Endoscope system, control method, and computer-readable recording medium

Abstract

Provided is an endoscope system, control method, and control program that can suppress a decrease in the quality of a moving image display and perform imaging based on special light. A light source device (5) repeatedly performs the following actions: continuously irradiating illumination light of a first characteristic over a first period that spans a plurality of consecutive imaging action frames, and then irradiating illumination light of a second characteristic over a second period that spans at least one imaging action frame. A display (7) displays a moving image using an imaging image obtained from an imaging element (23), displays the moving image in accordance with the imaging image for the first period for the first period, and displays the moving image in accordance with the imaging image for a period different from the second period for the second period.

Description

TECHNICAL FIELD

[0001] The present application relates to an endoscope system, a control method, and a computer-readable recording medium. BACKGROUND

[0002] Conventionally, an endoscope system is known which performs continuous imaging while irradiating normal light such as white light into a subject and displays a real-time image. Also, an endoscope system is known which performs continuous imaging while irradiating special light such as narrow-band light into a subject and performs analysis such as IEE (Image-Enhanced Endoscopy).

[0003] In Patent Document 1, an endoscope system is described which acquires a special light image generated by imaging during irradiation of special light to a subject and a normal light image generated by imaging during irradiation of normal light to the subject. In Patent Document 2, an endoscope device is described which uses a spectroscopic estimation technique and generates a special light image from a white light image acquired, thereby simultaneously acquiring a white light image and a special light image.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT DOCUMENTS

[0006] Patent Document 1: Japanese Patent Application Publication No. 2016-019569

[0007] Patent Document 2: Japanese Patent Application Publication No. 2011-234844 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] However, in the above-described conventional technology, it is not possible to suppress a decrease in the quality of a moving image display, and imaging based on special light is performed.

[0010] For example, if imaging is performed while switching between normal light and special light, the frame rate of an imaging image at the time of normal light used in a moving image display decreases, and thus the frame rate of the moving image display decreases. Also, if an imaging image at the time of irradiation of special light is used in a moving image display, the color changes in the moving image display, and the user feels discomfort.

[0011] The present application was achieved in view of the above-described circumstances, and aims to provide an endoscope system, a control method, and a control program which can suppress a decrease in the quality of a moving image display and perform imaging based on special light.

[0012] MEANS FOR SOLVING THE PROBLEMS

[0013] The endoscope system of the present application is provided with a light source capable of switching and irradiating a plurality of illumination lights different in characteristics, an imaging element, a display, and a processor, wherein the processor performs the following processing: repeatedly performing the following actions, that is, continuously irradiating an illumination light of a first characteristic from the light source over a first period of time that spans a plurality of imaging action frames in succession, then irradiating an illumination light of a second characteristic different from the first characteristic from the light source over a second period of time that spans at least one imaging action frame, and acquiring an imaging image obtained from the imaging element, and displaying a moving image on the display for the first period of time based on the imaging image of the first period of time, and displaying the moving image on the display for the second period of time based on the imaging image of a period of time different from the second period of time.

[0014] Further, the control method of the endoscope system of the present application is a control method of an endoscope system provided with a light source capable of switching and irradiating a plurality of illumination lights different in characteristics, an imaging element, a display, and a processor, wherein the processor repeatedly causes the light source to perform the following actions, that is, continuously irradiate an illumination light of a first characteristic over a first period of time that spans a plurality of imaging action frames in succession, then irradiate an illumination light of a second characteristic different from the first characteristic over a second period of time that spans at least one imaging action frame, and acquire an imaging image obtained from the imaging element, and display a moving image on the display for the first period of time based on the imaging image of the first period of time, and display the moving image on the display for the second period of time based on the imaging image of a period of time different from the second period of time.

[0015] Further, the control program of the present application is a control program that controls an endoscope system provided with a light source capable of switching and irradiating a plurality of illumination lights different in characteristics, an imaging element, a display, and a processor, and is used to cause a computer to perform the following processing: repeatedly causing the light source to perform the following actions, that is, continuously irradiate an illumination light of a first characteristic over a first period of time that spans a plurality of imaging action frames in succession, then irradiate an illumination light of a second characteristic different from the first characteristic over a second period of time that spans at least one imaging action frame, and acquire an imaging image obtained from the imaging element, and display a moving image on the display for the first period of time based on the imaging image of the first period of time, and display the moving image on the display for the second period of time based on the imaging image of a period of time different from the second period of time.

[0016] Effects of the Invention

[0017] According to the present application, it is possible to provide an endoscope system, a control method, and a control program that can suppress a decrease in the quality of a moving image display and perform imaging based on special light. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 This is a diagram illustrating an example of an endoscope device 100 according to an embodiment of the present invention.

[0019] Figure 2 It means Figure 1 A schematic diagram of the internal structure of the endoscope device 100 shown.

[0020] Figure 3 It means by Figure 2 A diagram showing an example of the spectrum of light produced by the light source device 5.

[0021] Figure 4 It means Figure 2 A schematic plan view of the general structure of the camera element 23 shown.

[0022] Figure 5 It means Figure 2 This is an example of a functional block diagram of the system control unit 44 of the signal processing unit 42 shown.

[0023] Figure 6 This is an example of a screen displayed on monitor 7.

[0024] Figure 7 This is a diagram illustrating an example of switching illumination light in an endoscope device 100.

[0025] Figure 8 Figure 1 is an example of an image change caused by a switch in illumination light.

[0026] Figure 9 Figure 2 is an example of an image change caused by a switch in illumination light.

[0027] Figure 10 This is a diagram illustrating an example of interpolation of display frames when illuminated by special light.

[0028] Figure 11 This is another example of interpolation of the display frame when illuminated by special light. Detailed Implementation

[0029] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0030] <An endoscopic device 100 according to an embodiment of the present invention>

[0031] Figure 1 This is a diagram illustrating an example of an endoscope device 100 according to an embodiment of the present invention.

[0032] Endoscopic device 100 is an example of the endoscopic system of the present invention. For example... Figure 1As shown, the endoscope device 100 includes an endoscope 1, a control device 4 connected to the endoscope 1, and a light source device 5. The light source device 5 is an example of a light source capable of switching and illuminating various types of illumination light with different characteristics.

[0033] The control device 4 is connected to the display 7 and the input unit 6. The display 7 displays video images obtained by the endoscope 1 inside the patient's body, and the input unit 6 is an interface for inputting various information into the control device 4. The control device 4 controls the endoscope 1, the light source device 5, and the display 7.

[0034] The display 7 has a display surface in which display pixels are arranged in a two-dimensional pattern. An image based on image data is displayed by drawing pixel data constituting image data on each display pixel of the display surface. The display 7 is configured as a display unit that switches the displayed image according to instructions from the control device 4.

[0035] The endoscope 1 includes: an insertion part 10, which is a tubular component extending in one direction and inserted into the body being examined; an operation part 11, which is provided at the base end of the insertion part 10 and is provided with operation components for performing observation mode switching operation, video recording operation, forceps operation, air and water delivery operation, and suction operation; a bend button 12, which is provided adjacent to the operation part 11; and a universal plug 13, which includes connector parts 13A and 13B for detachably connecting the endoscope 1 to the control device 4 and the light source device 5, respectively.

[0036] In addition, although Figure 1 The details are omitted, but the operating part 11 and the insertion part 10 are provided with various channels such as forceps holes for inserting forceps for collecting biological tissues such as cells or polyps, air and water supply channels, and suction channels.

[0037] The insertion part 10 is composed of a flexible part 10A, a curved part 10B provided at the front end of the flexible part 10A, and a rigid front end part 10C provided at the front end of the curved part 10B.

[0038] The bending portion 10B is configured to bend freely by rotating the bending knob 12. Depending on the part of the subject being examined using the endoscope 1, the bending portion 10B can be bent in any direction and at any angle, thereby allowing the front end portion 10C to face the desired direction.

[0039] < Figure 1 Internal structure of the endoscope device 100 shown>

[0040] Figure 2 It means Figure 1 A schematic diagram of the internal structure of the endoscope device 100 shown. Figure 3 It means by Figure 2A graph of an example of the spectrum of light generated by the light source device 5.

[0041] The light source device 5 is capable of switching and irradiating normal light and special light as illumination light. The normal light is light having a light emission spectrum suitable for recognition by a human such as a doctor, and the like, such as white light. The special light is light having a light emission spectrum different from that of the normal light, and suitable for image analysis by a computer such as an IEE, and the like.

[0042] Specifically, the light source device 5 is provided with a light source processor 51, a light source section 52, and a light path coupling section 54. The light source processor 51 is connected to the system control section 44 of the control device 4, and controls the light source section 52 according to an instruction from the system control section 44.

[0043] The light source section 52 has, for example, a plurality of semiconductor light sources, and turns them on or off, respectively, and in the case of turning on, emits illumination light that illuminates an observation object by controlling the light emission amount of each semiconductor light source. In the present embodiment, the light source section 52 has LEDs of four colors, a V-LED (Violet Light Emitting Diode) 52a, a B-LED (Blue Light Emitting Diode) 52b, a G-LED (Green Light Emitting Diode) 52c, and an R-LED (Red Light Emitting Diode) 52d.

[0044] The light source processor 51 is capable of emitting light by independently changing the light amount of the violet light V, the blue light B, the green light G, or the red light R, respectively, by independently controlling the V-LED 52a, the B-LED 52b, the G-LED 52c, and the R-LED 52d, respectively, as illustrated. Figure 3 As illustrated, the V-LED 52a generates violet light V having a center wavelength of 405 ± 10 nm, and a wavelength range of 380 to 420 nm. The B-LED 52b generates blue light B having a center wavelength of 450 ± 10 nm, and a wavelength range of 420 to 500 nm. The G-LED 52c generates green light G having a wavelength range of 480 to 600 nm. The R-LED 52d generates red light R having a center wavelength of 620 to 630 nm, and a wavelength range of 600 to 650 nm.

[0045] Also, in the case of irradiating normal light, the light source processor 51 controls each LED 52a to 52d so that the light amount ratio between the violet light V, the blue light B, the green light G, and the red light R becomes white light emission of Vc:Bc:Gc:Rc. In addition, Vc, Bc, Gc, Rc > 0.

[0046] Furthermore, when irradiated with special light, the light source uses processor 51 to control each LED 52a to 52d so that the light intensity ratio between violet light V, blue light B, green light G and red light R, which are narrow-band light with short wavelengths, becomes Vs∶Bs∶Gs∶Rs, so that special light is emitted.

[0047] The light intensity ratio Vs∶Bs∶Gs∶Rs differs from the light intensity ratio Vc∶Bc∶Gc∶Rc used when irradiating with ordinary light, and should be appropriately determined according to the purpose of observation. For example, when emphasizing superficial blood vessels, it is preferable to make Vs greater than the other Bs, Gs, and Rs; when emphasizing medium and deep blood vessels, it is preferable to make Gs greater than the other Vs, Gs, and RS.

[0048] The optical path coupling unit 54 couples the light emitted from V-LED52a, B-LED52b, G-LED52c, and R-LED52d, and emits the coupled light as illumination light. The illumination light emitted from the optical path coupling unit 54 of the light source unit 52 is incident on the light guide 53 (described later) built into the universal plug 13, and passes through the illumination lens 50 provided at the front end 10C of the insertion unit 10 to illuminate the subject.

[0049] The endoscope 1 has a camera optical system including an objective lens 21 and a lens group 22, an image sensor 23 that passes through the camera optical system to capture images of the subject, a memory 25 such as RAM (Random Access Memory), a communication interface (I / F) 26, a camera drive unit 27, and a light guide 53 for guiding the illumination light emitted from the light source unit 52 to the illumination lens 50.

[0050] The light guide 53 extends from the front end 10C to the connector portion 13A of the universal plug 13. When the connector portion 13A of the universal plug 13 is connected to the light source device 5, the illumination light emitted from the light source portion 52 of the light source device 5 can enter the light guide 53.

[0051] The image sensor 23 can be a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor, etc. In this embodiment, the image sensor 23 is a CMOS sensor using a rolling shutter.

[0052] The imaging element 23 has a light-receiving surface on which a plurality of pixels are arranged in a two-dimensional manner, and converts an optical image formed on the light-receiving surface by the above-described imaging optical system into an electric signal (imaging signal) in each pixel. Then, the imaging element 23 converts the converted imaging signal from an analog signal into a digital signal of a predetermined number of bits, and outputs the imaging signal converted into a digital signal to the memory 25. The imaging element 23 can use, for example, an imaging element on which a color filter of primary colors or complementary colors, or the like is mounted. A set of the imaging signals output from each pixel of the light-receiving surface of the imaging element 23 is referred to as an imaging image signal.

[0053] The imaging element 23 can be arranged at the distal end portion 10C in a state in which the light-receiving surface is perpendicular to the optical axis Ax of the objective lens 21, or can be arranged at the distal end portion 10C in a state in which the light-receiving surface is parallel to the optical axis Ax of the objective lens 21.

[0054] The imaging optical system provided on the endoscope 1 is constituted by the objective lens 21 and optical members (including the above-described lens group 22) such as lenses, prisms, and the like that are located on the optical path of light from an object between the imaging element 23 and the objective lens 21. The imaging optical system is sometimes constituted only by the objective lens 21.

[0055] The memory 25 temporarily records the digital imaging signal output from the imaging element 23.

[0056] The communication I / F 26 is connected to the communication interface (I / F) 41 of the control device 4. The communication I / F 26 transmits the imaging signal recorded in the memory 25 to the control device 4 through the signal line in the universal cord 13.

[0057] The imaging drive section 27 is connected to the system control section 44 of the control device 4 via the communication I / F 26. The imaging drive section 27 drives the imaging element 23 and the memory 25 in accordance with the instruction from the system control section 44 received by the communication I / F 26.

[0058] The control device 4 is provided with the communication I / F 41 connected to the communication I / F 26 of the endoscope 1 through the universal cord 13, the signal processing section 42, the display controller 43, the system control section 44, and the recording medium 45.

[0059] The communication I / F 41 receives the imaging signal transmitted from the communication I / F 26 of the endoscope 1 and passes it to the signal processing section 42.

[0060] The signal processing section 42 is built in with a memory that temporarily records the imaging signal received from the communication I / F 41, and processes (image processing such as demosaicing processing or gamma correction processing) the imaging image signal that is a set of the imaging signal recorded in the memory to generate imaging image information in a form in which recognition processing or the like can be performed. The imaging image information generated by the signal processing section 42 is recorded in the recording medium 45 such as a hard disk or a flash memory.

[0061] The display controller 43 displays the captured image based on the captured image information generated by the signal processing section 42 on the display 7. The coordinates of each pixel data constituting the captured image information generated by the signal processing section 42 are managed in association with the coordinates of any one display pixel constituting the display surface of the display 7.

[0062] The system control section 44 controls each section of the control device 4 and transmits an instruction to the captured image driving section 27 of the endoscope 1 and the light source processor 51 of the light source device 5, thereby collectively controlling the entire endoscope device 100. For example, the system control section 44 performs control of the captured image element 23 via the captured image driving section 27. Also, the system control section 44 performs control of the light source section 52 via the light source processor 51.

[0063] The system control section 44 or the signal processing section 42 includes various processors that perform processing by executing programs, RAM, and ROM (Read Only Memory).

[0064] As the various processors, there are a general-purpose processor, that is, a CPU (Central Processing Unit) that performs various processing by executing programs, an FPGA (Field Programmable Gate Array), and the like, a programmable logic device (PLD) that can change the circuit structure after manufacturing, or an ASIC (Application Specific Integrated Circuit) or the like having a circuit structure specially designed for performing a specific processing, and the like.

[0065] More specifically, the structure of these various processors is a circuit in which circuit elements such as semiconductor elements are combined.

[0066] The system control section 44 or the signal processing section 42 can be constituted by one of the various processors, or can be constituted by a combination of two or more processors of the same kind or different kinds (for example, a combination of a plurality of FPGAs or a combination of a CPU and an FPGA).

[0067] Figure 2 A schematic configuration of the captured image element 23.

[0068] Figure 4 is a plan view schematically showing the schematic configuration of the captured image element 23. Figure 2 A schematic configuration of the captured image element 23.

[0069] ​The imaging element 23 includes an imaging surface 60 formed of a plurality of pixel rows 62 each formed of a plurality of pixels 61 arranged in a row direction X, a drive circuit 63 that drives the pixels 61 arranged on the imaging surface 60, and a signal processing circuit 64 that processes pixel signals read out from the pixels 61 of the pixel rows 62 arranged on the imaging surface 60 to signal lines. The imaging surface 60 constitutes a light receiving surface.

[0070] Hereinafter, in the description, one end side (the upper side in the drawing) of the column direction Y of the imaging surface 60 is referred to as the upper end, and the other end side (the lower side in the drawing) of the column direction Y of the imaging surface 60 is referred to as the lower end. Figure 4

[0071] Figure 4 The drive circuit 63 drives each of the pixel rows 62 independently according to a signal from the imaging drive section 27, and performs reset (discharge of electric charges accumulated in a photoelectric conversion element) of each of the pixels 61 included in the pixel row 62 and readout of a pixel signal corresponding to the electric charges accumulated in the photoelectric conversion element of the each of the pixels 61 to a signal line, and the like.

[0072] Figure 4 The signal processing circuit 64 performs correlated double sampling processing on the pixel signals read out from the pixels 61 of the pixel rows 62 to the signal lines, and converts the pixel signals subjected to the correlated double sampling processing into digital signals to output. The signal processing circuit 64 is controlled by the imaging drive section 27.

[0073] The signal processing section 42 generates imaging image information by performing signal processing such as demosaicing processing and gamma correction processing on the pixel signals output from the imaging element 23.

[0074] The endoscope device 100 is equipped with a continuous shooting mode that continuously generates a plurality of imaging image information according to one imaging instruction. In the continuous shooting mode, the system control section 44 drives the imaging element 23 in a rolling shutter manner by the imaging drive section 27 to shoot an object.

[0075] The drive in the rolling shutter manner includes rolling reset drive and rolling readout drive. The rolling reset drive is drive that sequentially performs processes of resetting each of the pixels 61 of the pixel row 62 and starting exposure of the each of the pixels 61 while changing the pixel row 62. The rolling readout drive is drive that sequentially performs processes of reading out a signal from each of the pixels 61 of the pixel row 62 that has been exposed and ending exposure of the pixel row 62 while changing the pixel row 62.

[0076] Figure 2 Functional block diagram of the system control section 44 of the signal processing section 42

[0077] Figure 5 is a functional block diagram of the system control section 44 of the signal processing section 42 Figure 2 ​​Fig. 1 is a functional block diagram of the signal processing section 42 shown in Fig. 1.

[0078] The processor of the signal processing section 42 functions as a control device provided with the captured image information generation section 42a, the real-time image generation section 42b, the analysis section 42c, and the IEE image generation section 42d, for example, by executing a control program stored in a ROM built in the signal processing section 42.

[0079] The captured image information generation section 42a generates captured image information by performing image processing such as demosaicing processing or gamma correction processing on captured signals obtained by imaging by the imaging element 23. The captured image information generation section 42a outputs, as captured image information, captured image information based on captured signals obtained by imaging when the normal light is irradiated, among the generated captured image information, to the real-time image generation section 42b, and outputs, as captured image information, captured image information based on captured signals obtained by imaging when the special light is irradiated to the analysis section 42c. The captured frame is a captured signal obtained by one-time imaging.

[0080] The real-time image generation section 42b generates real-time image information for displaying a real-time image from the captured frame output from the captured image information generation section 42a, and outputs the generated real-time image information as captured image information to the display controller 43 (refer to Fig. 1). Figure 2 ) The real-time image is a moving image that displays the result of continuous imaging by the imaging element 23 in real time.

[0081] The analysis section 42c performs analysis (image analysis) based on the captured frame output from the captured image information generation section 42a, and outputs the analysis result to the IEE image generation section 42d. As an example, the analysis section 42c performs contour extraction of the captured image as analysis. For example, the analysis section 42c determines the contour of a biological structure reflected in the image represented by the captured image information obtained by imaging when the special light is irradiated. The biological structure of the specific object is, for example, a superficial vascular structure, an intermediate vascular structure, or a deep vascular structure. The analysis performed by the analysis section 42c is performed in parallel with the display of the real-time image.

[0082] The IEE image generation section 42d generates IEE image information for displaying an IEE image representing the analysis result output from the analysis section 42c, and outputs the generated IEE image information as captured image information to the display controller 43 (refer to Fig. 1). Figure 2 ) The IEE image is an image in which the contour of the structure of the subject is emphasized, based on captured signals obtained by imaging when the special light such as blue laser light is irradiated. At this time, the special light such as blue laser light constitutes light for image-enhanced observation. For example, the IEE image is an image in which a superficial vascular structure is emphasized, an image in which an intermediate vascular structure is emphasized, an image in which a deep vascular structure is emphasized, or the like.

[0083] In addition, the image generated by the analysis image generation section 42d is not limited to a captured image or an image obtained by processing a captured image, and can be an image representing a numerical value (quantity, accuracy, etc.) or a character (tumor category) or the like based on the analysis performed by the analysis section 42c.

[0084] As explained in Figure 5 , the endoscope device 100 is provided with the analysis section 42c that performs analysis of captured image information obtained by capturing during the second period in which special light is irradiated, based on captured image information. On the other hand, the endoscope device 100 displays a real-time image based on captured image information obtained by capturing during the first period in which normal light is irradiated. Thereby, it is possible to perform moving image display based on normal light, and perform analysis based on special light.

[0085] <Display on the display 7>

[0086] Figure 6 is a diagram showing an example of a screen displayed on the display 7.

[0087] The display controller 43 displays, for example, the screen 70 shown in Figure 6 on the display 7, based on captured image information output from the signal processing section 42. The screen 70 includes a main screen 71 and a sub screen 72.

[0088] A real-time image based on real-time image information output from the real-time image generation section 42b of the signal processing section 42 is displayed on the main screen 71. An IEE image based on IEE image information output from the analysis image generation section 42d of the signal processing section 42 is displayed on the sub screen 72.

[0089] As explained in Figure 6 , the endoscope device 100 displays the screen 70 including a real-time image based on captured image information obtained by capturing during the first period in which normal light is irradiated, and an analysis result based on captured image information obtained by capturing during the second period in which special light is irradiated.

[0090] In addition, the structure in which the analysis result of the analysis section 42c shown in Figure 5 is displayed on the display 7 together with a real-time image is explained, but the utilization method of the analysis result of the analysis section 42c is not limited thereto. For example, the analysis result of the analysis section 42c can be displayed by a device different from the display 7, and can be transmitted to a storage section of the endoscope device 100 or another device and stored.

[0091] <Switching of illumination light in the endoscope device 100>

[0092] Figure 7 is a view showing an example of switching of illumination light in the endoscope device 100.

[0093] The illumination light timing 75 is a timing at which the light source device 5 irradiates illumination light according to an instruction from the control device 4. The WLI in the illumination light timing 75 is a timing at which the light source device 5 irradiates normal light such as white light as illumination light. The IEE1 in the illumination light timing 75 is a timing at which the light source device 5 irradiates the first special light such as narrow-band light as illumination light. The IEE2 in the illumination light timing 75 is a timing at which the light source device 5 irradiates the second special light different from the first special light as illumination light.

[0094] As shown in the illumination light timing 75, the light source device 5 repeatedly performs a predetermined irradiation operation with a cycle T. The irradiation operation is an operation of irradiating normal light and then irradiating special light (first special light or second special light). In the example shown in the illumination light timing 75, the light source device 5 alternately switches the special light to be irradiated every cycle T between the first special light and the second special light. However, the light source device 5 can set the special light for each cycle T to only the first special light. Figure 7

[0095] The imaging timing 76 is a timing at which the imaging element 23 performs imaging (exposure) according to an instruction from the control device 4. The vertical direction in the imaging timing 76 indicates the position of the column direction Y of the pixel row 62 (refer to FIG. 2). As described above, the imaging element 23 in the present embodiment performs imaging in the rolling shutter method, and thus the imaging timing 76 is staggered for each pixel row 62. In the example shown in the imaging timing 76, the imaging element 23 performs imaging at a frame rate of 60 fps (frames per second). Figure 4 Figure 7

[0096] As shown in the illumination light timing 75 and the imaging timing 76, the first period in which the light source device 5 continuously irradiates normal light extends over a plurality of frames in succession based on imaging by the imaging element 23. Also, the second period in which the light source device 5 continuously irradiates special light extends over at least one frame based on imaging by the imaging element 23. In the example shown in the imaging timing 76, the second period extends over a plurality of frames in succession based on imaging by the imaging element 23. Figure 7

[0097] Thus, the light source device 5 repeatedly performs an operation of, after continuously irradiating normal light (illumination light of the first characteristic) over a plurality of imaging operation frames in succession, irradiating special light (illumination light of the second characteristic different from the first characteristic). Then, as described above, the control device 4 displays a real-time image (moving image) on the display 7 based on an imaging image (first imaging image) obtained when normal light is irradiated, and performs analysis based on an imaging image (second imaging image) obtained when special light is irradiated.

[0098] ​​​​In this case, the imaging image of the normal light cannot be obtained when the special light is irradiated, and thus, for example, the real-time image is interrupted. Also, it is possible to consider that the real-time image is continued by using the imaging image of the special light for the imaging frame when the special light is irradiated, but in the real-time image, since the image is temporarily changed from the normal light to the special light, there is a problem that a sense of discomfort of the display is generated.

[0099] In this regard, the control device 4 performs the display of the real-time image based on the imaging frame different from the imaging frame when the special light is irradiated, with respect to the imaging frame when the special light is irradiated, and thus, the sense of discomfort of the display is reduced. Thereby, for example, the sense of discomfort of the display can be suppressed, and the frequency of irradiation of the special light is increased, and thus, the accuracy or the real-time property of the analysis using the special light is improved.

[0100] In addition, as an example, the frequency of irradiation of the special light can be set to every 10 frames. However, the frequency of irradiation of the special light is not limited thereto, and can be arbitrarily set. Also, the period of irradiation of the special light once can be the period of 1 frame, or can be the period of 1 frame or more.

[0101] <Change of display image due to switching of illumination light>

[0102] Figure 8 and Figure 9 is a diagram indicating an example of the change of the image due to the switching of the illumination light.

[0103] In this case, as a hypothetical example, a case where the white board is imaged by the imaging element 23 and the illumination light of the light source device 5 is switched from the violet light V to the green light G is described.

[0104] In Figure 8 , the horizontal axis indicates the time, and the vertical axis (Line0, Line1,...) indicates the position of the column direction Y of the pixel row 62 of the imaging element 23 on which the exposure based on the rolling shutter is performed. Figure 4

[0105] As described above, the imaging element 23 is the CMOS using the rolling shutter. Figure 8 The rightward arrow in indicates the exposure of each pixel row 62 performed in the imaging element 23. Each of the exposure periods 81 to 84 indicated by the arrows of two directions is the exposure period of one field of the display on the display 7.

[0106] Figure 8 In the example illustrated, the illumination light of the light source device 5 is the violet light V until the middle of the exposure period 83. Then, from the middle of the exposure period 83, the illumination light of the light source device 5 is switched to the green light G.

[0107] Figure 9The images 91 to 94 shown are images generated from imaging signals obtained by exposure during the exposure periods 81 to 84. In the images 91 to 94, the density of the horizontal lines indicates the color. Specifically, the horizontal lines that are denser as in the images 91, 92 indicate purple, and the horizontal lines that are less dense as in the image 94 indicate green. The density of the horizontal lines of the image 93 gradually decreases from top to bottom, which indicates that the color of the image 93 gradually changes from purple to green from top to bottom.

[0108] As shown in Figure 8 , Figure 9 , the image 93 corresponding to the exposure period 83 becomes an image in which purple and green coexist by switching the illumination light of the light source device 5 to green light G halfway through the exposure period 83. Also, the images 91, 92 corresponding to the exposure periods 81, 82 become images in which purple is displayed, and the image 94 corresponding to the exposure period 84 becomes an image in which green is displayed.

[0109] <Interpolation of Display Frame at Time of Irradiation of Special Light>

[0110] Figure 10 is a diagram showing an example of interpolation of a display frame at the time of irradiation of special light.

[0111] In Figure 10 , the imaging frames S1 to S9 are consecutive imaging frames obtained by the imaging element 23. In the imaging frames S1 to S9, "W" indicates an imaging frame obtained at the time of irradiation of white light or the like, "B" indicates an imaging frame obtained at the time of irradiation of blue laser light or the like, and "W / B" indicates an imaging frame obtained at the time of switching between the white light and the blue laser light. Figure 9 As shown in the image 93, the imaging frames obtained at the time of switching between the white light and the blue laser light are similarly indicated.

[0112] In the example shown in Figure 10 , each of the periods of the imaging frames S1 to S3 and the imaging frames S7 to S9 is an example of a first period that spans a plurality of consecutive imaging operation frames. The period of the imaging frame S5 is an example of a second period that spans at least one imaging operation frame. Each of the periods of the imaging frames S4, S6 is an example of a third period in which the white light and the blue laser light are switched.

[0113] The display frames M1 to M9 are consecutive display frames displayed by the display 7, and correspond to the imaging frames S1 to S9, respectively. In the display frames M1 to M9, "W" indicates an image of white light or the like.

[0114] For example, the control device 4 generates the display frame M1 (W) from the imaging frame S1 (W) obtained at the time of irradiation of the white light. Similarly, the control device 4 generates the display frames M2, M3, M7 to M9 (W) from the imaging frames S2, S3, S7 to S9 (W) obtained at the time of irradiation of the white light, respectively.

[0115] And, for the captured frame S5(B) obtained when the special light is radiated, the control device 4 generates a display frame M5(W) of the normal light based on the captured frame S5 and the captured frame S3 obtained immediately before the captured frame S5 when the normal light is radiated.

[0116] The generation of the display frame M5(W) based on the captured frames S3, S5 is described. Here, the color space of each captured frame is set to be represented using a luminance signal Y and two color difference signals such as YCbCr.

[0117] For example, the control device 4 calculates a movement vector that represents the movement of the luminance signal Y5 of the captured frame S5 with the luminance signal Y3 of the captured frame S3 as a reference, based on the respective luminance signals Y3, Y5 of the captured frames S3, S5.

[0118] Then, the control device 4 corrects the captured frame S3(W) based on the calculated movement vector, thereby generating the display frame M5(W) of the normal light. Specifically, the control device 4 applies the amount of movement represented by the movement vector to the color difference signals of the captured frame S3, thereby generating the display frame M5(W) of the normal light.

[0119] In this way, the control device 4 generates the display frame M5 based on the movement vector based on the respective luminance information of the captured frames S3 and S5 and the color difference of the captured frame S3 during the period of the captured frame S5.

[0120] The display frame M5 at this time becomes an image of the normal light in which the luminance information such as the outline corresponds to the captured frame S5(B) and the color corresponds to the captured frame S3(W). Thus, it is possible to obtain an image of the normal light that is less uncomfortable to see, which corresponds to the captured frame S5(B) obtained when the special light is radiated. However, the method of generating the display frame M5 based on the captured frames S3, S5 is not limited to this method, and various methods can be used. For example, the control device 4 can generate an image having the luminance information of the captured frame S5 and the color difference information of the captured frame S3 as the display frame M5.

[0121] Similarly, for the captured frame S4(W / B) obtained when the normal light and the special light are switched, the control device 4 generates a display frame M4(W) of the normal light based on the captured frame S4 and the captured frame S3 obtained immediately before the captured frame S4 when the normal light is radiated. The generation of the display frame M4 based on the captured frames S3, S4 can be performed similarly to the generation of the display frame M5 based on the captured frames S3, S5 described above.

[0122] Further, with respect to the captured image frame S6 (W / B) obtained at the time of switching between the normal light and the special light, the control device 4 generates a display frame M6 (W) of the normal light on the basis of the captured image frame S6 and a captured image frame S3 obtained immediately before the captured image frame S6 when the normal light is radiated. With respect to the generation of the display frame M6 on the basis of the captured image frames S3, S6, the same can be said as with the generation of the display frame M5 on the basis of the captured image frames S3, S5 described above.

[0123] Thus, according to the endoscope device 100, even at the time of radiating the special light or at the time of switching between the normal light and the special light, it is possible to generate a display frame of the normal light with less discomfort, and thus it is possible to continue the display of the real-time image of the normal light.

[0124] Further, for example, with respect to the generation of the display frame M5 corresponding to the captured image frame S5, the case where the display frame M5 of the normal light is generated on the basis of the captured image frame S3 obtained immediately before the captured image frame S5 when the normal light is radiated is described, but the captured image frame at the time of radiating the normal light to be used is not limited to the captured image frame immediately before the captured image frame S5.

[0125] For example, the control device 4 can generate the display frame M5 of the normal light on the basis of at least any one of the captured image frames S1 to S3 before the captured image frame S5 when the normal light is radiated. Further, the control device 4 can generate the display frame M5 of the normal light on the basis of at least any one of the captured image frames S7 to S9 after the captured image frame S5 when the normal light is radiated. Further, the control device 4 can generate the display frame M5 of the normal light on the basis of at least any one of the captured image frames S1 to S3 and at least any one of the captured image frames S7 to S9.

[0126] Further, the control device 4 can generate the display frame M5 on the basis of the captured image frame having a high correlation with the captured image frame S5 among the captured image frames before and after the captured image frame S5.

[0127] The correlation is, for example, a correlation of luminance signals.

[0128] With respect to the generation of the display frame M4 corresponding to the captured image frame S4 or the generation of the display frame M6 corresponding to the captured image frame S6 as well, the captured image frame at the time of radiating the normal light to be used is not limited to the captured image frame immediately before the captured image frame of the object.

[0129] Further, the configuration in which the luminance signal of the captured image frame S5 is used at the time of generating the display frame M5 is described, but it is not limited to this configuration. For example, the control device 4 can use the display frame M3 on the basis of the captured image frame S3 as the display frame M5, and can generate the display frame M5 on the basis of the captured image frames S3, S7. For example, the control device 4 can use a luminance signal obtained by averaging the respective luminance signals represented by the captured image frames S3, S7 instead of the luminance signal of the captured image frame S5.

[0130] Figure 11is a diagram of another example of interpolation of display frames at the time of irradiation of special light.

[0131] The structure in which a rolling shutter is used in the imaging element 23 is described, but the structure in which a global shutter is used in the imaging element 23 can be provided. At this time, by performing switching of the normal light and the special light in synchronization with the imaging frame, an imaging frame in which the normal light and the special light coexist can not be generated.

[0132] For example, in the example shown in FIG. 6, the special light is irradiated only during the imaging frame S5 among the imaging frames S1 to S9, and the normal light is irradiated during the periods of the other imaging frames. At this time, the display frame that becomes the object of interpolation can be provided as only the display frame M5 corresponding to the imaging frame S5 among the display frames M1 to M9. Figure 10

[0133] Specifically, the control device 4 generates the display frames M1 to M4, M6 to M9 (W) from the imaging frames S1 to S4, S6 to S9 (W) obtained at the time of irradiation of the normal light, respectively. Also, with respect to the imaging frame S5 (B) obtained at the time of irradiation of the special light, the control device 4 generates the display frame M5 (W) of the normal light from the imaging frame S5 and the imaging frame S3 obtained immediately before the imaging frame S5 and at the time of irradiation of the normal light.

[0134] Thus, as in the example shown in FIG. 6, even at the time of irradiation of the special light or at the time of switching of the normal light and the special light, the display frame of the normal light in which the discomfort is less can be generated, and thus the display of the real-time image of the normal light can be continued. Figure 10

[0135] In addition, even in the structure in which the global shutter is used in the imaging element 23, sometimes the imaging frame in which the normal light and the special light coexist is generated. In this case, the imaging frame in which the normal light and the special light coexist can be provided as the object of interpolation.

[0136] (Other example of analysis)

[0137] The extraction of the outline of the imaging image as the analysis by the analysis section 42c (the signal processing section 42) based on the imaging image information obtained by the imaging at the time of irradiation of the special light is described, but the analysis by the analysis section 42c is not limited thereto.

[0138] ​​For example, the analysis section 42c can perform analysis of the insertion shape of the endoscope 1 as the above analysis. Specifically, the analysis of the insertion shape of the endoscope 1 is determination of the insertion shape of the insertion portion 10 of the endoscope 1 inserted into the subject. For example, the analysis section 42c determines the insertion shape of the endoscope 1 from a change in the captured image information obtained by the imaging at the time of irradiation with the special light. The analysis image generation section 42d generates image information for displaying an image indicating the insertion shape of the endoscope 1 determined by the analysis section 42c. Thereby, the image indicating the insertion shape of the endoscope 1 is displayed on the sub screen 72, and the operator of the endoscope 1 can easily insert the insertion portion 10 of the endoscope 1 into the subject.

[0139] Alternatively, the analysis section 42c can perform detection of a region of interest in the subject into which the endoscope 1 is inserted as the above analysis. For example, the analysis section 42c detects the region of interest in the subject from an image indicated by the captured image information obtained by the imaging at the time of irradiation with the special light. The region of interest is a region in the observation of the subject in which attention is recommended, such as a region in which a lesion is likely to be present, and the like. The analysis image generation section 42d generates image information for displaying a region of interest emphasized image in which the region of interest detected by the analysis section 42c is emphasized in an image indicated by the captured image information obtained by the imaging at the time of irradiation with the special light. Thereby, the region of interest emphasized image is displayed on the sub screen 72, and the operator of the endoscope 1 can easily recognize the region of interest in the subject. Alternatively, the analysis image generation section 42d can also generate image information for displaying a color difference expanded image in which a color difference between an abnormal portion (a lesion portion, or the like) serving as the region of interest and a normal portion is expanded is performed in an image indicated by the captured image information obtained by the imaging at the time of irradiation with the special light. Thereby, the color difference expanded image is displayed on the sub screen 72, and the operator of the endoscope 1 can easily distinguish the abnormal portion and the normal portion in the subject.

[0140] Alternatively, the analysis section 42c can perform selection of a similar case image as the above analysis. For example, the analysis section 42c selects a case image similar to the captured image information obtained by the imaging at the time of irradiation with the special light by searching a database accessible by the endoscope device 100. The analysis image generation section 42d generates image information for displaying an image indicating the result of the selection by the analysis section 42c. The result of the selection by the analysis section 42c can be the case image selected by the analysis section 42c itself, or information such as a diagnosis result related to the case image in association with the case image selected by the analysis section 42c in the above database. Thereby, the result of the selection of the similar case image is displayed on the sub screen 72, and the operator of the endoscope 1 can easily perform comparison of the state in the subject in the observation with a similar case.

[0141] Alternatively, the analysis section 42c can perform discrimination of a tumor and a non-tumor as the above analysis. For example, the analysis section 42c discriminates whether a biological region reflected in an image represented by the captured image information obtained by the imaging at the time of irradiation with special light is a tumor. The analysis image generation section 42d generates image information for displaying an image representing the result of the discrimination by the analysis section 42c. The result of the discrimination by the analysis section 42c can be information representing whether a biological region reflected in an image captured most recently is a tumor, information representing the number of biological regions discriminated as tumors after the start of the current examination, or the like. Thus, the result of the discrimination of the tumor and the non-tumor is displayed on the sub-screen 72, and observation by the operator of the endoscope 1 or operation of the endoscope 1 can be assisted.

[0142] Alternatively, the analysis section 42c can perform determination of a state of an organ as the above analysis. For example, the analysis section 42c determines a state of an organ reflected in an image represented by the captured image information obtained by the imaging at the time of irradiation with special light. The state of the organ is, for example, oxygen saturation of each region, thickness, density, pattern, uniformity of a blood vessel structure, or a surface structure of the large intestine (e.g., pit pattern structure), a surface structure of the duodenum (e.g., villus structure), or the like. The analysis image generation section 42d generates image information for displaying an image representing the result of the determination by the analysis section 42c. For example, the analysis image generation section 42d generates an oxygen saturation image in which oxygen saturation of each determined region is imaged. Thus, the result of the determination of the state of the organ is displayed on the sub-screen 72, and observation by the operator of the endoscope 1 or operation of the endoscope 1 can be assisted.

[0143] Alternatively, the analysis section 42c can perform generation of a cut-off predetermined line as the above analysis. For example, the analysis section 42c determines a cut-off predetermined line (boundary line) in a biological region reflected in an image represented by the captured image information obtained by the imaging at the time of irradiation with special light, which should be cut off in order to remove a tumor or the like. The analysis image generation section 42d generates image information for displaying an image represented by the captured image information obtained by the imaging at the time of irradiation with special light to which the cut-off predetermined line determined by the analysis section 42c is added. Thus, the image to which the cut-off predetermined line is added is displayed on the sub-screen 72, and the operator of the endoscope 1 can easily recognize the cut-off predetermined line in the subject.

[0144] (Modified example of the first period, the second period, and the cycle T)

[0145] The structure in which the lengths of the first period in which the general light is irradiated and the second period in which the special light is irradiated are constant in each repetition of the period T has been described, but the lengths of the first period in which the general light is irradiated and the second period in which the special light is irradiated can also not be constant (can also be variable) in each repetition of the period T. For example, the ratio of the lengths of the first period and the second period in one period T is 3: 1, and the ratio of the lengths of the first period and the second period in another period T can be 3:2.

[0146] Also, the case in which the repetition period of the operation of irradiating the general light and the special light, that is, the period T is constant has been described, but the period T can also be variable. Also, the structure in which, in the period T, the general light is first irradiated and then the special light is irradiated has been described, but the structure in which, in the period T, the special light is first irradiated and then the general light is irradiated can also be provided.

[0147] Also, the spectrum of the general light can be constant in each repetition of the period T, or can be variable in each repetition of the period T. Similarly, the spectrum of the special light can be constant in each repetition of the period T, or can be variable in each repetition of the period T.

[0148] Also, the structure in which, after the first period in which the general light is just irradiated, the second period in which the special light is irradiated is provided, but there can be a non-irradiation period in which the light source device 5 does not irradiate the illumination light between the first period and the second period.

[0149] Also, the structure in which the narrow-band short-wave dimming light and the white light are simultaneously irradiated as the above-described general light or special light can be provided. Thereby, color emphasis is performed on a subtle difference in color, and observation such as inflammation observation or pick-up observation is easily performed.

[0150] (Another mode of the endoscope system)

[0151] As an example of the endoscope system of the present application, the endoscope device 100 has been described, but the endoscope system of the present application can be implemented by a plurality of devices connected to each other via a network. For example, the structure in which at least a part of the processing based on the above-described control device 4 is executed by another device connected to the endoscope device 100 via a network can be provided.

[0152] (Control program)

[0153] The control program stored in the ROM of the control device 4 is stored in a non-transitory storage medium that a computer can read a program. Such a "storage medium that a computer can read" includes, for example, an optical medium such as a CD-ROM (Compact Disc-ROM), or a magnetic storage medium such as a USB (Universal Serial Bus) memory or a memory card. Also, such a program can be provided by download via a network.

[0154] As explained above, the following matters are disclosed in this specification. (1)

[0156] An endoscope system including a light source, an imaging element, a display, and a processor,

[0157] The light source is capable of switching and irradiating a plurality of illumination lights having different characteristics,

[0158] The processor performs the following processing:

[0159] The following actions are repeatedly performed, that is, after continuously irradiating illumination light having a first characteristic from the light source for a first period that spans a plurality of consecutive imaging action frames, irradiating illumination light having a second characteristic different from the first characteristic from the light source for a second period that spans at least one imaging action frame,

[0160] An imaging image is acquired from the imaging element, and a moving image is displayed on the display with respect to the first period based on the imaging image of the first period, and the moving image is displayed on the display with respect to the second period based on the imaging image of a period different from the second period. (2)

[0162] The endoscope system according to (1), wherein

[0163] The processor displays the moving image based on the imaging image of a period different from the third period with respect to a third period in which the processor switches the illumination light having the first characteristic and the illumination light having the second characteristic. (3)

[0165] The endoscope system according to (2), wherein

[0166] The processor displays the moving image based on the imaging image of a period different from the third period and the second period with respect to the third period. (4)

[0168] The endoscope system according to any one of (1) to (3), wherein

[0169] The processor displays the moving image for the second period in accordance with the first captured image of the second period and the second captured image of the first period different from the second period. (5)

[0171] The endoscope system according to (4), wherein

[0172] The processor displays the moving image for the second period in accordance with a movement vector based on the respective luminance information of the first captured image and the second captured image and a color difference of the second captured image. (6)

[0174] The endoscope system according to any one of (1) to (3), wherein

[0175] The processor displays the moving image for the second period in accordance with a movement vector based on the respective luminance information of the second captured image and a color difference of at least one of the second captured images. (7)

[0177] The endoscope system according to any one of (1) to (6), wherein

[0178] An image analysis is performed on a captured image obtained from the imaging element for the second period. (8)

[0180] The endoscope system according to (7), wherein

[0181] The image analysis is performed in parallel with the display of the moving image. (9)

[0183] The endoscope system according to (7) or (8), wherein

[0184] The processor displays a screen including the moving image and a result of the image analysis on the display. (10)

[0186] The endoscope system according to any one of (7) to (9), wherein

[0187] The image analysis includes an analysis of an insertion shape of an endoscope having the imaging element. (11)

[0189] The endoscope system according to any one of (7) to (10), wherein

[0190] The image analysis includes extraction of an outline of the captured image. (12)

[0192] The endoscope system according to any one of (7) to (11), wherein

[0193] The image analysis includes detection of a region of interest inside a subject into which the endoscope provided with the imaging element is inserted. (13)

[0195] The endoscope system according to any one of (7) to (12), wherein

[0196] The image analysis includes selection of a similar case image. (14)

[0198] The endoscope system according to any one of (7) to (13), wherein

[0199] The image analysis includes discrimination of a tumor and a non-tumor. (15)

[0201] The endoscope system according to any one of (7) to (14), wherein

[0202] The image analysis includes determination of a state of an organ. (16)

[0204] The endoscope system according to any one of (7) to (15), wherein

[0205] The image analysis includes generation of a cut-off predetermined line. (17)

[0207] The endoscope system according to any one of (1) to (16), wherein

[0208] Each of the first period and the second period is constant when the operation is repeated, or is indefinite when the operation is repeated. (18)

[0210] The endoscope system according to any one of (1) to (17), wherein

[0211] The spectrum of the illumination light of the first characteristic and the illumination light of the second characteristic is constant when the operation is repeated, or is indefinite when the operation is repeated. (19)

[0213] The endoscope system according to any one of (1) to (18), wherein

[0214] There is a non-irradiation period of the light source between the first period and the second period. (20)

[0216] The endoscope system according to any one of (1) to (19), in which

[0217] The above-described imaging element performs an imaging operation in a rolling shutter method. (21)

[0219] The endoscope system according to any one of (1) to (20), in which

[0220] The above-described imaging element performs an imaging operation in a global shutter method. (22)

[0222] The endoscope system according to any one of (1) to (21), in which

[0223] The above-described first period is longer than the above-described second period. (23)

[0225] The endoscope system according to any one of (1) to (22), in which

[0226] The illumination light of the above-described first characteristic and the illumination light of the above-described second characteristic are white light or light for image-enhanced observation. (24)

[0228] A control method is a control method for an endoscope system that includes a light source, an imaging element, a display, and a processor, in which

[0229] The above-described light source is capable of switching and irradiating a plurality of illumination lights having different characteristics,

[0230] The above-described light source repeatedly performs the following operations: after continuously irradiating illumination light of a first characteristic for a first period that spans a plurality of continuous imaging operation frames, irradiating illumination light of a second characteristic that is different from the above-described first characteristic for a second period that spans at least one imaging operation frame,

[0231] An imaging image is acquired from the above-described imaging element, and a moving image is displayed on the above-described display based on the above-described imaging image for the above-described first period, and the above-described moving image is displayed on the above-described display based on the above-described imaging image for a period different from the above-described second period. (25)

[0233] A control program is a control program for controlling an endoscope system that includes a light source, an imaging element, a display, and a processor, and the above-described control program is used to cause a computer to perform the following processing:

[0234] The above-described light source is capable of switching and irradiating a plurality of illumination lights having different characteristics,

[0235] The light source repeatedly performs the following actions: after continuously irradiating illumination light of a first characteristic over a first period spanning a plurality of continuous imaging action frames, irradiating illumination light of a second characteristic different from the first characteristic over a second period spanning at least one imaging action frame,

[0236] An imaging image is acquired from the imaging element, and a moving image is displayed on the display based on the imaging image of the first period for the first period and based on the imaging image of a period different from the second period for the second period.

[0237] Industrial applicability

[0238] According to the present application, an endoscope system, a control method, and a control program that can suppress a decrease in the quality of a moving image display and perform imaging based on special light can be provided.

[0239] Explanation of symbols

[0240] 1 - endoscope, 4 - control device, 5 - light source device, 6 - input portion, 7 - display, 10 - insertion portion, 10A - flexible portion, 10B - bending portion, 10C - distal end portion, 11 - operation portion, 12 - bend knob, 13 - universal cord, 13A - connector portion, 13B - connector portion, 21 - objective lens, 22 - lens group, 23 - imaging element, 25 - memory, 26, 41 - communication I / F, 27 - imaging drive portion, 42 - signal processing portion, 42a - imaging image information generation portion, 42b - real-time image generation portion, 42c - analysis portion, 42d - analysis image generation portion, 43 - display controller, 44 - system control portion, 45 - recording medium, 50 - illumination lens, 51 - light source processor, 52 - light source portion, 52a - V-LED, 52b - B-LED, 52c - G-LED, 52d - R-LED, 53 - light guide, 54 - optical path coupling portion, 60 - imaging surface, 61 - pixel, 61 - each pixel, 62 - pixel row, 62 - each pixel row, 63 - drive circuit, 64 - signal processing circuit, 70 - screen, 71 - main screen, 72 - sub screen, 75 - illumination light timing, 76 - imaging timing, 81 to 84 - exposure period, 91 to 94 - image, 100 - endoscope device, S1 to S9 - imaging frame, M1 to M9 - display frame.

Claims

1. An endoscope system comprising a light source, an imaging element, a display, and a processor, wherein the light source is capable of switching and irradiating a plurality of illumination lights having different characteristics, the processor performs the following processing: repeatedly performing the following actions, that is, continuously irradiating illumination light having a first characteristic from the light source over a first period that spans a plurality of imaging action frames in succession, and then irradiating illumination light having a second characteristic different from the first characteristic from the light source over a second period that spans at least one imaging action frame, acquiring an imaging image from the imaging element, and displaying a moving image on the display in accordance with the imaging image of the first period for the first period, and in accordance with a moving vector based on each luminance information of a first imaging image of the second period and a second imaging image of the first period different from the second period, and a color difference of the second imaging image for the second period.

2. An endoscope system comprising a light source, an imaging element, a display, and a processor, wherein the light source is capable of switching and irradiating a plurality of illumination lights having different characteristics, the processor performs the following processing: repeatedly performing the following actions, that is, continuously irradiating illumination light having a first characteristic from the light source over a first period that spans a plurality of imaging action frames in succession, and then irradiating illumination light having a second characteristic different from the first characteristic from the light source over a second period that spans at least one imaging action frame, acquiring an imaging image from the imaging element, and displaying a moving image on the display in accordance with the imaging image of the first period for the first period, and in accordance with a moving vector based on each luminance information of a first imaging image of the second period and at least one second imaging image of the first period different from the second period, and a color difference of the second imaging image for the second period.

3. The endoscope system according to claim 1, wherein the processor displays the moving image in accordance with the imaging image of a period different from a third period in which the illumination light having the first characteristic and the illumination light having the second characteristic are switched.

4. The endoscope system according to claim 3, wherein the processor displays the moving image in accordance with the imaging image of a period different from the third period and the second period for the third period.

5. The endoscope system according to any one of claims 1 to 3, wherein an image analysis is performed on the imaging image obtained from the imaging element for the second period.

6. The endoscope system according to claim 5, wherein the image analysis is performed in parallel with the display of the moving image.

7. The endoscope system according to claim 5, wherein the processor displays a screen including the moving image and a result of the image analysis on the display.

8. The endoscope system according to claim 5, wherein the image analysis includes analysis of an insertion shape of an endoscope provided with the imaging element.

9. The endoscope system according to claim 5, wherein the image analysis includes extraction of an outline of the imaging image. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 10. The endoscope system according to claim 5, wherein the image analysis includes detection of a region of interest inserted into a subject with an endoscope having the image pickup element.

11. The endoscope system according to claim 5, wherein the image analysis includes selection of a similar case image.

12. The endoscope system according to claim 5, wherein the image analysis includes discrimination of a tumor and a non-tumor.

13. The endoscope system according to claim 5, wherein the image analysis includes determination of a state of an organ.

14. The endoscope system according to claim 5, wherein the image analysis includes generation of a cutaway predetermined line.

15. The endoscope system according to any one of claims 1 to 3, wherein each length of the first period and the second period is constant when the action is repeated, or is indefinite when the action is repeated.

16. The endoscope system according to any one of claims 1 to 3, wherein a spectrum of the illumination light of the first characteristic and the illumination light of the second characteristic is constant when the action is repeated, or is indefinite when the action is repeated.

17. The endoscope system according to any one of claims 1 to 3, wherein there is a non-illumination period of the light source between the first period and the second period.

18. The endoscope system according to any one of claims 1 to 3, wherein the image pickup element performs an image pickup action of a rolling shutter method.

19. The endoscope system according to any one of claims 1 to 3, wherein the image pickup element performs an image pickup action of a global shutter method.

20. The endoscope system according to any one of claims 1 to 3, wherein the first period is a period longer than the second period.

21. The endoscope system according to any one of claims 1 to 3, wherein the illumination light of the first characteristic and the illumination light of the second characteristic are white light or light for image-enhanced observation.

22. A control method, which is a control method of an endoscope system having a light source, an image pickup element, a display, and a processor, wherein the light source is capable of switching and irradiating a plurality of illumination lights different in characteristic, the light source is caused to repeatedly perform an action of continuously irradiating illumination light of a first characteristic over a first period that spans a plurality of image pickup action frames in succession, and then irradiating illumination light of a second characteristic different from the first characteristic over a second period that spans at least one image pickup action frame, an image pickup image obtained from the image pickup element is acquired, and a moving image is displayed on the display in accordance with the image pickup image of the first period for the first period, and in accordance with a motion vector based on each luminance information of a first image pickup image of the second period and a second image pickup image of the first period different from the second period, and a color difference of the second image pickup image for the second period.

23. A control method, which is a control method of an endoscope system having a light source, an image pickup element, a display, and a processor, wherein The light source is capable of switching and irradiating a plurality of illumination lights having different characteristics, The light source repeatedly performs the following actions, that is, after continuously irradiating illumination light of a first characteristic over a first period of a plurality of continuous imaging action frames, irradiating illumination light of a second characteristic different from the first characteristic over a second period of at least one imaging action frame, An imaging image obtained from the imaging element is acquired, and a moving image is displayed on the display based on the imaging image of the first period for the first period, and based on a moving vector of each luminance information based on a first imaging image of the second period and a second imaging image of the second period different from the first period, and a color difference of the second imaging image for the second period.

24. A computer-readable recording medium storing a control program, the control program being a control program that controls an endoscope system including a light source, an imaging element, a display, and a processor, and the control program causes a computer to execute the following processing: The light source is capable of switching and irradiating a plurality of illumination lights having different characteristics, The light source repeatedly performs the following actions, that is, after continuously irradiating illumination light of a first characteristic over a first period of a plurality of continuous imaging action frames, irradiating illumination light of a second characteristic different from the first characteristic over a second period of at least one imaging action frame, An imaging image obtained from the imaging element is acquired, and a moving image is displayed on the display based on the imaging image of the first period for the first period, and based on a moving vector of each luminance information based on a first imaging image of the second period and a second imaging image of the second period different from the first period, and a color difference of the second imaging image for the second period.

25. A computer-readable recording medium storing a control program, the control program being a control program that controls an endoscope system including a light source, an imaging element, a display, and a processor, and the control program causes a computer to execute the following processing: The light source is capable of switching and irradiating a plurality of illumination lights having different characteristics, The light source repeatedly performs the following actions, that is, after continuously irradiating illumination light of a first characteristic over a first period of a plurality of continuous imaging action frames, irradiating illumination light of a second characteristic different from the first characteristic over a second period of at least one imaging action frame, An imaging image obtained from the imaging element is acquired, and a moving image is displayed on the display based on the imaging image of the first period for the first period, and based on a moving vector of each luminance information based on a first imaging image of the second period and a second imaging image of the second period different from the first period, and a color difference of the second imaging image for the second period.

Images