This application claims benefit of Japanese Application No. 2005-031127, filed Feb. 7, 2005, the contents of which are incorporated by this reference.
1. Field of the Invention
The present invention relates to an endoscope apparatus for capturing a subject by sampling data as an original image at predetermined pixel spacing, and performing a measurement by specifying the feature point on the original image.
2. Description of the Related Art
Recently, an endoscope apparatus is used in various industries, and a measuring endoscope apparatus for measuring, for example, a scratch, a loss, etc, on a machine part is also used. With these endoscope apparatuses, a method for enlarging an original image and specifying a feature point on the enlarged image has been proposed as a technique of a user easily specifying a feature point on an original image.
Japanese Published Patent Application No. H4-332523 proposes a method for enlarging an image and specifying a measurement point on the enlarged image as a technique of specifying a measurement point on an original image. In this method, a pixel corresponding to a measurement point is selected and specified from among the pixels on the enlarged image, and a measurement is made based on the position of the original image corresponding to the specified pixel. Furthermore, the position of the specified measurement point on the original image can be calculated in a unit of a reciprocal of a magnification. Therefore, based on the calculated position, a unit finer than pixel spacing of an original image can be measured based on the calculated position.
For example,
An endoscope apparatus as an aspect of the present invention has a first image generation device for generating a first image by sampling data at predetermined pixel spacing, a second image generation device for generating a second image by performing a predetermined arithmetic operation on the first image, and an image display device for displaying the first and second images, and includes: a position specification device for specifying a predetermined position on the second image; a first specified position travel device for moving the position of a point specified by the position specification device in a unit of pixel spacing of the first image; a second specified position travel device for moving the position of a point specified by the position specification device in a unit smaller than the pixel spacing of the first image; a switch device for switching the operation statuses between the first specified position travel device and the second specified position travel device; and an arithmetic operation device for performing a predetermined arithmetic operation using the position of the point specified by the position specification device.
With the above-mentioned configuration, when a feature point is specified, and when a specified point is to be largely moved on the screen, it is moved with pixel spacing of an original image. When the feature point is specified in more detail, it is moved with pixel spacing finer than the pixel spacing of the original image, thereby efficiently performing an operation in a short time. Furthermore, the switch device can switch the above-mentioned specification, and can efficiently perform a high-precision measurement in a short time.
In addition, the above-mentioned endoscope apparatus comprises a measurement device for performing a measurement by, for example, the arithmetic operation device. Furthermore, for example, the endoscope apparatus comprises a brilliance value/chrominance difference value display device for displaying the brilliance value or the chrominance difference value of the first and second images.
The embodiments of the present invention are explained by referring to the attached drawings.
In the explanation of an embodiment of the present invention, an measuring endoscope apparatus capable of performing the stereometry as an endoscope apparatus is described, and a specified point is a measurement point as a target of the stereometry.
First, a measuring endoscope apparatus 10 comprises: an insertion tube 11 of the endoscope configured such that an optical adapter including the function of performing stereometry as shown in
The configuration of the system of the measuring endoscope apparatus 10 is explained in detail by referring to
The central circuit group loaded into the control unit 12 comprises a CPU 26 for controlling such that various functions can be executed and operated based on the main program as shown in
The RS-232C I/F 29 is connected to the CCU 25, the endoscope unit 24, and the remote controller 13. The remote controller 13 controls and operates the CCU 25 and the endoscope unit 24. The RS-232C I/F 29 is designed to perform necessary communications to control the operation of the CCU 25 and the endoscope unit 24 based on the operation by the remote controller 13.
The USB I/F 31 is an interface for electrical connection between the control unit 12 and a personal computer 21. When the control unit 12 is connected to the personal computer 21 through the USB I/F 31, the personal computer 21 can also control various operations such as issuing an instruction to display an endoscopic image, image processing during measurement in the control unit 12, and can input/output necessary control information, data, etc. for various processes with the personal computer 21.
The PC card I/F 30 is designed such that a PCMCIA memory card 23 and a Compact Flash (R) memory card 22 can be freely connected. That is, when any of the memory cards is inserted, the control unit 12 regenerates data such as the control processing information, image information, etc. stored in the memory card as a recording medium by the control of the CPU 26, fetches the data in the control unit 12 through the PC card I/F 30, or provides the data such as control processing information, image information, etc. for the memory card through the PC card I/F 30, and stores them.
The video signal processing circuit 33 combines the video signal from the CCU 25 with the display signal based on the operation menu generated by the control of the CPU 26 so that a composite image of the endoscopic image provided from the CCU 25 and the operation menu of graphics can be displayed, performs a necessary process to display the composite image on the screen of the LCD 14, and provides the result for the LCD 14. Thus, the LCD 14 displays the composite image of the endoscopic image and the operation menu. The video signal processing circuit 33 can also perform the process of displaying a simple image such as an endoscopic image, an operation menu, etc.
The control unit 12 shown in
The audio signal processing circuit 32 provides an audio signal collected by a microphone 20 and generated, and stored in a recording medium such as a memory card, etc., an audio signal obtained by regeneration by a recording medium such as a memory card, etc., or an audio signal generated by the CPU 26. The audio signal processing circuit 32 performs a necessary process (amplifying process, etc.) for regeneration on the provided audio signal, and outputs it to a speaker 19. Thus, the speaker 19 regenerates the audio signal.
The remote controller 13 comprises a joystick 61, a lever switch 62, a freeze switch 63, a store switch 64, a measurement execution switch 65, a WIDE switch 66 for enlarged display switch, and a TELE switch 67 as shown in
In the remote controller 13, the joystick 61 performs a bending operation on the tip of the endoscope, freely provides an operation instruction at any angle. For example, the switch can be pressed down, and an instruction for a fine adjustment to a bending operation can be issued. The joystick 61 can also be used in specifying a measurement point in the stereometry described later. The lever switch 62 is used in determining an option by moving the pointer and pressing it down when various menu operations and measurements are performed, and is designed to have substantially the same form as the joystick 61.
The freeze switch 63 is used in displaying an image on the LCD 14. The store switch 64 is used when a static image is displayed by pressing the freeze switch 63 and the static image is recorded on the PCMCIA memory card 23 (
An endoscopic image captured by the insertion tube 11 of the endoscope is enlarged or reduced as necessary by the video signal processing circuit 33, and output to the LCD 14 or the external video input terminal 70. The control of the magnification for enlargement or reduction is performed by the WIDE switch 66 for enlarged display switch and the TELE switch 67. The control of the magnification when an enlarged image is displayed during measurement is also performed by the WIDE switch 66 for enlarged display switch and the TELE switch 67.
Next, the configuration of a stereo optical adapter as a type of optical adapter used for the measuring endoscope apparatus 10 according to the present embodiment is explained below by referring to
A pair of illumination windows 36 and two objective lenses 34 and 35 are provided at the tip of the stereo optical adapter 37. The two objective lenses 34 and 35 form two images on the image pickup device 43 arranged in the endoscope end portion 39. Then, a capture signal obtained by the image pickup device 43 is provided for a signal line 43a and the CCU 25 through the endoscope unit 24 shown in
The method for obtaining 3-dimensional coordinates of a measurement point by the stereometry is explained below by referring to
X=t×XR+D/2
Y=t×YR
Z=t×F
where t=D/(XL−XR)
Thus, when the coordinates of the measurement point of an original image are determined, the 3-dimensional coordinates of the measurement point are determined using the known parameters D and F. By obtaining some 3-dimensional coordinates, a measurement can be performed on various targets such as the distance between the two points, the distance between the line connecting the two points and one point, an area, a depth, the shape of a surface, etc.
Relating to the measuring endoscope apparatus with the above-mentioned configuration, the processing operation according to the present embodiment is explained below by referring to
First, when the measurement execution switch 65 provided for the joystick 61 is pressed, the image genareted by sampling in a pixel unit is obtained as an original image in step S001 in the measurement flow shown in
Then, a measurement point is specified in the left image in step S003. The specification of the measurement point is performed in the measurement point specification flow shown in
Then, in step S102, an enlarged image is generated. The generation of the enlarged image is performed according to the flow shown in
When the position of the sampling point of the enlarged area is moved, it is displaced from the position of the sampling operation when the original image is acquired. Therefore, an image is generated by interpolation from the pixel in the original image. The sampling point in this case is defined as a pseudo sampling point, and the image generated in step S601 is defined as a pseudo sampling image.
Then, in step S602, a magnification is set from the number of presses of the WIDE switch 66 for enlarged display switch or the TELE switch 67, and an enlarged image is generated by increasing the number of pixels of the pseudo sampling image by the amount corresponding to the magnification by an interpolating operation. The interpolating method is executed by the nearest neighbor interpolation, the linear interpolation, the bicubic interpolation, etc.
In step S103, the size and the position of the enlarged image are determined and displayed in step S103. The display position can be superposed on the original image. In this case, the display position of the enlarged image is set at a predetermined distance from the enlarged area of the original image, thereby preventing the enlarged area and the vicinity from being lost on the display.
In step S104, a pixel as a specified point is selected in the enlarged image. Then, a cursor indicating the specified point is displayed on the selected pixel. The pixel as a specified point can be at a predetermined fixed position in the enlarged image. On the selected pixel, a cursor indicating a specified point is displayed. The pixel as a specified point can be a predetermined fixed position in the enlarged image.
In step S105, it is determined whether or not a measurement point has been specified by the specified point. If the measurement point has not been specified, control is passed to step S106. If the measurement point has been specified, the lever switch 62 is pressed, and control is passed to step S108.
In step S106, it is determined whether or not the sampling point is moved. If there is a measurement point in the enlarged image, and if it is not necessary to move the sampling point because the sampling point matches the measurement point, then control is passed to step S104, and the displayed measurement point is selected as a specified point. When there is a measurement point in the enlarged image but the sampling point does not match the measurement point, and it is necessary to move the sampling point, or when there is no measurement point in the enlarged image, control is passed to step S107. In step S107, the sampling point is moved so that the measurement point can be specified by the specified point in the enlarged image.
The travel of the sampling point is performed according to the flow shown in
The travel of the sampling point can be performed in the following procedure. That is, each time the joystick 61, the freeze switch 63, etc. is pressed, the unit of the amount of travel of the sampling point is switched to the unit of the pixel spacing of the original image and the unit smaller than the pixel spacing of the original image. Then, using the lever switch 62, the specified point approaches the measurement point. Thus, the switch of the interval of the travel of the specified point can be easily operated in a short time by the pressing the joystick 61 downward.
Then, in step S107, when the position of the sampling point is moved, the enlarged area is moved correspondingly. After the travel of the sampling point, control is passed to step S102, the enlarged image is generated again.
Thus, by switching the unit of the amount of travel of the sampling point, rough and precise travel can be performed, and a measurement point can be specified in a short time.
Then, after the specified point travels to the measurement point by the travel of the sampling point, the sampling point is determined by pressing the lever switch 62 in step S105, and the position of the measurement point in the original image is calculated from the position of the specified point in step S108. The unit of the amount of travel of the sampling point is set as a predetermined unit.
In step S004, the enlarged image at the time when specification is performed in step S003 is superposed on the left image and displayed. In step S005, the corresponding point in the right image corresponding to the measurement point specified in step S003 is searched. The search is performed in the unit smaller than the pixel spacing of the original image in the template matching method on the existing image. Instep S006, the vicinity of the corresponding point in the right image is enlarged as in the enlargement of the left image, and superposed on the right image and displayed.
Then in step S007, it is determined whether or not the position of the measurement point on the left screen is to be amended. If the position of the measurement point on the left screen is to be amended, the lever switch 62 is operated, the icon “←” on the measurement screen is selected, control is returned to step S003, and the measurement point is specified again. On the other hand, if it is not to be amended, control is passed to step S008.
In step S008, it is determined whether or not the position of the corresponding point on the right screen is to be amended. If it is to be amended, the lever switch 62 is operated, the icon “→” on the measurement screen is selected, control is passed to step S010, and the corresponding point is specified in the right image as in the specification of the measurement point in the left image. Then, in step S011, the vicinity of the corresponding point in the right image is display as in the process in step S006.
In the determination in step S007 and S008, the enlarged images of the vicinities of the measurement point of the left image and the corresponding point of the right image are largely displayed respectively on the left and right screens to confirm whether or not the measurement point and the corresponding point have been correctly specified.
In step S008, when the position is not amended, control is passed to step S012, and it is determined whether or not another measurement point is specified. When it is specified, control is returned to step S003. If it is not specified, control is passed to step S013. In this process, a measurement is performed based on the position of the measurement point specified as described above.
In the example of the measurement result shown in
The details of the specification of a measurement point are explained below by referring to an example of an original image shown in
The principle of generating a pseudo sampling point travel image and its enlarged image is explained below by referring to
When the sampling point is moved ⅓ pixel to the right of the original image, the brilliance of the moved sampling point is calculated by the interpolation from the pixel of the original image, and the brilliance of the sampling point travel image is shown in
The principle of generating the enlarged image shown in
As described above, in the enlarged image of a pseudo sampling image, the color of the position of a specified point is definite, but the vicinity is displayed in the color of every second pixel in the original image from the specified point. Therefore, it is easy to discriminate the color of the specified point from the colors of the other points. As a result, a desired point can be easily specified in a unit smaller than the pixel spacing of the original image.
As described above, according to the present embodiment, when a feature point is specified, and when a specified point is to be long moved on the screen, it is moved with pixel spacing of an original image. When the feature point is specified in more details, it can be moved with smaller spacing than the pixel spacing of the original image, and the points can be alternately switched, thereby performing an operation in a short time with high precision. Furthermore, when the same distance as in the conventional method is traveled, the process of regenerating an image can be scaled down if the specified point is moved with pixel spacing of the original image, and the increase in traveling time can be suppressed.
Number | Date | Country | Kind |
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2005-031127 | Feb 2005 | JP | national |