CONTROL DEVICE AND MEDICAL OBSERVATION SYSTEM

Abstract

To provide a control device that can perform focus adjustment by voice input through simple processing having reduced load, and to provide a medical observation system.SOLUTION: A control device includes: an acquisition unit for acquiring an operation instruction by voice input into an imaging device which includes an optical system including a focus lens and an imaging part; and a control unit that, when the operation instruction is an instruction of stopping the motion of the focus lens, controls the focus lens to stop and then move at a second speed which is slower than a first speed before the stoppage.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a control device and a medical observation system. [Background technology]

[0002] There is known a medical observation system that magnifies and images the operative area during surgery on the brain, heart, etc. of a patient, and displays the image on a monitor (see, for example, Patent Document 1). In this medical observation system, the microscope device has a focusing function.

[0003] When a doctor or other user uses the focus function to adjust the focus of an image, the user must operate a specific switch. This operation requires the user to temporarily stop the surgery or change their position, which is not very efficient. Therefore, it is possible to consider a system where the user can perform various operations by inputting voice.

[0004] However, in the case of voice input, it takes time for the user to speak, time for the voice signal to be transmitted to the control device, time for the control device to recognize the contents of the speech, and time until the operation is completed, resulting in a delay from the timing when the user speaks. For this reason, for example, when a user adjusts the focus by voice input, the focus lens does not stop at the position intended by the user, and the image cannot be focused.

[0005] Therefore, it is conceivable to apply a technology that realizes the processing intended by the user by taking into consideration the time difference between the timing of the operation command intended by the user and the timing of the operation command actually given by the user (for example, see Patent Document 2). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2016-42982 A [Patent Document 2] JP 2001-175281 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the technology of the above-mentioned Patent Document 2 has a problem in that the processing is complicated and the load on the system is high.

[0008] The present disclosure has been made in view of the above, and has an object to provide a control device and a medical observation system that are capable of performing focus adjustment by voice input through simple processing with little load. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the objective, a control device according to the present disclosure includes an acquisition unit that acquires an operation instruction by voice input for an imaging device having an optical system including a focus lens and an imaging unit, and a control unit that, when the operation instruction is an instruction to stop the operation of the focus lens, moves the focus lens at a second speed after stopping the focus lens, which is slower than a first speed before the focus lens is stopped.

[0010] The medical observation system according to the present disclosure includes an imaging device including an optical system including a focus lens and an imaging unit, an acquisition unit that acquires an operation instruction by voice input to the imaging device, and a control device that, when the operation instruction is an instruction to stop operation of the focus lens, stops the focus lens and then moves the focus lens at a second speed slower than a first speed before the focus lens was stopped, and a display device that displays an image captured by the imaging device. Effect of the Invention

[0011] According to the present disclosure, focus adjustment based on voice input can be performed through simple processing with little load. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram illustrating a medical observation system according to the first embodiment of the present disclosure. [Figure 2A] FIG. 2A is a diagram (part 1) for explaining a schematic diagram of a focus operation according to the first embodiment of the present disclosure. [Figure 2B] FIG. 2B is a diagram (part 2) for explaining a schematic diagram of a focus operation according to the first embodiment of the present disclosure. [Diagram 3] FIG. 3 is a diagram showing the relationship between time and speed during the focus operation shown in FIGS. 2A and 2B. [Figure 4] FIG. 4 is a block diagram showing a functional configuration of the medical observation system according to the first embodiment of the present disclosure. [Diagram 5] FIG. 5 is a flowchart illustrating an outline of the process performed by the control device according to the first embodiment of the present disclosure. [Figure 6] FIG. 6 is a diagram illustrating a schematic diagram of the focal position of the focus lens returning in the opposite direction after a focus operation is stopped in the second embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram showing the relationship between time and speed during a focus operation in the second embodiment of the present disclosure. [Figure 8A] FIG. 8A is a first diagram illustrating a movement of the focal position of the focus lens after a focus operation is stopped in accordance with Variation 2 of Embodiment 2 of the present disclosure. [Figure 8B] FIG. 8B is a second diagram illustrating a schematic diagram of movement of the focal position of the focus lens after a focus operation is stopped in the second modification of the second embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram showing the relationship between time and speed during a focus operation in the second modification of the second embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart illustrating an outline of a process performed by a control device according to the third embodiment of the present disclosure. [Figure 11] FIG. 11 is a diagram showing the relationship between time and speed during a focus operation in the third embodiment of the present disclosure. [Figure 12] FIG. 12 is a diagram illustrating a schematic diagram of a focus operation according to the third embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, modes for carrying out the present disclosure (hereinafter, referred to as "embodiments") will be described with reference to the accompanying drawings.

[0014] (Embodiment 1) Fig. 1 is a diagram showing a schematic diagram of a medical observation system according to the first embodiment of the present disclosure. Fig. 1 shows a situation in which a user 101, such as a doctor, who uses the medical observation system 1 to perform surgery on the head of a patient 102. The medical observation system 1 shown in Fig. 1 includes a medical observation device 2, a display device 3, and a microphone 4.

[0015] The medical observation device 2 is a surgical microscope, and includes a microscope device 5 and a control device 6. The microscope device 5 functions as an imaging device that captures an image of an observation target and generates an image signal.

[0016] The display device 3 is connected to the control device 6 wirelessly or by wire so as to be able to communicate with the control device 6, receives a three-dimensional image signal or a two-dimensional image signal from the control device 6, and displays a three-dimensional image (3D image) based on the three-dimensional image signal or a two-dimensional image (2D image) based on the two-dimensional image signal. The display device 3 has a display panel made of liquid crystal or organic EL (Electro Luminescence). The display device 3 displays an image of the surgical site of the patient 102 captured by the microscope device 5. FIG. 1 shows a schematic diagram of a situation in which the display device 3 displays a 3D image and the user 101 is viewing the 3D image while wearing 3D glasses 201.

[0017] The microphone 4 is communicatively connected to the control device 6 wirelessly or via a wire, receives voice input from the user 101 , generates a voice signal, and transmits the voice signal to the control device 6 .

[0018] We will now explain the external configuration of the microscope device 5. The microscope device 5 has a microscope unit 7 that magnifies and captures the microstructure of an observation target, a support unit 8 that supports the microscope unit 7, and a base unit 9 that holds the base end of the support unit 8 and has the control device 6 built in.

[0019] The microscope unit 7 has a cylindrical tubular part. A cover glass is provided on the opening surface at the lower end of the main body part (not shown). The cylindrical part can be held by a user, and has a size that allows the user to move it while holding it when changing the imaging field of the microscope unit 7. The shape of the cylindrical part is not limited to a cylindrical shape, and may be a polygonal cylindrical shape.

[0020] The support unit 8 has a plurality of links on the arm, and adjacent links are rotatably connected to each other via joints. A transmission cable for transmitting various signals between the microscope unit 7 and the control device 6 and a light guide for transmitting illumination light generated by the control device 6 to the microscope unit 7 pass through a hollow portion formed inside the support unit 8.

[0021] The control device 6 acquires the audio signal generated by the microphone 4 and recognizes the content of the audio signal. For example, the expressions for instructing the focus operation of the microscope device 5 are "focus in" and "focus out," and the expression for stopping the focus operation of the microscope device 5 is "stop." When performing the focus operation of the microscope device 5, the control device 6 stops the focus lens 511 (described later) of the microscope device 5 in response to the audio input, and then moves the focus lens at a constant speed at a second speed that is smaller than and opposite to the first speed at the constant speed before the stop. It goes without saying that the speed changes before and after the constant speed movement. Also, during the constant speed movement period, a slight speed change of about several percent from the constant speed is included. The above expressions for instructing the focus operation by voice are merely examples, and other expressions may be used.

[0022] 2A and 2B are diagrams for explaining the focus operation in the present embodiment 1. Fig. 2A shows the movement of the focal position of focus lens 511 until the focus operation is stopped. Fig. 2B shows the movement of the focal position of focus lens 511 returning in the opposite direction after the focus operation is stopped.

[0023] First, FIG. 2A will be described. When the user 101 stops the focus operation, the user 101 speaks "stop" and inputs it to the microphone 4. FIG. 2A shows a case where the target focal position where the focus lens 511 is to be stopped is set as a target position P, and the user 101 speaks "stop" at time t=t1 when the focal position of the focus lens 511 is located at the target position P. The control device 6 recognizes the voice signal acquired from the microphone 4, and then transmits a control signal to the microscope device 5 to instruct the microscope device 5 to stop the focus operation. For this reason, there is a time difference between the input timing (I) of "stop" by the user 101 and the stop timing (II) of the focus lens 511, and the focal position (hereinafter referred to as "stop position") Q when the focus lens 511 stops overruns the target position P by the time difference. FIG. 2A shows a situation where the stop position Q when the focus lens 511 stops at time t=t2 is located outside the focal depth (depth L) when the focal position of the focus lens 511 is located at the target position P. In this case, the display device 3 displays an out-of-focus image.

[0024] Next, FIG. 2B will be described. The focus lens 511 reverses immediately after stopping when the focus position is at the stop position Q, and starts to return so that the focus position moves toward the target position P (III). After that, at time t=t3 when the focus position of the focus lens 511 passes the return position R, the user speaks "stop" and inputs it to the microphone 4 (IV), and then the focus lens 511 gradually decelerates and stops at time t=t4. The focus position of the focus lens 511 at this time is the stop position S near the target position P (V). The target position P is located within the focal depth (depth L1) of the focus lens 511 when the focus position is at the stop position S. Note that FIG. 2B illustrates a case where the focus lens 511 stops after the focus position of the focus lens 511 passes the target position P again, but depending on the timing of the user's voice input, the focus lens 511 may stop without the focus position of the focus lens 511 passing the target position P again.

[0025] In addition, when the depths L and L1 of the two focal depths mentioned above are equal, if the stop position S is located within the focal depth (Figure 2A) when the focal position is at the target position P, the same effect as in the case shown in Figure 2B can be obtained.

[0026] FIG. 3 is a diagram showing the relationship between time and speed during the focus operation shown in FIG. 2A and FIG. 2B, and is a diagram showing the relationship between time and speed when the focus operation is started at time t=0. After the user inputs "focus in" or "focus out" into the microphone 4 at t=0, the focus lens 511 starts moving at a slightly delayed time t=t0, and eventually moves at a constant speed at a first speed v1. When the user inputs "stop" into the microphone 4 at time t=t1 when the focal position of the focus lens 511 passes the target position P (I), the focus lens 511 starts decelerating a little later and stops at time t=t2. The focal position of the focus lens 511 at this time is the stop position Q (II). Immediately after that, the focus lens 511 reverses and starts moving in the opposite direction (III), and eventually moves at a constant speed at a second speed v2 that is smaller than the first speed v1. This second speed v2 is a speed at which the lens unit 51 can stop within the focal depth. Thereafter, when the user again speaks "stop" into microphone 4 at time t=t3 when the focal position of focus lens 511 passes return position R (IV), focus lens 511 starts to decelerate a little later and stops at time t=t4. The focal position of focus lens 511 at this time is stop position S (V).

[0027] It should be noted that the expressions corresponding to the various operation instructions described above ("focus in," "focus out," and "stop") are merely examples, and other expressions may be used.

[0028] 4 is a block diagram showing the functional configuration of the medical observation system 1. First, a description will be given of the functional configuration of the microscope device 5. The microscope device 5 includes a lens unit 51, a lens driving section 52, an aperture 53, an aperture driving section 54, a detection section 55, an imaging section 56, an arm driving section 57, an input section 58, a communication section 59, and a control section 5a.

[0029] Lens unit 51 is an optical system that is configured using multiple lenses that are movable along an optical axis and that focuses a condensed subject image on an imaging surface of an imaging element included in imaging section 56. Lens unit 51 has focus lens 511 that adjusts the focus, and zoom lens 512 that changes the angle of view. Focus lens 511 and zoom lens 512 are each configured using one or multiple lenses.

[0030] Lens driving unit 52 has actuators that move focus lens 511 and zoom lens 512 under the control of control unit 5a, and a driver that drives the actuators.

[0031] The diaphragm 53 is provided between the lens unit 51 and the imaging unit 56, and adjusts the amount of light of the subject image traveling from the lens unit 51 to the imaging unit 56 under the control of the control unit 5a. The diaphragm 53, together with the lens unit 51, constitutes the optical system of the microscope device 5.

[0032] The aperture drive unit 54 operates the aperture 53 under the control of the control unit 5a to adjust the aperture value (also called the F-number).

[0033] Detection unit 55 has two position sensors that detect the positions of focus lens 511 and zoom lens 512, respectively, and an encoder that detects the aperture value of diaphragm 53. Detection unit 55 outputs the detected position of zoom lens 512 and the detected aperture value of diaphragm 53 to control unit 5a.

[0034] The imaging unit 56 has an imaging element that forms an image of a subject collected by the lens unit 51 to generate a captured image (analog signal), and a signal processing unit that performs signal processing such as noise removal and A / D conversion on the image signal (analog signal) from the imaging element. The imaging element is configured using an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The imaging unit 56 may have two imaging elements. In this case, the imaging unit 56 can generate a three-dimensional image (3D image).

[0035] Under the control of the control unit 5a, the arm driving unit 57 operates each of the multiple joints of the support unit 8. Specifically, the arm driving unit 57 has an actuator provided at the joint between the arms and a driver that drives the actuator.

[0036] The input unit 58 accepts inputs such as an operation signal for the lens unit 51 and an operation signal for the arm of the support unit 8. The input unit 58 has a plurality of switches, buttons, and the like provided on the side surface of the cylindrical part of the microscope unit 7 at positions that can be operated by the user while holding the microscope unit 7.

[0037] The communication unit 59 is an interface for communicating with the control device 6. The communication unit 59 transmits an image signal (digital signal) generated by the imaging unit 56 to the control device 6, and receives a control signal from the control device 6.

[0038] The control unit 5a cooperates with the control unit 66 of the control device 6 to control the operation of the microscope device 5. The control unit 5a operates the microscope device 5 based on an operation instruction signal received by the input unit 58 or an operation instruction signal sent from the control unit 66 of the control device 6. In this embodiment, the control unit 5a receives a signal from the control unit 66 of the control device 6 to operate an arm in order to move the imaging field of the microscope device 5.

[0039] The control unit 5a is configured using at least one processor such as a central processing unit (CPU), a field programmable gate array (FPGA), and an application specific integrated circuit (ASIC).

[0040] Next, the functional configuration of the control device 6 will be described. The control device 6 includes a communication unit 61, an image processing unit 62, an input unit 63, a light source unit 64, a voice recognition unit 65, a control unit 66, and a storage unit 67. The communication unit 61 acquires an image signal captured by the microscope device 5 and transmitted via a transmission cable. The image signal includes information related to the image capture, such as a gain adjustment value at the time of capturing the image, a focus lens position, a zoom lens position, a shutter speed, and an aperture value. The communication unit 61 also acquires, as an operation instruction, a voice signal of the user 101 whose input has been accepted by the microphone 4. In this sense, the communication unit 61 has the function of an acquisition unit.

[0041] The image processing unit 62 generates an image signal for display by performing various signal processing on the image signal acquired by the communication unit 61, and outputs the generated image signal to the display device 3. Specific examples of image processing include well-known image processing such as detection processing of the brightness level and contrast of the image signal, gain adjustment, interpolation processing, color correction processing, color emphasis processing, and edge emphasis processing. The image processing unit 62 is configured using at least one processor such as a CPU, an FPGA, and an ASIC.

[0042] The input unit 63 accepts input of various information. The input unit 63 is configured using a user interface such as a keyboard, a mouse, a touch panel, a foot switch, etc. The input unit 63 may also have at least a part of the functions of the input unit 58 of the microscope device 5.

[0043] The light source unit 64 generates illumination light to be supplied via a light guide to the microscope device 5. The light source unit 64 is configured using, for example, a solid-state light-emitting element such as an LED (Light Emitting Diode) or an LD (Laser Diode), a laser light source, a xenon lamp, or a halogen lamp.

[0044] The voice recognition unit 65 executes a recognition process of the voice signal received from the microphone 4. The voice recognition unit 65 recognizes the content of the voice signal by comparing the feature amount of the voice signal with the feature amount stored in the storage unit 67.

[0045] The control unit 66 controls the operation of the control device 6, and also controls the operation of the medical observation device 2 in cooperation with the control unit 5a of the microscope device 5. The control unit 66 generates a control signal for operating the microscope device 5 based on the content of the voice signal recognized by the voice recognition unit 65, and transmits it to the microscope device 5. When the content of the voice signal recognized by the voice recognition unit 65 is an instruction to stop the operation of the focus lens 511, the control unit 66 stops the focus lens 511 and then moves the focus lens 511 at a constant speed at a second speed that is smaller than the first speed at the constant speed before the stop. The control unit 66 controls the shutter speed of the imaging unit 56, the gain adjustment performed by the image processing unit 62, the amount of illumination light generated by the light source unit 64, and the like, in order to set the brightness level of the image signal captured by the microscope device 5 to a predetermined brightness level. The control unit 66 also controls the display of the display device 3. Note that the first speed and the second speed do not have to be the speed at the constant speed, and may be, for example, a representative speed. The representative speed may be determined at a predetermined timing or position, may be the average speed during movement, or may be the speed that continues for the longest period of time.

[0046] The control unit 66 is configured using at least one processor such as a CPU, an FPGA, an ASIC, etc. The image processing unit 62 and the control unit 66 may be configured using a common processor.

[0047] The storage unit 67 stores a first speed v1 and a second speed v2 during a focus operation. The storage unit 67 stores various programs for the operation of the control device 6, and temporarily stores data being processed by the control device 6. The storage unit 67 is configured using a ROM (Read Only Memory), a RAM (Random Access Memory), etc.

[0048] 5 is a flowchart showing an outline of the processing performed by the control device 6. In parallel with the processing described below, the control device 6 causes the communication unit 61 to sequentially acquire data of images captured by the imaging unit 56 from the microscope device 5, and the image processing unit 62 to generate image signals for display and output them to the display device 3. This point is common to all the flowcharts described below.

[0049] First, when the communication unit 61 acquires a voice signal (step S1: Yes), the voice recognition unit 65 performs a recognition process of the voice signal (step S2). If the communication unit 61 does not acquire a voice signal in step S1 (step S1: No), the control device 6 repeats step S1.

[0050] If the result of the recognition process is that a focus operation is input (for example, "focus in" or "focus out") (step S3: Yes), the control unit 66 generates a control signal (operation control signal) for operating the lens driving unit 52 of the microscope device 5 and transmits it to the control unit 5a (step S4). As a result, the lens driving unit 52 moves the focus lens 511 under the control of the control unit 5a. The change in speed of the focus lens 511 over time is, for example, as shown in FIG. 3, and includes constant speed movement at a first speed v1 along the way. If the result of the recognition process is that a focus operation is not input (step S3: No), the control device 6 returns to step S1.

[0051] After step S4, when the communication unit 61 acquires a voice signal (step S5: Yes), the voice recognition unit 65 performs a recognition process of the voice signal (step S6). If the communication unit 61 does not acquire a voice signal in step S5 (step S5: No), the control device 6 repeats step S5. Note that, if the communication unit 61 does not acquire a voice signal even after a predetermined time has elapsed after step S4, the control unit 66 may cause the display device 3 to display information that prompts the user 101 to input voice. Also, the control unit 66 may cause the speaker to output a message or an alarm sound that prompts the user 101 to input voice.

[0052] If, as a result of the recognition process in step S6, it is an instruction to stop the focusing operation (e.g., "stop") (step S7: Yes), the control unit 66 generates a control signal (stop / reverse control signal) that stops and reverses the operation of the lens drive unit 52 and transmits it to the control unit 5a (step S8). As a result, the lens drive unit 52 stops the focus lens 511 under the control of the control unit 5a and then moves in reverse. The time change in the speed of the focus lens 511 during reversal is, for example, as shown in FIG. 3 (t ≧ t2), and includes a constant-speed movement at a second speed v2 (< v1) in the middle.

[0053] If, as a result of the recognition process in step S6, it is not an instruction to stop the focusing operation (step S7: No), the control device 6 returns to step S5. If no instruction to stop the focusing operation is input even after a predetermined time has elapsed after step S4, the control unit 66 may cause the display device 3 to display information prompting the user 101 for voice input. Here too, the control unit 66 may cause a message or warning sound prompting the user 101 for voice input to be output from a separately installed speaker.

[0054] After step S8, when the communication unit 61 acquires an audio signal (step S9: Yes), the audio recognition unit 65 performs a recognition process on the audio signal (step S10). If the communication unit 61 does not acquire an audio signal in step S9 (step S9: No), the control device 6 repeats step S9.

[0055] If, as a result of the recognition process in step S10, it is an instruction to stop the focusing operation (e.g., "stop") (step S11: Yes), the control unit 66 generates a control signal (stop control signal) that stops the operation of the lens drive unit 52 and transmits it to the control unit 5a (step S12). As a result, the lens drive unit 52 stops the focus lens 511 under the control of the control unit 5a. After this, the control device 6 ends a series of processes.

[0056] If, as a result of the recognition process in step S10, it is not an instruction to stop the focusing operation (step S11: No), the control device 6 returns to step S9.

[0057] According to the above-described first embodiment of the present disclosure, the content of the audio signal acquired from the microphone that receives the audio input of the operator of the imaging device including an optical system including a focus lens and an imaging unit is recognized, and if the content is an instruction to stop the operation of the focus lens, after stopping the focus lens, the focus lens is moved at a constant speed at a second speed that is slower than the first speed before the stop and in the opposite direction, so that focus adjustment can be performed only by the voice input. Therefore, focus adjustment by voice input can be performed by a simple process with a low load.

[0058] Furthermore, according to the first embodiment, even if a delay occurs from the voice input, fine adjustment is possible only with the voice input, so that focus adjustment can be easily performed.

[0059] Furthermore, according to the first embodiment, the focus lens slowly approaches the target position after being inverted, so that the user can easily adjust the focus while watching the display device 3.

[0060] Furthermore, according to the first embodiment, the focus lens moves at a relatively high speed before the first stop, and moves slower after reversal than before the stop, so that the adjustment time can be shortened compared to when the focus lens moves slowly all the time.

[0061] (Variation 1) A first modification of the first embodiment will be described. In this first modification, the control unit 66 sets the second speed v2 based on the depth of focus according to the imaging conditions at the time of imaging by the microscope device 5. The imaging conditions are, for example, the magnification according to the positions of the focus lens 511 and the zoom lens 512 and / or the aperture value of the aperture 53. These values ​​are detected by the detection unit 55.

[0062] The storage unit 67 stores a table that gives the relationship between the depth of focus determined according to the magnification and / or aperture value detected by the detection unit 55 and the second speed v2. This relationship is, for example, such that the shallower the depth of focus, the smaller the second speed v2.

[0063] In this modified example, in step S8 described above, the control unit 66 sets the second speed v2 by referring to the table in the memory unit 67, and then generates a control signal to stop and invert the operation of the lens driving unit 52 and transmits it to the control unit 5a.

[0064] According to the first modification of the first embodiment described above, it is possible to perform control according to the focal depth which changes depending on the imaging conditions.

[0065] (Embodiment 2) In the second embodiment of the present disclosure, after the focus lens is stopped, the focus lens is moved for a predetermined time at a third speed opposite to the first speed and greater than the second speed, and then the focus lens is decelerated to a second speed opposite to the first speed and moved. The functional configuration of the medical observation system according to the second embodiment is similar to that of the first embodiment.

[0066] 6 is a diagram showing a schematic diagram of the movement of the focal position of focus lens 511 returning in the opposite direction after the focus operation is stopped in the present embodiment 2. Note that the movement from the start of the focus operation to the stop of the focus operation is the same as that described with reference to FIG. 2A in the embodiment 1.

[0067] The focus lens 511 reverses immediately after stopping when the focus position is at the stop position Q (t=t2), and starts returning so that the focus position moves toward the target position P (III). After that, the focus lens 511 moves at a constant speed of a third speed v3 that is greater than the second speed v2, and then at a time t=t5 when the focus position passes the return position T, the speed of the focus lens 511 decelerates to the second speed v2 and moves (IIIa). The time t5-t2 from the start of the reversal to the time when the speed is switched to the second speed v2 is set in advance as a time that offsets the delay caused by the processing on the device side after the user's voice input. Next, at a time t=t3 when the focus position of the focus lens 511 passes the return position R, the user utters "stop" and inputs it to the microphone 4 (IV), and then the focus lens 511 gradually decelerates and stops at a time t=t4. The focus position of the focus lens 511 at this time is the stop position S near the target position P (V). Target position P is located within the focal depth (depth L2) of focus lens 511 when the focal position is at stop position S. Note that, although Fig. 6 illustrates a case where focus lens 511 stops after the focal position of focus lens 511 passes target position P again, depending on the timing of the user's voice input, focus lens 511 may stop without the focal position of focus lens 511 passing target position P again.

[0068] FIG. 7 is a diagram showing the relationship between time and speed during focus operation, and shows the relationship between time and speed when focus operation is started at time t=0. The changes from when focus lens 511 starts to operate until it first stops are the same as those in FIG. 3 (I to III). After that, focus lens 511 moves at a constant speed of third speed v3, then decelerates, and starts moving at a constant speed of second speed v2 at time t5 when the focal position passes return position T (IIIa). After that, when the user again inputs "stop" into microphone 4 by voice at time t=t3 when the focal position of focus lens 511 passes return position R (IV), focus lens 511 starts to decelerate a little later and stops at time t=t4. The focal position of focus lens 511 at this time is stop position S (V).

[0069] 7 illustrates a case where the third speed v3 is greater than the first speed v1. This allows the focus lens 511 to quickly return until the focal position is located near the target position P. Note that the magnitude relationship between the first speed v1 and the third speed v3 is not limited to this, and the first speed v1 may be greater, or the first speed v1 may be equal to the third speed v3.

[0070] The outline of the process performed by the control device according to the second embodiment is similar to the outline of the process described with reference to Fig. 5 in the first embodiment. However, in step S8, control unit 66 generates a control signal for reversing focus lens 511, moving it at a constant speed of third speed v3 for a predetermined time, and then decelerating it to second speed v2 and moving it at a low speed, and transmits the control signal to control unit 5a.

[0071] According to the above-described second embodiment of the present disclosure, similarly to the first embodiment, focus adjustment based on voice input can be performed by simple processing with little load.

[0072] Furthermore, according to the second embodiment, after the focus lens stops and reverses, it is moved at a constant speed at a third speed that is greater than the second speed, and then decelerates to the second speed and moves at the constant speed again. This makes it possible to quickly return the focus lens until the focal position of the focus lens reaches near the target position, thereby shortening the adjustment time.

[0073] Incidentally, the user 101 may be able to input a setting via the input units 58, 63 or the microphone 4 as to whether or not to move the focus lens at a constant speed of the third speed after inversion.

[0074] (Variation 2) In the second modification of the second embodiment, after passing over the target position P and returning at the third speed v3, the rotation reverses again and approaches the target position P. In the second modification, the direction of the second speed v2 is the same as the direction of the first speed v1.

[0075] 8A and 8B are diagrams showing the movement of the focal position of focus lens 511 after the focus operation is stopped. Fig. 8A shows the movement of the focal position of focus lens 511 after inversion, and Fig. 8B shows the movement of the focal position of focus lens 511 after re-inversion.

[0076] 8A will be described first. Immediately after focus lens 511 stops (t=t2) when the focal position is at stop position Q, it reverses and starts to return so that the focal position is toward target position P (III). After that, focus lens 511 moves at a constant speed of a third speed v3 that is greater than the second speed v2, and stops when the focal position passes target position P. The focal position of focus lens 511 at this time is stop position U (IV).

[0077] Next, FIG. 8B will be described. Immediately after the focus lens 511 stops when the focus position is at the stop position U (t=t6), it reverses again and starts to return so that the focus position moves toward the target position P (V). Thereafter, the focus lens 511 moves at a constant speed at a second speed v2. At time t=t3 when the focus position of the focus lens 511 passes the return position R, the user speaks "stop" and inputs it to the microphone 4 (VI), and then the focus lens 511 gradually decelerates and stops at time t=t4. The focus position of the focus lens 511 at this time is the stop position S near the target position P (VII). The target position P is located within the focal depth (depth L3) of the focus lens 511 when the focus position is at the stop position S. Note that while Figure 8B illustrates a case where the focal position of focus lens 511 passes target position P three times before stopping, depending on the timing of the user's voice input, focus lens 511 may stop without the focal position of focus lens 511 passing target position P a third time.

[0078] FIG. 9 is a diagram showing the relationship between time and speed during a focus operation, and shows the relationship between time and speed when the focus operation is started at time t=0. The changes from when the focus lens 511 starts to operate until it first stops are the same as those in FIG. 3 (I to III). After that, the focus lens 511 moves at a constant speed at a third speed v3, and then decelerates and stops. The focus position of the focus lens 511 at this time is a stop position U that has passed the target position P along the movement direction (IV). Next, the focus lens 511 reverses again (V) and starts moving at a constant speed at a second speed v2. After that, when the user again voice-inputs "stop" into the microphone 4 at time t=t3 when the focus position of the focus lens 511 passes the return position R (VI), the focus lens 511 starts to decelerate a little later and stops at time t=t4. The focus position of the focus lens 511 at this time is the stop position S (VII).

[0079] According to the second variant of the second embodiment described above, the direction of the first speed and the direction of the third speed are the same, so that after the focus lens decelerates, the user can adjust the focus while slowly tracing the changes in the screen that he or she has seen before.

[0080] (Embodiment 3) In the third embodiment of the present disclosure, when the focus information extracted by the image processing unit satisfies a predetermined condition after the movement of the focus lens is started, the focus lens is moved at a constant speed of a second speed that is slower than the first speed and in the same direction as the first speed. The functional configuration of the medical observation system according to the third embodiment is the same as that of the first embodiment.

[0081] 10 is a flowchart showing an outline of the processing performed by the control device 6 according to the embodiment 3. First, the processing in steps S21 to S24 corresponds sequentially to the processing in steps S1 to S4 described in the embodiment 1.

[0082] Thereafter, the control unit 66 compares the contrast of the latest image detected by the image processing unit 62 with a predetermined threshold value Th (step S25). The latest image here refers to the latest image acquired from the microscope device 5. If the comparison result indicates that the contrast of the latest image is equal to or greater than the threshold value Th (step S25: Yes), the control unit 66 generates a control signal (deceleration control signal) for decelerating the focus lens 511 to a second speed v2 without changing the direction of the speed, and transmits the control signal to the control unit 5a (step S26).

[0083] The subsequent processing of steps S27 to S30 corresponds sequentially to steps S9 to S12 described in the first embodiment.

[0084] If the contrast of the latest image is smaller than the threshold value Th in step S25 (step S25: No), the control device 6 repeats step S25.

[0085] 11 is a diagram showing the relationship between time and speed during focusing operation, specifically, the relationship between time and speed when focusing operation is started at time t=0. After the user makes a voice input of "focus in" or "focus out" into the microphone 4 at t=0, the focus lens 511 starts moving at a short delay time t=t0, and eventually moves at a constant speed of a first speed v1. During this time, the image processing unit 62 sequentially detects the contrast of the image obtained from the microscope device 5 as focus information, and stores the detected contrast in the memory unit 67.

[0086] Then, the time when the focus lens 511 passes through position A is t=t a At time t, the contrast of the latest image becomes equal to or greater than the threshold Th (I), and the control unit 66 outputs a control signal to decelerate to the second speed v2. After the focus lens 511 has decelerated to the second speed v2, the focus lens 511 moves at a constant speed. The time t when the focus lens 511 passes through the position B is t=t b When the user inputs "stop" into the microphone 4 by voice (II), the focus lens 511 starts to decelerate after a short delay until time t=t c Then, the vehicle stops at stop position C (III).

[0087] FIG. 12 is a diagram for explaining a schematic focus operation in the third embodiment. Positions A, B, and stop position C shown in FIG. 12 correspond to positions A, B, and stop position C shown in FIG. 11, respectively. As shown in FIG. 12, in the third embodiment, when focus lens 511 stops in response to voice input from the user, the focus position of focus lens 511 approaches target position P without reversing the direction of movement. Target position P is located within the focal depth (depth L4) of focus lens 511 when the focus position is at stop position C. Note that FIG. 12 illustrates a case where focus lens 511 stops after the focus position of focus lens 511 exceeds target position P, but depending on the timing of voice input from the user, focus lens 511 may stop before the focus position of focus lens 511 reaches target position P.

[0088] According to the above-described third embodiment of the present disclosure, similarly to the first embodiment, focus adjustment based on voice input can be performed by simple processing with little load.

[0089] Furthermore, according to the third embodiment, the lens is decelerated without performing a reversal operation, so that the time required for focusing can be shortened.

[0090] In this third embodiment as well, similar to the first modification of the first embodiment, the control unit 66 may set the second speed v2 based on the depth of focus according to the imaging conditions at the time of imaging by the microscope device 5.

[0091] (Other embodiments) Although the embodiments for carrying out the present disclosure have been described above, the present disclosure should not be limited to only the above-mentioned embodiments 1 to 4. For example, the present disclosure is not limited to the focus operation, and similar processing can be performed in the case of a zoom operation or a field of view movement after various functional members are stopped by a user's voice input.

[0092] Furthermore, the medical observation device according to the present disclosure may be an endoscope or an exoscope equipped with an imaging device.

[0093] The present technology can also be configured as follows. (1) an acquisition unit that acquires an operation instruction by voice input for an imaging device including an optical system including a focus lens and an imaging unit; a control unit that, when the operation instruction is an instruction to stop the operation of the focus lens, moves the focus lens at a second speed, which is slower than a first speed before the focus lens is stopped, after the focus lens is stopped; A control device comprising: (2) The acquisition unit is The control device according to (1), wherein the control device acquires, as the operation instruction, a voice signal generated by a microphone that accepts voice input. (3) The control device according to (1) or (2), further comprising a voice recognition unit that recognizes the content of the operation instruction acquired by the acquisition unit. (4) the first and second speeds are speeds at a constant speed, The control unit is The control device according to any one of (1) to (3), wherein the control device moves the focus lens at a constant speed of the second speed. (5) The control unit is The control device according to any one of (1) to (4), which stops the operation of the focus lens when it recognizes an audio signal corresponding to an instruction to stop the operation of the focus lens while moving the focus lens at a constant speed at the second speed. (6) The control unit is The control device according to any one of (1) to (5), wherein after stopping the focus lens, the control device moves the focus lens at a third speed in a direction opposite to the first speed and greater than the second speed for a predetermined period of time, and then moves the focus lens at the second speed. (7) The control device according to (6), wherein the third speed is greater than the first speed. (8) The control device according to any one of (1) to (7), wherein a direction of the second speed is opposite to a direction of the first speed. (9) The control device according to (6) or (7), wherein the direction of the second speed is the same as the direction of the first speed. (10) The control unit is The control device according to any one of (1) to (9), wherein the second speed is set based on a focal depth according to an imaging condition at the time of imaging by the imaging section. (11) The control device according to (10), wherein the imaging condition is a magnification of the optical system. (12) The control device according to (10), wherein the imaging condition is an aperture value of the optical system. (13) an imaging device including an optical system including a focus lens and an imaging unit; a microphone for receiving voice input of an operation instruction for the imaging device; a control device including: an acquisition unit that acquires a voice signal generated by the microphone; a voice recognition unit that recognizes the content of the voice signal acquired by the acquisition unit; and a control unit that, when the content of the voice signal recognized by the voice recognition unit is an instruction to stop the operation of the focus lens, moves the focus lens at a constant speed at a second speed that is slower than a first speed at the constant speed before the focus lens is stopped, after stopping the focus lens; a display device that displays an image captured by the imaging device; and A medical observation system comprising:

[0094] [Appendix 1] an acquisition unit that acquires an image signal captured by an imaging device having an optical system including a focus lens and an imaging unit, and an operation instruction by voice input to the imaging device; an image processing unit that extracts focus information of the image acquired by the acquisition unit; a control unit that starts moving the focus lens at a first speed when the operation instruction is an instruction to operate the focus lens, and moves the focus lens at a second speed that is slower than the first speed and in the same direction as the first speed when focus information extracted by the image processing unit satisfies a predetermined condition; A control device comprising: [Appendix 2] The acquisition unit is 2. The control device according to claim 1, further comprising: a microphone configured to receive voice input and generate a voice signal as the operation instruction. [Appendix 3] 3. The control device according to claim 1, further comprising a voice recognition unit that recognizes the content of the operation instruction acquired by the acquisition unit. [Appendix 4] 4. The control device according to claim 1, wherein the first and second speeds are speeds at a constant speed. [Appendix 5] The control unit is A control device as described in any one of appendices 1 to 4, which stops operation of the focus lens when it recognizes an audio signal corresponding to an instruction to stop operation of the focus lens while moving the focus lens at a constant speed at the second speed. [Appendix 6] The control device according to any one of claims 1 to 5, wherein the focus information is a contrast of an image. [Appendix 7] 7. The control device according to claim 1, wherein the second speed is a speed at which the control device can stop within a focal depth of the optical system. [Appendix 8] The control unit is The control device according to any one of appendixes 1 to 7, wherein the second speed is set based on a depth of focus according to an imaging condition at the time of imaging by the imaging section. [Appendix 9] 9. The control device according to claim 8, wherein the imaging condition is a magnification of the optical system. [Appendix 10] 9. The control device according to claim 8, wherein the imaging condition is an aperture value of the optical system. [Appendix 11] an imaging device including an optical system including a focus lens and an imaging unit; a control device having: an acquisition unit that acquires an image signal captured by an imaging device having an optical system including a focus lens and an imaging unit, and an operation instruction by voice input to the imaging device; an image processing unit that extracts focus information of the image acquired by the acquisition unit; and a control unit that starts and moves the focus lens at a first speed when the operation instruction is an operation instruction for the focus lens, and moves the focus lens at a second speed that is slower than the first speed and in the same direction as the first speed when the focus information extracted by the image processing unit satisfies a predetermined condition; a display device that displays an image captured by the imaging device; and A medical observation system comprising: [Explanation of symbols]

[0095] 1 Medical observation system 2 Medical observation equipment 3 Display device 4 Microphones 5. Microscope equipment 5a, 66 Control section 6. Control device 7 Microscope Section 8 Support part 9 Base 51 Lens unit 52 Lens drive unit 53 Aperture 54 Aperture drive unit 55 Detection unit 56 Imaging unit 57 Arm drive unit 58, 63 Input section 59, 61 Communications Department 62 Image Processing Unit 64 Light source section 65 Voice Recognition Unit 67 Memory section 101 users 102 patients 201 3D glasses 511 Focus Lens 512 Zoom Lens A, B position C, Q, S, U Stop position L Depth of focus P target position R, T return position

Claims

1. an acquisition unit that acquires an operation instruction by voice input for an imaging device including an optical system including a focus lens and an imaging unit; a control unit that, when the operation instruction is an instruction to stop the operation of the focus lens, moves the focus lens at a second speed after stopping the focus lens, the second speed being slower than a first speed at which the focus lens is moved at a constant speed before the focus lens is stopped, the second speed being a speed at which the focal position of the focus lens can be stopped within a focal depth of the focus lens, and the second speed being a constant speed at which the focus lens is moved in a direction opposite to a direction of the first speed; A control device comprising:

2. an acquisition unit that acquires an operation instruction by voice input for an imaging device including an optical system including a focus lens and an imaging unit; a control unit that, when the operation instruction is an instruction to stop the operation of the focus lens, moves the focus lens at a second speed after stopping the focus lens, the second speed being slower than a first speed at which the focus lens is moved at a constant speed before the focus lens is stopped, the second speed being a speed at which the focal position of the focus lens can be stopped within a focal depth of the focus lens, and the second speed being a constant speed at which the focus lens is moved in a direction opposite to a direction of the first speed; Equipped with The control unit is a control device that stops the focus lens, moves the focus lens at a third speed that is a constant speed moving the focus lens in a direction opposite to the first speed, the third speed being greater than the second speed, for a predetermined period of time, and then moves the focus lens at the second speed.

3. an acquisition unit that acquires an operation instruction by voice input for an imaging device including an optical system including a focus lens and an imaging unit; a control unit that, when the operation instruction is an instruction to stop the operation of the focus lens, moves the focus lens after stopping the focus lens at a second speed that is slower than a first speed at which the focus lens is moved at a constant speed before the focus lens is stopped, the second speed is a speed at which the focal position of the focus lens can be stopped within a focal depth of the focus lens, and the second speed is a constant speed at which the focus lens is moved in the same direction as the first speed. Equipped with The control unit is a control device that stops the focus lens, moves the focus lens at a third speed that is a constant speed moving the focus lens in a direction opposite to the first speed, the third speed being greater than the second speed, for a predetermined period of time, and then moves the focus lens at the second speed.

4. The acquisition unit is The control device according to claim 1 , wherein the control device acquires, as the operation instruction, a voice signal generated by a microphone that accepts voice input.

5. The control device according to claim 1 , further comprising a voice recognition unit that recognizes the content of the operation instruction acquired by the acquisition unit.

6. The control unit is The control device according to claim 1 , wherein the control device stops the operation of the focus lens when it recognizes a voice signal corresponding to an instruction to stop the operation of the focus lens while the focus lens is being moved at a constant speed at the second speed.

7. The control device according to claim 2 or 3, wherein the third speed is greater than the first speed.

8. The control unit is The control device according to claim 1 , wherein the second speed is set based on a depth of focus according to an imaging condition at the time of imaging by the imaging section.

9. The control device according to claim 8 , wherein the imaging condition is a magnification of the optical system.

10. The control device according to claim 8 , wherein the imaging condition is an aperture value of the optical system.

11. an imaging device including an optical system including a focus lens and an imaging unit; a control device having: an acquisition unit that acquires an operation instruction by voice input to the imaging device; and a control unit that, when the operation instruction is an instruction to stop an operation of the focus lens, moves the focus lens at a second speed after stopping the focus lens, the second speed being slower than a first speed at which the focus lens is moved at a constant speed before the focus lens is stopped, the second speed being a speed at which the focal position of the focus lens can be stopped within a focal depth of the focus lens, and the second speed being a constant speed at which the focus lens is moved in a direction opposite to a direction of the first speed; a display device that displays an image captured by the imaging device; and A medical observation system comprising:

12. an imaging device including an optical system including a focus lens and an imaging unit; a control device having: an acquisition unit that acquires an operation instruction by voice input to the imaging device; and a control unit that, when the operation instruction is an instruction to stop an operation of the focus lens, moves the focus lens at a second speed after stopping the focus lens, the second speed being slower than a first speed at which the focus lens is moved at a constant speed before the focus lens is stopped, the second speed being a speed at which the focal position of the focus lens can be stopped within a focal depth of the focus lens, and the second speed being a constant speed at which the focus lens is moved in a direction opposite to a direction of the first speed; a display device that displays an image captured by the imaging device; and Equipped with The control unit is a medical observation system which stops the focus lens, moves the focus lens at a third speed, which is a constant speed moving the focus lens in a direction opposite to the first speed, for a predetermined period of time, the third speed being greater than the second speed, and then moves the focus lens at the second speed.

13. an imaging device including an optical system including a focus lens and an imaging unit; a control device having: an acquisition unit that acquires an operation instruction by voice input to the imaging device; and a control unit that, when the operation instruction is an instruction to stop an operation of the focus lens, moves the focus lens at a second speed after stopping the focus lens, the second speed being slower than a first speed at which the focus lens is moved at a constant speed before the focus lens is stopped, the second speed being a speed at which the focal position of the focus lens can be stopped within a focal depth of the focus lens, and the second speed being a constant speed movement of the focus lens in the same direction as the first speed; a display device that displays an image captured by the imaging device; and Equipped with The control unit is a medical observation system which stops the focus lens, moves the focus lens at a third speed, which is a constant speed moving the focus lens in a direction opposite to the first speed, for a predetermined period of time, the third speed being greater than the second speed, and then moves the focus lens at the second speed.

Images