Imaging device

Abstract

To confirm arrival of a pipe of a catheter or the like at a desired position of a target body.SOLUTION: An imaging device includes: a tube; a light emitting part disposed at the tube; a driver for switching emission and non-emission of the light from the light emitting part; a camera for imaging the target body; a controller for controlling the operation of the driver and generating an image for display using an image obtained from the camera; and a display for displaying the image for display. The controller generates a light position image corresponding to the light from the light emitting part on the basis of a difference between a first image obtained from the camera corresponding to the emission time of the light from the light emitting part and a second image obtained from the camera corresponding to the non-emission time of the light from the light emitting part, and generates the image for display by bringing the light position image into a recognizable color and superimposing it on an appearance image of the target body obtained from the camera.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an imaging device. [Background technology]

[0002] International Publication No. 2018 / 207753 (Patent Document 1) describes a catheter device including a tube inserted into the body, a light-emitting unit provided at the distal end of the tube and emitting light for tube position confirmation, a power line provided along the tube to supply power to the light-emitting unit, and a connector provided at the proximal end of the tube for connecting the power line to an external device that supplies power to the power line. In this catheter device, when the distal end of the tube inserted into the body reaches a desired position within the body (e.g., the stomach), light emitted from the light-emitting unit is received through the body, and when a signal corresponding to the amount of light received exceeds a preset value, a display on the control unit indicates that the distal end of the tube has reached the stomach. International Publication No. 2020 / 136936 (Patent Document 2) also proposes providing a light-emitting unit not only at the distal end of the tube but also at the intermediate portion of the tube that enters the body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 207753 [Patent Document 2] International Publication No. 2020 / 136936 Summary of the Invention [Problem to be solved by the invention]

[0004] One of the objects of a specific aspect of the present disclosure is to provide a technique that makes it easier to confirm whether a tube such as a catheter has reached a desired position in a subject. [Means for solving the problem]

[0005] An imaging device according to one aspect of the present disclosure includes: a tube in which at least one end side is disposed inside or on the outer surface of a target body; At least one light emitting unit is disposed in the tube; A light emitting unit is connected to the light emitting unit, and controls whether or not light is emitted from the light emitting unit. alternately The driver to be switched, It has multiple pixel units a camera that captures an image of the target object; a controller connected to each of the camera and the driver, for controlling the operation of the driver and for generating a display image using an image obtained from the camera; a display connected to the controller and displaying the display image; Including, The controller detects a difference between a first image obtained from the camera when light is emitted from the light-emitting unit and a second image obtained from the camera when light is not emitted from the light-emitting unit. Using the difference image obtained by taking generating a light position image corresponding to the light from the light emitting unit; The object is illuminated by ambient light and captured by the camera. The light position image is made visible in color relative to the appearance image. conversion and superimposing the images to generate the display image. It is something each of the plurality of pixel units of the camera includes a photoelectric conversion element, a first charge accumulation unit, a second charge accumulation unit, and a charge distribution circuit that distributes and accumulates charges generated by the photoelectric conversion element in the first charge accumulation unit or the second charge accumulation unit; the charge distribution circuit accumulates in the first charge accumulation unit the charge generated by the photoelectric conversion element in response to the emission of light from the light-emitting unit, and accumulates in the second charge accumulation unit the charge generated by the photoelectric conversion element in response to the non-emission of light from the light-emitting unit, a charge accumulation operation in the first charge accumulation unit corresponding to when light is emitted from the light-emitting unit and a charge accumulation operation in the second charge accumulation unit corresponding to when light is not emitted from the light-emitting unit are alternately repeated multiple times, the first image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the first charge accumulation unit a plurality of times, the second image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the second charge accumulation unit a plurality of times. It is an imaging device.

[0006] According to the above configuration, it becomes possible to more easily confirm whether a tube such as a catheter has reached a desired position in a subject. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of an imaging device according to an embodiment. [Figure 2] FIG. 2 is a diagram showing an example of an image captured by the imaging device 1 and displayed on the display 24. As shown in FIG. [Figure 3] FIG. 3 is a block diagram for explaining the configuration related to information processing of the imaging device 1. As shown in FIG. [Figure 4] Fig. 4(A) is a diagram showing a schematic configuration of the camera 20. Fig. 4(B) is a diagram showing an example of a circuit configuration that realizes each pixel unit 40. [Figure 5] Fig. 5(A) is a potential diagram showing the charge distribution, and Fig. 5(B) is a diagram showing a process of calculating the difference between an image obtained from the charge (A+C) of the first charge storage section 46a and an image obtained from the charge (B) of the second charge storage section 46b. [Figure 6] FIG. 6 is a time chart showing an overall picture of the operation of the imaging device 1. [Figure 7] FIG. 7 is a time chart showing the operation during period T1 related to image capturing by the camera shown in FIG. [Figure 8] FIG. 8 is a time chart showing the operation during period T2 related to image capturing by the camera shown in FIG. [Figure 9] FIG. 9 is a diagram showing an outline of the overall operation of the imaging device 1. As shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0008] 1 is a diagram illustrating the schematic configuration of an imaging device according to one embodiment. The imaging device 1 of this embodiment is designed to allow easy confirmation, based on an image displayed on a display 24, that the tip of a catheter 10 inserted inside a human body 100 has reached a desired position (the position of the stomach in the illustrated example).

[0009] The catheter 10 is a flexible, long, thin, hollow tube made of a material that does not adversely affect the human body, and is used to deliver desired substances (for example, nutrients, medicines, etc.) into the human body 100.

[0010] The LED (Light Emitting Diode) 12 is disposed at one end of the catheter 10 and emits light of a wavelength that can be transmitted through the human body 100. In this embodiment, an infrared LED that emits infrared light with a wavelength of, for example, approximately 850 nm is used. In this embodiment, the LED 12 is disposed at one end of the catheter 10. However, when a stylet is inserted into the catheter 10, the LED 12 may also be disposed at the tip of the stylet to be inserted into the catheter 10. Furthermore, the LEDs 12 may not only be disposed at the tip of one end of the catheter 10 and / or the stylet to be inserted into the catheter 10, but may also be disposed at multiple, spaced apart positions at the tip and / or intermediate positions of one end of the catheter 10 and / or the stylet to be inserted into the catheter 10 that is disposed inside or on the outer surface of the human body 100. In this case, the multiple LEDs 12 may be light sources of the same or different wavelengths.

[0011] The wiring cable (signal line) 14 is arranged through the inside of the catheter 10 and electrically connects the LED 12 and the driver 16. The wiring cable 14 is for supplying a driving voltage from the driver 16 to the LED 12.

[0012] The driver (light source control circuit) 16 operates under the control of a control device (controller) 18, and supplies a drive voltage to the LED 12 to switch the LED 12 on and off (that is, to emit and not emit light).

[0013] The control device 18 photographs the light emitted from the LED 12 and transmitted through the human body 100, as well as the external appearance of the human body 100, and generates a display image for displaying the appearance. The imaging device 18 includes a camera (image sensor) 20 for photographing the human body 100 and the light from the LED 12, and a lens 22 arranged on the light receiving surface side of the camera 20.

[0014] The display 24 is connected to the control device 18 and displays a display image generated by the control device 18. As the display 24, various known displays such as a liquid crystal display, an organic EL display, or a cathode ray tube display can be used.

[0015] FIG. 2 is a diagram schematically illustrating an example of an image captured by the imaging device 1 and displayed on the display 24. For example, at times t1 and t3, a human body image (appearance image) 102 captured by illuminating the human body 100 with ambient light (including external lighting such as strobe light) is displayed on the display 24 of the imaging device 1. Also, at time t2, for example, light from the LED 12 that has passed through the human body 100 is extracted, and a light position image 104 corresponding to that light is displayed superimposed on the human body image 102. The light position image 104 is an image of an appropriate color that can be displayed on the display 24 and is visible to humans. By displaying such an image, it is possible to easily confirm the position of the LED 12 disposed at the tip of one end of the catheter 10 in the human body 100. Furthermore, in an embodiment in which a plurality of LEDs 12 are disposed at the tip and / or intermediate positions of one end of the catheter 10 at intervals, it is possible to easily confirm the position of the tip and / or intermediate positions of the one end of the catheter 10 in the human body 100.

[0016] 3 is a block diagram for explaining the configuration related to information processing of the imaging device 1. The imaging device 1 includes the above-mentioned LED 12, distribution cable 14, driver 16, control device 18, camera 20, and display 24. The control device 18 is configured to include an image processing processor 26 that performs predetermined image processing on an image captured by the camera 20, and an information processing processor 28 that controls the display 24 to display an image (display image) obtained by image processing performed by the image processing processor 26, and also controls the operation of the driver 16. Details of the operations (information processing) performed by the image processing processor 26 and the information processing processor 28 will be described later.

[0017] 4(A) is a diagram schematically illustrating the configuration of camera 20. As illustrated, camera 20 includes a plurality of regularly arranged pixel units 40. Each pixel unit 40 includes a photodiode 42, which is a photoelectric conversion element that converts incident light into electric charges, a charge distribution circuit 44 that distributes the electric charges generated by photodiode 42, and a first charge accumulation unit 46a and a second charge accumulation unit 46b that accumulate the electric charges distributed by charge distribution circuit 44.

[0018] 4(B) is a diagram showing an example of a circuit configuration that realizes each pixel unit 40. Each of the first charge accumulation unit 46a and the second charge accumulation unit 46b is, for example, a capacitance element, and is connected in parallel to the photodiode 42. The anode of the photodiode 42 and one end of each of the first charge accumulation unit 46a and the second charge accumulation unit 46b are connected to a reference potential terminal (GND terminal).

[0019] The charge distribution circuit 44 includes four field-effect transistors 51, 52, 53, and 54, and a gate control circuit 55 that applies control voltages to the gates (control terminals) of these field-effect transistors 51 to 54. One of the source and drain of the field-effect transistor 51 is connected to the other end of the first charge accumulation unit 46a, and the other of the source and drain is connected to the cathode of the photodiode 42. One of the source and drain of the field-effect transistor 52 is connected to the other end of the second charge accumulation unit 46b, and the other of the source and drain is connected to the cathode of the photodiode 42. One of the source and drain of the field-effect transistor 53 is connected to the other end of the first charge accumulation unit 46a, and the other of the source and drain is connected to the power supply Vdd. One of the source and drain of the field-effect transistor 54 is connected to the other end of the second charge accumulation unit 46b, and the other of the source and drain is connected to the power supply Vdd.

[0020] When the gate control circuit 55, whose operation is controlled by the information processor 28, controls the field-effect transistor 51 to be on (conductive state) and the other field-effect transistors 52 to 54 to be off (non-conductive state), the charge generated by the photodiode 42 receiving light is accumulated in the first charge accumulation unit 46a. When the gate control circuit 55 controls the field-effect transistor 52 to be on (conductive state) and the other field-effect transistors 51, 53, and 54 to be off (non-conductive state), the charge generated by the photodiode 42 receiving light is accumulated in the second charge accumulation unit 46b. When the field-effect transistor 53 is on and the other field-effect transistors 51, 52, and 54 are off, the charge in the first charge accumulation unit 46a is reset. Similarly, when the field-effect transistor 54 is on and the other field-effect transistors 51, 52, and 53 are off, the charge in the second charge accumulation unit 46b is reset.

[0021] By alternately turning on the field-effect transistors 51 and 52, charge can be alternately allocated and stored in the first charge storage unit 46a and the second charge storage unit 46b. This charge allocation is shown in a potential diagram in FIG. 5A. For example, if the LED 12 is turned on (emitted light) when the field-effect transistor 51 is turned on and turned off when the field-effect transistor 52 is turned on, the charge generated by the LED 12 being turned on is stored in the first charge storage unit 46a but not in the second charge storage unit 46b. In FIG. 5A, the charge corresponding to the LED 12 being turned on is denoted as "C." Of the charges corresponding to the light generated by natural light or illumination light reflected from the human body 100, the charge stored in the first charge storage unit 46a is denoted as "A," and the charge stored in the second charge storage unit 46b is denoted as "B." Normally, the charge A and the charge B are approximately equal, so as shown schematically in Figure 5(B), a light position image 104 caused by the light from the LED 12 can be generated by taking the difference between the image obtained from the charge (A+C) of the first charge storage unit 46a and the image obtained from the charge (B) of the second charge storage unit 46b.

[0022] FIG. 6 is a time chart illustrating the overall operation of the imaging device 1. In this embodiment, the imaging device 1 captures images over a 200-ms cycle. During the first 50 ms of this cycle, the camera 20 performs operations related to imaging, such as exposure, flash emission, LED emission, and charge readout from the camera. During the last 150 ms of this cycle, the camera 20 pauses operation to conserve power. During this time, the control device 18 performs signal processing using the charge readout from the camera 20 to generate a display image. This generated display image is displayed on the display 24 for 200 ms, overlapping with the next cycle. The display images include a "luminescent image," which is an image in which the human body image 102 and the light position image 104 are superimposed, and a "normal image," which includes the human body image 102 but not the light position image 104. In this embodiment, one luminescent image and four normal images are displayed on the display 24 in sequence at 200-ms intervals every 1000 ms (1 s).

[0023] FIG. 7 is a time chart showing the operation during period T1 related to image capture by the camera shown in FIG. 6. This time chart shows the operation related to generating a light-emission image. The imaging device 1 controls the driver 16 via the information processor 28 to cause the LED 12 to emit light and expose the camera 20. In this embodiment, this operation is performed a predetermined number of times (for example, four times). Before the LED 12 emits light each time, the charges in the first charge storage unit 46a and the second charge storage unit 46b included in each pixel unit 40 of the camera 20 are reset, and then the shutter of the camera 20 is opened to expose each pixel unit 40. After the LED 12 emits light, the shutter of the camera 20 is closed and the charges accumulated in the first charge storage unit 46a and the second charge storage unit 46b are read out. The LED 12 emits light for an example period of 5.0 ms, during which the LED 12 emits light intermittently (i.e., alternately turns on and off). The time required to read out the charge is, for example, 2.56 ms.

[0024] A difference image is generated by the image processor 26 based on the charges stored in the first charge storage unit 46a and the second charge storage unit 46b obtained by the four imaging operations. The "difference image" here refers to an image corresponding to the light position image 104 described above. In this embodiment, the difference image is obtained by subtracting the charge stored in the first charge storage unit 46a from the charge stored in the second charge storage unit 46b. The difference image is then subjected to further image processing, such as noise removal and difference enhancement, or conversion into data representing color tones within the human visible range, to obtain the light position image 104. In principle, the difference image may be color-converted and then used as the light position image 104.

[0025] Furthermore, after the four imaging operations described above, a strobe (not shown) of the camera 20 is used, and the image processor 26 calculates the difference between the charges accumulated in the first charge accumulation unit 46a and the second charge accumulation unit 46b during the period (1) when the strobe is not emitting light and the charges accumulated in the first charge accumulation unit 46a and the second charge accumulation unit 46b during the period (2) when the strobe is emitting light and the camera 20 is exposed to light. A normal image is generated by calculating the difference between these charges. Again, a reset is performed before the camera 20 is exposed, and then the shutter of the camera 20 is opened to perform exposure. The shutter is then closed and the charges are read out. The image processor 26 then superimposes the light position image on the normal image to generate a light-emitting image. Note that, while calculating the difference as described above can remove the offset component and produce a clearer normal image, this process may be omitted and the normal image may be generated using the charges corresponding to the period (2) when the strobe is emitting light.

[0026] The "normal image" shown in Fig. 6 is generated in the same manner as above. For example, the LED 12 is not illuminated and a difference image is not generated based on the illumination, and the normal image is generated in the same manner as above after about 42 ms has elapsed within the period T1, as in the case shown in Fig. 7.

[0027] FIG. 8 is a time chart showing the operations during period T2 related to image capture by the camera shown in FIG. 7. This shows a detailed time chart of the operations related to the generation of a luminescence image. Here, period T2 shows a period of 0.55 ms, which is a portion of the above-mentioned period T1. The operations shown here are repeated within period T1.

[0028] As shown in the figure, the LED 12 is controlled by the driver 16 to repeatedly turn on for 0.02 ms and then turn off for 0.08 ms. The camera exposure (light-emitting side) represents the period during which charge is distributed and accumulated in the first charge accumulation unit 46a, and the camera exposure (light-off side) represents the period during which charge is distributed and accumulated in the second charge accumulation unit 46b. As shown in the figure, these periods alternate every 0.05 ms. The light-emitting timing of the LED 12 corresponds to the period during which charge is accumulated in the first charge accumulation unit 46a. Here, the LED 12 is controlled to emit light corresponding to the first 0.02 ms period during which charge is accumulated in the first charge accumulation unit 46a, and to turn off during the last 0.03 ms period. In other words, even after the LED 12 is switched from on (emitting light) to off (not emitting light), a certain period of time passes, so the charge continues to be distributed to the first charge storage unit 46a, and after the certain period of time passes, the charge is distributed to the second charge storage unit 46b. This is in consideration of the time required for photoelectric conversion in the photodiode 42, and specifically, to prevent the charge generated by the light emission of the LED 12 from being distributed to the second charge storage unit 46b.

[0029] After the above-described operations are repeated within a period of 5.0 ms, readout of the charges begins (see FIG. 7 described above). That is, the charge accumulation operation (exposure operation) in the first charge accumulation unit 46a and the charge accumulation operation (exposure operation) in the second charge accumulation unit 46b are repeated once every 0.1 ms within the period of 5.0 ms. The charges obtained by these operations are then read out, and a difference image is generated based on the readout. More specifically, a difference image is obtained by calculating the difference between the image obtained based on the charges in the first charge accumulation unit 46a and the image obtained based on the charges in the second charge accumulation unit 46b. The light position image 104 is then obtained using this difference image.

[0030] By distributing the electric charge to the first charge storage unit 46a and the second charge storage unit 46b multiple times within a short period (5.0 ms in this embodiment), the electric charge accumulated in the first charge storage unit 46a due to external light and the electric charge accumulated in the second charge storage unit 46b due to external light are averaged, thereby reducing the difference between the two. Furthermore, the LED 12 is turned on during the period when the electric charge is distributed to the first charge storage unit 46a and turned off during the period when the electric charge is distributed to the second charge storage unit 46b. Therefore, the electric charge generated by the illumination of the LED 12 is, in principle, accumulated only in the first charge storage unit 46a. Therefore, the influence of noise due to external light and motion artifacts (motion artifacts are blurring of an image due to the subject's body movement) can be significantly reduced in the difference image generated based on the electric charges in the first charge storage unit 46a and the second charge storage unit 46b. For example, it is possible to significantly reduce fluctuations in external light caused by flickering lights and swaying curtains, as well as fluctuations in light caused by movements such as camera shake and subject movement.

[0031] FIG. 9 is a diagram illustrating the overall operation of the imaging device 1. As shown in the upper part of the figure, the light incident on the camera 20 is mostly external light (natural light or illumination light) other than the light from the LED 12, and the light intensity thereof may vary. Here, the illustrated group a light is light received by the photodiode 42 in each pixel unit 40 of the camera 20 when the LED 12 emits light. The charge due to this group a light is accumulated in the first charge accumulation unit 46a of each pixel unit 40. The illustrated group b light is light received by the photodiode 42 in each pixel unit 40 of the camera 20 when the LED 12 does not emit light. The charge due to this group b light is accumulated in the second charge accumulation unit 46b of each pixel unit 40.

[0032] As shown in the second row of the figure, the light receiving state of camera 20 consists of one cycle of period A in which charge distribution is performed and four periods B in which charge distribution is not performed, and this cycle is repeated. As shown in the third row of the figure, LED 12 is turned on and off in period A according to a predetermined modulation frequency under the control of driver 16. This modulation frequency can be set within a range of, for example, approximately 1 kHz to 100 MHz, and is set to 10 kHz in this embodiment.

[0033] As shown in the third row of the figure, an image is generated by the image processor 26 using the charges accumulated in the first charge accumulation unit 46a by the a-group light during period A. This is represented as the Σ(a) image in the figure. Furthermore, an image is generated by the image processor 26 using the charges accumulated in the second charge accumulation unit 46b by the b-group light during period A. This is represented as the Σ(b) image in the figure. The difference between these Σ(a) image and Σ(b) image (Σ(b) image - Σ(a) image) is calculated and appropriate image processing is performed to obtain the light position image 104 described above. Furthermore, a luminescence image is obtained by superimposing this light position image 104 on the human body image 102, and is displayed on the display 24 by the information processor 28.

[0034] On the other hand, during each period B, the charge is not allocated, and the LED 12 is kept off. A normal image is generated by the image processor 26 using the charges accumulated in the first charge accumulation unit 46a and the second charge accumulation unit 46b, and the normal image is displayed on the display 24 by the information processor 28. As described above, one luminescent image and four normal images are displayed on the display 24 in sequence and repeatedly at 200 ms intervals. This allows a user viewing the display 24 to perceive the light of the LED 12 as flashing on the human body. This display allows the user to easily grasp the position of the LED 12, in other words, the position of the tip of the catheter 10. Furthermore, in an embodiment in which multiple LEDs 12 are spaced apart and positioned at the tip and / or intermediate positions on one end of the catheter 10, the tip and / or intermediate positions on one end of the catheter 10 can be easily grasped. Depending on the switching cycle between the one luminescent image and the four normal images, the user may perceive the luminescent image as being constantly displayed.

[0035] According to the above-described embodiment, it is possible to more easily confirm whether the catheter has reached the desired position inside the body. For example, it is possible to confirm through the display 24 that the position of the LED 12 arranged on the catheter 10 has changed from its initial position due to peristalsis, reflux, contraction, etc. This makes it possible to prevent the catheter from being inserted into an unintended position.

[0036] The present disclosure is not limited to the above-described embodiments, and various modifications can be made within the scope of the gist of the present disclosure. For example, while an LED has been given as an example of the light-emitting unit, the light-emitting unit may be configured using other light-emitting elements (e.g., laser elements). Furthermore, the light-emitting unit may be configured by guiding light from a light-emitting element or the like to one end of the catheter using a light-guiding means such as an optical fiber. Furthermore, the wavelength of light emitted from the light-emitting unit is not limited to the above-described infrared light wavelength as long as it can penetrate the target object. Depending on the application, it may be an ultraviolet light wavelength or a visible light wavelength. Furthermore, the camera 20 may be equipped with multiple wavelength filters so as to detect multiple wavelengths of light emitted from the light-emitting unit. Furthermore, multiple cameras 20 may be installed at a distance from each other.

[0037] In the above-described embodiment, a photodiode is given as an example of a photoelectric conversion element, but the present invention is not limited to this. For example, an avalanche photodiode, a CCD sensor, a CMOS sensor, or the like may be used as the photoelectric conversion element.

[0038] Furthermore, in the above-described embodiments, the human body is used as an example of a target object, and a case where the light-emitting unit is disposed inside the human body is described. However, the present disclosure can also be applied to tissues inside the body, including the abdominal cavity, subcutaneous tissue, intracranial tissue, and intrathoracic tissue, ducts from the mouth to the anus, blood vessels including cerebral blood vessels, the ureters, and the bladder. The light-emitting unit may also be disposed near the human body, such as on the outer surface of the human body. The target object may also be something other than the human body. Furthermore, if the target object is something other than the human body, a tube made of a material and with a shape appropriate for the intended use may be used, and a catheter (optimized for the human body) does not necessarily have to be used.

[0039] In the above embodiment, the image processor and the information processor are described separately as examples of processors, but a processor that combines image processing and information processing may also be used. Also, the camera may have all or some of the functions of the image processor and the information processor. [Explanation of symbols]

[0040] 10: catheter (tube), 12: LED (light emitting unit), 14: wiring cable (signal line), 16: driver (light source control circuit), 18: control device (controller), 20: camera (image pickup element), 22: lens, 24: display, 26: image processing processor, 28: information processing processor, 40: pixel unit, 42: photodiode, 44: charge distribution circuit, 46a: first charge accumulation unit, 46b: second charge accumulation unit, 100: human body, 102: human body image (appearance image), 104: light position image

Claims

1. a tube in which at least one end side is disposed inside or on the outer surface of a target body; At least one light emitting unit is disposed in the tube; a driver connected to the light emitting unit and configured to alternately switch between emitting and not emitting light from the light emitting unit; a camera having a plurality of pixel units for capturing an image of the target object; a controller connected to each of the camera and the driver, for controlling the operation of the driver and for generating a display image using an image obtained from the camera; a display connected to the controller and displaying the display image; Including, the controller generates a light position image corresponding to the light from the light-emitting unit using a difference image obtained by subtracting a first image obtained from the camera corresponding to the time when light is emitted from the light-emitting unit and a second image obtained from the camera corresponding to the time when light is not emitted from the light-emitting unit, and generates the display image by converting the light position image into a visible color and superimposing it on an appearance image captured by the camera when the object is illuminated by ambient light, each of the plurality of pixel units of the camera includes a photoelectric conversion element, a first charge accumulation unit, a second charge accumulation unit, and a charge distribution circuit that distributes and accumulates charges generated by the photoelectric conversion element in the first charge accumulation unit or the second charge accumulation unit; the charge distribution circuit accumulates in the first charge accumulation unit the charge generated by the photoelectric conversion element in response to the emission of light from the light-emitting unit, and accumulates in the second charge accumulation unit the charge generated by the photoelectric conversion element in response to the non-emission of light from the light-emitting unit, a charge accumulation operation in the first charge accumulation unit corresponding to when light is emitted from the light-emitting unit and a charge accumulation operation in the second charge accumulation unit corresponding to when light is not emitted from the light-emitting unit are alternately repeated multiple times, the first image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the first charge accumulation unit a plurality of times, the second image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the second charge accumulation unit a plurality of times. Imaging device.

2. a tube in which at least one end side is disposed inside or on the outer surface of a target body; a stylet inserted into the tube; At least one light emitting unit disposed on the stylet; a driver connected to the light emitting unit and configured to alternately switch between emitting and not emitting light from the light emitting unit; a camera having a plurality of pixel units for capturing an image of the target object; a controller connected to each of the camera and the driver, for controlling the operation of the driver and for generating a display image using an image obtained from the camera; a display connected to the controller and displaying the display image; Including, the controller generates a light position image corresponding to the light from the light-emitting unit using a difference image obtained by subtracting a first image obtained from the camera corresponding to the time when light is emitted from the light-emitting unit and a second image obtained from the camera corresponding to the time when light is not emitted from the light-emitting unit, and generates the display image by converting the light position image into a visible color and superimposing it on an appearance image captured by the camera when the object is illuminated by ambient light, each of the plurality of pixel units of the camera includes a photoelectric conversion element, a first charge accumulation unit, a second charge accumulation unit, and a charge distribution circuit that distributes and accumulates charges generated by the photoelectric conversion element in the first charge accumulation unit or the second charge accumulation unit; the charge distribution circuit accumulates in the first charge accumulation unit the charge generated by the photoelectric conversion element in response to the emission of light from the light-emitting unit, and accumulates in the second charge accumulation unit the charge generated by the photoelectric conversion element in response to the non-emission of light from the light-emitting unit, a charge accumulation operation in the first charge accumulation unit corresponding to when light is emitted from the light-emitting unit and a charge accumulation operation in the second charge accumulation unit corresponding to when light is not emitted from the light-emitting unit are alternately repeated multiple times, the first image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the first charge accumulation unit a plurality of times, the second image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the second charge accumulation unit a plurality of times. Imaging device.

3. a tube in which at least one end side is disposed inside or on the outer surface of a target body; a stylet inserted into the tube; At least one light emitting unit is disposed on the tube and the stylet; a driver connected to the light emitting unit and configured to alternately switch between emitting and not emitting light from the light emitting unit; a camera having a plurality of pixel units for capturing an image of the target object; a controller connected to each of the camera and the driver, for controlling the operation of the driver and for generating a display image using an image obtained from the camera; a display connected to the controller and displaying the display image; Including, the controller generates a light position image corresponding to the light from the light-emitting unit using a difference image obtained by subtracting a first image obtained from the camera corresponding to the time when light is emitted from the light-emitting unit and a second image obtained from the camera corresponding to the time when light is not emitted from the light-emitting unit, and generates the display image by converting the light position image into a visible color and superimposing it on an appearance image captured by the camera when the object is illuminated by ambient light, each of the plurality of pixel units of the camera includes a photoelectric conversion element, a first charge accumulation unit, a second charge accumulation unit, and a charge distribution circuit that distributes and accumulates charges generated by the photoelectric conversion element in the first charge accumulation unit or the second charge accumulation unit; the charge distribution circuit accumulates in the first charge accumulation unit the charge generated by the photoelectric conversion element in response to the emission of light from the light-emitting unit, and accumulates in the second charge accumulation unit the charge generated by the photoelectric conversion element in response to the non-emission of light from the light-emitting unit, a charge accumulation operation in the first charge accumulation unit corresponding to when light is emitted from the light-emitting unit and a charge accumulation operation in the second charge accumulation unit corresponding to when light is not emitted from the light-emitting unit are alternately repeated multiple times, the first image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the first charge accumulation unit a plurality of times, the second image is an image obtained based on charges obtained by repeatedly performing a charge accumulation operation in the second charge accumulation unit a plurality of times. Imaging device.

4. the driver switches between emitting and not emitting light from the light-emitting unit in accordance with a predetermined modulation frequency; the charge distribution circuit distributes the charge to the first charge storage unit or the second charge storage unit in response to switching by the driver according to the modulation frequency; 4. The imaging device according to claim 1.

5. the charge distribution circuit distributes the charge generated by the photoelectric conversion element to the first charge storage unit until a certain period has elapsed since the light from the light emitting unit has switched from emitting to not emitting light, and distributes the charge generated by the photoelectric conversion element to the second charge storage unit after the certain period has elapsed; The imaging device according to claim 4 .

6. The modulation frequency is set in the range of 1 kHz to 100 MHz.

6. The imaging device according to claim 4.

7. the light-emitting unit is a light-emitting element connected to the driver via a signal line; The imaging device according to any one of claims 1 to 8.

8. the subject is a human body, The light emitted from the light emitting unit has a wavelength that can pass through the human body. The imaging device according to any one of claims 1 to 7.

9. The tube is a catheter having at least one end thereof disposed inside the human body. The imaging device according to claim 8 .

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