WO2015122354A1 - 内視鏡システム - Google Patents
内視鏡システム Download PDFInfo
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- WO2015122354A1 WO2015122354A1 PCT/JP2015/053275 JP2015053275W WO2015122354A1 WO 2015122354 A1 WO2015122354 A1 WO 2015122354A1 JP 2015053275 W JP2015053275 W JP 2015053275W WO 2015122354 A1 WO2015122354 A1 WO 2015122354A1
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Images
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Definitions
- the present invention relates to an endoscope system, and more particularly to an endoscope system capable of simultaneously observing a direct viewing direction and a side viewing direction.
- An endoscope system including an endoscope that captures an object inside a subject and an image processing device that generates an observation image of the object captured by the endoscope is widely used in the medical field, the industrial field, and the like. It is used.
- a protrusion that protrudes from the distal end surface of the distal end of the insertion portion is provided, and a front observation lens that observes a subject located in front of the distal end surface of the protrusion is provided.
- An endoscope system including an endoscope provided with a surrounding observation lens for observing a subject located opposite to the periphery of the protrusion is provided around the protrusion.
- a subject observed with a front observation lens is imaged in a circular area at the center of the imaging element, and a subject observed with a surrounding observation lens is captured in a circular area of the same imaging element. Images are taken in the outer ring area.
- the front image is formed in the center as a circular direct-view visual field image
- the endoscopic image formed in the outer periphery of the direct-view visual field image as an annular side-view visual field image is displayed on the monitor. Is displayed.
- a direct-viewing observation lens that acquires a direct-view visual field image is provided on the distal end surface of the distal end portion of the insertion portion, and a plurality of side views that acquire side-view visual field images in the circumferential direction of the distal end portion.
- An endoscope system including an endoscope provided with an observation lens is disclosed.
- imaging elements are provided at the imaging positions of the direct-viewing observation lens and the plurality of side-viewing observation lenses, respectively, and a direct-view visual field image and a plurality of side-view visual field images are captured by these imaging elements.
- the direct-view visual field image is arranged in the center, and a plurality of side-view visual field images are arranged on both sides of the direct-view visual field image and displayed on the monitor.
- the sliding trajectory of the treatment tool may be discontinuous between the direct-view visual field image and the side-view visual field image.
- the image of the treatment tool becomes discontinuous, there is a problem that the visibility of the treatment tool and the workability of the treatment are deteriorated.
- Causes of discontinuity of the image of the treatment tool include tilt and shift of the direct vision field lens and the side vision field lens, or a processing error when assembling the objective optical system frame. Suppressing the error that is the cause of these problems during the manufacture of the endoscope has a problem of increasing the labor of manufacturing and processing the endoscope because the processing and assembly must be performed very strictly.
- the present invention provides an endoscope having a plurality of fields of view by continuing the images of the objects in the field of view observed in the direct field of view and the side field of view without increasing the labor of manufacturing and processing the endoscope.
- An object of the present invention is to provide an endoscope system capable of improving the workability of treatment with a treatment tool under a mirror.
- An endoscope system includes an insertion unit that is inserted into a subject, and a first subject that is provided in the insertion unit and acquires a first subject image from a first region of the subject.
- the first object image and the second object are arranged so that the predetermined object included in the first object image and the predetermined object included in the second object image are arranged adjacent to each other.
- An image signal generation unit that generates an image signal in which the subject images are arranged.
- FIG. 6 is a flowchart for explaining an example of image processing by an image processing unit according to the first embodiment; It is a perspective view which shows the structure of the front-end
- FIG. 1 is a diagram illustrating a configuration of an endoscope system according to the first embodiment
- FIG. 2 is a perspective view illustrating a configuration of a distal end portion of an insertion portion of the endoscope
- FIG. FIG. 4 is a front view showing a configuration of a distal end portion of an insertion portion of an endoscope
- FIG. 4 is a diagram showing an example of an observation image displayed on a monitor
- FIG. 5 is a configuration of a main part in the first embodiment.
- FIG. 6 is a diagram showing a configuration of the image processing unit in the first embodiment
- FIGS. 7A to 7E are examples of observation images including images of treatment tools displayed on a monitor.
- FIG. FIG. 8 is a flowchart for explaining an example of image processing.
- an endoscope system 1 includes an endoscope 2 that images an observation object and outputs an imaging signal, a light source device 31 that supplies illumination light for illuminating the observation object, A video processor 32 having a function as an image signal generation unit that generates and outputs a video signal (image signal) corresponding to the imaging signal; and a monitor 35 that displays an observation image corresponding to the video signal (image signal). is doing.
- the endoscope 2 includes an operation unit 3 that an operator holds and operates, an elongated insertion unit 4 that is formed on the distal end side of the operation unit 3 and is inserted into a body cavity and the like, and a side portion of the operation unit 3 And a universal cord 5 provided with one end so as to extend from.
- the endoscope 2 is a wide-angle endoscope capable of observing a field of view of 180 degrees or more by displaying a plurality of field images.
- the back of the eyelid or the boundary of the organ For example, it is possible to prevent oversight of a lesion that is difficult to see only by observation in the direct viewing direction.
- operations such as temporary fixing by twisting, reciprocating movement, intestinal wall hooking, etc. occur in the insertion portion 2 as in the case of a normal large intestine endoscope. To do.
- the insertion portion 4 includes a hard distal end portion 6 provided on the most distal end side, a bendable bending portion 7 provided on the rear end of the distal end portion 6, and a long and long side provided on the rear end of the bending portion 7. And a flexible tube portion 8 having flexibility. Further, the bending portion 7 performs a bending operation according to the operation of the bending operation lever 9 provided in the operation portion 3.
- a columnar cylindrical portion 10 is formed at the distal end portion 6 of the insertion portion 4 so as to protrude from a position eccentric to the upper side from the center of the distal end surface of the distal end portion 6. ing.
- An objective optical system (not shown) that serves both as a direct view and a side view is provided at the tip of the cylindrical portion 10. Further, the distal end portion of the cylindrical portion 10 is disposed at a position corresponding to the direct-viewing observation window 12 disposed at a position corresponding to the direct viewing direction of the objective optical system (not shown) and at a position corresponding to the side viewing direction of the objective optical system (not illustrated). And a side-view observation window 13. Further, a side-view illumination unit 14 that emits light for illuminating the side-view direction is formed near the proximal end of the cylindrical unit 10.
- the side-view observation window 13 can acquire a side-view visual field image by capturing the return light (reflected light) from the observation target incident from the circumferential direction in the cylindrical cylindrical portion 10 in the side-view visual field.
- the side view mirror lens 15 is provided.
- an image of the observation object in the field of view of the direct-viewing observation window 12 is formed in the center as a circular direct-viewing field image at the imaging position of the objective optical system (not shown), and the field of view of the side-viewing observation window 13 It is assumed that the imaging element 30 (imaging surface thereof) shown in FIG. 5 is arranged so that an image of the observation object inside is formed on the outer periphery of the direct-view visual field image as an annular side-view visual field image. .
- Such an image is realized by using a two-reflection optical system that reflects the return light twice by the side-view mirror lens 15, but is formed by reflecting the return light once by the one-reflection optical system. Then, this may be subjected to image processing by the video processor 32, and the orientations of the side-view visual field image and the direct-view visual field image may be matched.
- the distal end surface of the distal end portion 6 is disposed at a position adjacent to the cylindrical portion 10, and is disposed in the insertion portion 4 and the direct view illumination window 16 that emits illumination light in the range of the direct view field of the direct view observation window 12.
- a distal end opening 17 is provided which communicates with a treatment instrument channel (not shown) formed of a tube or the like and can project the treatment instrument (the distal end portion) inserted through the treatment instrument channel.
- the distal end portion 6 of the insertion portion 4 has a support portion 18 provided so as to protrude from the distal end surface of the distal end portion 6, and the support portion 18 is positioned adjacent to the lower side of the cylindrical portion 10.
- the support portion 18 is configured to be able to support (or hold) each protruding member disposed so as to protrude from the distal end surface of the distal end portion 6.
- the support portion 18 includes a direct-viewing observation window nozzle portion 19 that emits a gas or a liquid for cleaning the direct-viewing observation window 12 as the above-described protruding members, and light for illuminating the direct-viewing direction.
- the direct-view illumination window 21 that emits light and the side-view observation window nozzle portion 22 that emits a gas or liquid for cleaning the side-view observation window 13 can be supported (or held), respectively.
- the support unit 18 acquires a side-view visual field image including any one of the projecting members by causing each of the projecting members, which are objects different from the original observation target, to appear in the side-view visual field. It is formed with a shielding portion 18a, which is an optical shielding member, so as not to be disturbed. That is, by providing the shielding portion 18a on the support portion 18, a side-view visual field image that does not include any of the direct-view observation window nozzle portion 19, the direct-view illumination window 21, and the side-view observation window nozzle portion 22 is obtained. Obtainable.
- the side-view observation window nozzle portion 22 is provided at two locations of the support portion 18, and is arranged so that the tip protrudes from the side surface of the support portion 18.
- the operation unit 3 includes an air / liquid supply operation button 24 a capable of giving an operation instruction to eject a gas or liquid for cleaning the direct-view observation window 12 from the direct-view observation window nozzle unit 19,
- An air / liquid feeding operation button 24b capable of operating instructions for injecting gas or liquid for cleaning the side viewing window 13 from the side viewing window nozzle 22 is provided.
- Air supply and liquid supply can be switched by pressing the buttons 24a and 24b.
- a plurality of air / liquid feeding operation buttons are provided so as to correspond to the respective nozzle portions. For example, by operating one air / liquid feeding operation button, the direct-view observation window nozzle unit 19, Gas or liquid may be ejected from both of the side-view observation window nozzle portions 22.
- a plurality of scope switches 25 are provided at the top of the operation unit 3, and functions for each switch are assigned so as to output signals corresponding to various on / off states that can be used in the endoscope 2. It has a possible configuration. Specifically, the scope switch 25 has a function of outputting a signal corresponding to, for example, start and stop of forward water supply, execution and release of freeze, and notification of the use state of the treatment tool. Can be assigned as a function.
- At least one of the functions of the air / liquid feeding operation buttons 24a and 24b may be assigned to one of the scope switches 25.
- the operation unit 3 is provided with a suction operation button 26 that can instruct a suction unit or the like (not shown) to suck and collect mucus or the like in the body cavity from the distal end opening 17. Yes.
- the mucus etc. in the body cavity sucked in response to the operation of the suction unit are provided in the vicinity of the front end of the distal end opening 17, the treatment instrument channel (not shown) in the insertion section 4, and the operation section 3. After passing through the treatment instrument insertion port 27, it is collected in a suction bottle or the like of a suction unit (not shown).
- the treatment instrument insertion port 27 communicates with a treatment instrument channel (not shown) in the insertion portion 4 and is formed as an opening into which a treatment instrument (not shown) can be inserted. That is, the surgeon can perform treatment using the treatment tool by inserting the treatment tool from the treatment tool insertion port 27 and projecting the distal end side of the treatment tool from the distal end opening portion 17.
- a connector 29 that can be connected to the light source device 31 is provided at the other end of the universal cord 5.
- the tip of the connector 29 is provided with a base (not shown) serving as a connection end of the fluid conduit and a light guide base (not shown) serving as a supply end of illumination light. Further, an electrical contact portion (not shown) capable of connecting one end of the connection cable 33 is provided on the side surface of the connector 29. Furthermore, a connector for electrically connecting the endoscope 2 and the video processor 32 is provided at the other end of the connection cable 33.
- the universal cord 5 includes a plurality of signal lines for transmitting various electrical signals and a light guide for transmitting illumination light supplied from the light source device 31 in a bundled state.
- the light guide built in from the insertion portion 4 to the universal cord 5 has a light emission side end branched in at least two directions in the vicinity of the insertion portion 4, and a light emission end surface on one side has a direct-view illumination window 16 and 21 and the light emitting end face on the other side is arranged in the side-view illumination unit 14.
- the light guide has a configuration in which the light incident side end is disposed on the light guide cap of the connector 29.
- positioned at the direct view illumination windows 16 and 21 and the side view illumination part 14 may replace with a light guide, and may be a light emitting element like a light emitting diode (LED).
- LED light emitting diode
- the video processor 32 outputs a drive signal for driving the image sensor provided at the distal end portion 6 of the endoscope 2.
- the video processor 32 functions as an image signal generator that generates a video signal (image signal) and outputs the image signal to the monitor 35 by performing signal processing on the image signal output from the image sensor.
- the images arranged in such a manner that the side-view visual field image surrounds the direct-view visual field image are displayed on the monitor 35 in a manner as shown in FIG.
- a portion that is optically shielded by the shielding portion 18a of the support portion 18 is not considered.
- the direct-view visual field image and the side-view visual field image displayed on the monitor 35 are not limited to the circular shape and the annular shape shown in FIG. 4, respectively, and may be other display modes.
- Peripheral devices such as the light source device 31, the video processor 32, and the monitor 35 are arranged on a gantry 36 together with a keyboard 34 for inputting patient information.
- the video processor 32 includes at least an image processing unit 32a and an image output unit 32b.
- the direct-view observation window 12 constituting the first subject image acquisition unit is a direct-view direction (first direction) including the front substantially parallel to the longitudinal direction of the insertion unit 4, that is, the first subject from the first region of the subject.
- the side-view observation window 13 that acquires an image and constitutes the second subject image acquisition unit includes a direction that intersects the longitudinal direction of the insertion unit 4 that is at least partially different from the direct viewing direction (first direction).
- a second subject image is acquired from the side view direction (second direction), that is, from the second region of the subject.
- boundary region between the first subject image and the second subject image may or may not overlap.
- An overlapping subject image may be acquired by the subject image acquisition unit and the second subject image acquisition unit.
- the image sensor 30 photoelectrically converts the subject image in the direct view direction and the subject image in the side view direction on the same plane.
- the image sensor 30 is electrically connected to the image processing unit 32a, and outputs the subject image acquired through the direct viewing observation window 12 and the side viewing observation window 13 to the image processing unit 32a.
- the image processing unit 32a recognizes the image of the treatment tool included in the direct view visual field image and the image of the treatment tool included in the side view visual field image. Then, the image processing unit 32a causes the direct-view visual field image and the side view so that the central axis of the treatment tool image included in the direct-view visual field image and the central axis of the treatment tool image included in the side-view visual field image substantially coincide with each other. An image signal in which the arrangement is changed is generated for at least one of the visual field images.
- the image output unit 32 b generates a signal to be displayed on the monitor 35 from the image signal generated by the image processing unit 32 a and outputs the signal to the monitor 35.
- the image processing unit 32a includes an image recognition unit 41, a central axis recognition unit 42, an image movement amount calculation unit 43, and an image generation unit 44.
- the image recognition unit 41 recognizes an image of a predetermined object, for example, an image of a treatment tool observed in a side view field and an image of a treatment tool observed in a direct view field. For example, since the position that protrudes from the distal end opening 17 of the treatment tool is fixed, the image recognition unit 41 recognizes an object that protrudes from that direction and proceeds as a treatment tool. Alternatively, the image recognition unit 41 may recognize the treatment tool by calculating the sliding direction of the treatment tool from the movement, or by recognizing the thickness and contour of the treatment tool from the image contrast. May be recognized.
- the central axis recognition unit 42 calculates the central axis of each image from the image of the treatment tool observed in the side view field recognized by the image recognition unit 41 and the image of the treatment tool observed in the direct field of view. To recognize the central axis. For example, the central axis recognizes the central axis of the treatment tool from the image contrast of the thickness of the treatment tool and the direction in which the treatment tool protrudes.
- the object such as the treatment tool included in the direct-view visual field image and the object such as the treatment tool included in the side-view visual field image are arranged at adjacent positions without a sense of incongruity.
- the image movement amount calculation unit 43 calculates the opening angle of each central axis from the image center (optical axis center) of the coordinate position of each central axis with respect to the image of the treatment tool observed in the direct view field and the side view field. .
- the image generation unit 44 recognizes the boundary between the direct-view visual field image and the side-view visual field image, cuts out only the side-view visual field image, and causes the image movement amount calculation unit 43 to match the inclination coordinates of the treatment tool image. Based on the calculated opening angle, the side view visual field image is rotated around the image center, and the central axis of the treatment tool image observed in the side view visual field and the center of the treatment tool image observed in the direct view visual field An image signal whose axis substantially matches is generated.
- image generation unit 44 may rotate and move the direct view field image so that the image of the treatment tool of the direct view field image and the image of the treatment tool of the side view field image substantially coincide with each other. Both side view visual field images may be rotated.
- the image generation unit 44 By rotating the side-view visual field image starting from the image center, the central axis of the treatment tool image 50 of the direct-view visual field image and the treatment tool image 51 of the side-view visual field image are made to substantially coincide.
- the image generation unit 44 may rotate and move the direct-view visual field image starting from the image center as shown in FIG. 7E. Further, both the side-view visual field image and the direct-view visual field image are rotated and moved so that the central axis of the treatment tool image of the direct-view visual field image substantially coincides with the central axis of the treatment tool image of the side-view visual field image. It may be.
- FIG. 8 is a flowchart for explaining an example of image processing by the image processing unit of the present embodiment.
- the process of rotating the side-view visual field image starting from the image center so that the central axis of the treatment instrument substantially coincides will be described, but the present invention is not limited to this.
- the direct view visual field image may be rotated and moved starting from the image center, or both the direct view visual field image and the side view visual field image may be rotated and moved from the image center.
- the image recognition unit 41 recognizes the treatment tool observed in the side view field from the image (step S2). .
- the central axis recognition unit 42 calculates the central axis of the image of the treatment instrument observed in the side view field (step S3).
- step S5 If the treatment tool further protrudes, an image of the treatment tool will be observed in the direct visual field. Then, the image recognition unit 41 recognizes the treatment tool observed in the direct visual field from the image (step S4), and the central axis recognition unit 42 determines the central axis of the image of the treatment tool observed in the direct visual field as shown in FIG. 7B. Calculate (step S5).
- the image movement amount calculation unit 43 calculates the opening angle of each central axis from the coordinate position of each central axis (step S6).
- This opening angle is a correction angle of the central axis of the image of the treatment instrument observed in the side view field such that the image movement amount calculation unit 43 is parallel to the central axis of the image of the treatment instrument observed in the direct vision field.
- the image generation unit 44 recognizes only the side view visual field image and cuts out only the side view visual field image (step S7).
- the image generation unit 44 rotates and moves the cut out side view visual field image starting from the image center so that the inclinations of the central axes of the respective treatment tools coincide (step S8).
- the image generation unit 44 generates an image signal in which the central axis of the treatment tool image of the direct-view visual field image substantially coincides with the central axis of the treatment tool image of the side-view visual field image (step S9), and the processing is terminated. To do.
- the image signal generated in this way is displayed on the monitor 35 via the image output unit 32b.
- the endoscope system 1 detects the deviation between the image of the treatment tool for the direct-view visual field image and the image of the treatment tool for the side-vision visual field image, and the direct-view visual field image or the side view according to the amount of deviation.
- the visual field image was rotated so that the central axes of the treatment tool image of the direct vision visual field image and the treatment tool image of the side vision visual field image substantially coincided with each other.
- shaft of the image of the treatment tool of a direct view visual field image and a side view visual field image substantially corresponds, the visibility and operativity of a treatment tool can be improved.
- the direct-view visual field image or the side-view visual field image is rotated with the image center as a starting point, the axis of the treatment tool can be adjusted without changing the size of each image or the center of each image.
- an object an image of a treatment instrument or the like in the field of view observed in the direct field of view and the side field of view without increasing the labor of manufacturing and processing the endoscope.
- the workability of the treatment with the treatment tool under the endoscope having a plurality of visual fields can be improved.
- the image of the object to be aligned is not limited to the treatment tool, and may be, for example, a heel in a body cavity or other elements such as a stent or a clip placed in the body cavity. It is also possible to recognize the object of the front field of view and the side field of view and perform alignment by rotating the front field of view or the side field of view.
- FIG. 9 is a perspective view showing the configuration of the distal end portion of the insertion portion of the endoscope according to the second embodiment.
- the distal end surface of the distal end portion 6a of the endoscope 2a has a direct viewing direction (first direction) including the front substantially parallel to the longitudinal direction of the insertion portion 4, that is, a first area of the subject.
- a direct-view observation window 60a is provided, and the side surface of the distal end portion 6a of the endoscope 2a intersects the longitudinal direction of the insertion portion 4 which is at least partially different from the direct-view direction (first direction).
- Side-viewing windows 60b and 60c for observing the side-viewing direction (second direction) including the direction to be viewed, that is, the second region of the subject are arranged.
- the side-view observation windows 60b and 60c are arranged at an equal interval in the circumferential direction of the distal end portion 6a, for example, at an interval of 180 degrees.
- the direct-view observation window 60a constitutes a first subject image acquisition unit
- at least one of the side-view observation windows 60b and 60c constitutes a second subject image acquisition unit.
- the number of side-view observation windows 60b and 60c arranged at equal intervals in the circumferential direction of the distal end portion 6a is not limited to two, and for example, a configuration in which one side-view observation window is arranged. Good. Further, the side-view observation windows 60b and 60c arranged at equal intervals in the circumferential direction of the distal end portion 6a, for example, arrange the side-view observation windows every 120 degrees in the circumferential direction (that is, three side-view visual field images). Or a configuration in which side-view observation windows are arranged every 90 degrees in the circumferential direction (that is, four side-view visual field images are acquired).
- Direct-view illumination windows 61a and 62a that emit illumination light in the range of the direct-view field of the direct-view observation window 60a are disposed on the distal end surface of the distal end portion 6a of the endoscope 2a at a position adjacent to the direct-view observation window 60a.
- side illumination windows 61b and 62b that emit illumination light to the side view field of the side view observation window 60b are disposed on the side surface of the distal end portion 6a of the endoscope 2a at positions adjacent to the side view observation window 60b.
- side-view illumination windows 61c and 62c for emitting illumination light in the range of the side-view visual field of the side-view observation window 60c are arranged at positions adjacent to the side-view observation window 60c.
- a distal end opening 63 from which the treatment instrument 64 protrudes is provided behind the side-view observation window 60b on the side surface of the distal end portion 6a.
- emits illumination light from the direct view illumination windows 61a and 62a, the side view illumination windows 61b and 62b, and the side view illumination windows 61c and 62c is a light emitting element such as a light guide or a light emitting diode (LED). Can be mentioned.
- FIG. 10 is a diagram illustrating a configuration of a main part in the second embodiment
- FIGS. 11A and 11B are diagrams illustrating an example of an observation image including an image of a treatment instrument displayed on a monitor.
- an image sensor 65a is disposed at the imaging position of the direct-view observation window 60a and an objective optical system (not shown).
- An imaging element 65b is disposed at the imaging position of the side-view observation window 60b and an objective optical system (not shown), and an imaging element 65c is disposed at the imaging position of the side-view observation window 60c and the objective optical system (not shown).
- the image sensors 65a to 65c are electrically connected to the image processing unit 32a of the video processor 32 that functions as an image signal generation unit, respectively, and the direct-view visual field image captured by the image sensor 65a, the image sensor 65b, and The side view visual field image captured by each of 65c is output to the image processing unit 32a.
- the image processing unit 32a places the direct-view visual field image 66a captured by the image sensor 65a in the center of the monitor 35, and uses the side-view visual field image 66b and the image sensor 65c captured by the image sensor 65b. Image signals are generated so that the captured side-view visual field images 66c are arranged side by side so as to be adjacent to the direct-view visual field image 66a.
- the image processing unit 32a performs the side-view visual field image 66b so that the central axis of the treatment tool image 50 of the direct-view visual field image 66a substantially coincides with the central axis of the treatment tool image 51 of the side-view visual field image 66b. Move the rotation. At this time, the image processing unit 32a also rotates and moves the side view visual field image 66c in the opposite direction to the side view visual field image 66b by the same movement amount as the rotational movement amount of the side view visual field image 66b.
- the rotational movement process by the image processing unit 32a is the same as that in the first embodiment.
- the direct-view visual field image and the side-view visual field image need only be adjacent to each other, and only the configuration in which the side-view visual field images 66b and 66c are arranged on both sides of the direct-view visual field image 66a.
- the configuration may be such that only the side-view visual field image, for example, the side-view visual field image 66b on which the treatment instrument image 51 is displayed, is arranged on either the left or right side of the direct-view visual field image 66a.
- a plurality of images are displayed on the monitor 35, but the present invention is not limited to this.
- a plurality of, for example, three monitors 35 are arranged adjacent to each other, a direct-view visual field image 66a is displayed on the central monitor 35, and side-view visual field images 66b are displayed on both adjacent monitors 35, respectively.
- the monitor 35 which displays a direct view visual field image and the monitor 35 which displays a side view visual field image may be adjacent like the structure which displays 66c.
- a direct-view observation window 60a that acquires a direct-view visual field image is provided on the distal end surface of the distal end portion 6a, and a plurality of side-view observation windows 60b and 60c that acquire a side-view visual field image are provided in the circumferential direction of the distal end portion 6a.
- the monitor 35 is configured to display a plurality of images (direct view field image 66a, side view field image 66b, and 66c)
- the treatment tool image 50 of the direct view field image 66a and the treatment tool of the side view field image 66b are displayed.
- the central axis with the image 51 can be made to substantially coincide.
- the image of the object is not limited to the image of the treatment instrument, but may be an image of another element observed in the field of view.
- the endoscope system 1 of the present embodiment similarly to the first embodiment, the field of view observed in the direct field of view and the side field of view without increasing the labor for manufacturing and processing the endoscope. It is possible to improve the workability of the treatment with the treatment tool under the wide-angle endoscope by making the objects (images of the treatment tool, etc.) adjacent to each other without causing a sense of incongruity so as to be continuous.
- the endoscope system of the present embodiment has the same configuration as that of the first embodiment, and the configuration of the image processing unit 32a is different from that of the first embodiment.
- FIG. 12 is a diagram for explaining a configuration of an image processing unit according to the third embodiment
- FIGS. 13A to 13C are diagrams illustrating an example of an observation image including an image of a treatment instrument displayed on a monitor. It is.
- FIG. 12 the same components as those in FIG. 6 are denoted by the same reference numerals and description thereof is omitted.
- the image processing unit 32a of this embodiment includes an image enlargement / reduction rate calculation unit 70 instead of the image movement amount calculation unit 43 of FIG.
- the image enlargement / reduction ratio calculation unit 70 includes a predetermined axis, for example, the central axis of the treatment tool image 50 of the direct vision visual field image recognized by the central axis recognition unit 42 and the treatment tool image 51 of the side vision visual field image. From the central axis, the proximal end of the treatment tool image 50 of the direct view visual field image and the distal end of the treatment tool image 51 of the side view visual field image are detected. Then, the image enlargement / reduction ratio calculation unit 70 directly views the visual field image such that the proximal end of the treatment tool image 50 of the detected direct vision visual field image substantially coincides with the distal end of the treatment tool image 51 of the side vision visual field image. Alternatively, the enlargement / reduction ratio of the side view visual field image is calculated.
- the image generation unit 44 Based on the enlargement / reduction ratio calculated by the image enlargement / reduction ratio calculator 70, the image generation unit 44 detects the proximal end of the treatment tool image 50 of the detected direct-view visual field image and the treatment tool image of the side-view visual field image.
- the display magnification of the direct-view visual field image or the side-view visual field image is changed vertically and horizontally so that the front end of 51 substantially coincides (distorts the direct-view visual field image or the side-view visual field image).
- the image generating unit 44 does not change the entire side view visual field image, but only the vicinity of the image 51 of the treatment instrument. Like that. As a result, the image in the vicinity of the treatment instrument image 51 is scaled so as not to affect the displacement of the entire image.
- the image generation unit 44 may change the display magnification of the direct view visual field image and the side view visual field image vertically and horizontally. In this manner, by scaling both the field images, the amount of distortion of each field image is reduced, and the uncomfortable feeling due to the distortion can be reduced.
- the display magnification of the direct-view visual field image is changed vertically and horizontally, and the proximal end of the treatment tool image 50 of the direct-view visual field image and the distal end of the treatment tool image 51 of the side visual field image are substantially matched.
- the display magnification of the side view visual field image is changed vertically and horizontally so that the proximal end of the treatment tool image 50 of the direct view visual field image and the distal end of the treatment tool image 51 of the side view visual field image are substantially matched. ing. Further, in FIG.
- the display magnification of the direct-view visual field image and the side-view visual field image is changed vertically and horizontally, and the proximal end of the treatment tool image 50 of the direct-view visual field image and the distal end of the treatment tool image 51 of the side visual field image are displayed.
- the proximal end of the treatment tool image 50 of the direct-view visual field image and the distal end of the treatment tool image 51 of the side visual field image are displayed.
- FIG. 14 is a flowchart for explaining an example of image processing by the image processing unit of the third embodiment.
- FIG. 14 the same processes as those in FIG. In the flowchart of FIG. 14, an example in which the display magnification of the side view visual field image is changed in the vertical and horizontal directions will be described.
- the display magnification of the direct view visual field image may be changed in the vertical and horizontal directions. You may change the display magnification of a visual field image and a side view visual field image vertically and horizontally.
- step S5 when the central axis of the image of the treatment tool observed in the direct vision field is calculated, the image enlargement / reduction ratio calculation unit 70 causes the proximal end of the image of the treatment tool in the direct vision field image and the side vision field image to be calculated. The tip of the image of the treatment tool is detected (step S11).
- the image enlargement / reduction rate calculation unit 70 calculates the enlargement / reduction rate of the image of the treatment instrument observed in the side view field so that it substantially coincides with the proximal end of the image of the treatment tool observed in the direct view field of view. (Step S12).
- the image generation unit 44 performs the treatment of the direct view visual field image treatment tool image and the side view visual field image.
- the display magnification of the side-view visual field image is changed vertically and horizontally so that the tip of the tool image substantially coincides (step S13).
- the image generation unit 44 generates an image signal in which the proximal end of the treatment tool image in the direct view visual field image and the distal end of the treatment tool image in the side view visual field image substantially coincide with each other (step S14), and the processing ends. To do.
- the image signal generated in this way is displayed on the monitor 35 via the image output unit 32b.
- the endoscope system 1 detects the deviation between the image of the treatment tool for the direct-view visual field image and the image of the treatment tool for the side-vision visual field image, and the direct-view visual field image or the side view according to the amount of deviation. Only the vicinity of the image of the treatment tool was scaled so that the proximal end of the image of the treatment tool of the direct view visual field image and the distal end of the image of the treatment tool of the side view visual field image were substantially coincident. Thereby, since the image of the treatment tool of the direct view visual field image and the side view visual field image is continuously connected, the visibility and operability of the treatment tool can be improved.
- the same effect as that of the first embodiment is obtained, and only the vicinity of the image of the treatment tool of the direct view visual field image or the side view visual field image is scaled. , It does not affect the displacement of the entire image.
- the configuration of the image processing unit 32a of the present embodiment is the same as the configuration of the image processing unit 32a of the first embodiment shown in FIG. 6, and only processing different from that of the image processing unit 32a of the first embodiment will be described.
- the image movement amount calculation unit 43 detects the proximal end of the treatment tool image 50 in the direct view visual field image and the distal end of the treatment tool image 51 in the side view visual field image, and the proximal end and the distal end substantially coincide with each other. Such an image movement amount is calculated.
- the image generation unit 44 moves the coordinate position of the direct view visual field image or the side view visual field image based on the image movement amount calculated by the image movement amount calculation unit 43.
- 15A and 15B are diagrams illustrating an example of an observation image including an image of a treatment instrument displayed on a monitor.
- the treatment tool image 50 of the direct-view visual field image and the treatment tool image 51 of the side-view visual field image are substantially coincident with each other.
- the image whose coordinates are moved is not limited to the direct view field image, and the coordinates of the side view field image may be moved, or the coordinates of both the direct view field image and the side view field image may be moved. Good.
- FIG. 16 is a flowchart for explaining an example of image processing by the image processing unit of the fourth embodiment.
- FIG. 16 the same processes as those in FIG. In the flowchart of FIG. 16, an example in which the coordinates of the side-view visual field image are moved will be described. However, as described above, the coordinates of the direct-view visual field image may be moved. The coordinates may be moved.
- step S5 when the central axis of the image of the treatment tool observed in the direct visual field is calculated, the image movement amount calculating unit 43 causes the proximal end of the image of the treatment tool in the direct visual field image and the treatment tool of the side visual field image.
- the tip of the image is detected (step S21).
- step S21 the side-view visual field image in which the image movement amount calculation unit 43 substantially matches the proximal end of the treatment instrument image observed in the direct visual field and the distal end of the treatment instrument image observed in the side visual field.
- the movement amount is calculated (step S22).
- the image generation unit 44 performs the treatment of the direct view visual field image treatment tool image and the side view visual field image.
- the coordinates of the side-view visual field image are moved so that the tip of the tool image substantially coincides (step S23).
- the image generation unit 44 generates an image signal in which the proximal end of the treatment tool image of the direct view visual field image and the distal end of the treatment tool image of the side view visual field image substantially coincide with each other (step S24), and the processing ends. To do.
- the image signal generated in this way is displayed on the monitor 35 via the image output unit 32b.
- the endoscope system 1 detects the deviation between the image of the treatment tool for the direct-view visual field image and the image of the treatment tool for the side-vision visual field image, and the direct-view visual field image or the side view according to the amount of deviation.
- the coordinates of the field-of-view image were moved so that the proximal end of the treatment tool image in the direct-view field-of-view image and the distal end of the treatment tool image in the side-view field-of-view image substantially coincided with each other.
- the same effect as that of the first embodiment is obtained, and distortion and viewing are only performed because the coordinates for displaying the direct view visual field image or the side view visual field image are changed. Therefore, the visibility and operability of the treatment tool can be further improved.
- the configuration of the image processing unit 32a of the present embodiment is the same as the configuration of the image processing unit 32a of the third embodiment in FIG. 12, and only processing different from that of the image processing unit 32a of the third embodiment will be described.
- the image enlargement / reduction ratio calculation unit 70 includes a central axis of the treatment tool image 50 of the direct view visual field image recognized by the central axis recognition unit 42 of the treatment tool image and a center of the treatment tool image 51 of the side view visual field image.
- the magnification of the treatment tool image 51 of the side view visual field image is calculated from the axis so as to overlap the central axis of the treatment tool image 50 of the direct view visual field image.
- the image generation unit 44 cuts out only the treatment tool image 51 of the side view field image from the side view field image, and based on the enlargement ratio calculated by the image enlargement / reduction rate calculation unit 70, the treatment tool for the side view field image The image 51 is enlarged.
- FIG. 17A and FIG. 17B are diagrams illustrating an example of an observation image including an image of a treatment instrument displayed on a monitor.
- the treatment tool image 51 of the side view visual field image is enlarged so that the treatment tool image 51 of the side view visual field image overlaps the central axis of the treatment tool image 50 of the direct view visual field image.
- the image of the treatment tool to be enlarged is not limited to the treatment tool image 51 of the side view visual field image, and the treatment tool image 50 of the direct view visual field image may be enlarged, or the treatment tool of the direct view visual field image. Both the image 50 and the image 51 of the treatment tool of the side view image may be enlarged.
- FIG. 18 is a flowchart for explaining an example of image processing by the image processing unit of the fifth embodiment.
- the same processes as those in FIG. 8 are denoted by the same reference numerals and description thereof is omitted.
- FIG. 18 an example of enlarging the image of the treatment tool of the side view visual field image will be described.
- the image of the treatment tool of the direct view visual field image may be enlarged, or the direct view visual field image The image of the treatment tool in the side view image may be enlarged.
- step S5 when the central axis of the image of the treatment instrument observed in the direct visual field is calculated, the image enlargement / reduction ratio calculating unit 70 calculates the central axis of the image of the treatment instrument observed in the direct visual field and the side visual field.
- the magnification ratio of the treatment tool image of the side-view visual field image is calculated so that the treatment tool image observed in (1) overlaps (step S31).
- the image generation unit 44 recognizes only the side view visual field image and cuts out only the image of the treatment tool of the side view visual field image (step S32). Then, the image generation unit 44 enlarges the treatment tool image of the side view visual field image so that the central axis of the treatment tool image of the direct view visual field image overlaps the treatment tool image of the side view visual field image (step S33). ). Finally, the image generation unit 44 generates an image signal in which the central axis of the treatment tool image of the direct-view visual field image and the treatment tool image of the side-view visual field image overlap each other (step S34), and the process ends. The image signal generated in this way is displayed on the monitor 35 via the image output unit 32b.
- the endoscope system 1 detects the deviation between the image of the treatment tool for the direct-view visual field image and the image of the treatment tool for the side-vision visual field image, and the direct-view visual field image or the side view according to the amount of deviation.
- the magnification of the treatment tool image in the visual field image was changed.
- the endoscope system 1 overlaps the central axis of the treatment tool image of the direct-view visual field image with the central axis of the treatment tool image of the direct-view visual field image or the side view.
- the visual field image was overlapped with the image of the treatment tool.
- the same effect as that of the first embodiment is obtained, and the enlargement ratio is changed only for the image portion of the treatment instrument. It is not necessary to perform this process, and the load of image processing can be reduced.
- FIGS. 19A to 19E are diagrams showing examples of screen display when the endoscope system of the second embodiment is applied to the endoscope systems of the third to fifth embodiments. is there.
- FIG. 19A is an example in which the endoscope system 1 of the second embodiment is applied to the endoscope system 1 of the third embodiment.
- the treatment tool image 51 of the side view visual field image 66b is distorted, and the center axis of the treatment tool image 50 of the direct view visual field image 66a and the center of the treatment tool image 51 of the side view visual field image 66b are distorted.
- the axis is substantially aligned.
- FIG. 19B is an example in which the endoscope system 1 of the second embodiment is applied to the endoscope system 1 of the fourth embodiment.
- the coordinate position of the side view visual field image 66b is changed (the side view visual field image 66b is translated), and the proximal end of the treatment tool image 50 of the direct view visual field image 66a and the side view visual field image 66b are changed.
- the distal end of the image 51 of the treatment instrument is substantially matched.
- the side-view visual field image 66b and the area for displaying the side-view visual field image 66b may be simultaneously translated, but the side-view visual field image 66b is not moved without moving the area for displaying the side-view visual field image 66b. It may be set so as to move only in parallel.
- FIG. 19C is an example in which the endoscope system 1 of the second embodiment is applied to the endoscope system 1 of the fifth embodiment. As shown in FIG. 19C, only the treatment tool image 51 in the side view visual field image is enlarged, and the central axis of the treatment tool image 50 in the direct view visual field image 66a and the treatment tool image 51 in the side view visual field image 66b are obtained. It is almost matched.
- FIG. 19D is an example in which the endoscope system 1 according to the second embodiment is applied to the endoscope system 1 in which the third, fourth, and fifth embodiments are combined. This is an example in which an overlapping portion is deleted from an image signal and displayed.
- the parallel movement shown in FIG. 19B may be performed, and the deformation and enlargement processing shown in FIGS. 19A and 19C may be combined with this.
- the video processor 32 deletes the overlapping portion from the image signal and displays it. It may be allowed (see FIG. 19E).
- the mechanism that realizes the function of illuminating and observing the side is provided at the distal end portion 6 of the insertion portion 4 together with the mechanism that realizes the function of illuminating and observing the front.
- the mechanism for realizing the function of illuminating and observing the side may be separated from the insertion portion 4.
- FIG. 20 is a perspective view of the distal end portion 6 of the insertion portion 4 to which a side observation unit is attached.
- the distal end portion 6 of the insertion portion 4 has a front vision unit 100.
- the side viewing unit 110 has a structure that can be attached to and detached from the front viewing unit 100 by a clip portion 111.
- the side view unit 110 has two observation windows 112 for acquiring an image in the left-right direction and two illumination windows 113 for illuminating the left-right direction.
- the video processor 32 or the like obtains an observation image as described in the above-described embodiment by turning on and off each illumination window 113 of the side visual field unit 110 according to the frame rate of the front visual field. Display can be made.
- FIG. 21 is a diagram showing a configuration of a main part in the sixth embodiment.
- the same components as those in FIG. 21 are identical to FIG. 21.
- the video processor 32 is configured by adding a setting storage unit 32c to the video processor of FIG.
- the treatment tool image 50 of the direct view visual field image and the treatment tool image of the side view visual field image were calculated and image correction was performed.
- the treatment tool is projected from the distal end opening 17 after the assembly of the endoscope 2, not during the treatment with the treatment tool, and the treatment tool image of the direct-view visual field image for each endoscope 2 in advance. And the amount of deviation between the side view visual field image and the image of the treatment tool are calculated. And the setting memory
- the image processing unit 32a corrects the direct-view visual field image or the side-view visual field image based on the endoscope information (deviation amount) stored in advance in the setting storage unit 32c during endoscopic observation.
- the endoscope information deviceiation amount
- any one of the image corrections of the above-described embodiments may be used.
- the endoscope system 1 stores the shift amount for each endoscope 2 in advance in the setting storage unit 32c as endoscope information, and performs image correction using the endoscope information.
- the treatment tool image 50 of the direct view visual field image and the treatment tool image 51 of the side view visual field image can be substantially matched.
- the endoscope system 1 performs image correction using the endoscope information stored in advance in the setting storage unit 32c, the endoscope system 1 is in a state where the image of the treatment tool is not recognized, that is, the treatment tool is used. Even in a state where the image is not displayed, the direct-view visual field image and the side-view visual field image in which the shift amount is corrected can be displayed on the monitor 35.
- the direct-view visual field image and the side view that have the same effects as those of the first embodiment and that have corrected the shift amount even when the image of the treatment tool is not recognized.
- a visual field image can be displayed on the monitor 35.
- the image correction may be automatically turned ON or OFF depending on whether or not the treatment instrument is inserted, or a changeover switch or the like may be provided so that the image correction can be turned ON or OFF manually. This switching of image correction can be similarly applied to the above-described first to fifth embodiments.
- each step in the flowchart in the present specification may be executed in a different order for each execution by changing the execution order and performing a plurality of steps at the same time as long as it does not contradict its nature.
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Abstract
Description
まず、図1から図8を用いて第1の実施形態の内視鏡システムの構成について説明する。図1は、第1の実施形態に係る内視鏡システムの構成を示す図であり、図2は、内視鏡の挿入部の先端部の構成を示す斜視図であり、図3は、内視鏡の挿入部の先端部の構成を示す正面図であり、図4は、モニタに表示される観察画像の一例を示す図であり、図5は、第1の実施形態における要部の構成を示す図であり、図6は、第1の実施形態における画像処理部の構成を示す図であり、図7A~図7Eは、モニタに表示される処置具の像を含む観察画像の一例を示す図である。また、図8は、画像処理の一例について説明するためのフローチャートである。
次に、第2の実施形態について説明する。
次に、第3の実施形態について説明する。
次に、第4の実施形態について説明する。
次に、第5の実施の形態について説明する。
次に、第6の実施形態について説明する。
Claims (15)
- 被写体の内部に挿入される挿入部と、
前記挿入部に設けられ、前記被写体の第1の領域から第1の被写体像を取得する第1の被写体像取得部と、
前記挿入部に設けられ、前記第1の領域とは少なくとも一部が異なる前記被写体の第2の領域から第2の被写体像を取得する第2の被写体像取得部と、
前記第1の被写体像に含まれる所定の対象物と、前記第2の被写体像に含まれる前記所定の対象物と、が隣接した位置に配置されるように前記第1の被写体像及び前記第2の被写体像を並べた画像信号を生成する画像信号生成部と、
を備えることを特徴とする内視鏡システム。 - 前記画像信号生成部から出力された、前記第1の被写体像及び前記第2の被写体像を含む画像信号を表示する1つ又は複数の表示部をさらに備えることを特徴とする請求項1に記載の内視鏡システム。
- 前記画像信号生成部は、前記第1の被写体像と前記第2の被写体像とが隣り合うように配置される前記画像信号を生成することを特徴とする請求項2に記載の内視鏡システム。
- 前記画像信号生成部は、前記第1の被写体像に基づく画像信号及び前記第2の被写体像に基づく画像信号の重複する領域を除去した各々の画像信号を前記モニタに出力することを特徴とする請求項3に記載の内視鏡システム。
- 前記画像信号生成部は、前記第1の被写体像に含まれる前記挿入部の先端から突出した処置具の像の中心軸と、前記第2の被写体像に含まれる前記挿入部の先端から突出した前記処置具の像の中心軸とが略一致するように、前記第1の被写体像と前記第2の被写体像との内、少なくともいずれかに対して、配置を変化させた画像信号になるよう、前記画像信号を生成することを特徴とする請求項1に記載の内視鏡システム。
- 前記第1の被写体像は、前記挿入部の長手方向に略平行な挿入部前方を含む前記第1の領域の被写体像であり、
前記第2の被写体像は、前記挿入部の長手方向と交差する方向の挿入部側方を含む前記第2の領域の被写体像であり、
前記第1の被写体像取得部は、前記第1の領域の被写体像を取得する前方画像取得部であり、
前記第2の被写体像取得部は、前記第2の領域の被写体像を取得する側方画像取得部であることを特徴とする請求項1に記載の内視鏡システム。 - 前記画像信号生成部は、前記第1の被写体像と前記第2の被写体像との内、少なくともいずれかを回転移動または平行移動させた前記画像信号を生成することを特徴とする請求項1に記載の内視鏡システム。
- 前記画像信号生成部は、前記第1の被写体像と前記第2の被写体像との内、少なくともいずれかに対し、歪み変形の処理、拡大率の変化の処理、を行った前記画像信号を生成することを特徴とする請求項1に記載の内視鏡システム。
- 前記画像信号生成部は、前記第1の被写体像と前記第2の被写体像との内、少なくともいずれかについて、中心側と周囲側との拡大率を連続的に変化させることにより、前記第1の被写体像の中の前記対象物の外形と、前記第2の被写体像の中の前記対象物の外形とを円滑に接続させた前記画像信号を生成することを特徴とする請求項1に記載の内視鏡システム。
- 前記画像信号生成部は、前記第1の被写体像の中心を基準として、前記第1及び前記第2の被写体像全体の回転方向、平行移動方向の配置、又は、拡大率の内、少なくともいずれかを変化させた前記画像信号を生成することを特徴とする請求項1に記載の内視鏡システム。
- 前記内視鏡システムは、少なくとも前記画像信号を生成する画像処理モードを、以後の使用時に適宜読み出して再設定できるように設定値として記録する設定記録部を更に備えることを特徴とする請求項1に記載の内視鏡システム。
- 前記第2の被写体像取得部は、前記挿入部の周方向に略均等な角度で複数配置されており、
前記画像信号生成部は、前記第1の被写体像を中心に配置し、前記第2の被写体像を前記第1の被写体像の周方向に略均等な角度で複数配置した画像信号を生成することを特徴とする請求項3に記載の内視鏡システム。 - 前記第1の被写体像取得部は、前記挿入部の長手方向先端部に、前記挿入部が挿入される方向に向けて配置され、
前記第2の被写体像取得部は、前記挿入部の側面に、前記挿入部の周方向に向けて配置され、
前記第1の被写体像取得部からの前記第1の被写体像を光電変換する第1の撮像部と、前記第2の被写体像取得部からの前記第2の被写体像を光電変換する第2の撮像部とが別々に設けられるとともに、前記第1の撮像部と前記第2の撮像部とが前記画像信号生成部に電気的に接続されていることを特徴とする請求項1に記載の内視鏡システム。 - 前記第1の被写体像取得部は、前記挿入部の長手方向先端部に、前記挿入部が挿入される方向に配置され、
前記第2の被写体像取得部は、前記挿入部の周方向を囲むように配置され、
前記第1の被写体像取得部からの前記第1の被写体像と前記第2の被写体像取得部からの前記第2の被写体像とを同じ面で光電変換するように配置されるとともに、前記画像信号生成部に電気的に接続されている撮像部を備えることを特徴とする請求項2に記載の内視鏡システム。 - 前記画像信号生成部は、前記第1の被写体像が略円形状になっており、前記第2の被写体像が前記第1の被写体像の周囲を囲む略円環状となっている画像信号を生成することを特徴とする請求項14に記載の内視鏡システム。
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