JP2006055291A - Display control unit for stereo endoscope - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a display control unit for a stereo endoscope which has a wide application range and can execute an image display which is suitable for the stereoscopic observation. <P>SOLUTION: Left and right image signals Vl and Vr which are respectively captured by image pickup devices disposed at left and right sides of the stereo endoscope and generated by a signal processor are converted to digital signals by A/D converters 31L and 31R and stored in image memories 33L and 33R. A CPU (control processing unit) 38 moves display positions of the left and right images displayed by left and right image display devices to appropriate positions by changing a timing of the reading out in a horizontal direction from the image memories 33L and 33R when a visual point mode is changed to an anomalistic side, or the like, by an operation of an operation switch 39 and controls to mask a discordant range which is not displayed in common so that the image display which is suitable for the stereoscopic observation is executed. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a stereoscopic endoscope display control apparatus for performing endoscopic examination and treatment by stereoscopic observation.

In recent years, endoscopes have been widely adopted in the medical field and the industrial field. In addition, there has been proposed a stereoscopic endoscope provided with two imaging optical systems that are paired on the left and right so that endoscopic observation or endoscopic examination and treatment can be performed using a stereoscopic image.
In this case, for example, the left and right images are alternately displayed on one monitor, and the images are observed through a shutter that opens and closes alternately corresponding to the left and right images. There is a method of observing with the left and right eyes using two monitors.
A stereoscopic endoscope using two imaging optical systems having parallax on the left and right sides is such that the left and right image ranges are equal when the distance between the subject and the stereoscopic endoscope is a certain value. Are optically adjusted.

FIG. 15 is a diagram for explaining the relationship between the distance L between the conventional subject and the stereoscopic endoscope 91 and the horizontal image range of the image to be captured, and the distance L between the subject and the stereoscopic endoscope. FIG. 4 is a schematic explanatory diagram in which imaging is performed by the left and right imaging optical systems 92L and 92R in each case of d1, d2, and d3.
In FIG. 15, when the distance L between the subject and the distal end surface of the stereoscopic endoscope 91 is L = d2, the optical adjustment is performed so that the left and right horizontal image ranges to be captured are equal, In this state, the left and right captured images are equal.
In this way, the distance L between the subject and the stereoscopic endoscope 91 is L = d2, and the point I2 that is equidistant from the left and right imaging optical systems 92L and 92R that are spaced apart by the distance D is displayed in the stereoscopic view. When the image is captured by the endoscope 91 and displayed on the stereoscopic image display device configured to display the captured left and right images at the same position, the left-eye image and the right-eye image are the same captured image. And the center position of the image is also displayed overlapping the same position, and the observer feels that the point I2 exists at this position.

On the other hand, when the distance L between the subject and the stereoscopic endoscope 91 is L = d1 (d1 <d2) smaller than d2, the horizontal image ranges in the left and right imaging optical systems 92L and 92R are different. The left end Hla of the left-eye captured image and the right end Hra of the right-eye captured image are not displayed in the other image.
Therefore, there is a mismatch area that is not displayed in the right-eye captured image at the left end of the left-eye captured image, and there is a mismatch area that is not displayed in the left-eye captured image at the right end of the right-eye captured image. Will do.
In this case, when a point I1 that is at a distance L = d1 between the subject and the stereoscopic endoscope 91 and is equidistant from the left and right imaging optical systems is captured by the stereoscopic endoscope 91 and displayed on the stereoscopic image display device. In the left-eye image and the right-eye image, the horizontal display positions are different from each other. Therefore, I1 is virtually present to the viewer in front of the image position where I1 is actually displayed (intersection of viewpoints). It feels like This is a state in which the focus position (actual image display position) of the observer's eyes is deviated from the convergence (position where an image is virtually present).

Also, when the distance L between the subject and the stereoscopic endoscope 91 is larger than d2, L = d3 (d3> d2), the horizontal image ranges in the left and right imaging optical systems 92L and 92R are different, and the left eye The right end Hlb of the image and the left end Hrb of the right-eye image are not displayed in the other image.
In this case, when a point I3 that is at a distance L = d3 between the subject and the stereoscopic endoscope 91 and is equidistant from the left and right imaging optical systems is captured by the stereoscopic endoscope 91 and displayed on the stereoscopic image display device, In the left-eye image and the right-eye image, the horizontal display positions are different from each other, so that I3 is virtually present on the observer side (intersection of viewpoints) farther from the image position where the image is actually displayed. As in the case of L = d1, there is a deviation between the focus position of the observer's eyes and the convergence.
Japanese Patent No. 3089306

As described above, in the conventional example of FIG. 15, when the observation is performed with the distance L being d1 or d3, there is a mismatch region that is displayed only in one of the left and right display images, and the same image portion is to be observed. In such a case, it is necessary to observe in a state in which the focus position of the observer's eye is out of focus and the convergence, and there is a drawback that it is difficult to perform appropriate stereoscopic vision, such as feeling uncomfortable.
As a related art related to this, in the stereoscopic image capturing apparatus and the stereoscopic image display apparatus disclosed in Japanese Patent No. 3089306, the convergence angle of the stereoscopic image capturing apparatus is controlled, the distance between the imaging elements is controlled, or the stereoscopic image display is performed. An apparatus that performs control to move the physical position of an image display element provided in the apparatus in accordance with the distance from the stereoscopic image capturing apparatus is disclosed.

However, in this publication, a mechanism for moving the image sensor and the like with high accuracy is necessary together with a means for calculating parallax or distance, and there is a problem in that the size of the system is increased.
Moreover, when it is going to apply the prior art example of this gazette to a stereoscopic endoscope system, it is difficult to apply to a normal stereoscopic endoscope. In addition, there is a drawback that it cannot be easily applied to a normal stereoscopic endoscope or the like that does not have a distance calculating means.

(Object of invention)
The present invention has been made in view of the above points, and can be applied to a stereoscopic endoscope that does not have a distance calculating means. For example, the present invention has a wide application range and can perform image display suitable for stereoscopic observation. An object of the present invention is to provide a display control apparatus for a stereoscopic endoscope.

The present invention performs signal processing on at least left and right imaging signals having parallax on the left and right, or left and right video signals generated from the left and right imaging signals, which are captured by a stereoscopic endoscope with respect to the same subject, and display means In a stereoscopic endoscope display control device that outputs left and right images for stereoscopic observation,
An image moving means for moving a horizontal display position in the left and right images displayed on the display means by a predetermined amount in opposite directions based on a display change instruction input;
In conjunction with the movement of the left and right images by the image moving means, the image mask means for masking the vicinity of the horizontal ends of the left and right images;
It is characterized by comprising.
With the above configuration, the left and right images can be displayed in a state where there is no deviation in the focus position and convergence of the observer's eyes by moving the left and right images by the image moving means, and the left and right images are inconsistent by the image mask means. By eliminating the image area, it is possible to display an image with less discomfort and easy stereoscopic observation.

  According to the present invention, the left and right images can be displayed in a state where there is no deviation in the focus position and convergence of the observer's eyes by moving the left and right images by the image moving means, and the image mask means does not match the left and right images By eliminating the image area, it becomes possible to display an image with less discomfort and easy stereoscopic observation.

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

1 to 12 relate to a first embodiment of the present invention, FIG. 1 illustrates a configuration of a stereoscopic endoscope system including the first embodiment of the present invention, and FIG. 2 illustrates an internal configuration of a 3D display controller. 3 shows a schematic configuration of the stereoscopic endoscope system mounted on the cart, and FIG. 4 shows a structure of the cart of FIG. 3 viewed from the bottom side.
FIG. 5 shows an enlarged view of a 3D display device viewed from the eyepiece side and a part thereof. FIG. 6 shows an image formed on the left and right CCDs in the state of viewpoint 1 in FIG. 7 shows an image formed on the left and right CCDs in the state and a left and right image displayed on the left and right image display elements, and FIG. 7 shows an image formed on the left and right CCDs in the state of viewpoint 3 in FIG. The left and right images displayed on the image display element are shown.

8 shows left and right images and PinP images displayed on the left and right image display elements in the state of viewpoint 1 in FIG. 15, FIG. 9 and FIG. 10 show the procedure of the control operation by the 3D image controller, and FIG. The left and right images and PinP images displayed on the left and right image display elements in the state 2 are shown in a state before and after the correction process.
FIG. 12 shows the left and right images and the PinP images displayed on the left and right image display elements in the state of viewpoint 3 in a state before and after the correction processing, and also when the display of the OSD image is selected. The left and right images, PinP images, and OSD images displayed on the image display element are shown.

A stereoscopic endoscope system 1 shown in FIG. 1 includes a stereoscopic endoscope 2 that performs stereoscopic imaging, a light source device 3 that supplies illumination light to the stereoscopic endoscope 2, and signal processing for imaging means of the stereoscopic endoscope 2. A signal processing device 4 that generates a video signal, and a stereoscopic display controller that performs display control on the video signal input from the signal processing device 4 (so that the display by the 3D display device 6 is easily stereoscopically viewed) ( Abbreviated as a 3D display controller) 5 and a 3D display device 6 that performs stereoscopic image display.
The stereoscopic endoscope 2 includes an elongated insertion portion 11 provided with an optical system for forming an optical image of a subject at the tip, a grip portion 12 provided at the rear end of the insertion portion 11 and held by an operator or the like. An optical endoscope 14 having an eyepiece 13 provided at the rear end of the grip 12 and a television camera 15 which is detachably attached to the eyepiece 13 and incorporates an imaging means. .
In FIG. 1, the stereoscopic endoscope 2 is configured by an optical endoscope 14 and a television camera 15. However, the stereoscopic electronic endoscope in which an imaging unit is disposed at an image forming position of the optical system. You may comprise by a mirror.

A light guide 16 serving as illumination light transmission means is inserted into the insertion portion 11 of the stereoscopic endoscope 2, and the light guide base at the rear end of the light guide 16 is connected to the light source device via the light guide cable 17. The illumination light from 3 is supplied. The light guide 16 has a distal end surface (outgoing end surface) fixed to an illumination window provided at the distal end portion 18 of the insertion portion 11 (not shown in FIG. 1), and further emits illumination light from the distal end surface via an illumination lens. The emitted light illuminates a subject such as an affected part in the body into which the insertion part 11 is inserted.
The distal end portion 18 of the insertion portion 11 in the stereoscopic endoscope 2 is arranged at a distance D in the left-right direction so as to form an image with parallax in the left-right direction with respect to the illuminated (identical) subject. Wide-angle or wide (W) imaging in a wider imaging range than the subject image obtained by the left objective optical system 21L, the right objective optical system 21R, and the left and right objective optical systems 21L and 21R having the same characteristics. Objective optical system 21W is disposed.

The optical images by the left and right objective optical systems 21L, 21R, and 21W are transmitted to the rear side by the relay optical systems 22L, 22R, and 22W inserted into the insertion unit 11 and arranged in the eyepiece unit 13, respectively. The eyepiece optical system 23 can be observed with the naked eye. In FIG. 1, three eyepieces arranged to face the relay optical systems 22L, 22R, and 22W are representatively shown as an eyepiece optical system 23.
As shown in FIG. 1, when the television camera 15 is attached to the eyepiece 13, the imaging optical system 24 provided in the television camera 15 is arranged at each imaging position so as to face the eyepiece optical system 23. The image is formed on charge coupled devices (abbreviated as CCD) 25L, 25R, and 25W as the imaging means.

That is, the respective optical images by the left and right objective optical systems 21L, 21R, and 21W are formed on the left and right CCDs 25L, 25R, and 25W via the relay optical systems 22L, 22R, and 22W, respectively. , Respectively, are photoelectrically converted.
The CCDs 25L, 25R, and 25W are connected to camera control units (abbreviated as CCU) 26L, 26R, and 26W that form the signal processing device 4 via signal lines, respectively. Note that the main components in the drawing are shown in more detail, for example, CCU (L) 26L.
The left and right and wide angle CCUs 26L, 26R, and 26W perform signal processing on the imaging signals that are photoelectrically converted and output by the left and right and wide angle CCDs 25L, 25R, and 25W, and convert them into video signals.

The left and right video signals and wide-angle video signals output from the CCUs 26L, 26R, and 26W are displayed on the 3D display device 6 via the 3D display controller 5 (as a stereoscopic endoscope display control device). For example, a liquid crystal monitor (abbreviated as LCD), DMD, organic EL, etc., are respectively input to small image display elements 27L and 27R, and left and right images are displayed.
An observer or an operator can perform stereoscopic observation by observing the left and right images displayed on the left and right image display elements 27L and 27R from the left and right eyepiece windows 61L and 61R of the 3D display device 6. Yes.
FIG. 2 shows an internal configuration of the 3D display controller 5. As will be described below, the 3D display controller 5 uses the left and right image signals Vl and Vr corresponding to the left and right images captured by the left and right CCDs 25L and 25R in accordance with the change of the viewpoint mode. A shift process for shifting (moving) the display position in the horizontal direction and a mask process for masking unmatched image area portions in the left and right images so that the same image range can be observed on the left and right.

In addition, the left and right images are also provided with a function of reducing and superimposing an image captured by the wide-angle CCD 25W as a small screen (child image) or displaying a graphic image such as a menu. Then, as described above, in response to the change of the viewpoint mode, the superimposition image to be superimposed is corrected (control) so as to be an appropriate display position corresponding to the adjustment of the actual display position of the left and right images. The process to do is also performed. The configuration will be described below with reference to FIG.
As shown in FIG. 2, the left and right video signals Vl and Vr and the wide-angle video signal Vw (output from the CCUs 26L, 26R, and 26W) are input to the A / D converters 31L, 31R, and 31W, respectively, Converted to a signal.
Output signals from the A / D converters 31L and 31R are input to the scaler circuits 32L and 32R, respectively. The scaler circuits 32L and 32R perform image processing that matches the input signal with the resolution of the image display elements 27L and 27R, and then output the image signals to the image memories 33L and 33R, which are temporarily stored in the image memories 33L and 33R.

The left and right video signals stored in the image memories 33L and 33R are input to the image mixers 34L and 34R, respectively.
On the other hand, the output signal of the A / D converter 31W obtained by converting the wide-angle video signal Vw into a digital signal is input to the left and right picture-in-picture (abbreviated as PinP) image generation units 35L and 35R, respectively. The PinP image generation units 35L and 35R perform PinP image generation processing for superimposing and displaying a child image with PinP in the parent image with the input signals as left and right images as parent images. More specifically, a process of generating an image captured by the wide-angle CCD 25W as a child image is performed.
The output signals from the PinP image generation units 35L and 35R are input to the image mixers 34L and 34R, respectively.

  Output signals from the left and right image memories 33L and 33R and the PinP image generators 35L and 35R are input to the image mixers 34L and 34R, and left and right on-screen display (abbreviated as OSD) image generators 36L and 36R. The OSD image is input from.

The OSD image generation units 36L and 36R perform OSD processing for displaying a menu screen or the like in the left and right images.
Output signals of the image mixers 34L and 34R are output to the left and right image display elements 27L and 27R of the 3D display device 6 via the display I / F transmitters 37L and 37R. The display I / F transmitters 37L and 37R are configured to perform output corresponding to a standard such as LVDS or DVI, which is standardly adopted as a high-speed signal transmission I / F for the display.

The left and right image memories 33L and 33R, the left and right image mixers 34L and 34R, the left and right PinP image generation units 35L and 35R, and the left and right OSD image generation units 36L and 36R are controlled by a CPU 38 as a control unit in the 3D display controller 5. Be controlled.
In addition, on the front panel of the 3D display controller 5, for example, an operation switch 39 is provided for inputting a display change instruction or other instruction input by changing the viewpoint position. By operating the operation switch 39, the operation signal (instruction signal) is input to the CPU 38, and the CPU 38 performs a control operation corresponding to the operation signal.
When an operation signal is input, the CPU 38 performs a control operation according to a program that is stored in, for example, the ROM 47 and determines the control operation. More specifically, the CPU 38 performs a series of processes shown in FIGS. 9 and 10 described later according to a program read from the ROM 47.

The operation switch 39 includes a viewpoint mode switch 41 for changing the viewpoint, an OSD display switch 42 for turning on / off the OSD display, a PinP display switch 43 for turning on / off the PinP display, and display of images displayed on the left and right. An up / down switch 44 and a left / right switch 45 for finely adjusting the position are provided.
In this case, as the viewpoint mode switch 41, a viewpoint mode 1 switch 41a, a viewpoint mode 2 switch 41b that performs an instruction operation to display appropriately corresponding to each state of the viewpoint 1, viewpoint 2, and viewpoint 3 in FIG. A viewpoint mode 3 switch 41c is provided. FIG. 15 is an explanatory diagram of the conventional example. The left and right objective optical systems 21L and 21R in FIG. 1 are replaced with the left and right imaging optical systems 92L and 92R in FIG. 15, and are applied as follows.
That is, the distance L to the subject when the imaging ranges of the left and right objective optical systems 21L and 21R match is L = d2, and the viewpoint state with respect to the distance is the viewpoint 1 or the viewpoint mode 1. In addition, the viewpoint states at the distance L = d1 (d1 <d2) and the distance L = d3 (d2 <d3) are referred to as viewpoint 2, viewpoint mode 2, viewpoint 3, or viewpoint mode 3, respectively.

One OSD display switch 42 generates an instruction operation signal that toggles the OSD image display on and off. Of course, the two switches may be turned on and off, respectively.
The PinP display switch 43 also generates an instruction operation signal that toggles the PinP image display on and off with a single switch.
The up / down switch 44 and the left / right switch 45 for finely adjusting the image display position are provided with an upper switch 44a, a lower switch 44b, a left switch 45a, and a right switch 45b for the right image and the left image, respectively. . For simplicity, only one of them may be provided.
The left and right video signals on which the PinP images and the like are superimposed from the 3D display controller 5 are input to the image display elements 27L and 27R in the 3D display device 6, and the left and right images are displayed on the display areas of the image display elements 27L and 27R. Is displayed.

For example, as shown in FIG. 3, the 3D display device 6 is attached to a distal end member 53 of an arm 52 that extends upward from the top plate of the cart 51. 3A shows a state seen from the oblique front side of the operator 55, and FIG. 3B shows a state seen from the oblique rear side of the operator.
In the cart 51, the light source device 3, the CCUs 26L, 26R, 26WE, and the 3D display controller 5 are mounted.
The arm 52 extending upward from the top plate of the cart 51 is fixed so that the shaft 52a at the base of the arm is rotatable on the top surface of the top plate in an oblique direction, not in a vertical direction.
The arm 52 has a link structure that can be freely rotated by a parallel link structure portion 54. By setting the root portion in an oblique direction as described above, a 3D display device is placed around the head of the operator 55. 6 and the height when folded can be made as low as possible.

In the example of FIG. 3, a 2D display monitor 56 is disposed on the top of the cart 51, and one of the left and right images is displayed in a normal two-dimensional display (2D display), so that the operator 55 is not stereoscopically viewed. So that the surgeon can observe.
FIG. 4 shows the cart 51 as seen from the bottom side. On the bottom surface of the cart 51, in addition to the four casters 56a to 56d, an additional caster 56e and two stoppers 57a and 57b are provided. A weight 58 is attached to the bottom surface of the cart 51 to make it difficult for the cart 51 to fall.
Thus, in order to make the exclusive area of the cart 51 as small as possible and to prevent the cart 51 from falling over, the casters 56e are provided between the two stoppers 57a and 57b. FIG. 5A shows the structure of the eyepiece (eyepiece) side in which the operator 55 stereoscopically observes in the 3D display device 6. Note that the left and right protruding rod-shaped members in the 3D display device 6 are handles 60a and 60b that are gripped by an operator and set for the 3D display device 6 to be in an observation state.

An eye shade portion 62 is provided in the eyepiece windows 61L and 61R of the 3D display device 6 in order to block extraneous light and to be immersed in the image.
As shown in an enlarged view in FIG. 5B, the eye shade portion 62 includes an eye shade main body 63, a pressing plate 64A for pressing the front upper surface side thereof, and a pressing plate (not shown) for pressing the bottom surface side of the front portion. 64B for clarity).
The eye shade body 63 is integrally formed of silicon rubber or the like, and has convex portions 65a and 65b on the top surface (and bottom surface) and flange portions 66a and 66b on the side surfaces.
The holding plate 64A is provided with holes 67a and 67b, which are passed through the convex portions 65a and 65b of the eye shade body 63, and are hooked with the eye shade body 63 sandwiched between the folded portions 68a and 68b. The pressing plate 64B has the same configuration on the bottom side of the eye shade body 63.

The holding plates 64A and 64B and the eye shade main body 63 are fixed to the 3D display device 6 with screws (not shown), and the eye shade main body 63 is fixed to the holding plates 64A and 64B by bonding.
Further, a sterilized drape (not shown) is fixed between the convex portions 65a and 65b, the flange portions 66a and 66b, and the 3D display device 6 with rubber bands, tape, or the like. In this way, when the operator 55 uses the 3D display device 6 side, it is covered with a sterilized drape. After the endoscopic examination and treatment, the sterilized drape is discarded, and the next time it is used, a new sterilized drape is attached and used again so that the 3D display device 6 itself does not have to be sterilized. Yes. In this embodiment having such a configuration, the left and right images and the like are displayed on the 3D display device 6 in a state in which stereoscopic observation is easy by operating the operation switch 39 provided in the 3D display controller 5.

Next, the operation of this embodiment will be described. Before explaining along the flowchart for explaining the operation in the present embodiment, the left and right images in a state where the superimposed image (such as another image is superimposed on the left and right images) such as the PinP image and the OSD image is not displayed. The operation for displaying the image in a state in which stereoscopic observation is easy will be described.
For example, as shown in FIG. 3, the light source device 3, the CCUs 26 </ b> L, 26 </ b> R, 26 </ b> W and the 3D display controller 5 are mounted on the cart 51, and the operator 55 is attached to the lower side from the distal end member 53 of the arm 52. In a state where stereoscopic viewing is possible by observing 6, the insertion portion 11 of the stereoscopic endoscope 2 is inserted into the body of a patient (not shown).
Further, when performing treatment, a treatment tool (not shown) is inserted into the body through a trocar or the like, and a treatment such as excision of a lesion site in an internal organ is performed under observation by the stereoscopic endoscope 2. become.

In this case, in the case of observation in the viewpoint mode 1 set in advance so that the left and right image ranges in the stereoscopic endoscope 2 coincide, that is, in the state of the distance L = d2 in FIG. 15, the imaging of the left and right CCDs 25L and 25R. Images formed on the surface and photoelectrically converted are as shown in FIG.
Image signals (imaging signals) imaged and photoelectrically converted on the left and right CCDs 25L and 25R are processed by the CCUs 26L and 26R, respectively. The CCUs 26L and 26R respectively convert the left and right video signals Vl and Vr into the 3D display controller 5. Output to.
When the viewpoint mode 1 switch 41a in the operation switch 39 is operated, the 3D display controller 5 converts the video signal into a signal to be displayed on the left and right image display elements 27L and 27R in a state of moving (or setting) to the initial position. Then, the data is output to the left and right image display elements 27L and 27R of the 3D display device 6. In this case, the left and right images displayed on the left and right image display elements 27L and 27R also display substantially the same image as that shown in FIG.

On the other hand, when the stereoscopic endoscope 2 observes, for example, a lesion site or treatment tool on the near point side, that is, in the state of the viewpoint mode 2 in FIG. 15, the image is formed on the left and right CCDs 25L and 25R. The image is as shown in FIG.
In this state, in the area near the left end in the horizontal direction in the left image, there is an image of the mismatch area Ra that is not captured on the right image side, and conversely, in the area near the right end in the horizontal direction in the right image, On the left image side, there is an image of the unmatched region Rb that has not been captured. Note that the mismatch areas Ra and Rb correspond to those indicated by the left end Hla and the right end Hra in FIG.
In this case, the viewpoint mode 2 switch 41b in the operation switch 39 may be operated. Then, the CPU 38 performs a process of shifting the address for reading the left and right images from the left and right image memories 33L and 33R in the horizontal direction (based on the viewpoint mode 1). As will be described below, the horizontal shift values are the same for the left and right images, and the shift directions are opposite to each other.

Specifically, in the left image memory 33L, the horizontal readout start address in FIG. 6A is Hs (FIG. 6A is an image of the CCD 25L, and the horizontal readout address in the image is parenthesized. To read the horizontal left direction by the number of pixels corresponding to ½ of the mismatch area Ra (the read start address obtained by adding the offset Δ2 shifted in the horizontal right direction to the read start address Hs) Read by Hs + Δ2). In this case, on the right end side, extra reading is performed by Δ2 more than in the case of the read end address He in FIG. In this case, the black level image data is read from the address He to He + Δ2 by the extra read address.
Note that the value of the offset Δ2 is obtained in advance from the optical specifications of the stereoscopic endoscope 2 and the resolution of the image display elements 27L and 27R.

When the horizontal imaging length when L = d1 is A and the horizontal resolution of the image display elements 27L and 27R is Hres [pixel],
Horizontal imaging length when L = d2 = A × (d2 / d1)
Horizontal direction mismatch region when L = d2 Hra = Hla = D × (d1−d2) / d1
Number of pixels in the horizontal direction mismatch region when L = d2 = Hres × D × (d1−d2) / (d2 × A)
Offset Δ2 = Hres × D × (d1−d2) / (2 × d2 × A)
It becomes.
Further, when output to the subsequent stage side in this state, it is only moved in the horizontal left direction by ½ of the mismatch area Ra (= Hra), and ½ of the mismatch area Ra is still displayed. The CPU 38 outputs an image that masks ½ of the mismatch area Ra to the image mixer 34L.

Specifically, when reading an image from the image memory 33L, the CPU 38 reads the image data by shifting it by an offset Δ2 in the horizontal direction. However, between the read start address H + Δ2 and H + 2 × Δ2, for example, a changeover switch (not shown) or the like. Thus, a mask process for outputting a black level signal to the image mixer 34L is performed.
By doing so, when the image is displayed on the left image display element 27L, it becomes as shown on the left side of FIG. In the image on the left side of FIG. 6C, the black level mask insertion image 71 is displayed on the left end side by a value equal to the amount of movement to the horizontal left side, and the value equal to the amount of movement on the right end side. A black image 72 (depending on the black level) is displayed, and the left image is displayed between them. The mask insertion image 71 and the black image 72 are not limited to the black level, but are preferably the same color.
On the other hand, for the right image memory 33R, horizontal movement processing and mask processing for shifting in the horizontal direction in the opposite direction to the case of the image memory 33L are performed.

Specifically, in the right image memory 33R, the read start address is shifted in the horizontal right direction in order to shift to the left by a pixel corresponding to ½ of the mismatch area Rb in FIG. 6B. That is, the read is performed by the address Hs−Δ2 obtained by subtracting the offset Δ2 from the read start address Hs in FIG.
In this case, a black level image is read out by the address of the offset Δ2 from the read start address Hs-Δ2 to Hs.
Further, at the left end side, 1/2 of the mismatch area Rb is read out. Therefore, at the timing when 1/2 of the mismatch area Rb is read, that is, from the address He−2 × Δ2 to He−Δ2. , Mask processing.
By doing so, when the image is displayed on the right image display element 27R, it becomes as shown on the right side of FIG.

As shown in FIG. 6C, the left and right images displayed on the left and right image display elements 27L and 27R are displayed in a state in which the mismatch area is eliminated as in FIG. Since the center of the left and right images is corrected to be displayed at the center of each of the left and right images as in the case of 6 (A), it can be observed in a state in which stereoscopic observation is easy.
That is, in the state shown in FIG. 6B, when only the mismatch areas Ra and Rb are eliminated by the mask process and the process of moving the image in the horizontal direction is not performed (referred to as no correction process). The center position in the left and right images should be displayed as the same image position. However, since the left and right images are shifted in the horizontal direction, the actually displayed image position (the eye of the observer) There is a shift between the focus position) and the position (convergence) perceived as the virtual presence of the image, resulting in an image that is difficult to observe.

On the other hand, in the present embodiment, the process of moving (shifting) the image in the horizontal direction so as to eliminate the discrepancy between the focus position of the eye and the convergence in the left and right images, and the mask process of eliminating the mismatch areas Ra and Rb. Go to display an image that is easy to observe. The above is the processing on the near point side, but substantially the same processing is also performed on the far point side described below.
For example, when observing a lesion site or treatment tool on the far point side with this stereoscopic endoscope 2, that is, when observing in the state of the viewpoint mode 3 in FIG. 15, images formed on the left and right CCDs 25 </ b> L and 25 </ b> R. Is as shown in FIG.
This state is an image corresponding to a state in which the left and right images in FIG. In the case of FIG. 7A, the right area in the left image includes an image of the mismatch area Ra that is not captured on the right image side. Conversely, the left area in the right image is captured on the left image side. There is a non-matching region Rb image.

In this case, the viewpoint mode 3 switch 41c in the operation switch 39 may be operated. Then, the CPU 38 shifts the address for reading the left and right images from the left and right image memories 33L and 33R in the horizontal direction (from the viewpoint mode 1).
Specifically, in the left image memory 33L, the pixel corresponding to ½ of the mismatch area Ra is shifted to the right in the horizontal direction, so that the horizontal read position is shifted to the left from the read start address Hs. Read from the read start address H-Δ3 minus the offset Δ3. In this case, black level image data is read from addresses Hs-Δ3 to Hs.

The value of the offset Δ3 is obtained in the same manner as in the case of the offset Δ2.
When the horizontal imaging length when L = d1 is A and the horizontal resolution of the image display elements 27L and 27R is Hres [pixel],
Horizontal imaging length when L = d3 = A × (d3 / d1)
Horizontal direction mismatch region when L = d3 Hrb = Hlb = D × (d3−d1) / d1
Number of pixels in the horizontal direction mismatch region when L = d3 = Hres × D × (d3−d1) / (d3 × A)
Offset Δ3 = Hres × D × (d3−d1) / (2 × d3 × A)
It becomes.
Further, when output to the rear stage side in this state, since it has only moved to the right in the horizontal direction by 1/2 of the mismatch area Ra (= Hrb), 1/2 of the mismatch area Ra is displayed. The CPU 38 outputs an image that masks ½ of the mismatch area Ra to the image mixer 34L.

Specifically, when reading an image from the image memory 33L, the CPU 38 sends a black level signal to the image mixer 34L side by means of, for example, a changeover switch (not shown) between the read addresses H−2 × Δ3 and H−Δ3. Perform mask processing to output.
By doing so, when the image is displayed on the left image display element 27L, it becomes as shown on the left side of FIG.
On the other hand, the right image memory 33R is subjected to a horizontal movement process and a mask process that shifts in the horizontal direction in the opposite direction to that of the image memory 33L.
Specifically, in the right image memory 33R, the read start address is shifted in the horizontal right direction in order to shift to the left by a pixel corresponding to ½ of the mismatch area Rb in FIG. 6B. That is, the read is performed by the address Hs + Δ3 obtained by adding the offset Δ3 to the read start address Hs in FIG. In this case, on the read end address side, a black level image is read out using addresses from address He to He + Δ3.

On the left end side, 1/2 of the mismatch area Rb is read out. Therefore, mask processing is performed at the timing when 1/2 of the mismatch area Rb is read, that is, from the address Hs + Δ3 to Hs + 2 × Δ3. To do.
By doing so, when the image is displayed on the right image display element 27R, it becomes as shown on the right side of FIG.
The left and right images in FIG. 7B are in a state in which the discrepancy areas Ra and Rb are eliminated and the deviation between the focus position and the convergence can be eliminated as in the case of FIG. 6C.
Although the above has been described with respect to the display of left and right images, an example in which a PinP image is also displayed will be described next. In this embodiment, the PinP image 73 is set to be displayed at the upper left corner as shown in FIG. 8 in the case of the viewpoint mode 1 corresponding to FIG.

In the case of the viewpoint mode 1, since the display areas of the left and right images coincide with each other, it is not necessary to adjust the display position of the PinP image 73.
However, when the viewpoint mode 2 or the viewpoint mode 3 is set, the left and right images picked up as described above are moved in the horizontal direction and further subjected to mask processing for display. For this reason, it is necessary to perform display position correction corresponding to image movement and mask processing.
On the other hand, when OSD image display is performed, the OSD image 74 is displayed near the center as shown by the dotted line in FIG. 8 in the case of the viewpoint mode 1 corresponding to FIG.
Since the OSD image 74 does not display an image directly related to a captured image such as a captured image or a PinP image, the display timing is set to be constant regardless of the viewpoint mode (for example, a predetermined number of reference clocks). By starting the display at the counted timing), it is possible to always superimpose and display at the position indicated by the dotted line in FIG.

Note that when the same coordinate system as that of the PinP image 73 is set for the OSD image 74 and display control is performed, the viewpoint modes 2 and 3 are shifted in the horizontal direction by ½ of the mismatch area Ra or the like. Just do it.
Next, the present embodiment will be described with reference to the flowcharts of FIGS. When the power of the 3D controller 5 is turned on, the CPU 38 starts the control operation shown in FIGS. 9 and 10 in accordance with the program stored in the ROM 47.
As shown in FIG. 9, when stereoscopic observation is started, the CPU 38 in the 3D display controller 5 scans (monitors) whether or not the operation switch 39 is operated, as shown in the first step S1.
When the operation switch 39 is operated, the CPU 38 determines whether or not the operation state of the viewpoint mode switch 41 has been changed as shown in step S2.

When the operation state of the viewpoint mode switch 41 is changed, the CPU 38 determines whether the state is changed to the viewpoint mode 1, the state is changed to the viewpoint mode 2, or the state is changed to the viewpoint mode 3.
When the state is changed to the viewpoint mode 1, as shown in step S3A, the CPU 38 sets the PinP image generation units 35L and 35R (in the flowchart, for example, the PinP image generation unit 35L is changed to the PinP image generation unit (L)). The initial position movement command is output to (abbreviation). This initial position movement command is a position where the PinP image 73 is superimposed and displayed in a state as shown in FIG. 8 (for example, when left and right images are taken as shown in FIG. 6A).
In the next step S4A, the CPU 38 outputs an initial position movement command and a mask image insertion OFF command to the image memories 33L and 33R. For example, the left and right images picked up as shown in FIG. 6A are instructed to move to the initial position so as to be displayed almost the same on the image display elements 27L and 27R.

In other words, the setting is made so that the image data is read from the image memories 33L and 33R at the address of the initial position. Further, since it is not necessary to perform masking, a command to turn off insertion of a mask image to be masked is issued.
In the next step S5 (see FIG. 10), the CPU 38 determines whether or not the OSD display switch 42 is ON.
When the OSD display switch 42 is OFF, the CPU 38 determines whether or not the PinP display switch 43 is ON as shown in step S6. When the PinP display switch 43 is OFF, as shown in step S7, the CPU 38 outputs to the image mixers 34L and 24R a command for setting no superimposed image to the image memory output. Then, the process returns to the first step S1. In this state, left and right images similar to those shown in FIG. 6A are displayed on the left and right image display elements 27L and 27R.

If it is determined in step S6 that the PinP display switch 43 is ON, the CPU 38 outputs a superimposition command for the PinP image 73 to the image memory output to the image mixers 34L and 34R as shown in step S8.
In this case, the image shown in FIG. 8 (excluding the dotted OSD image 74) is displayed on the left and right image display elements 27L and 27R of the 3D display device 6.
In step S5, if the CPU 38 determines that the OSD display switch 42 has been turned ON, it determines whether the PinP display switch 43 is ON as shown in step S9.
If it is determined that the PinP display switch 43 is OFF, the CPU 38 outputs a superposition command for the OSD image 74 to the image memory output to the image mixers 34L and 34R as shown in step S10.

In this case, in FIG. 8, the PinP image 73 is not displayed, and the OSD image 74 indicated by the dotted line is displayed superimposed on the left and right images. Then, the process returns to the first step S1.
If it is determined in step S9 that the PinP display switch 43 is ON, in step S11, the CPU 38 outputs a superposition command for the OSD image 74 and the PinP image 73 to the image memory output to the image mixers 34L and 34R.
In this case, in FIG. 8, the OSD image 74 indicated by the dotted line is displayed superimposed on the left and right images together with the PinP image 73. Then, the process returns to the first step S1.

Next, when there is no change in the state of the viewpoint mode switch 41 in step S2, the CPU 38 determines whether the up / down switch 44 is turned on as shown in step S12. If it is determined that the up / down switch 44 has been turned on, in the next step S13, the CPU 38 determines that the upper switch 44a has been turned on (a that is actually turned on in the up / down switch 44 that has been turned on) (a ) A command for moving the display position of the left image or the right image in the image memory 33L or 33R upward is output.
Alternatively, when the lower switch 44b is turned on (what is actually turned on in the up / down switch 44 turned on), (b) the display position of the left image or the right image in the image memory 33L or 33R is moved downward. Outputs a command. Then, the process proceeds to step S5.

By the processing in step S13, the display position of the left image or the right image can be moved upward or downward. For this reason, adjustment can be made when the setting state of the left and right optical systems and the left and right CCDs 25L and 25R in the stereoscopic endoscope 2 deviates from the initial setting state due to secular change or the like.
In other words, for the same image portion, the actual display position should also match in the vertical direction, but if it is shifted in the vertical direction due to aging, etc., one image display element If the upper switch 44a or the lower switch 44b that moves the display position displayed on the 27L or 27R up or down is turned on, the deviation can be eliminated. Note that the display positions of the PinP image 73 and the OSD image 74 are not changed.
In the determination of FIG. 12, if the up / down switch 44 is OFF, the CPU 38 determines whether the left / right switch 45 is ON as shown in step S14. If the CPU 38 determines that the left / right switch 45 is OFF, the process proceeds to step S5. On the other hand, if it is determined that the left / right switch 45 is ON, the CPU 38 proceeds to the process of step S15.

In step S15, when the left switch 45a of the left / right switch 45 is turned on for the PinP image generation unit 35L or 35R and the image memory 33L or 33R, the CPU 38 (a) sets each image display position to the left. A command to move is output. In this case, when the right switch 45b in the left / right switch 45 is turned on, (b) a command to move each image display position to the right is output.
By the process of step S15, the display position of the left image or the right image can be moved leftward or rightward. For this reason, when the left and right optical systems and the left and right CCDs 25L and 25R deviate from the initial set state due to secular change or the like as in the case of the vertical displacement, it can be corrected.
For example, in the left and right image display elements 27L and 27R, when the actual display position for the same image portion is shifted in the left-right direction, the display position is moved to the left or right with respect to one image display element 27L or 27R. If the left switch 45a or the right switch 45b is turned on, the deviation can be eliminated. In this case, the PinP image 73 also moves by the same amount as the horizontal adjustment movement in the left and right images.

Since the processing for the viewpoint mode 1 has been described above, the case where the viewpoint mode 2 switch is operated in step S2 will be described.
In this case, as shown in step S3B, the CPU 38 outputs a movement command to the viewpoint mode 2 position to the PinP image generation units 35L and 35R. Details of the movement command to the viewpoint mode 2 position will be described later.
In the next step S4B, the CPU 38 outputs a movement command to the viewpoint mode 2 position and a viewpoint mode 2 mask image insertion instruction to the image memories 33L and 33R.
If the command to move to the viewpoint mode 2 position is not performed in the image memories 33L and 33R, the left and right images are displayed in the uncorrected state shown in FIG. Perform a move process.

  Further, in this horizontal movement process, half of the mismatch areas Ra and Rb are displayed, so that the display of the mismatch areas Ra and Rb is eliminated by inserting a mask image.

  In the next step S5, the CPU 38 determines whether the OSD display switch 42 is turned on. For example, if it is OFF, in the next step S6, it is determined whether the PinP display switch 43 is ON. If it is OFF, the process proceeds to step S7. In this case, the OSD image 74 is not displayed and the PinP image 73 is not displayed, so the display shown in FIG.

  If it is determined in step S6 that the PinP display switch 43 is ON, the PinP image 73 in a state in which the movement command to the viewpoint mode 2 position is instructed is superimposed on the image memory output. If this movement command is not performed, the movement command to the viewpoint mode 2 position is displayed as an image as shown in FIG.

  The image shown in FIG. 11A is obtained by superimposing the PinP image 73 at the initial position of the viewpoint mode 1 in the state of FIG.

  Since the image in FIG. 6B is moved in the horizontal direction and further masked, the image is displayed at the upper left corner of the image that is substantially displayed when the masking is performed. The position where the PinP image 73 is superimposed is moved.

Specifically, the PinP image 73 to be superimposed on the left image is superimposed by moving to the right by 2 × Δ2 (that is, the mismatch area Ra) from the superimposed display position in the viewpoint mode 1. The PinP image 73 to be superimposed on the right image is superimposed by moving to the right by Δ2 (that is, 1/2 of the mismatch area Ra) from the superimposed display position in the viewpoint mode 1.
By doing so, the left and right images and the PinP image 73 displayed by the left and right image display elements 27L and 27R are as shown in FIG. That is, when the PinP image 73 is excluded, the display state matches the display state of FIG. 6C, and the PinP image 73 is displayed in the same state at the left corner in the display state of FIG.

  If it is determined in step S5 that the OSD display switch 42 is ON, the CPU 38 determines in step S9 whether the PinP display switch 43 is ON. When the PinP display switch 43 is OFF, the image to be superimposed on the image memory output is only the OSD image 74 for the image mixers 34L and 34R as shown in step S10. In this case, in the image of FIG. 6C, an OSD image 74 indicated by a dotted line in FIG. 8 is superimposed (in the same arrangement as the vicinity of the center in FIG. 8) and displayed.

  On the other hand, if it is determined in step S9 that the PinP display switch 43 is ON, the images superimposed on the image memory output for the image mixers 34L and 34R are set as the OSD image 74 and the PinP image as shown in step S11. In this case, in the display state of FIG. 11B, an OSD image 74 indicated by a dotted line in FIG. 8 is further superimposed (in the same arrangement as the vicinity of the center in FIG. 8). Note that the operations of the up / down switch 44 and the left / right switch 45 are the same regardless of the viewpoint mode, and thus the description thereof is omitted in the viewpoint modes 2 and 3.

  Next, a case where the viewpoint mode 3 switch 41c is operated in step S2 will be described.

  In this case, as shown in step S3C, the CPU 38 outputs a movement command to the viewpoint mode 3 position to the PinP image generation units 35L and 35R. Details of the movement command to the viewpoint mode 3 position will be described later.

  In the next step S4C, the CPU 38 outputs a movement command to the viewpoint mode 3 position and a viewpoint mode 3 mask image insertion instruction to the image memories 33L and 33R.

  If the movement instruction to the viewpoint mode 3 position is not performed in the image memories 33L and 33R, the left and right images are displayed in the state shown in FIG. .

  Further, in this horizontal movement process, half of the mismatch areas Ra and Rb are displayed, so that the display of the mismatch areas Ra and Rb is eliminated by inserting a mask image.

  In the next step S5, the CPU 38 determines whether the OSD display switch 42 is turned on. For example, if it is OFF, in the next step S6, it is determined whether the PinP display switch 43 is ON. If it is OFF, the process proceeds to step S7. In this case, the OSD image 74 is not displayed and the PinP image 73 is not displayed, so the display shown in FIG.

  If it is determined in step S6 that the PinP display switch 43 is ON, the PinP image 73 in a state in which a command to move to the viewpoint mode 3 position is superimposed on the image memory output. If this movement command is not performed, the movement command to the viewpoint mode 3 position is displayed as an image as shown in FIG.

  The image shown in FIG. 12A is obtained by superimposing the PinP image 73 at the initial position of the viewpoint mode 1 in the state of FIG.

  Since the image in FIG. 7A is moved in the horizontal direction and further masked and displayed, it is displayed at the upper left corner of the image that is substantially displayed when the masking is performed. The overlapping position of the PinP image is moved. Specifically, the PinP image 73 to be superimposed on the left image is superimposed by moving to the right by Δ3 (that is, ½ of the mismatch area Ra) from the superimposed display position in the viewpoint mode 1. The PinP image 73 to be superimposed on the right image is superimposed by moving to the right by 2 × Δ3 (that is, the mismatch area Ra) from the superimposed display position in the viewpoint mode 1. By doing so, the left and right images and the PinP image displayed by the left and right image display elements 27L and 27R are as shown in FIG.

  If it is determined in step S5 that the OSD display switch 42 is ON, the CPU 38 determines in step S9 whether the PinP display switch 43 is ON. When the PinP display switch 43 is OFF, the image to be superimposed on the image memory output is only the OSD image 74 for the image mixers 34L and 34R as shown in step S10.

  On the other hand, when the PinP display switch 43 is ON, the images to be superimposed on the image memory output for the image mixers 34L and 34R are the OSD image 74 and the PinP image 73 as shown in step S11.

  In this case, an image display as shown in FIG. In this image display state, the left and right images, the PinP image 73, and the OSD image 74 are displayed in appropriate states.

  According to the present embodiment described above, when observing in a viewpoint state shifted to the near point side from observing in a viewpoint state where the left and right optical systems in the stereoscopic endoscope 2 and the left and right imaging ranges by the imaging means match. Alternatively, even when observing in a viewpoint state shifted to the far point side, signal processing for setting a display state similar to that in the case of observing in a viewpoint state in which the left and right imaging ranges match is performed. Can perform stereoscopic observation in an appropriate state for easy stereoscopic observation.

  In other words, when observing in the near-point and far-point viewpoint states, by performing corresponding switch operations, the mismatch areas occurring in the left and right imaging ranges are masked to eliminate the mismatch areas and display Since the left and right images are moved in the horizontal direction and displayed so that there is no deviation in the focus position and convergence of the observer's eyes, the observer can easily perform stereoscopic observation. Stereoscopic observation is possible in the state.

  In addition, when the PinP image 73 and the OSD image 74 as superimposed images are superimposed and displayed in the left and right images, the display processing for displaying them at the appropriate display position is performed together with the left and right images. 73 and the OSD image 74 can be solved such that the display positions of the left and right images are relatively shifted.

  Further, as the 3D display controller 5 of the present embodiment, the example is applied to the case of the stereoscopic endoscope 2 including the wide-angle optical system and the imaging unit, but the wide-angle optical system and the imaging unit thereof are illustrated. It is obvious that the present invention can be widely applied to an existing stereoscopic endoscope that does not include the left and right optical systems and the left and right imaging units and does not include the distance calculation unit and the focus adjustment mechanism. In this case, only the OSD image 74 is used as the superimposed image.

  By adopting the 3D display controller 5 of the present embodiment also for the existing stereoscopic endoscope, it is possible to display left and right images and the like in a state suitable for stereoscopic viewing as described above.

  In other words, by adopting the 3D display controller 5 of the present embodiment with respect to the existing stereoscopic endoscope system using the existing stereoscopic endoscope, the stereoscopic endoscope system causes a sense of incongruity. The situation can be easily improved, and an environment in which stereoscopic observation can be performed without a sense of incongruity can be realized. Therefore, the 3D display controller 5 of the present embodiment has a wide application range and can obtain a very useful effect when applied.

  In the above description, when the position where the PinP image 73 is superimposed in the left and right images is changed in the state of the viewpoint 1 as shown in FIG. 8, the PinP image 73 at the viewpoint 2 and the like is changed according to the change. What is necessary is just to correct | amend the position which overlaps. Basically, when the PinP image 73 is arranged toward the horizontal corners of the left and right images, the PinP image 73 may be moved to the center side of the image in accordance with the change of the viewpoint 2 or the viewpoint 3. .

  If the display position is changed to the viewpoint 2 or the like, the display position of the left and right images is moved in the horizontal direction, and instead of changing the read address from the image memories 33L and 33R, the display position is similarly changed even if the write address is changed. It is clear that can be moved horizontally.

  FIG. 13 shows a stereoscopic endoscope system 1B according to a first modification. This modified example can cope with the case of a different type of stereoscopic endoscope 2B in addition to the stereoscopic endoscope 2 in the stereoscopic endoscope system 1 of FIG.

  That is, the 3D display controller 5B in the stereoscopic endoscope system 1B can perform a plurality of types of display control (horizontal movement processing, mask processing, etc.) according to the characteristics of the optical systems of the plurality of types of stereoscopic endoscopes. For this purpose, a plurality of types of information corresponding to characteristics of a plurality of types of stereoscopic endoscope optical systems and the like are provided.

  This stereoscopic endoscope system 1B includes a stereoscopic endoscope 2B, a light source device 3, a signal processing device 4, a 3D display controller 5B, and a 3D display shown in FIG. 13 (the stereoscopic endoscope 2 in FIG. 1). The apparatus 6 is comprised. Note that the light source device 3 and the like with the same reference numerals as those in FIG. 1 have the same configuration as that of the first embodiment.

  The stereoscopic endoscope 2B employs left and right objective optical systems 21L 'and 21R' that are different in optical characteristics such as focal length and viewing angle from the left and right objective optical systems 21L and 21R of the stereoscopic endoscope 2. . The following ID generation circuit 81 is provided corresponding to the left and right objective optical systems 21L 'and 21R'.

  The stereoscopic endoscope 2B includes an ID generation circuit 81 that generates optical system identification information (ID). The ID of the ID generation circuit 81 is input to the CPU 38 in the 3D display controller 5B. ing.

  In addition, the 3D display controller 5B has the viewpoint 1, viewpoint 2, and viewpoint when the viewpoint mode switch 41 and the like are operated by the ID in the 3D display controller 5 of FIG. 2 according to the connected stereoscopic endoscope 2B. The processing corresponding to 3 can be performed.

  That is, the CPU 38 reads out necessary information from the LUT 82 that stores information for performing processing corresponding to the viewpoint 1, viewpoint 2, and viewpoint 3 in association with the ID in advance (in the first embodiment, this information). Corresponds to only one type).

  Then, based on the information read from the LUT 82, for example, when the stereoscopic endoscope 2 of the first embodiment is connected, processing corresponding to the viewpoints 1 to 3 shown in FIG. 15 is performed.

  Further, when the stereoscopic endoscope 2B shown in FIG. 13 is connected, information corresponding to the characteristics corresponding to FIG. 15 in the case of the stereoscopic endoscope 2B is read out, and in the case of this stereoscopic endoscope 2B It is possible to perform processing suitable for

  More specifically, with a simple example, in the case of the stereoscopic endoscope 2, in the state of the viewpoint 2, for example, the mismatch areas Ra and Rb corresponding to Hla and Hra in FIG. In the case of the endoscope 2B, the values of the mismatch areas Ra and Rb are different. For this reason, for example, in the case of the viewpoint 2, the value of the movement amount that moves in the horizontal direction is different from that in the case of the stereoscopic endoscope 2. Note that the masking process also changes in conjunction with the value of the movement amount that moves in the horizontal direction.

  Information such as the amount of movement is stored in the LUT 82 in association with the ID code. Then, the CPU 38 reads information such as the required movement amount from the LUT 82 in the case of the stereoscopic endoscope 2B of the ID code from the ID code. Based on the read information, the same processing as in the case of the stereoscopic endoscope 2 described above is performed.

  In addition, even in the case of a stereoscopic endoscope such as the stereoscopic endoscope 2 shown in FIG. 1 that does not generate an ID, the 3D display controller 5B is read from the LUT 82 so that it can be handled manually. A selection setting switch 83 for selecting and setting information to be used is provided.

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

  According to this modification, it is possible to appropriately cope with the case where the characteristics of the optical system of the stereoscopic endoscope are different. Including the case where the number of pixels of the CCDs 25L, 25R, and 25W differs depending on the ID code, it is possible to appropriately cope with cases where the number of pixels of the CCDs 25L, 25R, and 25W are different.

  In the above description, the viewpoint position when the subject distance is changed from the preset state so that the left and right optical systems have the same imaging range in the viewpoint 1 state to the near point side and the far point side is set. Each one is prepared, but the value of the viewpoint position may be changed, or a plurality of changes may be made in small steps.

  In the first embodiment, when the viewpoint position is changed from the viewpoint position state of the distance L = d2 in FIG. 15 to the near point side (specifically, when the viewpoint mode 2 switch 41b is turned on), the distance L = d1. For example, when the viewpoint mode 2 switch 41b is turned on once, display control is performed with the distance L = d2 to the distance L = d2-d as the viewpoint position. When the viewpoint mode 2 switch 41b is turned on, display control with the distance L = d2-2d as the viewpoint position may be performed. Further, the user may be able to change and set the value of the distance d in this case.

  FIG. 14 shows a stereoscopic endoscope system 1C provided with a second modification. Previously, this was applied to a case where the stereoscopic endoscope did not have a distance calculating unit. However, in this modification, the driving information in a focused state by the driving unit that performs focus adjustment is used as distance information, and the distance information is more appropriate. Display control is performed.

  This stereoscopic endoscope system 1C employs a stereoscopic endoscope 2C that does not have a wide-angle optical system and imaging means in the stereoscopic endoscope system 1 shown in FIG. 1, for example. The optical endoscope is indicated by reference numeral 14C, and the television camera not having the wide-angle CCD is indicated by reference numeral 15C.

  The stereoscopic endoscope 2C also includes a motor 85 serving as a driving unit that moves the left and right imaging optical systems 24 in the television camera 15C forward and backward in the respective optical axis directions to focus the subject. Yes.

  Then, for example, by operating a focus adjustment switch 86 composed of a foot switch or the like (one of the focus adjustment switches 86 rotates the motor 85 in the normal direction and the other rotates the motor 85 in the reverse direction), the motor 85 rotates in the normal direction or the reverse direction. Thus, the left and right optical images formed on the left and right CCDs 25L and 25R can be simultaneously focused (focus adjustment) from the defocused state to the focused state.

  The motor 85 is provided with an encoder 87 for detecting which distance is focused by detecting the rotation amount of the motor 85, and an output signal of the encoder 87 is output from the 3D display controller 5C. To the CPU 38.

  The CPU 38 can detect the distance at which the stereoscopic endoscope 2 is actually focused and observed from the output signal of the encoder 87. Then, the CPU 38 sets the distance in focus as the viewpoint state, reads the corresponding information from the LUT 82 ′ in which information necessary for the viewpoint state is written in advance, and performs display control using the information. The signal processing device 4C in the stereoscopic endoscope system 1C includes CCUs 26L and 26R that perform signal processing on the left and right CCDs 25L and 25R.

  The effect | action by this 2nd modification is as follows.

  A user such as an operator uses the stereoscopic endoscope 2C and presses a focus adjustment switch 86 configured by a foot switch or the like so as to focus on an affected area or the like to be actually treated with an endoscopic examination or a treatment tool. Perform the operation.

  When the focus adjustment switch 86 is pressed, the motor 85 is driven to rotate, and the rotation of the motor 85 causes the (right and left) imaging optical system 24 disposed on the optical axis in front of the left and right CCDs 25L and 25R to interlock. The left and right optical images formed on the left and right CCDs 25L and 25R can be set in a focused state by moving forward or backward on the optical axis, respectively.

  Information in the set state (in other words, distance information) is sent to the CPU 38 via the encoder 87, and the CPU 38 reads information required in the state of the distance from the LUT 82 '.

  Then, using the information, the horizontal display positions of the left and right images displayed on the left and right image display elements 27L and 27R are adjusted, and a portion that becomes a mismatch area displayed on only one of the left and right images is selected. Mask it.

  The display state suitable for stereoscopic observation as shown in FIG. 6C or FIG. 7B in the first embodiment can be set at an arbitrary distance in the focused state.

In the first embodiment, the display state as shown in FIG. 6C or FIG. 7B is set, but the actual focus position (viewpoint) of the subject is set in the display state (3D display controller 5). However, in the case of this modification, if the focus error is ignored, an appropriate display in a state that matches the focus position of the subject can be performed. .
For this reason, according to the present modification, there is an effect that it is possible to display an image that is very easily stereoscopically observed. As described above, the 3D display controller according to the present embodiment and the modification can be applied to the case of a stereoscopic endoscope that does not have an existing distance calculation unit, and has a stereoscopic unit that has a focus adjustment unit that can calculate distance information. The present invention can be widely applied to the case of an endoscope, and an appropriate image display that can be easily stereoscopically observed can be obtained by the application.

Embodiments configured by partially combining the above-described embodiments or modifications also belong to the present invention. For example, the 3D controller 5C in the second embodiment may be integrated with the CCUs 26L and 26R. In this case, imaging signals from the CCDs 25L and 25R are input to the integrated 3D controller.
In addition, the imaging means for capturing the left and right images is not limited to the case of two CCDs that are spaced apart from each other on the left and right. For example, the imaging unit is formed by a single CCD having a large number of pixels in the horizontal direction. Including.

[Appendix]
1. 4. The image superimposing means according to claim 3, wherein the left and right images are set as parent images in the left and right images, and the left and right imaging means are provided other than the left and right imaging means for generating the left and right images provided in the stereoscopic endoscope. This is a PinP image generation unit that superimposes and displays an image captured by the imaging unit as a reduced child image.
2. 4. The on-screen image generating means according to claim 3, wherein the image superimposing means superimposes and displays a graphic image such as a menu in the left and right images.
3. In Supplementary Note 1, in conjunction with the movement of the left and right images by the image moving means, a process of moving the PinP image to the center of the left and right images is performed.

4). The image moving means is performed by changing a read / write address in a horizontal direction in left and right image memories storing the left and right images.
5. The image masking means outputs a black level signal at a timing for masking the vicinity of the horizontal end portions of the left and right images.
6). 2. The image masking unit according to claim 1, wherein the image masking unit masks the vicinity of an end portion in a horizontal direction, which is an image region displayed only in one of the left and right images.

7). The image processing apparatus according to claim 1, further comprising a control unit that controls operations of the image moving unit and the image mask unit.
8). In Supplementary Note 7, the control means controls the operations of the image moving means and the image mask means according to the characteristics of the stereoscopic endoscope.

9. Appendix 8 has storage means for storing a program for determining the operation of the control means.

10. The operation of the image moving unit and the image mask unit is controlled using the focus adjustment information in the stereoscopic endoscope.
11. 6. The information storage unit according to claim 5, further comprising: an information storage unit that stores information for determining a movement amount by the image movement unit and a mask amount of the image mask unit corresponding to characteristics of an optical system that forms an image on the two imaging units. .

12 The stereoscopic endoscope according to claim 5, wherein the stereoscopic endoscope includes a focus adjustment unit that performs adjustment so that an image is formed in a focused state on the imaging surfaces of the two imaging units.
13. In Supplementary Note 12, the operation of the image moving unit and the image mask unit is controlled using the information when the focus state is set by the focus adjusting unit.

14 Signal processing is performed on the left and right imaging signals or left and right video signals corresponding to the left and right images captured by the left and right imaging units having parallax provided in the stereoscopic endoscope, and the left and right for stereoscopic observation are displayed on the display unit. In the stereoscopic endoscope display control method for displaying the image of
A determination step for performing a process of determining whether or not there is a display change instruction input;
In response to the instruction input, an image moving step for performing processing for moving the horizontal display positions in the left and right images in opposite directions;
An image masking step for performing a process of masking the vicinity of the edge in the horizontal direction in the left and right images in conjunction with the process by the image moving step;
A display control method for a stereoscopic endoscope, comprising:

  When displaying the left and right images captured by the left and right imaging means having parallax on the left and right provided in the stereoscopic endoscope on the display means, masking the mismatched area portion of the left and right images generated according to the viewpoint position By making it possible to observe the same range on the left and right, and moving the left and right images horizontally, so that it can be observed in a state where there is no deviation in the focus position and convergence of the observer's eyes, there is less discomfort. Endoscopy and treatment can be performed in a state in which stereoscopic observation is easy.

1 is a configuration diagram of a stereoscopic endoscope system including Example 1 of the present invention. FIG. The block diagram which shows the internal structure of 3D display controller. The perspective view which shows the schematic structure of the stereoscopic endoscope system mounted in the cart. The bottom view which shows the structure which looked at the cart of FIG. 3 from the bottom face side. The perspective view which expands and shows the state which looked at the 3D display apparatus from the eyepiece part side, and its part. FIG. 16 is a diagram illustrating an image formed on the left and right CCDs in the state of the viewpoint 1 in FIG. 15, an image formed on the left and right CCDs in the state of the viewpoint 2, and the left and right images displayed on the left and right image display elements. FIG. 16 is a diagram illustrating an image formed on left and right CCDs and a left and right image displayed on left and right image display elements in the state of viewpoint 3 in FIG. 15. The figure which shows the left-right image and PinP image which are displayed on the left-right image display element in the state of the viewpoint 1 of FIG. The flowchart figure which shows a part of procedure of the control action by 3D image controller. The flowchart figure which shows the remaining control-operation part in FIG. The figure which shows the right-and-left image and PinP image which are displayed on a left-right image display element in the state of the viewpoint 2 in the state before a correction process and after a correction process. Left and right images and PinP images displayed on the left and right image display elements in the state of viewpoint 3 are shown in a state before and after the correction process, and further, when the display of the OSD image is selected, the left and right image display elements The figure which shows the right-and-left image, PinP image, and OSD image which are displayed on FIG. The block diagram of the stereoscopic endoscope system provided with the 1st modification. The block diagram of the stereoscopic endoscope system provided with the 2nd modification. An explanatory view in which a region or the like that does not match an imaging range is generated depending on a distance to a subject together with a conventional stereoscopic endoscope.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Stereoscopic endoscope system 2 ... Stereoscopic endoscope 3 ... Light source device 4 ... Signal processing device 5 ... 3D display controller 6 ... 3D display device 11 ... Insertion part 14 ... Optical endoscope 15 ... Television camera 21L, 21R , 21W ... Objective optical system 24 ... Imaging optical system 25L, 25R, 25W ... CCD
26L, 26R, 26W ... CCU
27L, 27R ... Image display elements 31L, 31R, 31W ... A / D converters 33L, 33R ... Image memories 34L, 34R ... Image mixers 35L, 35R ... PinP image generation units 36L, 36R ... OSD image generation units 38 ... CPU
DESCRIPTION OF SYMBOLS 39 ... Operation switch 41 ... Viewpoint mode switch 42 ... OSD display switch 43 ... PinP display switch 44 ... Up / down switch 45 ... Left / right switch 51 ... Cart 52 ... Arm 62 ... Eye shoe part 71 ... Mask insertion image 72 ... Black image 73 ... PinP image 74 ... OSD image Agent Patent Attorney Susumu Ito

Claims (5)

Signal processing is performed on at least left and right imaging signals having a parallax on the left and right, or left and right video signals generated from the left and right imaging signals, and the display means In a stereoscopic endoscope display control device that outputs left and right images for observation,
An image moving means for moving a horizontal display position in the left and right images displayed on the display means by a predetermined amount in opposite directions based on a display change instruction input;
In conjunction with the movement of the left and right images by the image moving means, the image mask means for masking the vicinity of the horizontal ends of the left and right images;
A display control apparatus for a stereoscopic endoscope, comprising:   When the image moving means moves the horizontal display position of the left and right images by the predetermined amount, the image masking means masks the vicinity of the horizontal end portions of the left and right images by the predetermined amount. The display control apparatus for a stereoscopic endoscope according to claim 1, wherein the display control apparatus is a stereoscopic endoscope.   Furthermore, it has an image superimposing unit that superimposes an image for superimposition on the left and right images, and when the display position of the left and right images is moved in the horizontal direction by the image moving unit, the actual image of the moved image is displayed. The display control apparatus for a stereoscopic endoscope according to claim 1, wherein the display position of the superimposing image is relatively corrected in conjunction with the display position of the stereoscopic endoscope.   The stereoscopic endoscope display control apparatus according to claim 1, further comprising display position adjustment means for adjusting a display position of at least one of the left and right images. A stereoscopic endoscope provided with imaging means having parallax on the left and right with respect to the same subject;
Left and right signal processing means for generating left and right video signals from the left and right imaging signals imaged by the imaging means;
Image moving means for moving the horizontal display positions of the left and right images displayed on the display means with respect to the left and right video signals by a predetermined amount in opposite directions;
In conjunction with the movement of the left and right images by the image moving means, the image mask means for masking the vicinity of the horizontal ends of the left and right images;
Stereoscopic image display means for respectively displaying left and right images that have passed through the image moving means and the image mask means;
A stereoscopic endoscope system comprising:

Images