JPH09149876A - Endoscope device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform smooth visual field conversion even when the position of an interested area and the position of a conversion target are arbitrarily set by displaying position information at a video display means by a position detection means. SOLUTION: The pixel data of the center position of magnified images R2 and the data of a zoom ratio outputted from a position command part 37 are transmitted to a magnified image range calculation part 41 inside an extraction point position information generation part 40 and a range occupied by the magnified images R2 within wide angle images R1 is calculated. Further, by inputting the respective data of a direction and a distance calculated in a direction calculation part 43 and a distance calculation part 44 to an image generation part 45, images for displaying the values are generated. The images are transmitted to a video mixer 31 and arrow data 46 for indicating the direction where the treatment part 15 of forceps 13 is present and numerical data 47 for indicating the distance are displayed on the magnified images R2 . Thus, the prompt re-frame-in of the forceps 13 or the execution of the sure visual field conversion after confirming the direction and distance of the visual field conversion is made possible.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope apparatus for observing the inside of a patient with an endoscopic image sent from an endoscope inserted into the patient's body.

[0002]

2. Description of the Related Art Generally, a treatment instrument and an endoscope are separately inserted into a patient's body, and an image of a distal end portion of the treatment instrument inserted into the body is captured in an observation field of view of the endoscope, and the treatment is performed. 2. Description of the Related Art Endoscopic surgery for performing a treatment operation while observing a treatment state of an affected part by a tool with an endoscope is known.

As a device for observing a body cavity for performing this type of endoscopic surgery, the applicant of the present invention has already filed, for example, Japanese Patent Application No. 7-142133 (Prior example 1) and Japanese Patent Application No. 7-14.
No. 3667 (Prior example 2) has been filed. The devices of these prior examples include an image pickup unit having an image pickup optical system for picking up an endoscopic image sent from an endoscope, and a video display unit such as a monitor for displaying the endoscopic image picked up by the image pickup unit. Is provided. Then, the inside of the patient is observed by an endoscope image displayed on the screen of the monitor.

Further, the above apparatus has a visual field conversion function for converting the visual field of the endoscopic image displayed on the screen of the monitor in accordance with the movement of the region of interest such as the distal end of the treatment instrument during the operation under the endoscope. It has been incorporated. At this time, the field of view of the endoscopic image displayed on the screen of the monitor is adapted to be continuously or discontinuously converted while being tracked by the movement of the region of interest.

[0005]

By the way, in the above-mentioned Prior Art 1 and Prior Art 2, the region of interest which is the target of visual field conversion of the endoscopic image is set with reference to the position of the color marker provided at the distal end of the treatment instrument. To be done. Then, in the field conversion of the endoscopic image, a target position (hereinafter referred to as a conversion target position) for moving the position on the image of the region of interest (endoscopic image) displayed on the screen of the monitor can be arbitrarily set. .

When the position of the region of interest and the conversion target point are arbitrarily set, the moving direction and moving distance of the visual field at the time of executing the visual field conversion change according to the set position.
For this reason, it is difficult for the surgeon to predict the visual field after execution before performing the visual field conversion, and the visual field of the endoscopic image displayed on the monitor screen after performing the visual field conversion is different from that predicted by the surgical operator. May be. In such a case, a smooth visual field conversion cannot be performed, and there is a problem that a reliable and efficient treatment is hindered.

In the second prior art, the enlarged image and wide-angle image of the endoscopic image are simultaneously displayed on the screen of one monitor, and the operator can observe the enlarged image and the wide-angle image at the same time. ing. Thus, when simultaneously observing a magnified image and a wide-angle image of an endoscopic image on the screen of one monitor, it is possible to grasp the situation of the entire body cavity of the patient with the wide-angle image and use the magnified image to measure A detailed image of the region of interest can be seen. As a result, there is a merit that a reliable and efficient treatment can be performed.

However, when the two images, the magnified image of the endoscopic image and the wide-angle image, are constantly displayed on the monitor, the operator may not be able to concentrate on one image during the operation. In addition, it is displayed on the monitor screen during surgery.
It is troublesome for the operator to select a desired observation target image from the images and observe it according to the surgical situation. Therefore, during normal operation, only the magnified image that displays the treatment details is displayed on the monitor screen, the treatment is performed using only this magnified image, and the display on the monitor screen is switched to the wide-angle image only when necessary. Is desirable.

At this time, in the configuration of the second prior art, only the enlarged image of the endoscopic image is displayed on the screen of the monitor during normal operation.
If the treatment is executed while only the enlarged image is displayed, there are the following problems. That is, when the treatment tool such as forceps is removed from the enlarged image displayed on the screen of the monitor, the current position of the treatment tool such as forceps is unknown, and the treatment tool is again displayed on the screen of the monitor. It is difficult to work in the frame.

Further, even when the treatment tool such as forceps is deviated from the enlarged image displayed on the screen of the monitor, at this time, in the wide-angle image not displayed on the screen of the monitor,
The tip position of the treatment tool such as forceps is detected. Therefore, as long as the position of the treatment tool such as forceps is detected by the wide-angle image camera, the field of view of the enlarged image can be changed according to the movement of the treatment tool.

However, when the treatment tool such as forceps deviates from the magnified image displayed on the screen of the monitor, and the current position of the treatment tool is unknown, the field of view of the magnified image targeting the tip position of the treatment tool is changed. If executed, the operator cannot predict in which direction and by what distance the field of view of the enlarged image displayed on the screen of the monitor will move due to the field-of-view conversion operation before performing the field-of-view conversion. Uneasy and unfavorable to

The present invention has been made in view of the above circumstances, and its purpose is to achieve smooth operation even when the position of the region of interest and the position of the conversion target, which are the target of endoscopic image field conversion, are set arbitrarily. An object of the present invention is to provide an endoscope apparatus that can perform a field-of-view conversion and perform a reliable and efficient treatment, and can perform a reliable and efficient treatment even by displaying only an enlarged image.

[0013]

The present invention comprises an endoscope holding means for holding an endoscope inserted into a patient's body, and an image pickup optical system for picking up an endoscopic image sent from the endoscope. And an image display unit for displaying the endoscopic image picked up by the image pick-up unit, and observing the inside of the patient with the endoscopic image displayed on the image display unit. Position detection means for detecting the position information of the region of interest in the observation field of view of the endoscope, based on the position information detected by the position detection means in a state where the endoscope is fixed at a predetermined position A field-of-view conversion unit that moves a field of view of the endoscopic image displayed on the video display unit by moving a part of the imaging optical system, and the interest obtained by the position detection unit on the video display unit. Area location information It is obtained by including a position information display means for displaying.

When observing the inside of the patient's body, an image inside the body is sent to an image pickup means by an endoscope inserted into the patient's body, and the imaged endoscopic image is sent to a video display means. It is made and visualized. Further, based on the position information of the region of interest within the observation visual field detected by the position detection means, the visual field conversion means moves a part of the imaging optical system of the imaging means to move the visual field of the endoscopic image. At this time, the endoscope remains fixed at the predetermined position and does not move. Thereby, the observation visual field is automatically converted according to the movement of the region of interest in the observation visual field. The position information of the region of interest obtained by the position detection means is displayed on the image display means of the position information display means.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a schematic configuration of the entire endoscope apparatus. This endoscope apparatus is provided with an endoscope for observing the inside of a body cavity of a patient, for example, a direct-viewing rigid endoscope 1 such as a laparoscope.

The rigid endoscope 1 is provided with an insertion portion 2 to be inserted into a body cavity of a patient, and an eyepiece portion 3 arranged at a base end portion of the insertion portion 2. Further, in this rigid endoscope 1, as shown in FIG. 2 (A), an objective lens 4 is provided on the distal end surface of the insertion part 2 and an eyepiece 5 is provided on the eyepiece part 3, and the insertion part 2 is formed. A plurality of relay lenses 7 are juxtaposed between the objective lens 4 and the eyepiece lens 5 in the cylindrical tubular body 6 at appropriate intervals. The optical system of the rigid endoscope 1 is provided with a distortion removing lens (not shown).

Further, the insertion portion 2 of the rigid endoscope 1 is previously inserted into a trocar 9 punctured in the abdominal wall portion 8 or the like of a patient and inserted into a body cavity. Here, the eyepiece 3 side of the insertion section 2 of the rigid endoscope 1 is a multi-joint scope holder 10.
Is held so as to be movable.

Further, a light guide fiber for illumination (not shown) is arranged in the insertion portion 2 of the rigid endoscope 1. One end of a light guide cable 11 is connected to the light guide fiber for illumination. The other end of the light guide cable 11 is connected to an external light source device 12 that supplies illumination light.

A second trocar 9'is punctured in the abdominal wall portion 8 of the patient or the like from an insertion position different from the insertion position of the rigid endoscope 1. The forceps 13, which is a treatment tool, is inserted into the body cavity through the trocar 9 ′.

The forceps 13 is provided with a treatment section 15 at the tip of an insertion section 14 which is inserted into the body cavity. Further, a handle portion 16 on the hand side is provided at a base end of the insertion portion 14. The treatment section 15 is remotely opened and closed with the opening and closing operation of the handle section 16.

A color marker (target identifying means) 17 is provided at the tip of the treatment section 15 of the forceps 13. The color marker 17 is a paint having biocompatibility, and a color that does not exist in the organ, such as green or yellow, is suitable for the color. As the treatment tool, a treatment tool having another configuration such as a peeling forceps, scissors, a laser probe, a suturing device, an electric scalpel, a needle holder, and an ultrasonic suction device may be used instead of the forceps 11.

A TV camera unit (observing means) for picking up an observation image of the rigid endoscope 1 is provided on the eyepiece 3 of the rigid endoscope 1.
18 is detachably attached. In the casing 19 of the TV camera unit 18, the eyepiece 3 of the rigid endoscope 1 is provided.
Half mirror 20 which is arranged to be opposed to the eyepiece lens 5 of FIG. 1 and is separated from the eyepiece 3 of the rigid endoscope 1, and one image (half mirror 20) which is distributed by the half mirror 20. Of the magnifying optical system (imaging optical system) 21 on which the optical image transmitted through the
And a wide-angle optical system (imaging optical system) 22 on which the other image (optical image reflected by the half mirror 20) distributed by is incident. The half mirror 2
0 may be an optical reflection element such as a prism.

Here, the magnifying optical system 21 is the zoom lens 2
3, an imaging lens 24, and a first CCD (imaging means) 25a which is a single CCD with a mosaic filter. Further, the wide-angle optical system 22 includes the imaging lens 2.
6 and a second CCD (imaging means) 25b which is a single-plate CCD with a mosaic filter.

The first CCD 25 of the magnifying optical system 21
a are two directions (X) orthogonal to the optical axis direction of the magnifying optical system 21.
(Not shown) as a visual field converting means H that is movable in the Y and Y directions). As a drive source for the X and Y stages, X and
An actuator for driving the Y stage, such as a DC servo motor, a stepping motor, a voice coil motor, etc., is used.

Further, the zoom lens 2 of the magnifying optical system 21
As a drive source of No. 3, a zoom lens drive actuator (DC servo motor, stepping motor, voice coil motor, etc.) not shown is used.

The TV camera unit 18 also includes two CCUs 28 via the video signal cables 27a and 27b.
a, 28b, and further connected to the visual field conversion control unit 30 via a control signal cable 29. Here, the first CCD 25a of the magnifying optical system 21 in the TV camera unit 18 is connected to one first CCU 28a via a video signal cable 27a, and the second CCD 25b of the wide-angle optical system 22 connects the video cable 27b. Second through
CCU 28b. Further, the actuators for driving the X and Y stages and the actuator for driving the zoom lens (not shown) in the TV camera unit 18 are connected to the image processing unit 30 via the control signal cable 29.

Further, the first and second CCUs 28a, 28b
The image processing unit 30 is connected to a video mixer 31, and the video mixer 31 is connected to a TV monitor (image display means) 32. In addition, the second CCU2
8b is also connected to the image processing unit 30. The image processing unit 30 includes a foot switch (operating means).
33 are connected. The foot switch 33 is provided with a tracking switch (not shown) and a zoom switch (not shown).

FIG. 3 shows a schematic structure of the image processing unit 30. A color space conversion unit 34 to which a signal from the second CCU 28b is input, an extraction image generation unit 35 to which an output signal from this color space conversion unit 34 is input, and this extraction image generation Part 35
A center-of-gravity position calculation section (position detection means) 36 to which an output signal from the center is calculated, and a position command section 37 to which output signals from the center-of-gravity position calculation section 36 and the foot switch 33 are input.
An XY stage control unit (observation visual field moving means) 38 and a zoom control unit 39 which are respectively connected to the position command unit 37 are provided. In addition, the center of gravity position calculation unit 36
An extraction point position information generation unit (position information display means) 40 to which the output signal from the position command unit 37 is input is provided.

FIG. 4 shows a schematic structure of the extraction point position information generating section 40. To the extraction point position information generation unit 40, the enlarged image range calculation unit 41 to which the signal from the position command unit 37 is input, the output of the enlarged image range calculation unit 41, and the output signal of the centroid position calculation unit 36 are input. The extraction point position determination unit 42, the center of gravity position calculation unit 36, the direction calculation unit 43 and the distance calculation unit 44 to which the output signals of the extraction point position determination unit 42 are input, and the direction calculation unit 43 and the distance calculation unit 44. An image generation unit 45 to which an output signal is input is provided.
The image generator 45 is connected to the video mixer 31.

Here, the XY stage control unit 38 has a TV
The actuators for driving the X and Y stages in the camera unit 18 are connected. The control signal output from the XY stage control unit 38 is input to the X, Y stage drive actuator. Further, an actuator for driving the zoom lens in the TV camera unit 18 is connected to the zoom controller 39.
The zoom controller 39 has a foot switch 33.
The control signal output from the zoom control unit 39 is input to the position command unit 37 and the zoom lens driving actuator, respectively. In addition, the extraction point position information generation unit 40
Is connected to the video mixer 31.

Next, the operation of the above configuration will be described.
First, when the endoscope apparatus according to the present embodiment is used, as shown in FIG. 1, for example, the insertion portion 2 of the rigid endoscope 1 held by the scope holder 10 in the trocar 9 punctured in the abdominal wall portion 8 of the patient in advance. Is inserted and inserted into the body cavity. Further, a second trocar 9'is punctured into the abdominal wall portion 8 of the patient or the like from an insertion position different from the insertion position of the rigid endoscope 1, and the forceps 13 is inserted into the body cavity through the trocar 9 '.
At this time, as shown in FIG. 1, the treatment section 1 at the tip of the forceps 13
5 is set in a state of being inserted into the visual field range R ₁ by the eyepiece 3 of the rigid endoscope 1.

A TV camera 18 is attached to the eyepiece 3 of the rigid endoscope 1. The observation image in the body cavity transmitted by the rigid endoscope 1 is the TV camera unit 1
It is divided into two by the half mirror 20 in 8. Further, one image (an optical image transmitted through the half mirror 20) distributed by the half mirror 20 is incident on the magnifying optical system 21, and the other image distributed by the half mirror 20 (reflected by the half mirror 20). The optical image) is incident on the wide-angle optical system 22.

In the wide-angle optical system 22, the objective lens 4
Is formed on the second CCD 25b. Here, if the objective lens 4 is widened, FIG.
As shown in (B), an observation image (wide-angle image) inside the body cavity in a wide range R ₁ can be obtained.

Further, the second CCD 2 of the wide-angle optical system 22
The output signal from 5b is input to the second CCU 28b and is visualized by the second CCU 28b, and the video is input to the color space conversion unit 34 and the video mixer 31 of the image processing unit 30, respectively. Then, the color space conversion unit 34 of the image processing unit 30 extracts the color component of each pixel from the input video signal and converts it into data of each color space (color difference, HSI, L * a * b, etc.). Convert.

Here, the format of the video signal is NTS
If C, Y, E _Q, the color difference signals from the E _I signal (Y, B
-Y, RY) or HSI (hue: Hue, saturation: Saturatio) using tristimulus values (X, Y, Z) that can be calculated based on the RGB signals calculated from the color difference signals.
n, lightness: intensity) space, L * a * b * space, or other color space for output. If the video signal format is RGB, color difference, HSI, L
Converts to a color space such as * a * b * and outputs.

This output is input to the extracted image generator 35. The extracted image generation unit 35 compares, for each pixel, whether or not the input signal of the color space falls within a preset range of the color to be extracted. Then, if the input signal is within the set range, the pixel is set to brightness 0
If the pixel is out of the set range, the brightness of the pixel is set to 1 and output in achromatic color. As a result, a binary image in which the set color portion is black and the other portions are white is output. In addition,
The opposite output may be used.

The binary image output here is input to the center-of-gravity position calculator 36. The center-of-gravity position calculation unit 36 outputs the pixel area data of the area of the black portion, which is the portion where the set color is extracted, and the area center-of-gravity position.

The barycentric position obtained here is an extraction target point. This extraction target point may be a region of interest and may be a field conversion target point, or the region of interest may be a position having a predetermined direction and distance with respect to the extraction target point. In the latter case,
The operator can set the direction and distance of the region of interest with respect to the extraction target point in advance.

Further, the pixel data output from the center-of-gravity position calculation section 36 is input to the position command section 37. The position command unit 37 calculates the difference between the pixel data on the screen of the TV monitor 32 where the preset extraction target point is to be positioned, for example, the center of the screen of the TV monitor 32 and the calculated extraction target pixel data, A command position for moving the extraction target point to a preset point on the screen of the TV monitor 32 is obtained.

Here, by turning on a tracking switch (not shown) provided on the foot switch 33, the command position calculated by the position command section 37 is sent to the XY stage control section 38. Then, a control signal is output from the XY stage control unit 38 to the X, Y stage driving actuator of the TV camera unit 18, and the X, Y stage is driven to drive the first CCD 25a of the magnifying optical system 21.
Are moved in two directions (X direction and Y direction) orthogonal to the optical axis direction of the magnifying optical system 21. At this time, the magnifying optical system 21 moves the XY stage drive actuator in the TV camera unit 18 by the command position by the control signal from the XY stage control unit 38 so that the extraction target point comes to the set position on the screen. The first CCD 25a of is moved.

The optical image transmitted through the half mirror 20 and incident on the magnifying optical system 21 is focused on the first CCD 25a through the zoom lens 23 and the imaging lens 24. At this time, the observation image in the body cavity formed by the eyepiece lens 5 is magnified by the zoom lens 23, and the first CCD 2
Only a part of the observed image is formed as an enlarged image on 5a. That is, magnified observation can be performed by the observation image in the body cavity formed on the first CCD 25a. As a result, as shown in FIG. 2B, an observation image (enlarged image) of the inside of the body cavity in the narrow visual field range R ₂ obtained by enlarging only a part of the endoscopic image is obtained.

Here, a color marker 17 is provided in advance on the distal end of the treatment portion 15 of the forceps 13, the color of the marker 17 is set as the extraction target color, and the screen of the TV monitor 32 at which the extraction target point is desired to be located. Position of TV monitor 32
When the image processing unit 30 is set as the center of the screen, the following forceps tracking operation is performed. That is, the position of the color marker 17 of the treatment portion 15 of the forceps 13 is the observation range R ₁ by the second CCD 25b of the wide-angle optical system 22.
When the position of the treatment target portion is deviated from the center of the captured image R ₂ of the magnifying optical system 21 in the state of being arranged in the position, the operator such as a doctor performs the treatment while visually observing the screen of the TV monitor 32. It will be a difficult situation. In such a case, the tip of the forceps 13 is brought closer to the position near the treatment target site, and the forceps 1
When the tracking switch of the foot switch 33 is turned on in a state where the treatment target portion is gripped by the treatment section 15 of No. 3, the forceps 13 is moved as shown in FIG.
The first CCD 25a moves so that the front end position of the image is located at the center of the captured image R ₂ of the magnifying optical system 21. In other words, the visual field conversion is performed so that the image of the first CCD 25a tracks the tip of the forceps 13.

Here, a configuration is conceivable in which the position of an arbitrary visual field is stored in the process of successively performing the tracking operation, and the visual field conversion is automatically performed at that position by selecting a desired storage position later. To be Further, not only the visual field position may be stored, but also the image at the time of storage may be stored so that it can be recalled later.

It is also conceivable that the CCD 25a is returned to the neutral position by the switch operation and the visual field direction coincides with the axial direction of the rigid endoscope 1. It is necessary that the direction of the visual field and the axial direction of the rigid endoscope 1 coincide with each other in order to improve the operability when the rigid endoscope 1 is inserted, withdrawn, or when the visual field is changed manually. Therefore, during these operations, the CCD 25 is automatically
The return to the neutral position of a may be performed.

When the zoom switch of the foot switch 33 is turned on, a command for zoom movement amount is transmitted from the zoom controller 39 to a zoom lens driving actuator (not shown) in the TV camera unit 18, and
Of the zoom lens 23 in the direction of the visual axis (optical axis) of the CCD 25a
Is moved by the amount specified. This zoom lens 23
The zoom ratio is monitored by an encoder, a potentiometer, or the like (not shown) attached to the zoom lens driving actuator, and sent from the zoom control unit 39 to the position command unit 37.

Further, the position command section 37 performs a linear weighting operation on the moving speed to the command position given to the XY stage control section 38 by this zoom ratio. This weighting operation is for controlling the viewing field conversion speed on the screen of the TV monitor 32 to be constant even when the same observation target is observed with a different zoom ratio.

Further, the pixel data of the central position of the enlarged image and the zoom ratio data output from the position command unit 37 are transmitted to the enlarged image range calculation unit 41 in the extraction point position information generation unit 40. The magnified image range calculation unit 41 calculates the range occupied by the magnified image R ₂ in the wide-angle image R ₁ shown in FIG. 5A based on these data.

Further, the output signal from the enlarged image range calculation section 41 is input to the extraction point position determination section 42. In the extraction point position determination unit 42, the centroid position data of the extracted portion input from the centroid position calculation unit 36 and the enlarged image range calculation unit 41
It is determined whether or not the extraction target point is within the enlarged image by comparing it with the enlarged image range data input from.

The output signal from the extraction point position determination unit 42 is input to the direction calculation unit 43 and the distance calculation unit 44.
Then, the determination result of the enlarged image range calculating unit 41 is input to the direction calculating unit 43 and the distance calculating unit 44, and it is determined that the extraction target point is outside the enlarged image as illustrated in FIG. Only when the determination is made, the following arithmetic processing is performed based on the input signal from the gravity center position calculation unit 36.

In this calculation process, the direction calculation unit 43 calculates the direction of the extraction point with respect to the center of the enlarged image based on the difference between the center position of the enlarged image and the extraction point. In addition, the distance calculation unit 44 first calculates the area of the extracted portion from the rigid endoscope 1.
The distance from the tip of the to the extraction point is obtained. Next, the actual distance between the center of the enlarged image and the extraction point is calculated from this distance data and the distance data on the image between the center of the enlarged image and the extraction point.

Further, the direction calculation unit 43 and the distance calculation unit 44
Each data of the direction and the distance calculated in
Is input to Then, the image generating unit 45 generates an image displaying these values. This image is transmitted to the video mixer 31, and as shown in FIG.
On the enlarged image R ₂ of the V monitor 32, arrow data (positional information) 46 indicating a direction and numerical data (positional information) 47 indicating a distance are superimposed and displayed.

For example, as shown in FIG. 5 (A), forceps 13
When the treatment portion 15 of FIG. 5 is deviated from the enlarged image R ₂ of the TV monitor 32, the position of the treatment portion 15 of the forceps 13 is unknown only by the enlarged image R ₂ shown in FIG. Therefore, in such a case, the arrow data 46 indicating the direction in which the treatment section 15 of the forceps 13 exists and the numerical data 47 indicating the distance, which are generated by the extraction point position information generating section 40, as shown in FIG. It is displayed on the enlarged image R ₂ . This makes it possible to promptly perform re-frame-in of the forceps 13 or to perform reliable visual field conversion after confirming the direction and distance of visual field conversion.

The video mixer 31 has the first and second C
The output from the CUs 28a, 28b and the image processing unit 30 is received, and the enlarged image R ₂ by the first CCD 25a,
The wide-angle image R ₁ by the second CCD 25b and the image (arrow data 46 and distance data 47) displaying the extraction point position information by the extraction point position information generation unit 40 are selected and output to the TV monitor 32. Here, the image displaying the extraction point position information is superimposed on the enlarged image R ₂ when the extraction point deviates from the enlarged image R ₂ when the enlarged image R ₂ is displayed. The enlarged image R ₂ and the wide-angle image R ₁ displayed on the TV monitor 32 can be arbitrarily switched.

The display contents of the image output from the image processing unit 30 and superimposed on the monitor 32 include the type of switch operated by the operator, the stroke of the CCD 25a on the XY stage, and the zoom lens 23. Data indicating the state of strokes and the like are also conceivable. Furthermore, the information may be transmitted to the operator by voice.

Similarly, as the display content of the image output from the image processing unit 30 and superimposed on the monitor 32, the position information of the region of interest which is the target of the visual field conversion can be considered. This is effective when the position of the region of interest does not match the position of the region of interest specifying means (color marker in this embodiment). For example, as in the first modified example shown in FIG. 6, on the straight line connecting the barycentric positions A and B of the two color markers 17A and 17B arranged in the insertion portion 14 of the forceps 13,
When the region C satisfying the predetermined ratio x: y is set as the region of interest, the index 48 is displayed at the position of C. Then, when the visual field conversion is executed, the position of the index 48 moves to the conversion target position. Therefore, the operator can easily predict the visual field after the visual field conversion by executing the visual field conversion by looking at the index 48. As a result, it is possible to perform the visual field conversion smoothly and efficiently.

In addition to the above, as the display contents of the image output from the image processing unit 30 and superimposed on the monitor 32, the second to fourth items shown in FIGS.
Each modified example of can be considered. That is, in the second modification shown in FIG. 7A, the conversion target position, which is the position on the monitor screen where the region of interest is to be located, is displayed as the cross-shaped index 49A. Further, in the third modified example shown in FIG. 7B, the point at the center of the image after the field-of-view conversion is executed is the index 49
B. Here, O is the current image center point.
Further, in the fourth modified example shown in FIG. 7C, the frame (display frame) of the screen after the visual field conversion is performed is used as the index 49C.

By the visual field conversion operation of the present embodiment, the setting of the position (conversion target position) on the screen of the TV monitor 32 where the region of interest is desired can be changed as appropriate.
Furthermore, the first and second CCDs 25a and 25b are three Cs.
3-plate CC that captures R, G, and B images on a CD
D may be used. Further, instead of the first CCD 25a, the imaging lens 24 may be attached to the XY stage to perform the field conversion. Further, as the position detecting means on the image of the tip position of the treatment portion 15 of the forceps 13, pattern matching by extracting the feature amount (edge or the like) of the tip shape of the forceps 13, or this pattern matching and the color extraction is used. It may be a combination.

Further, the color marker 17 may be constituted by a member which is detachably attached to the tip of the treatment portion 15 of the forceps 13. Further, as the field-of-view conversion / zoom operation switch, in addition to the foot switch 33, a hand switch detachably attached to the handle portion 16 of the forceps 13 may be used.

FIG. 8 shows a second embodiment of the present invention. The present embodiment is a modification of the image processing unit 30 of the first embodiment, and the other configurations are the same as those of the first embodiment.

That is, in the image processing unit 30 of the present embodiment, a second C as shown in FIG. 8 is used instead of the color space conversion unit 34 and the extracted image generation unit 35 of the first embodiment.
The color feature amount generation unit 51 connected to the CU 28b, the priority determination unit 52 and the extracted image generation unit 53 connected to the color feature amount generation unit 51, and the threshold value holding connected to the extracted image generation unit 53 And a portion 54 are provided. Then, the video signal from the second CCU 28b is input to the color feature amount generation unit 51. The color feature quantities A, B, C, and D are output from the color feature quantity generator 51. Here, the color feature amount A,
B is input to the extracted image generation unit 53, and color feature amounts C and D are input to the priority determination unit 52.

Further, output signals from the priority determining section 52 and the threshold value holding section 54 are input to the extracted image generating section 53. Furthermore, the output signal from the extracted image generation unit 53 is input to the gravity center position calculation unit 36. The signal flow after the center-of-gravity position calculation unit 36 is the same as that in the first embodiment.

Then, when the image processing unit 30 of the present embodiment is in operation, the color characteristic amount generating section 51 generates the color characteristic amount based on the video signal input from the second CCU 28b. The color feature amounts A and B input from the color feature amount generation unit 51 to the extracted image generation unit 48 are hue,
Signals representing color types such as color difference and chromaticity are used. Here, A is a hue H and B is a color difference (r, g, b). The hue H and the color difference (r, g, b) are calculated by the following formulas 1 and 2, for example, when the format of the input video signal is RGB.

[0063]

(Equation 1)

[0064]

(Equation 2)

As the color feature quantities C and D input to the priority determining section 52, signals representing the brightness and vividness of colors such as lightness and saturation are used. Here, C is the lightness I,
Let S be the saturation S. And I and S are calculated | required by the following formulas 3 and 4, for example.

I = (R + G + B) / 3 (3) S = 1-min (R, G, B) / I (4) Here, the extracted image generation unit 53 generates the color feature quantity. Part 46
The hue H and color difference (r, g, b) input by the above are compared with the threshold value input from the threshold value holding unit 54 for each pixel, and whether or not it is within the range of the extraction target color The hue H
And the color difference (r, g, b) are determined separately. 2
The priority of one determination result is determined according to the output from the priority determination unit 52.

Further, the priority determining section 52 outputs the following outputs in accordance with the following conditions (1) to (4) based on the lightness I and the saturation S input from the color feature amount generating section 51. To do.
It should be noted that I _l , I _h , and S _l are predetermined threshold values, which are a lower limit value of brightness, an upper limit value of brightness, and a lower limit value of saturation, respectively. (1) (I <I ₁ or I> I _h ) and S ≧ S ₁ The judgment result of the hue H is prioritized. (2) When I _l ≤ I ≤ I _h and S <S _l Color difference (r, g, b) is given priority. (3) In the case of (I <I _l or I> I _h ) and S <S _l This pixel is excluded from the extraction target range regardless of the determination result of hue and color difference. (4) In the case of I _l ≤I ≤I _h and S ≥S _l Priority is given to the determination result of the hue or the color difference determined in advance.

Here, the condition (1) is that the brightness is very bright or dark. The hue H has a relatively small variation with respect to a change in lightness as compared with the color difference (r, g, b). Therefore, even when it is extremely bright or dark, it is possible to perform more stable color extraction by the determination using the hue H.

The condition (2) is the case where the saturation is low. When the saturation is low, the hue H shows an unstable value. As a result, the occurrence of noise (the one in which a portion other than the extraction target is mistakenly extracted) is observed. On the other hand, the color difference (r, g, b) shows a stable value even when the saturation is low. Therefore, when the saturation is low, the occurrence of noise can be prevented by prioritizing the determination based on the color difference.

The condition (3) is that the brightness is very bright or dark and the saturation is low. In this case, from the above, both the hue and the color difference are unsuitable for color extraction, so the pixel is outside the extraction target range.

The condition (4) is a condition suitable for color extraction for both lightness and saturation. In such a case, good color extraction can be performed using either the hue or the color difference, and thus there is no difference in priority.

With the above configuration, the color marker 15 can be reliably extracted even if the photographing conditions such as the change of the brightness of the illumination, the change of the color vividness due to the stain or deterioration of the color marker 15, and the like. It becomes possible and stable view conversion operation becomes possible.

FIG. 9 shows a third embodiment of the present invention. This embodiment is a modification of the second embodiment (see FIG. 8). That is, in the present embodiment, the feature amounts A and B generated by the color feature amount generation unit 51 are sent to the extracted image generation unit 53, and the feature amounts C and D are sent to the threshold value holding unit 54.
Sent to

In the extracted image generating section 53, the feature quantities A and B
And the threshold value input from the threshold value holding unit 54 are compared to determine whether or not it is within the range of the extraction target color. Here, the threshold value output from the threshold value holding unit 54 is the feature amount C input from the color feature amount generating unit 51,
It is determined based on D. The relationship between the characteristic amounts C and D and the threshold value is set in advance so that a reliable color extraction result is always obtained according to the change of the characteristic amounts A and B with respect to the change of the characteristic amounts C and D. With this configuration, even if the values of the color characteristic amounts A and B are changed due to the change of the photographing condition, it is possible to reliably extract the color marker 17 by appropriately changing the threshold value.

Further, in order to surely extract the color marker 17, a configuration in which the illumination condition is changed so as to be suitable for color extraction can be considered. For example, like the fourth embodiment of the present invention shown in FIG. 10, the frame memory 61 in the second CCU 28b is provided with a frame 61a dedicated to color extraction for only one out of every six frames. In FIG. 10, among the plurality of frames F _{1 to} F ₁₃ ... Of the frame memory 61, the frames F ₆ and F ₁₂ are frames 61 a dedicated to color extraction, and illumination suitable for color extraction only when the frame 61 a is photographed. I do. The other frames F _{1 to} F ₅ , F _{7 to} F ₁₁ , F ₁₃ ... Are set as monitor display image capturing frames 61b.

[0076] In addition, the observation image display in the frame F _6, F ₁₂ of the color extraction dedicated frame 61a is immediately preceding frame F _5, F ₁₁ and the same image or the previous frame F _5,, F
Pseudo-display is performed using images that have been subjected to prediction processing from ₁₁ .

Therefore, in the above structure, only one frame (frame 61a dedicated to color extraction) out of the six frames of the frame memory 61 is pseudo-displayed, so that image deterioration is hardly sensed. Further, in this case, the minimum time unit of the visual field conversion operation is about 0.2 seconds, but the time resolution is sufficient for visual field conversion.

The color marker 17 which is the extraction target
May be configured as described below so as to be surely extracted regardless of the illumination condition. FIG. 11 shows a fifth embodiment of the present invention. In this embodiment, two color markers 71A and 71B having different reflectances are provided in the insertion portion 14 of the forceps 13 in the vicinity of the treatment portion 15.
Here, one color marker 71A is formed by a marker having a low reflectance, and the other color marker 71B is formed by a marker having a high reflectance.

Therefore, in the above-mentioned structure, the color marker 71A having a low reflectance is extracted when the illumination is bright, and the color marker 7 having a high reflectance is extracted when the illumination is dark.
1B is extracted. This allows at least one color marker 71A or 71A even if the lighting condition changes variously.
B is surely extracted.

The markers having different reflectances may be formed by using different materials, but may be realized by using the same material and changing the surface treatment. For example,
It is considered that the high reflectance region has a mirror-finished surface and the low reflectance region has a satin finish. Further, an antireflection coating may be applied only to the low reflectance region.

FIG. 12 shows a sixth embodiment of the present invention. In this embodiment, the insertion portion 1 of the forceps 13 is used.
4, color markers 71B having a high reflectance are arranged on both sides of the color marker 71A having a low reflectance arranged in the vicinity of the treatment section 15 in FIG. 4, and the barycentric position of the color marker 71A and both sides of this color marker 71A are arranged. Two color markers 7
The center of gravity of 1B is set to match.

Therefore, in the case of the above-mentioned configuration, even when only the color marker 71A is extracted, when only two color markers 71B are extracted, or when both the color marker 71A and the two color markers 71B are extracted. The center of gravity positions of the extraction areas are the same in all cases where is extracted. This barycentric position becomes an extraction target point in the visual field conversion operation.
Therefore, in this embodiment, a stable visual field conversion operation can be obtained without changing the position of the extraction target point depending on the illumination condition.

As shown in the above second to sixth embodiments, by devising the color extraction calculation, the illumination method, and the color marker selection method, reliable color extraction can be performed, and stable color extraction can be performed. It is possible to obtain the changed visual field conversion operation.

The present invention is not limited to the above embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

Next, other characteristic technical matters of the present application will be additionally described as follows.

(Additional Item 1) In an endoscope apparatus for observing the inside of a patient by an endoscopic image sent from the endoscope inserted into the patient's body, an endoscope holding means for holding the endoscope. An image pickup means having an image pickup optical system for picking up an endoscopic image sent from the endoscope; a video display means for displaying the endoscopic image picked up by the image pickup means; and observation of the endoscope. Position detecting means for detecting the position information of the region of interest in the field of view,
While the endoscope is fixed at a predetermined position, a part of the image pickup optical system is moved based on the position information detected by the position detecting unit, thereby displaying the image on the image display unit. An endoscopic apparatus comprising: a visual field conversion means for moving a visual field of an endoscopic image; and a position information display means for displaying the positional information of the region of interest obtained by the position detection means on the video display means.

(Additional Notes 1, 3, 4, 11, 17, 20,
Purpose of 27, 30) Even when the region of interest position and the conversion target position are arbitrarily set, a smooth visual field conversion is performed,
The purpose is to enable reliable and efficient treatment.

(Operation of Additional Item 1) An image inside the body is sent to the image pickup means by the endoscope inserted into the body and is picked up. The captured image is sent to the video display means and visualized. The position detecting means detects the position information of the region of interest within the observation visual field. Based on the detected position information, the visual field conversion means moves the visual field of the endoscopic image by moving a part of the image pickup optical system of the image pickup means. At this time, the endoscope remains fixed at the predetermined position and does not move. Thereby, the observation visual field is automatically converted according to the movement of the region of interest. The position information display means displays the position information of the region of interest obtained by the position detection means on the video display means.

(Effect of Supplementary Note 1) A region of interest position in visual field conversion (a position which is a target of visual field conversion), a conversion target position (a target position for moving the region of interest position),
By displaying the positional information regarding the visual field conversion such as the position of the region of interest specifying means (the position of the color marker or the like provided at the tip of the forceps for specifying the region of interest), the smooth visual field conversion can be executed. As a result, reliable and efficient endoscopic treatment can be performed.

(Additional Item 2) In an endoscope apparatus for observing the inside of a patient with an endoscopic image sent from an endoscope inserted into the patient's body, endoscope holding means for holding the endoscope is provided. An image pickup means having an image pickup optical system for picking up an endoscopic image sent from the endoscope; a video display means for displaying the endoscopic image picked up by the image pickup means; and an observation visual field of the endoscope. A color material that specifies a region of interest in the inside, a color extraction image processing unit that generates position information of the region of interest by detecting the position of the color material, and in a state where the endoscope is fixed at a predetermined position. A visual field conversion means for moving a visual field of the endoscopic image displayed on the video display means by moving a part of the imaging optical system based on the position information generated by the color extraction image processing means. An endoscope apparatus comprising:

(Additional items 2 to 4, 17, 20, 27, 3
(Purposes of 0, 36 to 39, and 16) In the first example and the second example, the color marker provided at the tip of the forceps is used as the target of the visual field conversion, and the method of extracting the color marker by the image signal processing is It is shown. In this method, the color of the color marker also changes due to changes in the shooting conditions such as changes in the brightness of the illumination and changes in the vividness of the color due to stains on the color marker, which makes extraction of the color marker uncertain. There was a problem. Therefore, an object is to perform reliable color marker extraction regardless of shooting conditions.

(Operation of Supplementary Note 2) An image inside the body is sent to the image pickup means by the endoscope inserted into the body and picked up.
The captured image is sent to the video display means and visualized. The region of interest in the observation visual field is specified by the coloring material.
The color extraction image processing means detects the position of the color material by extracting the color of the color material, and generates the position information of the region of interest based on the detected position. Based on the detected position information, the visual field conversion means moves the visual field of the endoscopic image by moving a part of the image pickup optical system of the image pickup means. At this time, the endoscope remains fixed at the predetermined position and does not move. Thereby, the observation visual field is automatically converted according to the movement of the region of interest.

(Additional Item 3) In Additional Items 1 and 2,
The endoscope is a wide-angle observation means for observing a wide-angle field of view inside the body,
An endoscope apparatus having a magnifying observation means for magnifying and observing a part of a wide-angle field of view.

(Operation of Additional Items 3 to 6) As described in the additional item.

(Additional Item 4) In Additional Items 1 and 2,
The endoscope has one optical system for transmitting the in-vivo image, and the imaging means has an optical path distributing means for distributing the transmitted image into two.
An endoscope apparatus comprising a wide-angle image pickup means for picking up one of the distributed images and a magnifying image pickup means for magnifying and picking up the other image.

(Additional Item 5) The endoscope device according to Additional Item 4, wherein the optical path distributing means is a half mirror.

(Additional Item 6) In the additional item 4, the optical path distributing means is a prism.

(Additional Item 7) In the additional item 4, the wide-angle imaging means is an endoscope apparatus including an imaging lens and an imaging element.

(Operation of Supplementary Note 7) The light flux obtained from the inside of the body through the endoscope is imaged on the imaging element by the imaging lens. The image sensor converts the imaged light into an electric signal based on photoelectric conversion.

(Additional Item 8) In the additional item 4, the magnifying image pickup means is an endoscope apparatus including a zoom lens, an image forming lens, and an image pickup element.

(Operation of Supplementary Note 8) Difference from Supplementary Note 7:
The light flux obtained from the inside of the body is incident on the imaging lens after being enlarged by the zoom lens.

(Additional Item 9) In Additional Items 7 and 8,
The endoscopic device whose image sensor is a single-plate CCD.

(Operation of Supplementary Note 9) The three-color RGB are imaged by the single-plate CCD.

(Additional Item 10) In the additional items 7 and 8, the endoscope device in which the image pickup device is a three-plate CCD.

(Operation of Supplementary Note 10) Each color of RGB is imaged separately by using three CCDs.

(Additional Item 11) In the additional item 1, the region of interest is specified by the region of interest specifying means for specifying the region of interest within the observation visual field.

(Operation of Additional Items 11 to 19) As described in the additional items.

(Additional Item 12) In the additional item 11, the position of the region of interest coincides with the position of the region of interest specifying means in the observation visual field.

(Additional Item 13) In the additional item 11, the position of the region of interest is a position having a predetermined direction and distance with respect to the position of the region of interest specifying means in the observation visual field.

(Additional Item 14) In the additional item 13, an endoscope apparatus having setting means for setting the relative position of the ROI with respect to the position of the ROI specifying means.

(Additional Item 15) In the additional item 11, the region-of-interest specifying means is an endoscope apparatus provided at the tip of a treatment instrument that is inserted into the body and applied to various types of surgery.

(Additional Item 16) In Additional Item 11, the region-of-interest specifying means is a color material having a predetermined color, and the position detecting means extracts the color of the color material to generate position information of the region of interest. An endoscope apparatus which is a color extraction image processing means.

(Additional Item 17) In the additional items 1 and 2,
The visual field conversion means moves the direction of the observation visual field of the endoscope so that the region of interest is located at the conversion target point provided on the endoscopic image.

(Additional Item 18) In the additional item 17, an endoscope apparatus provided with setting means for setting a conversion target point.

(Additional Item 19) In the additional item 17, the conversion target point is the center of the endoscopic image.

(Additional Item 20) In the additional items 1, 2 and 17, an endoscope apparatus having an index display means for displaying on the image display means an index representing the visual field before and after performing the visual field conversion.

(Operation of Supplementary Note 20) The index display means is
An index is displayed on the endoscopic image so that the operator can easily predict the visual field after the visual field conversion is performed.

(Additional Item 21) In the additional item 20, the index displaying means displays the index on the conversion target point.

(Operation of Additional Items 21 to 25) As described in the additional items.

(Additional Item 22) In the additional item 20, the index display means displays the index at a position which becomes the center of the image after the visual field conversion.

(Additional Item 23) In the additional item 20, the index display means is an endoscope apparatus which displays a straight line which becomes an end portion of the image after the visual field conversion.

(Additional Item 24) In Additional Item 8, the field-of-view conversion means determines the amount of movement of the moving means based on the moving means for moving the image pickup device provided in the magnified image pickup means and the position detected by the position detecting means. An endoscopic device comprising position command means for calculating and commanding.

(Additional Item 25) In Additional Item 8, the visual field converting means is a moving means for moving the imaging lens provided in the magnifying image pickup means, and a moving amount of the moving means based on the position detected by the position detecting means. An endoscopic device including a position command unit that calculates and commands.

(Additional Item 26) Additional Item 24 and Additional Item 2
5, the moving device is an endoscope device including an XY stage and an XY stage drive motor.

(Operation of Supplementary Note 26) The XY stage drive motor moves the XY stage in response to the position command signal. The image sensor is fixed on the XY stage.

(Additional Item 27) An endoscope apparatus according to additional items 1 and 2, which is provided with operation input means for operating the visual field converting means.

(Operation of Additional Items 27 to 39) As described in Additional Item.

(Additional Item 28) In the additional item 27, the operation input device is a foot switch.

(Additional Item 29) In the additional item 27, the operation input means is an endoscopic device which is a hand switch.

(Additional Item 30) In the additional items 1 and 2, the position information displayed by the position information display means is
An endoscopic device which is an index indicating the position of a region of interest.

(Additional Item 31) In Additional Item 11, the position information display means displays the position information of the region of interest specifying means.

(Additional Item 32) In the additional item 31, the position information displayed by the position information display means is the direction of the region of interest specifying means with respect to the reference position on the endoscopic image.

(Additional Item 33) In the additional item 31, the position information displayed by the position information display means is the distance of the ROI specifying means to the reference position on the endoscopic image.

(Additional Item 34) In the additional items 32 and 33, an endoscope apparatus provided with reference position setting means for setting the reference position on the endoscopic image.

(Additional Item 35) In the additional items 32 and 33, the reference position is the endoscopic device which is the center of the endoscopic image.

(Additional Item 36) In Additional Items 2 and 16, the color extraction image processing means includes a characteristic amount calculating means for calculating a plurality of color characteristic amounts from the endoscopic image, and each color characteristic amount has a predetermined threshold value. An endoscope apparatus having a determination unit that determines a pixel within a value range as an extraction target.

(Additional Item 37) In Additional Items 2 and 16, the color extraction image processing means includes an illumination state estimating means for estimating an illumination state from an endoscopic image, and a color feature amount used by the determining means based on the estimation result. And an selecting device for selecting.

(Additional Item 38) In Additional Items 2 and 16, the color extraction image processing means includes an illumination state estimating means for estimating an illumination state from an endoscopic image, and a determination processing in the determining means based on the estimation result. An endoscope apparatus having: priority determining means for determining the priority of each color feature amount.

(Additional Item 39) In Additional Items 2 and 16, the color extraction image processing means is an illumination state estimating means for estimating the illumination state from the endoscopic image, and each color feature amount used by the determining means based on the estimation result. And a threshold changing means for changing a threshold range for the endoscope apparatus.

[0140]

According to the present invention, the position information detected by the position detecting means for detecting the position information of the region of interest in the observation field of view of the endoscope is fixed to the position information while the endoscope is fixed at the predetermined position. Based on the visual field conversion means, a part of the imaging optical system is moved to move the visual field of the endoscopic image displayed on the video display means, and the position information of the region of interest obtained by the position detection means is displayed on the video display. Since the position information display means for displaying on the means is provided, even if the position of the region of interest that is the target of the visual field conversion of the endoscopic image and the position of the conversion target are arbitrarily set, smooth visual field conversion is performed, and reliable and efficient In addition to being able to perform a good treatment, it is possible to perform a reliable and efficient treatment even by displaying only an enlarged image.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an entire endoscope apparatus showing a first embodiment of the present invention.

2A is a schematic configuration diagram showing the internal configurations of the rigid endoscope and the TV camera unit according to the first embodiment, and FIG.
The top view which shows the screen of V monitor.

FIG. 3 is a schematic configuration diagram of an image processing unit according to the first embodiment.

FIG. 4 is a schematic configuration diagram of an extraction point position information generation unit according to the first embodiment.

FIG. 5 is a plan view showing a wide-angle image and an enlarged image on the display screen of the TV monitor.

FIG. 6 is a plan view showing a first modification of the display contents of the image superimposed on the TV monitor.

FIG. 7A is a plan view showing a second modified example of the display content of the image superimposed on the TV monitor;
(B) is a plan view showing a third modification of the display contents of the image superimposed on the TV monitor, and (C) is a fourth modification of the display contents of the image superimposed on the TV monitor.
FIG.

FIG. 8 is a schematic configuration diagram of a main part of a second embodiment of the present invention.

FIG. 9 is a schematic configuration diagram of a main part of a third embodiment of the present invention.

FIG. 10 is a schematic configuration diagram of a main part of a fourth embodiment of the present invention.

FIG. 11 is a side view of the main part of the fifth embodiment of the present invention.

FIG. 12 is a side view of essential parts of a sixth embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Rigid scope (endoscope), 10 ... Scope holder (Endoscope holding means), 21 ... Magnification optical system (imaging optical system), 22
Wide-angle optical system (imaging optical system) 25a First CCD
(Imaging means), 25b ... second CCD (imaging means), H
... view conversion means, 32 ... TV monitor (video display means),
36 ... Center-of-gravity position calculation unit (position detection unit), 40 ... Extraction point position information generation unit (position information display unit), 46 ... Arrow data (position information), 47 ... Numerical data (position information).

Claims (1)

[Claims] 1. An endoscope holding means for holding an endoscope to be inserted into a patient's body, an image pickup means having an image pickup optical system for picking up an endoscope image sent from the endoscope, and the image pickup means. In the endoscopic device for observing the inside of the patient with the endoscopic image displayed on the video display means, the endoscopic observation field of view of the endoscope comprising: Position detecting means for detecting position information of a region of interest inside, and a part of the imaging optical system based on the position information detected by the position detecting means in a state where the endoscope is fixed at a predetermined position. A field-of-view conversion unit that moves the field of view of the endoscopic image displayed on the video display unit, and position information of the region of interest obtained by the position detection unit on the video display unit. Location information display An endoscopic device comprising: