the reference image and the frame. The movement of the sample is detected by comparing it with the image data in the memory, and the stage controller is controlled according to the detected movement. Thereby adjusting the sample to the central visual field of the video camera and, to perform the intermittent recording in the image recording apparatus, also, and that by controlling the expansion controlling device providing a computer for adjusting an imaging magnification of the video camera.

Further, as a light source for illuminating the sample, a light source equipped with an electric shutter capable of blocking the illuminating light is used, and
There may be provided a shutter control device that opens the electric shutter for a required time in accordance with the timing at which image data is taken in the image input / output device and the timing at which the image recording device performs intermittent recording. Then, when controlling the enlargement control device by the computer to adjust the image pickup magnification of the video camera, the magnification is low at the time of image pickup when the image data of the video camera is stored in the frame memory, and the sample image is taken by the image recording device. When recording, it may be a computer that controls and adjusts to increase the magnification.
When the movement of the specimen is detected by storing the image data in the frame memory of the image input / output device, the movement of the specimen is stored by storing the image data in the frame memory at a cycle shorter than the cycle of intermittent recording by the image recording device. It may be set as a computer for detection.

In the sample image automatic tracking device, the specifying means for specifying a specific image of the target sample image as a reference image by the image data stored in the frame memory of the image input / output device, and the specified sample image. And a storage means for storing the image data of the reference image data as the reference image data, and the storage means is configured to compare the reference image data with the image data newly stored in the frame memory by the computer, In some cases, the computer may be provided with a storage unit that stores the image data newly stored in the frame memory when the control is performed as new reference image data.

As described above, as a method of using this sample image automatic tracking device, a sample image captured by a video camera equipped with a variable magnification means is intermittently recorded, and image data of this sample image is subjected to image processing. When detecting the movement of the specimen, the image data greatly enlarged by the magnification changing means is recorded in the image recording device, and the movement of the specimen is detected by image-processing the image data whose enlargement by the magnification changing means is relatively small. I am trying.

When the image data greatly enlarged by the magnification changing means is recorded in the image recording device, the enlargement control device is controlled to detect the movement of the sample after recording the sample image by the image recording device. In some cases, the magnification of the magnification varying means may be corrected to a predetermined magnification for capturing the sample image. In addition, when the movement of the specimen is detected by intermittently recording a specimen image captured by a video camera equipped with a magnification changing means and storing the image data of the specimen image in a frame memory and performing image processing, the image recording is performed. When performing intermittent recording of a sample image taken by a video camera by the device, the position of the sample is corrected by performing storage in the frame memory and image processing of the stored image data multiple times between recordings. There are also things to do.

Further, after the movement of the sample is detected by the computer and the position of the electric stage is controlled, the image data is newly stored in the frame memory, and this image data is used as the reference image data for the next movement detection. Sometimes. Further, when capturing an image of a sample with a video camera, a light source having an electric shutter may be used, the light source may be constantly turned on, and the electric shutter may be opened to illuminate the sample when capturing an image of the sample. When irradiating the sample with light, the electric shutter may be closed when changing the magnification of the magnification changing means.

[0013]

[Operation] Since the present invention has the electric stage and the stage control device, the electric stage can be moved and adjusted in the X-axis direction and the Y-axis direction by sending a control signal to the stage control device. Further, since the video camera equipped with the zooming means is attached to the microscope, the sample image captured by the video camera can be appropriately enlarged without changing the magnification by switching the objective lens on the microscope side.

Since the image recording device capable of intermittent recording is provided, changes in the sample can be recorded for a long period of time, and image data of the video camera is subjected to image processing to move the sample. Since it has a computer that detects and adjusts the position of the stage, it can automatically position the sample in the center of the visual field.

Further, the automatic tracking device having the electric shutter and the shutter control device can illuminate the sample for a required short time while the light source is kept on by opening the shutter and illuminating the sample during imaging. it can. Further, as a computer, in a device which is a computer in which the magnification of the magnification changing means is low when the image data of the video camera is stored in the frame memory and is high when the sample image is recorded by the image recording apparatus. , In the observation record, the image data in which the specimen image is greatly enlarged is recorded,
At the time of tracking, the target sample can be tracked by performing image processing on the image data of a wide field of view, and the period for detecting the sample movement by storing the image data in the frame memory is intermittently recorded in the image recording device. When using a computer that performs processing with a shorter period than the period for which the sample is moved, it is necessary to reliably track the sample and record changes in the sample over a long period of time while preventing the sample from being lost even when the sample moves fast. You can

Then, by using an automatic tracking device having a video camera equipped with a scaling means and a computer for automatic tracking, an image enlarged by the scaling means is recorded in an image recording device, and image data reduced in size is recorded. In the image processing method, image data of a sample in which a sample image to be recorded is greatly enlarged is recorded, and in tracking, the sample can be tracked using image data of a wide field of view including the sample.

Incidentally, the method of increasing the magnification of the magnification varying means at the time of recording and returning the magnification of the magnification varying means to the predetermined magnification for detecting the sample position after the recording is performed by imaging at the next sample position detection. It can be done quickly. In addition, a method of performing sample position detection and stage position adjustment a plurality of times between recordings that perform intermittent recording using an automatic tracking device that has a video camera equipped with a zooming unit and an automatic tracking computer is: Even if the specimen moves quickly, long-term recording can be performed without losing sight of the specimen.

Further, a method of storing reference image data in a computer by setting a specific image as a reference image while monitoring the image data stored in the frame memory of the image input / output device with a monitor television is as follows. Thus, it is possible to easily determine a desired sample image.
Then, the movement of the sample is detected by the computer, the position of the electric stage is controlled, and the image data is stored again in the frame memory. With the method of updating, the reference image data can be sequentially updated, and even when the target sample changes due to a change over time, it is possible to reduce the error in the comparison process during movement detection.

Further, in the method of illuminating the sample using the electric shutter, the light source is stabilized by continuous lighting, and the sample can be strongly illuminated for a required short time by opening and closing the shutter.

[0020]

EXAMPLES As shown in FIG. 1, a tracking device according to an example of the present invention uses an eyepiece lens for a specimen mounted and fixed on an electric stage 15.
A microscope 10 to be observed by 11 is provided with a video camera 31 equipped with a zooming means to capture a sample image of the sample, and image data from this video camera 31 is intermittently recorded by an image recording device 51, and a computer 41 The image data is subjected to image processing to detect the movement of the specimen, and the movement of the electric stage 15 is also controlled by this computer in accordance with the movement of the specimen.

The microscope 10 has an autofocus device 21, and when the turret 13 is rotated to change the objective lens to change the magnification, the motorized stage 15 is also used.
When you move the lens, the focus is automatically adjusted so that you can clearly observe the sample image.
The movement is controlled via the stage controller 16 by operating the operation switch 17 such as a joystick, and the movement is controlled by fine adjustment movement or high-speed movement in the X-axis direction and the Y-axis direction.

The apparatus of this embodiment is a video camera.
Image data from 31 is input to the image recording device 51 and the image input / output device 45 via the video camera control unit 33. As the image recording device 51, a video deck capable of intermittent recording is used, and the image input / output device 45 is used. Incorporates an analog-digital variable scaler, a frame memory, and a digital-analog variable scaler, converts analog image data from the video camera control unit 33 into digital image data, and controls predetermined image data under the control of the computer 41 as a frame memory. The analog image data stored in the frame memory is converted into analog image data for output to the monitor television 47, and the digital image data stored in the frame memory is image-processed by the computer 41 to detect the movement of the sample.

The video camera 31 is equipped with a magnification changing means for changing the magnification by a zoom lens. However, the magnification changing means may be one that enlarges an image by an electronic zoom function, or has a plurality of different fixed focus lenses and changes the magnification by switching the lenses. Then, the video camera control unit 33 controls the video camera 31 composed of a two-dimensional solid-state image sensor, controls the clock and frame transfer to the two-dimensional solid-state image sensor, and controls the video camera.
A video signal is formed by superimposing a synchronization signal on the output signal of 31, and it may be incorporated in the video camera 31.

Further, this apparatus has a light source 25 which gives a sufficient illuminance to the sample, and enables the fields of view of both to be kept bright even if they are branched to the eyepiece lens 11 and the video camera 31 which have passed through the objective lens by the prism. Further, an electric shutter 27 that can block light from the light source 25 and a shutter control device 28 that controls opening and closing of the electric shutter 27 are provided between the light source 25 and the sample.

Then, the computer 41 stores the image displayed on the monitor television 47 as reference image data for tracking by operating the operation panel 43 such as a keyboard, and also stores this image data in the image input / output device 45. The time interval for capturing in the frame memory of is set. Furthermore, the operation panel
By operating 43, the opening and closing of the electric shutter 27 and the movement of the electric stage 15 via the computer 41, and the operation of the image recording device 51 and the enlargement control device 35 to operate the zooming means of the video camera 31, Control such as changing the enlargement ratio of the deo camera 31 can be appropriately operated individually.

Therefore, by operating the operation panel 43, the electric stage is moved through the stage control device 16, and the sample image obtained by enlarging the target sample to a desired size is positioned at the center of the visual field of the video camera 31. By operating the operation panel 43 as a designation means, the image data of the frame memory at this time is stored in the computer 41 as reference image data, and the time interval for storing the image data in the frame memory and the image recording device 51. It is possible to set the time interval for recording, and to set the magnification by the scaling means.

When setting the storage interval of the frame memory and the recording interval, the storage cycle may be set shorter than the recording cycle so that the frame memory can be stored a plurality of times between recordings. is there. Then, the computer 41 individually outputs an open signal and a close signal to the shutter control device 28 by operating the operation panel 43, and outputs an enlargement signal to the enlargement control device 35 to determine the magnification of the scaling means, and , A control signal is output to the stage control device 16 to move the electric stage, a movement signal is output to the image recording device 51 to record a sample image, and image data is stored in a frame memory in the image input / output device 45. In addition to setting the time interval for storing image data in the frame memory and the time interval for recording in the image storage device, the shutter control device 28, the stage control device 16, the image recording device 51, etc. are sequentially controlled. To perform a series of operations.

That is, when the image data in the frame memory in the image input / output device 45 is stored in the computer 41 as the reference image data by operating the operation panel 43 which is the designation means, the computer 41 causes the enlargement control device 35 to change the magnification. The magnification of the video camera 31 defined by the means is also stored, and when the start switch of the operation panel 43 is operated, the electric shutter 27 is closed to measure the elapsed time set and the image data is stored in the frame memory. When the time to allow the shutter control device approaches, an open signal is output to the shutter control device 28 to output the shutter control device.
The electric shutter 27 is opened by 28, so that the light from the light source 25 is applied to the sample to brighten the field of view of the video camera 31,
While the microscope 10 operates the autofocus device 21 to perform focus adjustment, the magnification of the magnification varying device by the magnification control device 35 is compared with the stored magnification, and the magnification is controlled to the stored magnification,
When the time required to make the specimen image clear elapses, the image data from the video camera 31 is stored in the frame memory of the image input / output device 45 and the shutter control device 28
A closing signal is output to close the shutter, and the moving direction and moving amount of the sample are detected by comparing the image data stored in the frame memory with the reference image data, and based on the detected moving of the sample. And outputs a control signal to the stage controller 16 to move the electric stage 15 in the X-axis direction and the Y-axis direction to position the sample in the center of the visual field of the video camera 31, and store the image data in the frame memory again. Similarly, when the time interval to be approached is approaching, an open signal is output to the shutter control device 28, and the image data is stored in the frame memory in accordance with the stored magnification of the magnification varying means to detect the position of the sample. Repeat what you do. Also,
When the time to record in the image recording device 51 approaches, the electric shutter 27 is opened, the image data is stored in the frame memory, the electric stage 15 is moved to align the sample in the center of the visual field, and the enlargement signal is sent to the enlargement control means. It outputs the signal to increase the magnification of the variable magnification means, outputs an operation signal to the image recording device 51 to perform time-lapse shooting, etc., outputs a close signal to the shutter control device 28 to close the electric shutter 27, and then re-records time. When is approached, the same operation is repeated.

Although various methods can be used to detect the movement of the sample by this image processing, in this embodiment, as shown in FIG. 2, for example, digital image data of 512 × 512 pixels is 64 ×. 8 divided into 64 blocks
The × 8 pixels are set as one block, for example, the 3 × 3 block is set as the target area A, the average color densities of these 9 blocks are stored as reference image data, and when the movement is detected, the image data newly stored in the frame memory is stored. First, 25 blocks are set as the calculation area B so that the comparison processing of the image data of 5 × 5 blocks centering on the target area A and the reference image data is performed.

In this comparison process, as shown in FIG. 3, the average color density of the reference image data at each block position defined as the target area A and the target area A of the image data newly stored in the frame memory, for example, are compared. The difference between each block and the average color density in the upper left block is calculated, and the total amount of the respective calculated values in the nine blocks that are the target area A is set as the residual amount 1. The residual amount 1 is a number. It is obtained by the formula of 1.

[0031]

[Equation 1]

Note that (Xm, Yn) represents the average color density of 8 × 8 pixels in the block at the coordinate position shown in FIG. Similarly, the sum of the differences between the average color density of the reference image data at the position of each block defined as the target area A and the average color density of the new image data of the block above each block is the residual amount 2 Then, the residual amount 2 can be calculated by the equation (2).

[0033]

[Equation 2]

Further, the residual amount 3 is obtained by the equation 3 by comparing the new image data in the upper left block of each block defined as the target area A as the residual amount 3.

[0035]

[Equation 3]

Similarly, the residual amount 4 between each block defined as the target area A and the block on the left side of each block is calculated by the equation (4), and the residual amount between each block defined as the target area A and the same block position is calculated. The difference amount is calculated by the formula 5, the residual amount 6 between each block defined as the target area A and the block on the right side is calculated by the formula 6, and the residual amount 7 between the lower left block is calculated by the formula 7. From the equation, the residual amount 8 with the lower block is obtained by the equation 8, and the residual amount 9 with the lower right block is obtained by the equation 9, and 9 residual amounts are compared to obtain 9 It is determined that the sample has moved to the position of the block having the smallest value among the residual amounts of.

[0037]

[Equation 4]

[0038]

[Equation 5]

[0039]

[Equation 6]

[0040]

[Equation 7]

[0041]

[Equation 8]

[0042]

[Equation 9]

When the residual amount 5 obtained from the equation (5) is minimum, it is determined that the sample has not moved. Furthermore, a threshold is set for this residual amount, and when the residual amount exceeds the threshold,
It is judged that the sample has exceeded the calculation area, and as shown in FIG.
The calculation area B is widened, 2 blocks above right, 2 blocks above, 1 block right, 2 blocks above, 2 blocks above 1 block right, and so on. To detect. However, since the nine residual amounts in the center are calculated by the above judgment, 16
The movement can be detected by calculating a new residual amount of each.

Based on the detection of the movement of the specimen, the microscope 10
The distance on the electric stage 15 of one block is calculated according to the magnification of the
By outputting the required amount of movement in the axial direction and the Y-axis direction as a control signal to the stage control device 16, the sample can be corrected so as to be positioned at the center of the visual field of the video camera 31 or the eyepiece lens 11.

If the sample does not move, it is determined that the zero movement has been corrected, and the computer 41 performs the following processing. or,
In the above embodiment, the tracking area is set to 3 × 3 blocks and the residual amount is calculated based on 9 blocks, but it is also possible to set a wide tracking area such as 5 × 5 blocks.

As described above, the automatic tracking device according to the present embodiment is a magnifying control device for controlling the video camera 31 and the zooming means provided with the zooming device in the microscope 10 having the motorized stage and the motorized stage control device 16. In addition to 35, an image recording device 51 for intermittently recording image data of the video camera 31 and an image input / output device 45 having a built-in frame memory are provided, and the image data of the video camera 31 is stored in the frame memory at every set predetermined time. It is stored, the movement of the specimen is detected by comparison with the reference image data, and the specimen is returned to the center of the visual field by moving the electric stage through the stage controller 16.
Also, a computer for causing the image recording device 51 to perform intermittent recording and record image data at a set time interval.
Since it has 41, even if the sample is moved, the target movement of the sample is analyzed and detected by the computer 41,
The detected specimen can be corrected to the center of the field of view, and the image recording device 51 can perform image recording by intermittent recording, and can automatically perform observation recording for a long time.

Then, the image data of the video camera 31 is intermittently stored in the frame memory of the image input / output device 45 and image processing is performed to correct the position of the electric stage 15, and the image of the video camera 31 is intermittently displayed. Data is recorded in the image recording device 51, and the timing of storing this image data in the frame memory and the image recording device 51
Is a device that performs intermittent recording and opens the electric shutter 27 for a required time according to the timing and illuminates the sample, so when the movement detection and image recording are not performed, the electric shutter 27 is closed and the sample is irradiated with strong light. To eliminate
The deterioration of the specimen can be prevented and long-term observation recording can be performed.

Further, by operating the operation panel 43, a time interval for storing the image data in the frame memory and a time interval for operating the image recording device 51 are set, and the magnification change when operating the image recording device 51 is set. The magnification by means is set to a relatively high magnification, and the time interval for storing the image data in the frame memory is set shorter than the recording interval,
When the electric power stage 15 is moved by operating the operation panel 43 while adjusting the magnification of the magnification changing means to be lower than that of recording and recording and monitoring the sample image on the monitor TV 47, and the target sample is located in the center of the visual field. When the operation panel 43 is operated to store the image data captured in the frame memory as the reference image data in the memory of the computer 41, the computer 41 stores the image data in the frame memory as the reference image data in the memory of the computer 41. At the same time, the magnification of the magnification varying means is also stored, and the electric shutter 27 can be closed to start a series of observation recording in the same manner as described above.

As described above, an image based on the image data in the frame memory is displayed on the monitor television 47 by using the operation panel 43 as the specifying means.
The device for storing the image data of the frame memory at the time of the desired image in the memory of the computer 41 as the storage means while monitoring by the above is for easily tracking the subsequent sample using the target sample image as the reference image. You can prepare. In addition, the device which is the computer 41 which controls the movement detection period to be shorter than the intermittent recording period by setting the time interval for storing the image data in the frame memory shorter than the time interval for causing the image recording device 51 to perform the intermittent recording, Even when the specimen moves rapidly, the specimen can be positioned in the center of the visual field for long-term recording without losing sight of the specimen. Then, the device set as the computer 41 for controlling the magnification of the magnification changing means when making the image recording device 51 perform the intermittent recording to be larger than the magnification at the time of movement detection, the device based on the image data of the wide field of view. By detecting the movement of the sample and positioning the sample in the center of the field of view, it is possible to record for a long time without removing the sample from the field of view, and when recording the image data, record the image data in which the target sample is greatly enlarged. be able to.

Further, image data is newly stored in the frame memory, the image data of the frame memory and the reference image data stored in the memory of the computer 41 are compared and analyzed to detect the movement of the sample, and this is detected. By moving the motorized stage based on the movement to position the target sample image in the center of the field of view, the image data of this sample image is stored again in the frame memory, and new image data stored in the frame memory is stored. May be stored in the memory of the computer 41 to update the reference image data.

After the position of the sample is corrected by this movement detection, the device using the computer 41 having a memory as a storage means for storing the image data stored in the frame memory again as the reference image data is used for the sample over time. Even when changes occur sequentially, the next comparative analysis is performed with the target sample in the center of the field of view and a new shape as a reference, so the error during comparison processing is reduced and proper position detection is performed. Even when the shape changes a little, observation and recording can be performed for a long time without losing sight of the target sample.

When the magnification of the scaling means when recording the image data by the image recording device 51 and the magnification when the stored image data is stored in the frame memory in the image input / output device 45 are different, the intermittent recording is performed. After the end, before the next operation of position detection by closing the electric shutter 27, if the magnification of the magnification changing means is corrected to the magnification of the magnification changing means at the time of position detection, position detection and recording can be performed. In this case, it is possible to shorten the control time and perform quick processing and recording.

When performing intermittent recording, this device first detects the position of the sample and corrects the position of the electric stage to cause the image recording device 51 to record image data. If the magnification of the magnification varying means for detecting the position is different from the magnification of the magnification varying means for recording the image data, a zoom lens or a switching lens is used in the electronic zoom for electrically magnifying the image data. It is possible to change the magnification in a shorter time than when using.

Therefore, when recording the image data in the image recording device 51, when changing the magnification of the magnification changing means, the electric shutter 27 is controlled to be closed via the shutter control device 28 for the time required for changing the magnification. There are also things to do. By closing the electric shutter 27 to shorten the time for irradiating the sample with the light from the light source 25 even in such a short time, it is possible to delay the deterioration of the sample and continue good observation recording.

[0055]

According to the present invention, a microscope having an electric stage and a stage controller is provided with a video camera having a magnification changing means, and an enlargement control device for controlling the magnification of the magnification changing means and a magnification changing means of the video camera are controlled. An enlargement control device, an image recording device that intermittently records image data of a video camera, an image input / output device that incorporates a frame memory that stores image data of a television camera and outputs image data to a monitor television, and at predetermined time intervals The image data of the video camera is stored in the frame memory, the stored image data is processed to detect the movement of the target specimen, and the movement of the electric stage is controlled via the stage control device to control the specimen to the video camera. Adjustment so as to return to the center of the visual field, and the image recording device performs intermittent recording every required time and controls the enlargement control device. This is an automatic sample tracking device equipped with a computer that adjusts the magnification of the zooming means, so when observing a moving sample, the sample is automatically tracked and recording of the sample image is easy over a long period of time. The light from the specimen is split into an eyepiece and a single video camera, so that a sufficient amount of light can be sent to the video camera.

According to a second aspect of the invention, a light source for illuminating the sample, an electric shutter for shutting off the light from the light source, and a timing for recording image data in a frame memory upon receiving a signal from a computer. Since it is an automatic tracking device equipped with a shutter control device that opens the electric shutter according to, it is possible to keep the light source on continuously while shortening the time to illuminate the sample to prevent deterioration of the sample The illumination light can be stabilized and the hue of the sample image can be correctly observed and recorded.

According to the third aspect of the invention, when the image data is stored in the frame memory, the magnification of the magnification changing means is relatively small, and when the image data is recorded in the image recording apparatus, the magnification of the magnification changing means is large. Since it is an automatic tracking device having a computer to control so that when recording on the image recording device, the sample image is greatly enlarged and recorded, and when tracking, the image data of a wide field of view is stored in the frame memory and this image is recorded. Since the position of the sample is detected by image processing of the data, it is possible to reduce the risk of the sample getting out of the field of view.

Furthermore, since the invention described in claim 4 is the automatic tracking device having a computer for controlling by making the position detection cycle of the sample shorter than the intermittent recording cycle, the sample can be moved even when the movement of the sample is intense. You can record long-term specimens without losing sight. The invention according to claim 5 has a designating unit that causes the computer to store the image data in the frame memory as the reference image data and a storage unit that stores the designated image data as the reference image data. Further, the image data in which the target sample is located at the proper position can be stored as the reference image data, and thereafter, the sample can be automatically tracked. Further, the invention described in claim 6 is
Since the automatic tracking device has a storage means for storing the image data stored in the frame memory of the image input / output device after detecting the movement of the sample and correcting the position of the electric stage, and as reference data at the time of the next comparison. Even if the shape of the specimen changes with time, it has an advantage of enabling automatic tracking for a long time.

Further, according to the invention described in claim 7, a video camera mounted on a microscope and provided with a magnification changing means for picking up a sample image, and an image recording device for intermittently recording image data of the video camera, This image data is subjected to image processing to detect the sample position, and the automatic tracking device having a computer for correcting the position of the sample in the center of the visual field is used, and the image data enlarged by the magnification changing means is enlarged by the magnification changing means in the image recording device. Is a tracking method that positions the sample image at the center of the visual field by processing the image data with a relatively small value to detect the position of the sample, so the image to be recorded is recorded as image data with a larger sample image and is tracked. At this time, since tracking is performed using image data of a wide field of view, it is possible to perform tracking without losing sight of the sample and record a large sample image.

The invention described in claim 8 is a method in which, after recording the sample image, the magnification of the magnification varying means is set as the magnification for storing the image data of the sample image in the frame memory for movement detection. Therefore, it is possible to quickly perform imaging when performing position detection. According to a ninth aspect of the present invention, a video camera, which is attached to a microscope and has a magnification changing means for picking up a sample image, an image recording device for intermittently recording image data of the video camera, and an image recording of the image data. By using a tracking device that has a computer that processes and detects the sample position and corrects the sample in the center of the field of view, a method of adjusting the sample position by performing imaging and image processing a plurality of times between recordings. Therefore, tracking of a sample that moves rapidly can be performed at short intervals, and long-term recording can be performed without losing sight of the sample.

According to a tenth aspect of the present invention, the image based on the image data in the frame memory is monitored while moving the position of the sample, and when the desired image is monitored, the image data in the frame memory is used as the reference image data. Since the method is stored in the computer, it is easy to set the image of the target sample as the reference image, and the automatic tracking reference can be easily performed.

According to the eleventh aspect of the present invention, after the image data in the frame memory and the reference image data are compared to correct the specimen in the center of the observation field of view, the image data is stored again in the frame memory and the image data is stored. The method of updating the reference image data by storing in the computer can continue tracking even if the sample changes little by little over time, and even when the sample changes, observation records for a long period of time are performed. You can

According to the twelfth aspect of the present invention, when a light source capable of illuminating a specimen at all times and an electric shutter for shutting off the illumination is used, an image is taken for image processing or recording. Since this is a method of opening the electric shutter, the light source can be stabilized by constant lighting to obtain a sample image of an accurate color, and unnecessary lighting is prevented by the electric shutter to prevent deterioration of the sample for a long time. Can be recorded.

The invention described in claim 13 is
This is a tracking method that closes the electric shutter when changing the magnification of the zooming unit, so when the switching of the zooming unit takes some time, unnecessary illumination of the sample is prevented and deterioration of the sample is prevented. It has the advantage that it can be reduced.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an embodiment of an automatic tracking device according to the present invention.

FIG. 2 is a diagram showing a tracking area and a calculation area in image processing.

FIG. 3 is a diagram showing coordinates in image processing.

FIG. 4 is a diagram showing a state in which a detection area for image processing is expanded.

[Explanation of symbols]

10 Microscope 11 Eyepiece 13 Turret 15 Electric Stage 16 Stage Control Device 17 Operation Switch 21 Auto Focus Device 25 Light Source 27 Electric Shutter 28 Shutter Control Device 31 Video Camera 33 Video Camera Control Unit 35 Magnification Control Device 41 Computer 43 Operation Panel 45 Image Insert Output device 47 Monitor TV 51 Image recording device

Claims (13)

[Claims] 1. A microscope equipped with an electric stage that holds a specimen and is movable in the X-axis direction and the Y-axis direction, and a stage control device that controls the movement of the electric stage, and a microscope attached to the microscope to measure the specimen. A video camera having a scaling means for picking up an image, an enlargement control device for controlling the magnification of the scaling means, an image recording device for intermittently recording image data of the video camera, and image data for the video camera. An image input / output device that has a built-in frame memory that stores digital image data and that returns the analog image data to a monitor television and outputs the image data of the video camera to the frame memory at predetermined time intervals. The movement of the sample is detected by comparing the image data with the image data of the frame memory, and the movement is detected according to the detected movement. The stage control device is controlled to move the electric stage to adjust the sample to the center of the visual field of the video camera, the image recording device to perform intermittent recording, and the enlargement control device is controlled. A computer that adjusts an image pickup magnification of the video camera by operating the scaling means, and an automatic tracking device for a sample image. 2. A light source that illuminates the sample, an electric shutter that blocks light emitted from the light source to the sample, a timing for storing image data in the frame memory of the image input / output device, and the image. The sample image automatic tracking device according to claim 1, further comprising a shutter control device that opens the electric shutter for a required time in accordance with a timing at which the recording device performs intermittent recording. 3. The computer stores the image data of the specimen image in the frame memory to control the movement of the specimen when the computer controls the enlargement control device to adjust the magnification of the magnification varying means of the video camera. 3. A relatively small magnification during image pickup when detecting, and a relatively large magnification during image pickup when recording the sample image by the image recording apparatus.
The automatic sample image tracking device described in. 4. The computer stores the image data in the frame memory of the image input / output device at a cycle shorter than an intermittent recording cycle for recording an image of the sample in the image recording device. The sample image automatic tracking device according to claim 1, wherein the stage control device is controlled by detecting movement. 5. Designating means for causing the computer to store the image data of the frame memory built in the image input / output device as reference image data, and stored in the frame memory when designated by the designating means. The sample image automatic tracking device according to any one of claims 1 to 4, wherein the computer has a storage unit that stores the image data of the sample image as reference image data. 6. The computer detects the movement of the sample by comparing the image data of the frame memory built in the image input / output device with the reference image data, and corrects and controls the position of the electric stage. 6. The image data is newly stored in the frame memory, and the new image data in the frame memory is stored in the storage means as new reference image data for the next sample movement detection. The automatic sample image tracking device described in. 7. A microscope equipped with an electric stage which holds a sample and is movable in the X-axis direction and the Y-axis direction, and a stage control device which controls the movement of the electric stage, and a sample image which is attached to the microscope. A video camera for imaging and having a scaling means, an image recording device for intermittently recording the image data of the video camera, and storing the image data of the video camera in a frame memory of an image input / output device for image processing. The position of the sample is detected by comparing with the reference image data by using the automatic tracking device of the sample having a computer for moving the motorized stage of the microscope to position the target sample in the center of the observation visual field, and the video camera Image data magnified by the magnification varying means of the above is recorded in the image recording device, and image data whose magnification by the magnification varying means is relatively small is recorded. An automatic tracking method for a sample image, characterized by locating a target sample image in the center of an observation visual field by performing image processing to detect the position of the sample. 8. The method according to claim 8, wherein after the sample image is recorded by the image recording device, the magnification of the magnification varying unit is corrected to a predetermined magnification when the sample image is captured to detect the movement of the sample. The automatic tracking method for a sample image according to claim 7. 9. A microscope equipped with an electric stage that holds a sample and is movable in the X-axis direction and the Y-axis direction, and a stage control device that controls the movement of the electric stage, and a sample image that is attached to the microscope. A video camera for imaging and having a scaling means, an image recording device for intermittently recording the image data of the video camera, and storing the image data of the video camera in a frame memory of an image input / output device for image processing. The position of the sample is detected by comparing with the reference image data by using the sample automatic tracking device that has a computer that moves the motorized stage of the microscope to position the target sample in the center of the observation field. When performing intermittent recording, the position of the specimen is detected by performing imaging multiple times between recordings and performing image processing of the captured image data. An automatic tracking method of the sample image, characterized by adjusting the sample image to be positioned at the center of the observation visual field. 10. The image data is stored in a frame memory in an image input / output device while moving a specimen together with an electric stage of a microscope, and a video image based on the image data in the frame memory is monitored to display an image based on the image data of the frame image. The image data of the specific image stored in the frame memory as a specific image of a desired image in the computer is stored as a reference image data in a computer. Automatic tracking method for sample images. 11. A sample image is positioned in the center of an observation visual field by a computer detecting movement by comparing image data stored in a frame memory of an image input / output device with reference image data and correcting and controlling an electric stage. After that, the image data is newly stored in the frame memory, and the newly stored image data is stored in the computer as new reference image data for the next movement detection process, thereby moving the sample. The method for automatically tracking a sample image according to any one of claims 7 to 10, characterized in that the detection processing is sequentially repeated. 12. A video camera for image processing or recording, which uses a light source capable of illuminating a specimen at all times and an electric shutter capable of blocking light emitted from the light source to the specimen. 12. The method for automatically tracking a sample image according to claim 7, wherein the image is captured while the electric shutter is opened to illuminate the sample when the image is captured. 13. The automatic tracking method for a sample image according to claim 12, wherein the electric shutter is closed by the shutter control device when the magnification of the variable magnification means is changed by the enlargement control device.