JPH11235308A - Mensuration endoscopic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make three-dimensional shape mensuration with high accuracy at any times by improving mensuration errors related to a mensuration value. SOLUTION: When the green and blue light transmitting parts of a rotary filter 11 are inserted into an optical path, a mensuration-beam-projecting light source 6 emits light according to a synchronizing signal from a synchronizing circuit 22, and when an indication to start mensuration is input, a shutter control circuit 15 operates to close a shutter 16 to turn illuminating light off. Therefore, only reflected components derived from slit mensuration beams exist in image signals stored in a G-memory 26 and a B-memory 27. An addition averaging circuit 131 extracts the reflected components of the slit mensuration beams from the image signals through binarization process, then adds the components together, and divides the result by 2 to calculate an average value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measurement endoscope apparatus, and more particularly, to a measurement endoscope apparatus having a characteristic in a projection light control section and a shape calculation section.

[0002]

2. Description of the Related Art Conventionally, in order to measure a size or an uneven shape, that is, a three-dimensional shape by projecting a measuring light onto an object to be observed,
By guiding the spot light from a semiconductor laser or the like as measurement light to an object under observation by an optical fiber and projecting it, it detects how much the position of the measurement light on the object under observation deviates from a previously measured reference value. Was calculated.

Further, a laser beam converted into a slit beam by a polygon mirror or a cylindrical lens or the like is used as the measurement beam. The reflected image of the slit beam projected on the object to be observed is taken into a frame memory, and the slit beam is read. A light section method for calculating unevenness on a projected line is also known from the modification of the above.

[0004] These measurement endoscopes not only measure the uneven shape, but also use a normal video endoscope as shown in Japanese Patent Application No. Hei 9-135551 filed by the present applicant. A solid-state imaging device for obtaining a mirror image is also provided.

As a method for obtaining a video endoscope image, a plane sequential endoscope apparatus for obtaining an image while sequentially irradiating illumination lights having different color components is generally used. An example in which the apparent color of laser light used during laser treatment is made different from the wavelength of the laser itself is disclosed in, for example, Japanese Patent Application Laid-Open No. 61-94644.

[0006]

However, in a conventional measurement endoscope, the slit light is extracted using an image stored in a single frame memory, even if the movement of the subject is severe or slow. Therefore, there is a problem that the measurement error with respect to the measurement value is large even when the movement of the subject is slow.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a measurement endoscope apparatus which can improve a measurement error with respect to a measurement value and can always perform three-dimensional shape measurement with high accuracy. The purpose is.

[0008]

A measuring endoscope apparatus according to the present invention comprises: measuring light projecting means for projecting measuring light onto a subject; illuminating light irradiating means for irradiating the subject with plane-sequential illumination light; A measuring endoscope device comprising: a measuring unit that calculates a shape of the subject from a reflected light of the measuring light projected onto the subject, wherein the measuring light projecting unit is controlled in accordance with an operation state of the illumination light irradiating unit. Projection control means, and image storage means for storing a plurality of images of the subject based on the operation state of the projection control means.

In the measuring endoscope apparatus according to the present invention, the measuring means stores the image based on an operation state of the projection control means for controlling the measurement light projecting means in accordance with an operation state of the illumination light irradiation means. By calculating the shape of the subject based on the plurality of images of the subject stored by the means, it is possible to improve a measurement error with respect to a measured value and to always perform three-dimensional shape measurement with high accuracy.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a configuration diagram showing a configuration of a measurement endoscope apparatus according to a first embodiment of the present invention.

(Structure) As shown in FIG. 1, a measurement endoscope apparatus 1 according to the present embodiment includes an insertion portion 2 to be inserted into a body cavity, captures an image of an observation site 3 in the body cavity, and performs tertiary treatment in the body cavity. A slit-shaped measurement light is generated by a combination of an endoscope 4 for performing original measurement, an observation illumination light source 5 for supplying illumination light for observation to the endoscope 4, and a cylindrical lens such as a semiconductor laser. The measurement light projection light source 6 to be supplied to the endoscope 4 and an image signal of the observation region 3 imaged by the endoscope 4 are processed to generate an image signal of an endoscopic image of the observation region 3 and the inside of the body cavity. And a signal processing device 7 for generating a three-dimensional video signal.

An observation light guide 8 for transmitting illumination light supplied from the observation illumination light source 5 is inserted into the endoscope 4, and the white light emitted from the lamp 9 of the observation illumination light source 5 is , Which is rotatably driven by a motor 10 disposed between the lamp 9 and the incident end face of the observation light guide 8.
The light is supplied to the incident end face of the observation light guide 8 via a rotary filter 11 including a red light transmitting portion, a green light transmitting portion, a blue light transmitting portion, and a non-transmitting portion.

The illumination light is transmitted between the rotary filter 11 and the observation light guide 8 in response to a measurement start instruction from a remote switch (not shown) provided on the operation unit of the endoscope 4 or the like. Further, a shutter 16 for blocking illumination light under the control of the shutter control circuit 15 is provided.

The endoscope 4 further includes a measuring light projection light source 6.
The image guide 12 for transmitting the measuring light for transmitting the measuring light supplied from is also interpolated.

An observation illumination lens 13 is provided in front of the end of the endoscope 4 in front of the emission end of the observation light guide 8. Illumination light transmitted by the observation light guide 8 is used for observation light. The light exits from the exit end face of the guide 8 and is illuminated on the observation site 3 in the body cavity via the observation illumination lens 13.

Similarly, a measurement projection lens 14 is provided in the distal end portion of the endoscope 4 in front of the emission end of the image guide 12 for transmitting measurement light, and transmitted by the image guide 12 for transmission of measurement light. The measured measurement light is emitted from the emission end face of the measurement light transmission image guide 12, and is illuminated into the body cavity via the measurement projection lens 14.

The image of the observation site 3 and the return light of the measurement light are transmitted through the objective lens 17 through the objective lens 17 within the distal end of the endoscope 4.
An image is picked up by a solid-state image pickup device 18 such as a CD, and the image pickup signal is output to a process circuit 19 of the signal processing device 7.

The motor 10 and the solid-state imaging device 18 are
Drive circuit 20 for each motor 10 of signal processing device 7
And a driving circuit 21 for the solid-state imaging device 18. These driving circuits 20 and 21 and the measurement light projection light source 6 are synchronized by a synchronization circuit 22 that generates operation timing of a digital circuit inside the signal processing device 7. It is controlled by a signal and is designed to be driven, and sequentially into the body cavity,
When the green light transmitting portion and the blue light transmitting portion of the rotary filter 11 are inserted into the optical path, the measurement light is emitted in synchronization with the illumination light for observation of red light, green light, and blue light. ing.

The signal processing device 7 comprises a process circuit 19 for amplifying an image signal from the solid-state image sensor 18 and an A for converting an output digital signal of the process circuit 19 into a digital signal.
A / D converter 23 and a multi-probe lexer 24 for selectively allocating the output of the A / D converter 23 to three subsequent memories and outputting the same are provided. The R memory 25, the G memory 26, and the B memory Each of the memories 27 has a rotation filter 1
Signals corresponding to illumination by red light, green light, and blue light are distributed and input by the multiplexer 24 in synchronization with the rotation drive of one.

The signal processing device 7 includes the R memory 2
5, a video signal processing circuit 28 that receives signals stored in the G memory 26 and the B memory 27 and generates an endoscope video signal, and converts an output signal of the video signal processing circuit 28 into an analog signal. A D / A converter 30 that outputs to a display 29 used as an observation monitor and a return component of the measurement light included in each of the image signals stored in the G memory 26 and the B memory 27 are extracted. An averaging circuit 31 for averaging the two components; a measurement processing circuit 32 for calculating an uneven shape of the subject from a signal obtained by averaging the two components; and a three-dimensional circuit based on the calculation result of the measurement processing circuit 32. A three-dimensional video processing circuit 34 for drawing a graphic representing the shape on a display 33 used as a three-dimensional measurement image monitor, and reference data for calculating a distance are stored. Click-up table (hereinafter, LUT
36).

The digital circuit inside the signal processing device 7, that is, the A / D converter 23 and the multiplexer 2
4, R memory 25, G memory 26, B memory 2
7, video processing circuit 28, D / A converter 30, averaging circuit 31, measurement processing circuit 32, three-dimensional video processing circuit 34,
A synchronization signal for controlling the operation timing of the LUT 36 is supplied from the synchronization circuit 22.

(Operation) Next, the thus constructed first
The operation of the embodiment will be described.

The light emitted from the observation illumination light source 5 is
The rotation of the rotation filter 11 by 0 causes the light to be sequentially converted into red light, green light, and blue light, and illuminates the observation site 3 via the observation light transmission light guide 8 and the observation illumination lens 13.

Further, when the green light transmitting portion and the blue light transmitting portion of the rotary filter 11 are inserted in the optical path, the measuring light projection light source 6 emits light based on the synchronization signal from the synchronization circuit 22 to emit the measuring light. The measurement light is projected onto the observation site 3 via the transmission image guide 12 and the measurement projection lens 14.

Further, when inputting a measurement start instruction,
The shutter control circuit 15 performs an operation to close the shutter 16 and prevents the illumination light from entering the observation light transmission light guide 8, so that only the measurement light is projected onto the observation site 3.

The observation site 3 illuminated in this way is
An image is formed on the solid-state imaging device 18 by the objective lens 17. The solid-state imaging device 18 drives the drive circuit 2 in synchronization with the rotation of the rotation filter 11 based on the synchronization signal from the synchronization circuit 22.
1, the image signal of the observation site 3 is sequentially output by red light, green light, and blue light, and this signal is amplified and processed by the process circuit 19.

Thereafter, the signal is converted from an analog signal to a digital signal by the A / D converter 23,
4, the memory is allocated to each of the R memory 25, the G memory 26, and the B memory 27. That is, the image signal of the red light is input to the R memory 25, the image signal of the green light is input to the G memory 26, and the image signal of the blue light is input to the B memory 27 and stored.

Each image signal stored in the R memory 25, the G memory 26, and the B memory 27 is supplied to the video processing circuit 2
After various processes such as gamma correction and contour correction are performed in 8, they are converted into analog signals by the D / A converter 30 and displayed on the display 29 as color images.

In this color image, the apparent color tone of the measuring light is the same as the green component from which the red component is omitted because the measuring light is not emitted when the illumination light emits red light regardless of the wavelength of the measuring light itself. It becomes a cyan component which is a composite component of the blue component.

Further, each image signal stored in the G memory 26 and the B memory 27 is also transferred to the averaging circuit 31 when a measurement start instruction is input. In this case, since the shutter control circuit 15 operates to close the shutter 16 and the illumination light is turned off, G
The image signals stored in the memory 26 for B and the memory 27 for B are based on the synchronization signal from the synchronization circuit 22 when the green light transmitting part and the blue light transmitting part of the rotary filter 11 are inserted in the optical path. Only the reflection component due to the slit-shaped measurement light emitted from the measurement light projection light source 6 exists. Therefore, in the averaging circuit 31, after extracting the reflection component of the slit-like measurement light from each image signal by the binarization process, the components are added to each other and divided by 2 to obtain an average value. .

This image signal is an average signal of a signal at the time of green imaging and a signal at the time of blue imaging, in which the slit-shaped measurement light is projected onto the observation region 3 and the form is changed according to the unevenness of the observation region 3. , The LUT 36 is compared with the reference position data measured and stored in advance, the uneven shape of the observation site 3 is calculated, processed into a graphic representing the three-dimensional shape by the three-dimensional image processing circuit 34, and displayed on the display 33. A three-dimensional graphics image is displayed.

(Effect) As described above, according to the present embodiment, the extraction of the slit light is performed by calculating the average of the images stored in the G memory 26 and the B memory 27 by the averaging circuit 31. Measurement error can be reduced.

Further, since the measurement light is projected except when the illumination light emits red light, the apparent color tone of the measurement light is
The cyan component, which is a composite component of the green component and the blue component, becomes easy to identify the color tone of the mucous membrane and the portion where the slit light is projected in the body cavity of the person.

In this embodiment, the G memory 26 and the B memory 27 are each provided with a capacity of only one memory. However, in recent electronic endoscopes, correction of color misalignment and continuous Memory for R, G
Memory and B memory have been provided with a capacity for a plurality of sheets. Therefore, in the present embodiment, it is obvious that higher-precision measurement is possible by increasing the memory capacity and increasing the averaging number of the memories.

As a method of extracting the reflection component due to the measurement light by binarization processing, there is a method of finding a center of a bright point or detecting a peak position of the bright point. You may ask.

Further, in this embodiment, an example has been shown in which the apparent color tone of the measurement light is a cyan component excluding the red component. However, in an endoscope procedure, a blue pigment such as methylene blue is used. Thus, the lesion may be stained. As described above, when the apparent color tone of the measurement light is a cyan component, it is difficult to determine the measurement light. Therefore, a color component to be measured may be selected according to an instruction from the operator.

Second Embodiment FIG. 2 is a configuration diagram showing a configuration of a measurement endoscope apparatus according to a second embodiment of the present invention.

Since the second embodiment is almost the same as the first embodiment, only different points will be described, and the same components will be denoted by the same reference numerals and description thereof will be omitted.

(Configuration) As shown in FIG. 2, the signal processing device 7 according to the present embodiment is provided with a motion detection circuit 41 for detecting the amount of motion of the image of the observed region 3. Image signals from the memory 26 and the B memory 27 are also input to the motion detection circuit 41.

As a method of detecting motion in the motion detecting circuit 41, there are various methods such as a method of detecting from a correlation between lines as in a motion adaptive YC separating circuit used in a video circuit such as a general TV. Exists.

The result of the determination of the motion amount of the image signal determined by the motion detection circuit 41 is input to the averaging circuit 31. The operation of the motion detection circuit 41 is also performed based on the synchronization signal from the synchronization circuit 22.

The other structure is the same as that of the first embodiment.

(Operation) Next, the operation of the present embodiment configured as described above will be described.

The motion detection circuit 41 is always in the G memory 26
And the motion amount of the image of the observation region 3 is detected from the image signal of the memory 27 for B, and it is determined whether the motion amount is earlier or later than a predetermined threshold value of the motion amount.
To be transmitted.

In the averaging circuit 31, when the determination result of the motion amount of the image signal is slower than the threshold value, as in the first embodiment, the image signal from the G
The average of the image signals from the memory 27 is taken.

On the other hand, when the determination result of the motion amount of the image signal is faster than the threshold value, the captured image at the time of input of the measurement start instruction, that is, either the G memory 26 or the B image memory 27 Is output to the measurement processing circuit 32.

Other operations are the same as those of the first embodiment.

(Effects) As described above, in the second embodiment, in addition to the effects of the first embodiment, the averaging of the image signals of the plurality of image memories according to the speed of movement of the observation region 3 The calculation is switched between the calculation based on the above equation and the calculation based on the image signal of one image memory, so that the measurement can always be performed with the optimum measurement accuracy.

Third Embodiment FIG. 3 is a configuration diagram showing a configuration of a measurement light projection light source according to a third embodiment of the present invention.

The third embodiment is almost the same as the first embodiment except that the internal configuration of the measuring light projection light source 6 of the first embodiment is changed. Therefore, only different points will be described. The same components are denoted by the same reference numerals, and description thereof is omitted.

(Structure) Measurement light projection light source 6 of the present embodiment
As shown in FIG. 3, a semiconductor laser 51 that generates measurement light and a laser drive circuit 5 that drives ON / OFF of the semiconductor laser 51 based on a synchronization signal from the synchronization circuit 22
2 and a polygon mirror 53 for converting spot light emitted from the semiconductor laser 51 into slit-shaped measurement light.
A motor 54 for rotating the polygon mirror 53, a polygon mirror driving circuit 55 for driving the motor 54, a galvanometer mirror 56 for scanning the slit-shaped measurement light converted by the polygon mirror 53, and a galvanometer mirror 56. A galvanomirror driving circuit 57 for driving the
A lens 58 for condensing the slit-like light scanned by the galvanometer mirror 56 on the image guide 12 for measuring light transmission.

The other structure is the same as that of the first embodiment.

(Operation) Next, the operation of the present embodiment thus configured will be described.

At the time of measuring irregularities on a normal line, the polygonal mirror 53 is rotated to emit slit-shaped measurement light to the image guide 12 for transmitting measurement light.

The apparent color tone of the measuring light in this case is the same as in the first embodiment. The semiconductor laser 51 is turned on when the green light and blue light of the illumination light are emitted, and the semiconductor laser 51 is emitted when the red light is emitted. Laser drive circuit 52 so that
Operate on the basis of the synchronization signal from the synchronization circuit 22, so that a cyan component is generated.

Although no specific means is described here, it is assumed that the input means such as a mouse designates and inputs the positions of two specific points in the portion where the slit-shaped measurement light is projected. The operation of the laser drive circuit 52 is made different from that described above only when the measurement light is projected on the designated portion,
At the first designated point, the semiconductor laser 51 is turned ON only when the illumination light emits green light, and at the second designated point, the semiconductor laser 51 is turned ON only when the illumination light emits blue light.

Therefore, at the position of the first designated point,
A spot measurement light having an apparent color tone of green is emitted, and a spot measurement light having an apparent color tone of blue is emitted at the position of the second designated point.

The measurement processing circuit 32 reads the image of the first designated point from the G memory 26, extracts the position of the spot, and compares it with the reference position data measured and stored in the LUT 36 in advance. Calculates the position of the first designated point.

Next, the image at the second designated point is stored in the B memory 2
7, the position of the spot is extracted, and LUT3
The position of the second designated point is calculated by comparison with reference position data measured and stored in advance in step S6. Further, a distance between the first and second designated points is calculated from the calculated positions of the first and second designated points.

The other operations are the same as in the first embodiment.

(Effect) As described above, in the third embodiment, in addition to the effect of the first embodiment, the distance between the two points is determined by the spot light in parallel with the measurement on one line by the slit light. Measurement can be performed with high accuracy.

Fourth Embodiment: FIGS. 4 and 5 relate to a fourth embodiment of the present invention, FIG. 4 is a configuration diagram showing a configuration of an endoscope device, and FIG. 5 is a measurement diagram of FIG. FIG. 2 is a configuration diagram illustrating a configuration of a light projection light source.

Since the fourth embodiment is almost the same as the first embodiment, only different points will be described, and the same components will be denoted by the same reference numerals and description thereof will be omitted.

(Construction) As shown in FIG. 4, the signal processing device 7 of the present embodiment uses three types of rotation angles (θ = 3) as shown in FIG. −
45 °, θ = 0 °, θ = + 45 °), a first LUT 62 and a second LU in which reference data for distance calculation according to three types of rotation angles are stored.
T63, third LUT 64, first LUT 62, second LUT
LUT for selecting one from UT 63 and third LUT 64
It comprises a selection circuit 65 and an angle adjustment unit 66 that controls the rotation angle of the measurement light projection light source 6 according to the rotation angle selected by the rotation angle selection unit 61.

As shown in FIG. 5, the measuring light projection light source 6 includes a slit light generating section 71 for generating slit-shaped measuring light by a combination of a laser light generator and a cylindrical lens, and the like. The angle adjustment unit 66
And a stepping motor 72 that rotates at an arbitrary angle in accordance with an instruction from the user.

The other structure is the same as that of the first embodiment.

(Operation) Next, the operation of the present embodiment thus configured will be described.

Although the input method is not shown in particular, the user views the endoscope video image of the observation region 3 displayed on the display 29 and turns the slit light on the observation region 3 with the rotation angle selection unit 61. Is selected from among three angles (θ = −45 °, θ = 0 °, θ = + 45 °) so as to cross as much as possible.

The LUT selection circuit 6 according to the selected angle
5 is a first LUT 62, a second LUT 63, and a third LUT
One of the LUTs is selected, and its data is used for calculation in the measurement processing circuit 32.

Further, according to the angle selected at the same time, the angle adjusting section 66 controls the rotation angle of the stepping motor 72 to the selected angle.

The other operations are the same as in the first embodiment.

(Effects) As described above, in the fourth embodiment, in addition to the effects of the first embodiment, it is possible to perform measurement by selecting the projection of the slit light according to the observation site 3.

It is not always necessary to use the stepping motor 72 as means for rotating the slit light, and it is also possible to rotate only the cylindrical lens instead of rotating the entire slit light generating section 71.

Further, in this embodiment, the rotation angle of the measurement endoscope apparatus is fixed at three stages in consideration of cost and the like. However, the number of LUTs may be increased to increase the number of selected angles. However, an arithmetic means for shifting the data of the LUT according to the rotation angle may be provided to correspond to an arbitrary rotation angle.

[Appendix] (Appendix 1) Measurement light projection means for projecting measurement light onto a subject, illumination light irradiation means for irradiating the subject with plane-sequential illumination light, and measurement light projected onto the subject A measuring endoscope apparatus comprising: a measuring unit that calculates a shape of the subject from reflected light of the projection light; a projection control unit that controls the measuring light projecting unit in accordance with an operation state of the illumination light irradiation unit; Image storage means for storing a plurality of images of the subject based on the operation state of the control means, wherein the measurement means determines the shape of the subject based on the plurality of images of the subject stored by the image storage means. A measurement endoscope device, which calculates.

(Additional Item 2) The measurement endoscope according to Additional Item 1, wherein the measuring means includes an averaging means for averaging a plurality of images stored in the image storage means. Mirror device.

(Additional Item 3) A motion amount extracting means for extracting the motion amount of the subject, wherein the averaging means calculates the number of the plurality of images stored in the image storage means by the motion amount extracting means. 3. The measurement endoscope apparatus according to claim 2, wherein the measurement endoscope apparatus is variably added and averaged according to an instruction.

(Supplementary Note 4) The measuring means includes a binarizing means for binarizing a reflection component of the reflected light of the measuring light, and the binarizing processing by the binarizing means includes the binarization processing. Additional item 1 characterized by being processed using the center of gravity of light
4. The measurement endoscope device according to claim 1.

(Supplementary note 5) The projection control means selectively operates during either the red light emission period of the illumination light irradiation means or the green light and blue light emission periods of the illumination light irradiation means. Wherein the measuring means calculates the shape of the subject by using an image stored in the image storing means corresponding to a selected light emission period during which the projection control means operates. 4. The measurement endoscope device according to claim 1.

(Additional Item 6) The image measurement device according to additional item 1, wherein the image storage means stores a plurality of images for each color of the field sequential illumination light by the illumination light irradiation means. Endoscope device.

(Additional Item 7) The measurement means selects and uses a plurality of images for each color stored in the image storage means based on the operation state of the projection control means, and 7. The measurement endoscope apparatus according to claim 6, wherein

(Supplementary Note 8) The projection control means of the measurement light operates during a green light and blue light period excluding a red light emission period of the plane sequential illumination light by the illumination light irradiation means. 7. The measurement endoscope apparatus according to claim 6, wherein the measurement unit selects and uses a plurality of green and blue images stored in the image storage unit and calculates the shape of the subject. .

In human body cavities, the color tone of the mucous membrane is very similar to the color tone of the general semiconductor laser at present, so that the slit light is normally projected under illumination of the observation light. There is a problem that it is difficult to identify the part where
These problems can be solved by configuring the measurement endoscope apparatus as in the additional item 8.

(Supplementary Note 9) Measurement light projection means for projecting measurement light onto the subject, illumination light irradiation means for irradiating the subject with plane-sequential illumination light, and reflected light of the measurement light projected onto the subject A measurement endoscope apparatus comprising: a measurement unit that calculates a shape of the subject from a projection control unit that controls the measurement light projection unit according to an operation state of the illumination light irradiation unit; An image storage unit configured to store a plurality of images of the subject based on an operation state; and an instruction unit configured to instruct between any two points of the image stored by the image storage unit. A measuring endoscope apparatus wherein the measuring light projecting means is controlled based on the operation of the means.

When comparing the light cutting method using the slit light with the measurement by scanning the spot light, the light cutting method has an advantage that measurement on one line can be performed at high speed. However, when it is sufficient to simply measure the distance between two points, when extracting the slit light from the image, the slit light is likely to be blurred, and the error tends to increase compared to the measurement using the spot light. Has been a problem. Therefore, these problems can be solved by configuring the measurement endoscope apparatus as in the additional item 9.

(Supplementary note 10) The projection control means controls the measurement light projection means to operate only during the green light emission period of the illumination light irradiation means when the instruction means operates. The measurement endoscope apparatus according to claim 9, wherein the measurement endoscope apparatus is characterized in that:

(Additional Item 11) A measuring light projecting means for projecting a slit-like measuring light onto a subject, and a measuring means for calculating a shape of the subject from reflected light of the measuring light projected on the subject are provided. In the measurement endoscope device, the measurement light projection unit rotates the slit-shaped measurement light projected onto the subject at an arbitrary angle by a measurement light rotation unit, and predetermined reference data corresponding to the rotation angle of the measurement light. And a plurality of data storage means for storing the data.

Depending on the measurement site, it is difficult to operate the endoscope so that the slit light passes through an arbitrary portion.
For example, in the case of a subject such as the cardia of the stomach where it is difficult to observe unless the end of the endoscope is angled, an additional operation is performed on the endoscope so that the slit light crosses the lesion. Although it is difficult to add the above, it is possible to solve these problems by configuring the measurement endoscope apparatus as in the additional item 11.

[0090]

As described above, according to the measuring endoscope apparatus of the present invention, the measuring means changes the operating state of the projection control means for controlling the measuring light projecting means in accordance with the operating state of the illumination light irradiating means. Since the shape of the subject is calculated based on the plurality of images of the subject stored by the image storage means, the measurement error with respect to the measured value can be improved, and the three-dimensional shape measurement can always be performed with high accuracy. .

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating a configuration of an endoscope apparatus according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram showing a configuration of an endoscope apparatus according to a second embodiment of the present invention;

FIG. 3 is a configuration diagram showing a configuration of a measurement light projection light source according to a third embodiment of the present invention.

FIG. 4 is a configuration diagram showing a configuration of an endoscope apparatus according to a fourth embodiment of the present invention.

FIG. 5 is a configuration diagram showing a configuration of a measurement light projection light source in FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Measurement endoscope apparatus 2 ... Insertion part 3 ... Observation part 4 ... Endoscope 5 ... Observation illumination light source 6 ... Measurement light projection light source 7 ... Signal processing device 8 ... Observation light guide 9 ... Lamp 10 ... Motor 11 ... Rotating filter 12 ... Image guide for measurement light transmission 13 ... Illumination lens for observation 14 ... Illumination lens for measurement 15 ... Shutter control circuit 16 ... Shutter 17 ... Objective lens system 18 ... Solid-state image sensor 19 ... Process circuit 20, 21 ... Drive Circuit 22 Synchronous circuit 23 A / D converter 24 Multiplexer 25 R memory 26 G memory 27 B memory 28 Video signal processing circuits 29 and 33 Display 30 D / A converter 31 Averaging circuit 32 ... Measurement processing circuit 34 ... 3D video processing circuit 36 ... LUT

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G02B 23/24 G02B 23/24 Z

Claims (1)

[Claims] 1. A measuring light projecting means for projecting measuring light onto a subject, an illuminating light irradiating means for irradiating the subject with plane-sequential illumination light, and the subject being reflected from the measuring light reflected on the subject. A measurement endoscope apparatus comprising: a measurement unit that calculates a shape of the projection light control unit; a projection control unit that controls the measurement light projection unit according to an operation state of the illumination light irradiation unit; and an operation state of the projection control unit. Image storing means for storing a plurality of images of the subject based on the plurality of images of the subject, wherein the measuring means calculates a shape of the subject based on the plurality of images of the subject stored by the image storing means. Measurement endoscope device.