JPH08240777A - Stereoscopic endoscope image pickup device - Google Patents

Abstract

PURPOSE: To provide a stereoscopic endoscope image pickup device in which the constitution of an entire signal processor for a stereoscopic video is simpli fied, and which can reduce a cost by miniaturizing the entire device. CONSTITUTION: A white balance adjusting circuit 189 controlling the white balance of both right and left videos by a video signal transmitted from the right image pickup element 176 is provided on a signal processing part 174 of the right and left video signals transmitted from image pickup elements 176 and 177.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic endoscope image pickup apparatus for displaying an observation image of an endoscope as a stereoscopic image.

[0002]

2. Description of the Related Art Generally, for example, by using a laparoscope, which is a rigid endoscope inserted into the abdominal cavity as a means for treating an affected area in the abdominal cavity of a patient, the abdominal cavity of the patient can be treated without surgical open surgery. Techniques have been developed to treat the affected area. When treating an affected area in the abdominal cavity under this type of laparoscope, the field of view of the laparoscope is directed toward the affected area, and the treatment is performed while observing the affected area and a treatment tool for performing various treatments on the affected area within the field of the laparoscope. The operation of the tool is performed.

In addition, a two-dimensional (2D) image display in which an observation image is two-dimensionally displayed on a monitor screen is often performed as a video display device of an observation optical system using a laparoscope. However, in 2D image display, it is difficult to grasp the perspective, and it is difficult to grasp the relative distance between the affected part and the treatment tool.
There is a problem that operations such as operation of a treatment tool and suturing of an affected area are difficult and require skill.

Therefore, by performing a three-dimensional (3D) image display in which an observation image is stereoscopically displayed on a monitor screen as an image display device of an observation optical system using a laparoscope, a relative between the affected part and the treatment tool is obtained. Techniques have been developed to make it easier to grasp the desired distance and to efficiently perform operations such as operation of a treatment tool and suturing of an affected area.

As a technique for displaying a 3D image for stereoscopically displaying an image on a monitor screen, for example, as shown in Japanese Patent Publication No. 4-45035 and Japanese Patent Publication No. 4-46508, left and right imaging optics are used. It is known that a system is provided and a stereoscopic image is displayed on a monitor screen from left and right images obtained by these two sets of optical systems.

Here, when a stereoscopic image is displayed on the monitor screen, the left and right image signals sent from the two sets of left and right imaging optical systems are transmitted to the display section side such as a monitor. At this time, the left and right image signals sent from the left and right imaging optical systems are processed by the left and right signal processing units, and then the left and right image processing units alternately switch the image signals for each field. Is output. Further, images based on the left and right image signals output from the signal processing unit are alternately displayed on the monitor screen. At this time, a stereoscopic image is reproduced by viewing the left and right images through shutters that are opened and closed alternately corresponding to the left and right images.

[0007]

Generally, in a color video camera, the white balance control is performed to balance the color signals of the camera according to the color temperature of the illumination light and to control the white balance so that the white image can be reproduced as white. The circuit is built in. In the stereoscopic endoscope image pickup device having the above-mentioned conventional configuration, the white balance control circuit is provided in each of the left and right signal processing units that process the left and right image signals sent from the two sets of left and right image pickup optical systems. There is. Therefore, the configuration of the entire stereoscopic image signal processing device becomes relatively complicated, and the number of components of the entire stereoscopic image signal processing device increases, which causes a problem in reducing the cost of the entire stereoscopic endoscope imaging device. There is.

The present invention has been made in view of the above circumstances, and an object thereof is to simplify the configuration of the entire stereoscopic image signal processing apparatus and to reduce the size of the entire apparatus to reduce the cost. An object of the present invention is to provide a stereoscopic endoscope image pickup device that can be used.

[0009]

The present invention illuminates a pair of left and right image pickup means having a left and right binocular parallax with respect to the subject at the distal end of the insertion portion of the endoscope, and illuminates the subject of each of the left and right image pickup means. A stereoscopic endoscope image pickup apparatus having left and right illumination optical systems, and display means for alternately displaying images based on the left and right image signals sent from the image pickup means on a video reproduction screen to display a stereoscopic image. In one of the left and right video signals sent from the imaging means,
A white balance control means for controlling the white balance of the left and right images displayed on the display means is provided.

When displaying a stereoscopic image on the display means, the white of both the left and right images displayed on the display means is displayed by one of the left and right video signals sent from the image pickup means by the white balance control means. By controlling the balance, the overall configuration of the signal processing device for stereoscopic video is simplified.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 (A) to FIG. 3 illustrate a schematic configuration of an example of a stereoscopic endoscope image pickup device to which the present invention is applied. 1 (A) and 1 (B) show the arrangement of an observation optical system for capturing a 3D image, which is arranged in the distal end forming portion 2 of the insertion portion 1 of the endoscope. The observation optical system is provided with left and right image pickup units (image pickup means) 3 and 4 having left and right binocular parallax with respect to the subject.

Further, the right image pickup unit 3 is provided outside the right image pickup unit 3.
A right illuminating optical system 5 for illuminating the subject and a left illuminating optical system 6 for illuminating the subject of the left imaging unit 4 are provided outside the left imaging unit 4.

Further, the right image pickup section 3 is provided with an objective lens 7 and a solid-state image pickup device 8 such as a CCD for converting the right observation image formed by the objective lens 7 into an electric signal. Similarly, the left imaging unit 4 has an objective lens 9
And a solid-state image sensor 10 for converting the left observation image formed by the objective lens 9 into an electric signal.

Further, the right illumination optical system 5 includes an illumination lens 11 and a light guide 1 formed by an optical fiber.
2 are provided, and the left illumination optical system 6 includes an illumination lens 13
And a light guide 14 formed by an optical fiber.

The input ends of the solid-state image sensor 8 for the right-side observation image and the solid-state image sensor 10 for the left-side observation image are shown in FIG.
As shown in (C), for example, an endoscope is detachably connected to left and right CCD drive circuits 15 and 16 in a video processor (not shown), and output terminals of both solid-state image pickup devices 8 and 10 are connected. Is connected to a signal processing circuit 18 for video signals via a signal switcher 17.

The signal processing circuit 18 is connected to a 3D monitor (display means) 19 which reproduces an image based on each image signal sent from the left and right solid-state image pickup devices 8 and 10 on an image reproduction screen to display a stereoscopic image. ing. Furthermore, left and right C
The CD drive circuits 15 and 16 are connected to the sync signal generator 20, respectively.

The sync signal generator 20 generates a sync signal in the double scan mode of 1/120 s. Based on the sync signal output from the sync signal generator 20, the left and right CCD drive circuits 15 and 16 are used. The left and right solid-state image pickup devices 8 and 10 are driven in the double scan mode of 1/120 s, and the signal switch 17 is also 1/12.
Switching operation is performed in the double scan mode of 0 s.

Further, the light source device of the endoscope is provided with the illumination light control mechanism (illumination optical system control means) 21 shown in FIG. In this case, the light source device is provided with a lens 23 that collects the illumination light from the illumination lamp 22 and lenses 24 and 25 that collect the illumination light on the incident end surfaces of the light guides 12 and 14, respectively.

Further, the light guide 12 of the right illumination optical system 5
The light incident end and the light incident end of the light guide 14 of the left illumination optical system 6 are arranged substantially parallel to each other in a state of being inserted into the light source device. Then, the optical axis direction of the lens 23 and the optical axis directions of the lenses 24 and 25 are arranged at positions substantially orthogonal to each other.

Further, the lens 2 is provided at the intersection between the optical axis of the lens 23 and the central portion between the optical axes of the lenses 24 and 25.
An optical path switching mirror that switches between a position where the illumination light from the illumination lamp 22 condensed by 3 is reflected toward the incident end face side of the right light guide 12 and a position where it is reflected toward the incident end face side of the left light guide 14. 26 are provided. The optical path switching mirror 26 is composed of a mechanism such as a galvanometer used in, for example, a video disk.

The mirror drive unit 27 of the optical path switching mirror 26 is connected to the synchronizing signal generator 20. The optical path switching mirror 26 is switched based on the sync signal output from the sync signal generator 20 in synchronization with the operation timings of the left and right solid-state imaging devices 8 and 10, and the left and right illumination optical systems 5 and 6 are operated. The irradiation timing of the illumination light is matched with the imaging operation by the left and right solid-state imaging devices 8 and 10. That is, during the imaging operation by the solid-state image sensor 8 on the right side, the illumination light is emitted only from the illumination optical system 5 on the right side, and the solid-state image sensor 10 on the left side is emitted.
The illumination light is set to be emitted only from the left illumination optical system 6 during the image pickup operation by.

Next, the operation of the stereoscopic endoscope image pickup apparatus having the above-mentioned structure will be described. First, at the time of endoscopic observation, the left and right solid-state image pickup devices 8 and 10 are driven in the double scan mode of 1/120 s by the left and right CCD drive circuits 15 and 16 based on the synchronization signal output from the synchronization signal generator 20. At the same time, the signal switch 17 is similarly switched in the double scan mode of 1 / 120s. Then, the solid-state image sensor 10 for the left image and the solid-state image sensor 8 for the right image
The left and right video signals converted into electric signals by the signal processing circuit 18 are read by the field frequency in the double scan mode of 1/120 s.

Further, at the time of photographing a 3D image, the optical path switching mirror 26 in the light source device outputs the sync signal (t = 1 / 120s) shown in FIG. The switching operation is performed in synchronization with the operation timings of 8 and 10. Then, the irradiation timing of the illumination light from the left and right illumination optical systems 5 and 6 is controlled in accordance with the imaging operation by the left and right solid-state imaging devices 8 and 10. That is, the illumination light is emitted only from the right illumination optical system 5 during the image pickup operation by the solid state image pickup element 8 on the right side, and the illumination light is emitted only from the left illumination optical system 6 during the image pickup operation by the solid state image pickup element 10 on the left side. To be done.

Further, the left and right video signals are processed by the signal processing circuit 18 and then supplied to the 3D monitor 19. Then, the left and right images are displayed on the screen of the 3D monitor 19 by a double scan of 1 / 120s. At this time, the left and right images are alternately switched and displayed for each field,
The 3D image is reproduced by viewing the left and right images on the screen of the 3D monitor 19 through a pair of left and right liquid crystal shutters or the like that alternately open and close corresponding to the left and right images.

4 to 6 show the first embodiment of the present invention. FIG. 4 shows the operation panel 152 of the video processor 151 that constitutes the controller of the stereoscopic endoscope imaging apparatus 171 shown in FIG. The operation panel 152 includes a power switch 153, a freeze switch 154, a release switch 155, a still selection switch 156, a VTR switch 157, a photometry changeover switch 158, and an AGC (automatic sensitivity adjustment) changeover switch 15.
9, color bar switch 160, white balance switch 161, red adjustment knob 162, blue adjustment knob 163
Various switches are provided.

The left and right image pickup elements 176 and 177 of the stereoscopic endoscope image pickup device 171 are accompanied by the operation of various switches on the operation panel 152 of the video processor 151.
The signal processing circuit is controlled.

FIG. 5 shows a schematic configuration of the stereoscopic endoscope image pickup device 171 of the first embodiment. In FIG. 5, 172 is a distal end constituent portion of the insertion portion in the electronic endoscope,
Reference numeral 173 is a light source device that supplies illumination light to the endoscope 172, and 174 is a signal processing unit of an image pickup signal picked up by the electronic endoscope.

Here, an illumination optical system 175 and a left and right image pickup device 1 for 3D image capturing are provided in the distal end forming portion 172 of the endoscope.
76 and 177 are provided. In addition, the light source device 17
3, a light source lamp 178 and a condenser lens 179 for condensing the illumination light from the light source lamp 178 on the incident end surface of the light guide forming the illumination optical system 175 are disposed. Further, an RGB rotation filter 180 is provided in the optical path between the illumination optical system 175 and the condenser lens 179.

The RGB rotary filter 180 is a motor 1
It is adapted to be rotationally driven by 81. In this case, the RGB rotary filter 180 has R (red), G
Illumination light of three primary colors of (green) and B (blue) is formed, for example, 3
Colored films are juxtaposed along the rotation direction of the motor 181. Then, the illumination light of white light emitted from the light source lamp 178 is supplied to the RGB rotary filter 180.
R (red) by sequentially transmitting the light through the three colored films of the RGB rotary filter 180 with the rotation of
Illumination light of three primary colors of G (green) and B (blue) is formed in a frame sequential manner.

The motor 181 is also connected to a rotary servo circuit 182 which controls the rotation of the motor 181. Further, the input sides of the left and right image pickup devices 176 and 177 are connected to the driver 183. The rotation servo circuit 182 and the driver 183 are the synchronization signal generation circuit 1
It is connected to 84. Then, the image of the subject illuminated in a frame sequential manner with the illumination light of the three primary colors of R, G, and B is formed on the image pickup surfaces of the left and right image pickup elements 176 and 177, and converted into electrical signals by the left and right image pickup elements 176 and 177. It is designed to be converted.

A read clock signal is applied from the driver 183 to the left and right image pickup devices 176 and 177,
The left and right video signals are read out respectively. The clock signal and the rotary servo circuit 182 are synchronized with the sync signal from the sync signal generation circuit 184.

Further, on the output side of the left and right image pickup devices 176 and 177, a preamplifier circuit 185, an isolation circuit 186, a reset noise removal circuit 187, a low pass filter (LPF) 188, and a white balance adjustment circuit (white balance control means) 189 are provided. It is connected to the γ correction circuit 190 sequentially. The synchronization signal generation circuit 1
84 and the white balance adjusting circuit 189 are respectively connected to the control circuit 189A.

The output signals from the left and right image pickup devices 176 and 177 are amplified by the preamplifier circuit 185, and an isolation circuit 186 for protecting the patient from electric shock and the like.
After that, the signal is input to the reset noise removal circuit 187.

The signal from which the reset noise is removed by the reset noise removing circuit 187 is a low-pass filter (L
After the unnecessary high-frequency component is removed by the PF) 188, the white balance adjustment circuit 189 performs white balance adjustment, and the γ correction circuit 190 further sets γ.
Correction is made.

FIG. 6 shows a white balance adjusting circuit 189 of the stereoscopic endoscope image pickup apparatus of this embodiment. The white balance adjusting circuit 189 is provided for either one of the left and right video signals sent from the left and right image pickup devices 176 and 177, that is, the right image pickup device 1 in the present embodiment.
The 3D monitor 19 (see FIG.
The white balance of the left and right images displayed in (C) is controlled. That is, the white balance adjustment circuit 189 includes a multiplier 193 and an S / H 194.
And two comparators 195 and 196 and a U / D counter 1
97, two D / A converters 198 and 199, and a switching circuit 200.

Here, the multiplier 193 has the right image pickup device 1
R, G, B sequential signals 191 which are video signals from 76
Is entered. Furthermore, the multiplier 193
The output side of is connected to the input side of the S / H 194. The output side of this S / H 194 has two comparators 195 and 196.
Are connected to the input side of each. Then, a sequential signal 191 of R, G, and B which is a video signal from the right image sensor 176 is input to the multiplier 193, and after passing through the S / H 194, the R signal and the B signal for the G signal are inputted to the comparators 195 and 196.
The signal levels are compared.

The output side of the comparators 195 and 196 is U.
Each of them is connected to the input side of the / D counter 197. The video processor 1 is included in the comparators 195 and 196.
The white balance switch 161 of 51 is connected, and the output sides of the comparators 195 and 196 are connected to the input sides of the two D / A converters 198 and 199, respectively. Then, by turning on the white balance switch 161 on the operation panel 152 of the video processor 151, the U / D counter 197 causes the comparator 19 to operate.
The operation of counting the outputs of 5,196 is started.

Two D / A converters 198 and 199 are also provided.
The output side of each is connected to the input side of the switching circuit 200. Further, a control circuit 189A is connected to the switching circuit 200. The count value of the U / D counter 197 is the D / A converter 198, 19
Sequential control signal from the control circuit 189A via the switching circuit 200, and R, G, B
Is output as a white balance correction signal.

The R, G, and B white balance correction signals are R, G, and B, which are image signals from the right image sensor 176.
The G and B sequential signals 191 are input to the multiplier 193 in the signal line, and at the same time, the multiplier 201 in the signal line of the R, G, and B sequential signal 192 that is the video signal from the left image sensor 177. It is designed to be input to. further,
In the multipliers 193 and 201, original R, G, and B sequential signals 19
White balance is achieved by sequentially multiplying 1 and 192 by the correction signal.

Therefore, the following effects can be obtained with the above-mentioned structure. That is, the white balance of the left and right images displayed on the 3D monitor 19 (see FIG. 1C) is displayed on the signal processing unit 174 of the image pickup signal of the stereoscopic endoscope image pickup device 171 by the image signal from the right image pickup device 176. Since the white balance adjusting circuit 189 for controlling is provided, the white balance adjusting circuit 189 of one system can perform white balance control of the left and right video signals. for that reason,
Compared to the case where the white balance of the left and right video signals is controlled by independent white balance circuits, the overall configuration of the signal processing device for stereoscopic video can be simplified, the overall size of the device can be reduced, and the cost can be reduced. it can.

FIG. 7 shows a schematic configuration of a stereoscopic endoscope image pickup apparatus according to the second embodiment of the present invention. The present embodiment is the stereoscopic endoscope imaging apparatus 1 according to the first embodiment.
71 is provided with a diaphragm control mechanism for controlling the diaphragm of the illumination light from the light source lamp 178.

That is, here, in the optical path between the illumination optical system 175 and the condenser lens 179, the RGB rotary filter 180 and the diaphragm 291 are provided. An auto iris circuit 292 that appropriately controls the diaphragm amount of the diaphragm 291 is connected to the diaphragm 291.

Further, a white balance adjusting circuit 189 is connected to the auto iris circuit 292. In this auto iris circuit 292, an aperture control signal is created by either one of the left and right video signals. Note that the left and right video signals may be added and then halved and integrated to create the aperture control signal.

Further, a correction circuit 281 is provided between the white balance adjustment circuit 189 and the low-pass filter 188 so as to correct the variation of the frame-sequential color image signals R, G, B so as to be substantially constant. There is.

The white balance adjustment circuit 189 performs white balance adjustment, and the γ correction circuit 1
The frame-sequential color image signals R, G, and B, which have been subjected to γ correction by 90, are input to the A / D converter 282 and converted into digital signals. The output signal from the A / D converter 282 is written in the frame memories 283R, 283G, and 283B corresponding to the frame-sequential illumination for one frame.

Then, each frame memory 283R, 28
When one frame of image data is written in 3G and 283B, these are read simultaneously. Each of the synchronized signals is converted again into an analog signal by three D / A converters 284, and further three low pass filters 28 are provided.
After the unnecessary high frequency component is removed in 5, the signal is input to the three output amplifiers 286.

The R, G, and B color video signals passed through the output amplifiers 286 are output from the primary color signal output terminals having an output impedance of 75Ω. Further, the output signals of the three output amplifiers 286 are supplied to the matrix circuit 288,
The matrix circuit 288 converts the color difference signal and the luminance signal. Then, the color encoder 289 causes the color difference signal, the luminance signal, and the synchronization signal generation circuit 184.
To generate an NTSC signal. This NTSC signal is sent to NTS via matching resistor 75Ω.
It is supplied to the C output terminal.

Therefore, also in the case of the present embodiment, the white balance adjustment for controlling the white balance of the left and right images by the image signal from the right image pickup device 176 to the signal processing unit 174 of the image pickup signal of the stereoscopic endoscope image pickup device 171. Circuit 18
9 is provided, the white balance adjustment circuit 189 of one system can perform white balance control of the left and right video signals. Therefore, as compared with the case where the white balances of the left and right video signals are controlled by independent white balance circuits as in the first embodiment, the configuration of the entire stereoscopic video signal processing device can be simplified, and the device can be simplified. The overall size can be reduced and cost can be reduced.

Further, in the present embodiment, the stereoscopic imaging device 171 of the first embodiment is provided with the diaphragm control mechanism for controlling the diaphragm of the illumination light from the light source lamp 178, so that the 3D monitor 19 is provided. The stereoscopic image displayed in FIG. 1C can be controlled with higher accuracy. In addition,
The present invention is not limited to the above embodiment, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[0050]

According to the present invention, the white balance control means for controlling the white balance of both the left and right images displayed on the display means by one of the left and right image signals sent from the image pickup means is provided. Therefore, the configuration of the entire stereoscopic video signal processing device can be simplified, and the entire device can be downsized to reduce the cost.

[Brief description of drawings]

FIG. 1 is a view for explaining a schematic configuration of a stereoscopic endoscope imaging apparatus which is a target of the present invention, and FIG. (B) is the same front view, (C) is a schematic block diagram of a stereoscopic endoscope imaging device.

FIG. 2 is a schematic configuration diagram of an illumination light control mechanism of the stereoscopic endoscope imaging apparatus.

FIG. 3 is a timing chart showing drive signals of a mirror drive mechanism.

FIG. 4 is a front view showing the operation panel of the video processor of the stereoscopic endoscope imaging apparatus according to the first embodiment of the present invention.

FIG. 5 is a schematic configuration diagram of the stereoscopic endoscope imaging apparatus according to the first embodiment.

FIG. 6 is a schematic configuration diagram showing a white balance circuit of the stereoscopic endoscope imaging apparatus according to the first embodiment.

FIG. 7 is a schematic configuration diagram of a stereoscopic endoscope imaging apparatus according to a second embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Insertion part, 2 ... Tip structure part, 3 ... Right imaging part (imaging means), 4 ... Left imaging part (imaging means), 5 ... Right illumination optical system,
6 ... Left illumination optical system, 8, 10 ... Solid-state image sensor, 19 ... Monitor (display means), 176, 177 ... Image sensor (imaging means), 189 ... White balance adjusting circuit (white balance control means).

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Wataru Ohno 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Masahito Goto 2-43-2 Hatagaya, Shibuya-ku, Tokyo Within Olympus Optical Co., Ltd. (72) Inventor Atsushi Takawara 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Shingo Kato 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Akihiro Taguchi 2-43-2, Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Nobuaki Akui 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (72) Inventor Susumu Takahashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Gaku Kogyo Co., Ltd. (72) Inventor Akira Murata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Hideki Koyanagi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd.

Claims (1)

[Claims] 1. A pair of left and right image pickup means having left and right binocular parallax with respect to a subject at the tip of an insertion portion of an endoscope, and left and right illumination optical systems for respectively illuminating the subject of the left and right image pickup means. A stereoscopic endoscope image pickup device that alternately reproduces images based on left and right image signals sent from the image pickup device on a video reproduction screen to display a stereoscopic image. A stereoscopic endoscope image pickup device comprising a white balance control means for controlling the white balance of the left and right images displayed on the display means according to one of the left and right image signals.