WO2014020943A1

WO2014020943A1 - Endoscope system

Info

Publication number: WO2014020943A1
Application number: PCT/JP2013/060189
Authority: WO
Inventors: 悠次酒井
Original assignee: オリンパスメディカルシステムズ株式会社
Priority date: 2012-07-30
Filing date: 2013-04-03
Publication date: 2014-02-06

Abstract

An endoscope system comprises: an endoscope, further comprising a light-guiding member, and a drive unit which is capable of making the light-guiding member fluctuate such that a projection location of illumination light which is projected through the light-guiding member traces a trajectory corresponding to a prescribed scan pattern; a coordinate information acquisition unit which acquires coordinate information, whereby it is possible to detect the projection location of the illumination light which is projected from the endoscope; a determination unit which determines whether a projection range of the illumination light which is projected from the endoscope satisfies a prescribed angle of view; a comparison unit; and a control unit which, if the projection range of the illumination light does not satisfy the prescribed angle of view, adjusts drive signals which are supplied to the drive unit, and if the projection range of the illumination light does satisfy the prescribed angle of view, detects a degree of deviation between the trajectory of the projection location along the prescribed scan pattern, and the trajectory which is traced by the projection location which is detected on the basis of the coordinate information.

Description

Endoscope system

The present invention relates to an endoscope system, and more particularly to an endoscope system that acquires an image by scanning a subject.

In endoscopes in the medical field, various techniques have been proposed for reducing the diameter of an insertion portion that is inserted into a body cavity of a subject in order to reduce the burden on the subject. As an example of such a technique, there is an optical scanning endoscope that does not have a solid-state imaging device in a portion corresponding to the above-described insertion portion, and a system that includes the optical scanning endoscope. Are known.

Specifically, in the system including the above-described optical scanning endoscope, for example, a subject is set in advance by swinging the tip of an illumination fiber that guides illumination light emitted from a light source unit. Obtained by separating the return light received by the light receiving fiber for each color component. An image of the subject is generated using the signal.

On the other hand, as a calibration method applicable to a system having the above-described configuration, for example, a calibration method disclosed in Japanese National Publication No. 2010-515947 is known.

Specifically, Japanese National Table of Contents 2010-515947 discloses a multicolor image of a multicolor calibration pattern using a scanning beam device, each color component of the acquired multicolor image, and each color component. A calibration method is disclosed in which the scanning beam device is calibrated based on the comparison result by comparing the color components of the display of the multicolor calibration pattern corresponding to.

By the way, according to the system having the above-described configuration, for example, the irradiation position of the illumination light actually irradiated to the subject is shifted from the (ideal) irradiation position along a predetermined scanning pattern. This may cause distortion in the image generated in response to the illumination light irradiation.

However, according to Japanese National Publication No. 2010-515947, a specific method for calibrating image distortion caused by the above-described factors (for example, which driving parameter in the scanning beam apparatus should be changed and how should it be changed). As a result, there is a problem that image distortion caused by the above-described factors cannot be calibrated sufficiently.

The present invention has been made in view of the above-described circumstances, and an object thereof is to provide an endoscope system capable of accurately calibrating distortion of an image acquired using a scanning endoscope. It is said.

According to an endoscope system of one embodiment of the present invention, a light guide member that guides illumination light emitted from a light source, and an irradiation position of the illumination light that is irradiated to a subject through the light guide member correspond to a predetermined scanning pattern. An endoscope provided with a drive unit capable of swinging the light guide member so as to draw a trajectory, and coordinate information capable of detecting the irradiation position of the illumination light emitted from the endoscope The coordinate information acquisition unit for acquiring the illumination light, the irradiation position when the illumination light is irradiated along the predetermined scanning pattern, and the irradiation position of the illumination light detected based on the coordinate information are compared. Based on the comparison result of the comparison unit, the comparison unit, a determination unit that determines whether or not the irradiation range of the illumination light irradiated from the endoscope satisfies a predetermined angle of view, and the illumination light Determination result that the irradiation range does not satisfy the predetermined angle of view In the case of being obtained by the determination unit, control for adjusting a drive signal supplied to the drive unit is performed, and a determination result that the irradiation range of the illumination light satisfies the predetermined angle of view is the determination unit. In the case of the above, a process for detecting a deviation amount between the locus of the irradiation position along the predetermined scanning pattern and the locus drawn by the irradiation position detected based on the coordinate information. And a control unit for performing.

The figure which shows the structure of the principal part of the endoscope system which concerns on the Example of this invention. The figure which shows an example of the virtual XY plane set to the surface of a to-be-photographed object. The figure which shows an example of the signal waveform of the 1st drive signal supplied to the actuator provided in the endoscope. The figure which shows an example of the signal waveform of the 2nd drive signal supplied to the actuator provided in the endoscope. The figure for demonstrating the time displacement of the irradiation coordinate of the illumination light from the point SA to the point YMAX when illumination light is irradiated to the virtual XY plane like FIG. The figure for demonstrating the time displacement of the irradiation coordinate of the illumination light from the point YMAX to the point SA when illumination light is irradiated to the virtual XY plane like FIG. The flowchart which shows an example of the process etc. which are performed by the endoscope system which concerns on the Example of this invention. The figure which shows an example of the shift | offset | difference which arises between the irradiation range of an ideal illumination light, and the irradiation range of an actual illumination light. The figure which shows an example of the shift | offset | difference which arises between the locus | trajectory of the irradiation position of ideal illumination light, and the locus | trajectory of the irradiation position of actual illumination light.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 8 relate to an embodiment of the present invention. FIG. 1 is a diagram illustrating a configuration of a main part of an endoscope system according to an embodiment of the present invention.

For example, as shown in FIG. 1, an endoscope system 1 includes a scanning endoscope 2 that is inserted into a body cavity of a subject, a main body device 3 that is connected to the endoscope 2, and a main body device 3. And a monitor 4 connected to the.

The endoscope 2 includes an insertion portion 11 formed with an elongated shape and flexibility that can be inserted into a body cavity of a subject. In addition, a connector (not shown) or the like for detachably connecting the endoscope 2 to the main body device 3 is provided at the proximal end portion of the insertion portion 11.

An illumination fiber having a function as a light guide member for guiding the illumination light supplied from the light source unit 21 of the main body device 3 to the objective optical system 14 is provided in a portion from the proximal end portion to the distal end portion in the insertion portion 11. 12 and a light receiving fiber 13 that receives the return light from the subject and guides it to the detection unit 23 of the main body device 3 are respectively inserted.

The end including the light incident surface of the illumination fiber 12 is disposed in a multiplexer 32 provided inside the main unit 3. Further, the end portion including the light emission surface of the illumination fiber 12 is disposed in a state in which it is not fixed by a fixing member or the like in the vicinity of the light incident surface of the lens 14 a provided at the distal end portion of the insertion portion 11.

The end including the light incident surface of the light receiving fiber 13 is fixedly disposed around the light emitting surface of the lens 14 b at the distal end surface of the distal end portion of the insertion portion 11. Further, the end including the light emitting surface of the light receiving fiber 13 is disposed in a duplexer 36 provided inside the main body device 3.

The objective optical system 14 includes a lens 14a into which illumination light from the illumination fiber 12 is incident, and a lens 14b that emits illumination light that has passed through the lens 14a to a subject.

An actuator 15 that is driven based on a drive signal output from the driver unit 22 of the main body device 3 is attached to the middle portion of the illumination fiber 12 on the distal end side of the insertion portion 11.

Hereafter, an XY plane as shown in FIG. 2 is used as a virtual plane perpendicular to the insertion axis corresponding to the longitudinal axis of the insertion portion 11 (or the optical axis of the objective optical system 14). The explanation will be made with reference to the case of setting the surface. FIG. 2 is a diagram illustrating an example of a virtual XY plane set on the surface of the subject.

Specifically, the point SA on the XY plane in FIG. 2 is the insertion axis when the insertion axis of the insertion unit 11 is virtually set to exist in the direction corresponding to the back side from the front side of the page. It shows the intersection with the page. Further, the X-axis direction on the XY plane in FIG. 2 is set as a direction from the left side to the right side of the drawing. Further, the Y-axis direction in the XY plane of FIG. 2 is set as a direction from the lower side to the upper side of the drawing. Further, the X axis and the Y axis constituting the XY plane of FIG. 2 intersect at the point SA.

The actuator 15 is based on the first drive signal output from the driver unit 22 of the main unit 3 and operates for swinging the end including the light emitting surface of the illumination fiber 12 in the X-axis direction. Based on an actuator (not shown) and a second drive signal output from the driver unit 22 of the main unit 3, the end including the light emitting surface of the illumination fiber 12 is swung in the Y-axis direction. And a Y-axis actuator (not shown). The end including the light exit surface of the illumination fiber 12 is swung in a spiral shape around the point SA in accordance with the operations of the X-axis actuator and the Y-axis actuator as described above.

Inside the insertion unit 11 is provided a memory 16 in which endoscope information including various information related to the endoscope 2 is stored in advance. The endoscope information stored in the memory 16 is read by the controller 25 of the main body device 3 when the endoscope 2 and the main body device 3 are connected.

On the other hand, the main unit 3 includes a light source unit 21, a driver unit 22, a detection unit 23, a memory 24, and a controller 25.

The light source unit 21 includes a light source 31a, a light source 31b, a light source 31c, and a multiplexer 32.

The light source 31 a includes, for example, a laser light source and the like, and is configured to emit red wavelength band light (hereinafter also referred to as R light) to the multiplexer 32 when turned on under the control of the controller 25. Yes.

The light source 31b includes a laser light source, for example, and is configured to emit light in a green wavelength band (hereinafter also referred to as G light) to the multiplexer 32 when turned on under the control of the controller 25. Yes.

The light source 31c includes, for example, a laser light source, and is configured to emit light in a blue wavelength band (hereinafter also referred to as B light) to the multiplexer 32 when turned on under the control of the controller 25. Yes.

The multiplexer 32 multiplexes the R light emitted from the light source 31a, the G light emitted from the light source 31b, and the B light emitted from the light source 31c onto the light incident surface of the illumination fiber 12. It is configured so that it can be supplied.

The driver unit 22 includes a signal generator 33, digital / analog (hereinafter referred to as D / A) converters 34a and 34b, and an amplifier 35.

Based on the control of the controller 25, the signal generator 33 is a predetermined drive signal as shown in FIG. 3, for example, as a first drive signal for swinging the end including the light emitting surface of the illumination fiber 12 in the X-axis direction. A waveform signal is generated and output to the D / A converter 34a. FIG. 3 is a diagram illustrating an example of a signal waveform of a first drive signal supplied to an actuator provided in the endoscope.

Further, the signal generator 33 is based on the control of the controller 25, for example, as shown in FIG. 4, as a second drive signal for swinging the end including the light emitting surface of the illumination fiber 12 in the Y-axis direction. A signal having a waveform in which the phase of the first drive signal is shifted by 90 ° is generated and output to the D / A converter 34b. FIG. 4 is a diagram illustrating an example of a signal waveform of a second drive signal supplied to an actuator provided in the endoscope.

The D / A converter 34 a is configured to convert the digital first drive signal output from the signal generator 33 into an analog first drive signal and output the analog first drive signal to the amplifier 35.

The D / A converter 34 b is configured to convert the digital second drive signal output from the signal generator 33 into an analog second drive signal and output the analog second drive signal to the amplifier 35.

The amplifier 35 is configured to amplify the first and second drive signals output from the D / A converters 34 a and 34 b and output the amplified signals to the actuator 15.

Here, the amplitude value (signal level) of the first drive signal illustrated in FIG. 3 gradually increases from the time T1 at which the minimum value is reached, and gradually decreases after reaching the maximum value at time T2. At time T3, it becomes the minimum value again.

In addition, the amplitude value (signal level) of the second drive signal illustrated in FIG. 4 gradually increases from the time T1 at which the minimum value is reached, and gradually decreases after reaching the maximum value near the time T2. Then, it becomes the minimum value again at time T3.

Then, the first drive signal as shown in FIG. 3 is supplied to the X-axis actuator of the actuator 15, and the second drive signal as shown in FIG. 4 is supplied to the Y-axis actuator of the actuator 15. Then, the end including the light exit surface of the illumination fiber 12 is swung in a spiral shape around the point SA, and the surface of the subject is swirled as shown in FIGS. 5A and 5B according to such a swing. Scanned. FIG. 5A is a diagram for explaining temporal displacement of illumination light irradiation coordinates from point SA to point YMAX when illumination light is irradiated on a virtual XY plane as shown in FIG. is there. FIG. 5B is a diagram for explaining temporal displacement of illumination light irradiation coordinates from point YMAX to point SA when illumination light is irradiated onto a virtual XY plane as shown in FIG. is there.

Specifically, at time T1, illumination light is applied to a position corresponding to the point SA on the surface of the subject. Thereafter, as the amplitude values of the first and second drive signals increase from time T1 to time T2, the irradiation coordinates of the illumination light on the surface of the subject follow the first spiral locus outward from the point SA. When it is displaced as drawn and further reaches time T2, illumination light is irradiated to a point YMAX that is the outermost point of the illumination light irradiation coordinates on the surface of the subject. Then, as the amplitude values of the first and second drive signals decrease from time T2 to time T3, the illumination light irradiation coordinates on the surface of the subject have a second spiral trajectory inward starting from the point YMAX. When it is displaced as drawn and further reaches time T3, illumination light is irradiated to the point SA on the surface of the subject.

That is, the actuator 15 has a spiral in which the irradiation position of the illumination light applied to the subject through the objective optical system 14 is illustrated in FIGS. 5A and 5B based on the first and second drive signals supplied from the driver unit 22. The end portion including the light emitting surface of the illumination fiber 12 can be swung so as to draw a locus corresponding to the scanning pattern.

On the other hand, the detection unit 23 includes a duplexer 36, detectors 37a, 37b, and 37c, and analog-digital (hereinafter referred to as A / D) converters 38a, 38b, and 38c.

The demultiplexer 36 includes a dichroic mirror and the like, and separates the return light emitted from the light emitting surface of the light receiving fiber 13 into light for each of R (red), G (green), and B (blue) color components. And it is comprised so that it may radiate | emit to the detectors 37a, 37b, and 37c.

The detector 37a detects the intensity of the R light output from the duplexer 36, generates an analog R signal corresponding to the detected intensity of the R light, and outputs the analog R signal to the A / D converter 38a. It is configured.

The detector 37b detects the intensity of the G light output from the duplexer 36, generates an analog G signal corresponding to the detected intensity of the G light, and outputs the analog G signal to the A / D converter 38b. It is configured.

The detector 37c detects the intensity of the B light output from the duplexer 36, generates an analog B signal according to the detected intensity of the B light, and outputs the analog B signal to the A / D converter 38c. It is configured.

The A / D converter 38a is configured to convert the analog R signal output from the detector 37a into a digital R signal and output it to the controller 25.

The A / D converter 38b is configured to convert the analog G signal output from the detector 37b into a digital G signal and output it to the controller 25.

The A / D converter 38c is configured to convert the analog B signal output from the detector 37c into a digital B signal and output it to the controller 25.

The memory 24 stores a control program for controlling the main device 3 in advance, and stores image correction information obtained as a result of processing by the controller 25. Details of such image correction information will be described later.

Further, in the memory 24, the coordinate position corresponding to the point SA is the time at which the illumination light is irradiated to an arbitrary coordinate position on the ideal (spiral) scanning pattern as illustrated in FIGS. 5A and 5B. After the time T1 when the illumination light is irradiated to the coordinate position corresponding to the point YMAX from the time T1 when the illumination light is irradiated at (0,0), the coordinate position (0,0) corresponding to the point SA again. Table data TBD that can specify which time of the period up to time T3 when the illumination light is irradiated is stored in advance.

That is, in the memory 24, the irradiation position (coordinate position) when the illumination light supplied from the light source unit 21 is irradiated along an ideal (spiral) scanning pattern as shown in FIGS. 5A and 5B. Table data TBD indicating a correspondence relationship with the irradiation time (elapsed time) is stored in advance.

The table data TBD is configured as data corresponding to each wavelength band light (R light, G light, and B light) supplied from the light source unit 21, for example.

The controller 25 is configured to read a control program stored in the memory 24 and to control the light source unit 21 and the driver unit 22 based on the read control program.

The controller 25 operates so as to store the endoscope information output from the memory 16 in the memory 24 when the insertion unit 11 is connected to the main body device 3.

The controller 25 is configured to generate an image for one frame based on the R signal, the G signal, and the B signal output from the detection unit 23 in a period corresponding to the time T1 to the time T2. Further, the controller 25 is configured to generate an image for one frame based on the R signal, the G signal, and the B signal output from the detection unit 23 during a period corresponding to the time T2 to the time T3.

Further, when image correction information is stored in the memory 24, the controller 25 performs an image correction process based on the image correction information on the image of each frame, and a corrected image obtained by performing the image correction process. Is displayed on the monitor 4 at a predetermined frame rate.

On the other hand, the controller 25 performs processing described later based on the table data TBD stored in the memory 24 and information on the coordinate position output from the light irradiation coordinate detection module 101 (hereinafter also referred to as coordinate information). The image correction information is acquired by the operation, and the acquired image correction information is stored in the memory 24. The controller 25 is configured to be able to at least temporarily hold coordinate information output from the light irradiation coordinate detection module 101.

Here, the light irradiation coordinate detection module 101 having a function as a coordinate information acquisition unit includes a position detection element (PSD) and receives illumination light emitted through the objective optical system 14. The position at the time is detected, and the detected position is output as coordinate information.

In the light irradiation coordinate detection module 101 of this embodiment, the coordinate position of the point SA on the XY plane exemplified in FIGS. 2, 5A and 5B is set in advance to be (0, 0). Shall. That is, the coordinate information output from the light irradiation coordinate detection module 101 is a relative coordinate position based on the coordinate position (0, 0) of the point SA on the XY plane illustrated in FIGS. 2, 5A, and 5B. It is information which shows.

Therefore, the controller 25 determines the irradiation position of the illumination light irradiated in a spiral shape from the endoscope 2 based on the coordinate information output from the light irradiation coordinate detection module 101 having the configuration as described above (coordinates). As position).

Subsequently, the operation of the endoscope system 1 having the configuration as described above will be described. In the following, for the sake of simplicity, a case will be described in which the light irradiation coordinate detection module 101 is irradiated with G light along a scanning pattern as shown in FIG. 5A.

First, the surgeon or the like connects the endoscope 2 and the monitor 4 to the main body device 3, arranges the light irradiation coordinate detection module 101 at a position facing the distal end surface of the endoscope 2, and further, the light irradiation coordinates. The coordinate information output from the detection module 101 is set to be input to the controller 25 of the main device 3.

Thereafter, when the power of each unit of the endoscope system 1 is turned on, the endoscope information stored in the memory 16 of the insertion unit 11 is read by the controller 25, and the read endoscope information is stored in the memory 24. Stored in

On the other hand, the controller 25 controls the light source unit 21 to switch the light source 31b from OFF to ON while turning off the

light sources

31a and 31c at a timing immediately after the endoscope information read from the memory 16 is stored in the memory 24. In addition, the driver unit 22 is controlled to output the first and second drive signals to the actuator 15. Then, under such control of the controller 25, the G light is irradiated on the surface of the light irradiation coordinate detection module 101, and coordinate information corresponding to the position where the G light is received is sequentially output from the light irradiation coordinate detection module 101.

Here, processing relating to acquisition of image correction information and the like will be described mainly with reference to FIGS. FIG. 6 is a flowchart illustrating an example of processing performed by the endoscope system according to the embodiment of the present invention.

First, by referring to the table data TBD, the controller 25 selects a coordinate position corresponding to one or more predetermined irradiation times included in the table data TBD from the coordinate information output from the light irradiation coordinate detection module 101. The extraction process is performed (step S1 in FIG. 6).

Specifically, for example, the controller 25 monitors the signal waveforms of the first and second drive signals output from the driver unit 22 before performing the process of step S1 in FIG. By setting the time T1 at the timing when the amplitude value (signal level) of the signal waveform of the signal becomes the minimum, and referring to the table data TBD based on the set time T1, it corresponds to the point XMAX in FIG. 5A. The time TXMAX when the position is irradiated with illumination light, the time TYMIN where the position corresponding to the point YMIN in FIG. 5A is irradiated with the illumination light, and the time TXMIN where the position corresponding to the point XMIN in FIG. 5A is irradiated with the illumination light Then, a time T2 at which illumination light is irradiated to a position corresponding to the point YMAX in FIG. 5A is detected. The controller 25 receives from the coordinate information output from the light irradiation coordinate detection module 101 the coordinate position XA indicating the position where the G light is actually received at the time TXMAX, and the G light is actually received at the time TYMIN. A coordinate position YB indicating the received position, a coordinate position XB indicating the position where the G light is actually received at time TXMIN, and a coordinate position YA indicating the coordinate position where the illumination light is actually received at time TYMAX, respectively. Extract.

That is, according to the above processing given as a specific example of step S1 in FIG. 6, based on the table data TBD stored in the memory 24, the light irradiation coordinate detection module 101 as the subject is actually irradiated with G light. Coordinate positions XA, XB, YA and YB corresponding to the four irradiation positions located on the outermost periphery of the spiral scanning pattern can be extracted from each irradiation position at the time.

Next, the controller 25 performs a process of comparing each coordinate position extracted in step S1 of FIG. 6 with the coordinate position of the table data TBD corresponding to the predetermined one or more irradiation times (FIG. 6). After step S2), based on the comparison result, whether or not the irradiation range of G light irradiated to the light irradiation coordinate detection module 101 satisfies a predetermined angle of view intended when the endoscope 2 is designed. Is performed (step S3 in FIG. 6). The predetermined angle of view substantially coincides with the illumination light irradiation range when the illumination light having passed through the objective optical system 14 is irradiated along an ideal scanning pattern as shown in FIG. 5A (and FIG. 5B). It is assumed that the value is 90 degrees (for example).

By the way, even when the first and second drive signals having ideal signal waveforms as shown in FIGS. 3 and 4 are supplied from the driver unit 22, for example, the X axis of the actuator 15 is used. The end including the light exit surface of the illumination fiber 12 is not accurately oscillated due to the waveform distortion or the like generated during the oscillating operation in the actuator for the Y axis and the actuator for the Y axis, and is irradiated through the objective optical system 14 The situation where the irradiation position of the illumination light to be deviated from the ideal scanning pattern occurs.

In particular, at the timing of performing the process of step S3 in FIG. 6, for example, the locus of the ideal G light irradiation position obtained by arranging the coordinate positions of the table data TBD stored in advance in the memory 24 in chronological order. Between the corresponding irradiation range and the irradiation range according to the locus of the actual G light irradiation position obtained by arranging the coordinate positions included in the coordinate information output from the light irradiation coordinate detection module 101 in time series. A shift as shown in FIG. 7 may occur. FIG. 7 is a diagram illustrating an example of a deviation that occurs between an ideal illumination light irradiation range and an actual illumination light irradiation range.

Specifically, according to the locus of the actual irradiation position drawn by the dotted line in FIG. 7, the coordinate positions XA and XB extracted in step S1 of FIG. 6 are the ideal irradiation drawn by the solid line in FIG. The coordinate positions YA and YB extracted in step S1 in FIG. 6 are the ideal irradiation positions drawn by solid lines in FIG. 7 while matching the coordinate positions of the points XMAX and XMIN included in the position locus. There is a deviation that the coordinate positions of the point YMAX and the point YMIN included in the trajectory are not coincident.

That is, for example, the controller 25 compares the coordinate position XA and the coordinate position of the point XMAX based on each coordinate position extracted in step S1 of FIG. 6 and the coordinate position of the table data TBD stored in the memory 24. The process of comparing the coordinate position YB and the coordinate position of the point YMIN, comparing the coordinate position XB and the coordinate position of the point XMIN, and comparing the coordinate position YA and the coordinate position of the point YMAX is shown in FIG. By performing in step S2, it is possible to detect a deviation between the ideal G light irradiation position and the actual G light irradiation position at the four irradiation positions located on the outermost periphery of the spiral scanning pattern. it can.

Further, for example, based on the comparison result obtained in step S2 of FIG. 6, the controller 25 matches the coordinate position XA and the coordinate position of the point XMAX, and the coordinate position YB and the coordinate position of the point YMIN match. A process of detecting whether or not the coordinate position XB and the coordinate position of the point XMIN coincide and the coordinate position YA and the coordinate position of the point YMAX coincide is performed in step S3 in FIG. It is possible to detect whether or not the ideal G light irradiation positions at the four irradiation positions located on the outermost periphery of the scanning pattern coincide with the actual G light irradiation positions.

In step S3 in FIG. 6, for example, the controller 25 determines that the coordinate position XA and the coordinate position of the point XMAX do not match, the coordinate position YB and the coordinate position of the point YMIN do not match, the coordinate position XB and the point XMIN When it is detected that the coordinate position does not match or the coordinate position YA does not match the coordinate position of the point YMAX, the irradiation range of the G light irradiated to the light irradiation coordinate detection module 101 is determined. Control for adjusting the first and / or second drive signals supplied to the actuator 15 after obtaining the determination result that the predetermined angle of view intended at the time of designing the endoscope 2 is not satisfied Is performed on the driver unit 22 (step S4 in FIG. 6).

Specifically, the controller 25, based on the processing results of step S2 and step S3 in FIG. 6, for example, as shown in FIG. 7, compared to the Y coordinate value of the coordinate position corresponding to the point YMAX, When the value is small and it is detected that the Y coordinate value of the coordinate position YB is larger than the Y coordinate value of the coordinate position corresponding to the point YMIN, the amplitude of the second drive signal supplied to the actuator 15 The driver unit 22 is controlled to increase the value (signal level) from the current amplitude value (signal level).

According to the present embodiment, control that increases or decreases the amplitude value (signal level) of the drive signal supplied to the actuator 15 from the current amplitude value (signal level) is performed in step S4 in FIG. For example, the control for changing the phase of at least one of the drive signals so that the phase difference between the first and second drive signals supplied to the actuator 15 is 90 ° is performed in step S4 of FIG. It may be performed.

In step S3 of FIG. 6, the controller 25, for example, matches the coordinate position XA and the coordinate position of the point XMAX, matches the coordinate position YB and the coordinate position of the point YMIN, and sets the coordinate position XB and the point XMIN. By detecting that the coordinate position matches, and that the coordinate position YA and the coordinate position of the point YMAX match, respectively, the irradiation range of the G light irradiated to the light irradiation coordinate detection module 101 is determined by the endoscope. The processing from step S1 to step S4 in FIG. 6 is repeated until a determination result that the predetermined angle of view intended at the time of design 2 is satisfied is obtained.

Then, in step S3 in FIG. 6, the controller 25 determines the determination result that the irradiation range of the G light irradiated to the light irradiation coordinate detection module 101 satisfies a predetermined angle of view intended when the endoscope 2 is designed. If obtained, the processing after step S5 in FIG. 6 is performed while maintaining the control performed on the driver unit 22 at the timing when the determination result is obtained.

In addition, the process from step S1 of FIG. 6 to S4 is not restricted to the case where G light is irradiated with respect to the light irradiation coordinate detection module 101, R light or B light was irradiated with respect to the light irradiation coordinate detection module 101 Even in this case, it can be implemented in substantially the same manner.

On the other hand, the controller 25 performs a process of extracting coordinate positions corresponding to each irradiation position for one frame from the coordinate information output from the light irradiation coordinate detection module 101 (step S5 in FIG. 6).

Further, the controller 25 responds to the return light received with the G light irradiation to the subject based on each coordinate position extracted in step S5 of FIG. 6 and the table data TBD stored in the memory 24. A process for acquiring G image correction information used for correcting the G image generated in this way is performed (step S6 in FIG. 6).

Here, at the timing of performing the process of step S6 in FIG. 6, for example, the locus of the ideal G light irradiation position obtained by arranging the coordinate positions of the table data TBD stored in advance in the memory 24 in time series order. 8 and the actual locus of the G light irradiation position obtained by arranging the coordinate positions included in the coordinate information output from the light irradiation coordinate detection module 101 in chronological order, as shown in FIG. obtain. FIG. 8 is a diagram illustrating an example of a deviation that occurs between the locus of the ideal illumination light irradiation position and the locus of the actual illumination light irradiation position.

Specifically, according to the locus of the actual irradiation position drawn in dotted lines in FIG. 8, at least a part of the irradiation position in the illumination range that satisfies a predetermined angle of view intended when the endoscope 2 is designed There is a deviation in that the locus does not coincide with the locus of the ideal irradiation position drawn by a solid line in FIG.

That is, in step S6 of FIG. 6, the controller 25 includes, for example, the positional deviation amount GZL between the coordinate position extracted in step S5 of FIG. 6 and the coordinate position of the table data TBD in the table data TBD. By calculating for each irradiation time, it is possible to detect a shift amount between the locus of the ideal G light irradiation position and the locus of the actual G light irradiation position.

Furthermore, the controller 25 performs, for example, interpolation processing based on each displacement amount GZL calculated as described above, and is generated according to the return light received as the subject is irradiated with the G light. G image correction information including a correction amount for correcting a positional shift of all the pixels of the G image can be acquired.

Note that, according to the present embodiment, a process of detecting a deviation amount between the locus of the ideal irradiation position and the locus of the actual irradiation position, and acquiring image correction information based on the detected deviation amount. As shown in FIG. 6, the process is not limited to the process of steps S <b> 5 and S <b> 6, and other processes may be performed.

On the other hand, the controller 25 stores the G image correction information acquired in step S6 in FIG. 6 in the memory 24, and then performs an image correction process based on the G image correction information on the G image (step S7 in FIG. 6). .

Then, by applying the same processing as the processing from step S5 to step S7 in FIG. 6 when the light irradiation coordinate detection module 101 is irradiated with the R light, the subject is irradiated with the R light. R image correction information including a correction amount for correcting the positional deviation of all the pixels of the R image generated according to the received return light is acquired, and an image based on the acquired R image correction information Correction processing is performed on the R image.

Further, by applying the same processing as the processing from step S5 to step S7 in FIG. 6 when the light irradiation coordinate detection module 101 is irradiated with the B light, the subject is irradiated with the B light. B image correction information including a correction amount for correcting the positional deviation of all the pixels of the B image generated according to the received return light is acquired, and an image based on the acquired B image correction information. Correction processing is performed on the B image.

That is, by performing the image correction processing based on the R image correction information, the G image correction information, and the B image correction information as described above, the ideal illumination light irradiation position and the actual illumination light irradiation position are determined. It is possible to generate a corrected image in which the distortion of the image caused by the shift between the two is sufficiently corrected and display it on the monitor 4. As a result, according to the present embodiment, it is possible to accurately calibrate the distortion of an image acquired using a scanning endoscope.

Note that the series of processes in FIG. 6 is not limited to the process performed when the G light is irradiated along the scanning pattern as shown in FIG. 5A, but, for example, along the scanning pattern as shown in FIG. 5B. It may be performed when G light is irradiated.

The present invention is not limited to the above-described embodiments, and it is needless to say that various modifications and applications can be made without departing from the spirit of the invention.

This application is filed on the basis of the priority claim of Japanese Patent Application No. 2012-168533 filed in Japan on July 30, 2012, and the above disclosure is disclosed in the present specification, claims, It shall be cited in the drawing.

Claims

The light guide member that guides the illumination light emitted from the light source, and the light guide member is shaken so that the irradiation position of the illumination light applied to the subject through the light guide member draws a locus corresponding to a predetermined scanning pattern. An endoscope provided with a drive unit capable of moving;
A coordinate information acquisition unit that acquires coordinate information capable of detecting the irradiation position of the illumination light emitted from the endoscope;
A comparison unit that compares an irradiation position when the illumination light is irradiated along the predetermined scanning pattern and an irradiation position of the illumination light detected based on the coordinate information;
A determination unit configured to determine whether an irradiation range of the illumination light irradiated from the endoscope satisfies a predetermined angle of view based on a comparison result of the comparison unit;
When the determination unit obtains a determination result that the illumination light irradiation range does not satisfy the predetermined angle of view, the illumination unit performs control for adjusting a drive signal supplied to the drive unit, and When the determination result that the light irradiation range satisfies the predetermined angle of view is obtained by the determination unit, it is detected based on the locus of the irradiation position along the predetermined scanning pattern and the coordinate information. A control unit that performs processing for detecting a shift amount between the locus drawn by the irradiation position, and
An endoscope system comprising:
The trajectory according to the predetermined scanning pattern is a spiral trajectory centered on the insertion axis of the endoscope,
The comparison unit includes an irradiation position when the illumination light is irradiated along the spiral locus at one or more predetermined positions located on the outermost periphery of the spiral locus, and the coordinate information. The endoscope system according to claim 1, wherein a comparison is made as to whether or not the irradiation position detected on the basis matches.
The determination unit includes an irradiation position when the illumination light is irradiated along the spiral trajectory at all of the one or more predetermined positions, and an irradiation position detected based on the coordinate information. When the comparison unit obtains a comparison result indicating that they match, the determination result that the irradiation range of the illumination light emitted from the endoscope satisfies the predetermined angle of view is obtained. The endoscope system according to claim 2.
The determination unit includes an irradiation position when the illumination light is irradiated along the spiral trajectory at any one of the predetermined one or more positions, and an irradiation position detected based on the coordinate information. And when the comparison unit obtains a comparison result that does not match, the determination result that the irradiation range of the illumination light emitted from the endoscope does not satisfy the predetermined angle of view. And when the determination result that the illumination light irradiation range does not satisfy the predetermined angle of view is obtained by the determination unit, the control unit applies the drive unit to the drive unit based on the comparison result of the comparison unit. The endoscope system according to claim 2, wherein control is performed to change the amplitude or phase of the supplied drive signal.
The control unit acquires image correction information including a correction amount for correcting a positional shift of all pixels of an image generated in response to irradiation of the illumination light to the subject based on the shift amount, The endoscope system according to claim 1, further comprising performing an image correction process based on the acquired image correction information on the image.