Medical observation system, control device, control method, and imaging device

Abstract

To achieve AF higher in accuracy.SOLUTION: A light emission unit is configured to irradiate a surgical area with first wavelength light and second wavelength light, and a control unit is configured to control an imaging unit photographing the surgical area. Also, the control unit is configured to, when the surgical area is irradiated alternately with the first wavelength light and second wavelength light, control a wobbling action of a focusing lens the imaging unit has in accordance with a light emission timing of the first wavelength light and the second wavelength light. The present disclosure can be applied to, for example, an endoscope surgical system.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a medical observation system, a control device, a control method, and an imaging device, and more particularly to a medical observation system, a control device, a control method, and an imaging device that are capable of achieving more accurate AF. [Background technology]

[0002] Generally, in medical observation devices such as surgical endoscopes and surgical microscopes, the depth of field is shallow, but the surgical field is deep, so the area you want to view may not be in focus.

[0003] In response to this, medical observation devices have been proposed that have an AF (Auto Focus) function for automatically adjusting the focus.

[0004] For example, Patent Document 1 discloses a medical observation system that captures images while changing the focus position, thereby obtaining deep-focus images with low latency and at a high frame rate. Patent Document 2 also discloses a focus control device that performs focus control by wobbling. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-6330 [Patent Document 2] International Publication No. 2016 / 088187 Summary of the Invention [Problem to be solved by the invention]

[0006] In an imaging device with an AF function, an operation called wobbling, in which the focus lens is slightly moved back and forth, may be performed to determine the direction in which the focus lens should be moved to the in-focus position, as disclosed in Patent Document 2. The wobbling operation can provide an AF evaluation value for evaluating the focus state.

[0007] On the other hand, in a medical observation device, a living body tissue as a subject is sometimes observed by alternately irradiating it with normal light and special light.

[0008] However, if normal light and special light are alternately irradiated during wobbling, there is a risk that an appropriate AF evaluation value may not be obtained, which may result in a failure to achieve highly accurate AF.

[0009] The present disclosure has been made in consideration of such circumstances, and makes it possible to achieve more accurate AF. [Means for solving the problem]

[0010] of the present disclosure Medical Observation System teeth, biological tissue Controls the imaging unit that captures the image and when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light, the wobbling operation of the focus lens of the imaging unit is controlled in accordance with the emission timing of the first wavelength light and the second wavelength light. a control unit, Within the same cycle of the wobbling operation, the focus lens is not moved during a period in which the first wavelength light is emitted, and the focus lens is moved during a period in which the second wavelength light is emitted. It is a medical observation system.

[0011] of the present disclosure Control device teeth, biological tissue An imaging unit that captures the of control When the first wavelength light and the second wavelength light are alternately irradiated onto the living tissue, the wobbling operation of the focus lens of the imaging unit is controlled in accordance with the emission timing of the first wavelength light and the second wavelength light. A control unit is provided, the control unit Within the same cycle of the wobbling operation, the focus lens is not moved during a period in which the first wavelength light is emitted, and the focus lens is moved during a period in which the second wavelength light is emitted. It is a control device.

[0012] of the present disclosure Control Method teeth, biological tissue An imaging unit that captures the of control and when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light, the wobbling operation of the focus lens of the imaging unit is controlled in accordance with the emission timing of the first wavelength light and the second wavelength light. A control device including a control unit, Within the same cycle of the wobbling operation, the focus lens is not moved during a period in which the first wavelength light is emitted, and the focus lens is moved during a period in which the second wavelength light is emitted. It is a control method.

[0013] of the present disclosure Imaging device teeth, biological tissueControls the imaging unit that captures the image When the first wavelength light and the second wavelength light are alternately irradiated onto the living tissue, the wobbling operation of the focus lens of the imaging unit is controlled in accordance with the emission timing of the first wavelength light and the second wavelength light. a control unit, Within the same cycle of the wobbling operation, the focus lens is not moved during a period in which the first wavelength light is emitted, and the focus lens is moved during a period in which the second wavelength light is emitted. It is an imaging device.

[0014] This disclosure to In that case, biological tissue an imaging unit that images the biological tissue is controlled, and when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light, a wobbling operation of a focus lens of the imaging unit is controlled in accordance with the emission timing of the first wavelength light and the second wavelength light. In the same cycle of the wobbling operation, the focus lens is not moved during a period in which the first wavelength light is emitted, and the focus lens is moved during a period in which the second wavelength light is emitted. . [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a diagram showing an example of the configuration of a medical observation system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of a camera head and a control device. [Figure 3] FIG. 2 is a diagram illustrating a control method for an AF function. [Figure 4] FIG. 10 is a diagram illustrating special light observation. [Figure 5] 10A and 10B are diagrams illustrating an example of a wobbling operation. [Figure 6] FIG. 10 is a diagram showing another example of the configuration of the medical observation system according to the present embodiment. [Figure 7] 1 is a diagram illustrating an example of the configuration of an imaging device according to an embodiment of the present invention. [Figure 8] FIG. 2 is a block diagram illustrating an example of a hardware configuration of a control device.

[0017] Modes for carrying out the present disclosure (hereinafter referred to as embodiments) will be described below in the following order.

[0018] 1. System Configuration 2. Example of wobbling operation 3. Variations 4. Application Examples 5. Hardware Configuration

[0019] <1. System configuration> (Example of medical observation system configuration) FIG. 1 is a diagram showing an example of the configuration of a medical observation system according to this embodiment.

[0020] FIG. 1 shows an example of an endoscopic surgery system used in abdominal endoscopic surgery, which is performed in place of conventional open surgery in medical settings.

[0021] The medical observation system 1 includes an insertion section 11, a light source device 12, a light guide 13, a camera head (imaging section) 14, a first transmission cable 15, a display device 16, a second transmission cable 17, a control device 18, a third transmission cable 19, a connector 20, and a connector 21.

[0022] The insertion section 11 is configured, for example, by a rigid endoscope or a flexible endoscope (for example, a fiberscope). The insertion section 11 is a rigid or at least partially flexible, elongated member that is inserted into a living body. The insertion section 11 includes an optical system that includes one or more lenses and focuses an image of a subject. The insertion section 11 and the camera head 14 may be integrated.

[0023] One end of a light guide 13 is connected to the light source device 12. Under the control of a control device 18, the light source device 12 supplies light to one end of the light guide 13 to illuminate the inside of a living body.

[0024] One end of the light guide 13 is detachably connected to the light source device 12, and the other end is detachably connected to the insertion section 11. The light guide 13 transmits light supplied from the light source device 12 from one end to the other end and supplies it to the insertion section 11. The light supplied to the insertion section 11 is emitted from the tip of the insertion section 11 and irradiated into the living body. The light irradiated into the living body and reflected within the living body (subject image) is collected by an optical system within the insertion section 11.

[0025] The camera head 14 is detachably connected to the eyepiece 11A, which is the base end of the insertion section 11. The camera head 14, under the control of the control device 18, captures an image of a subject with light focused in the insertion section 11 and outputs image data (RAW data). The image data is, for example, image data of 4K or higher.

[0026] Hereinafter, an image based on image data will also be referred to as a captured image.

[0027] One end of the first transmission cable 15 is detachably connected to the control device 18 via a connector 20, and the other end is detachably connected to the camera head 14 via a connector 21. The first transmission cable 15 transmits image data and the like output from the camera head 14 to the control device 18, and also transmits control signals, synchronization signals, clock signals, power, and the like output from the control device 18 to the camera head 14.

[0028] Note that image data and the like may be transmitted from the camera head 14 to the control device 18 via the first transmission cable 15 using either optical or electrical signals. The same applies to the transmission of control signals, synchronization signals, and clock signals from the control device 18 to the camera head 14 via the first transmission cable 15.

[0029] The display device 16 displays an image based on a video signal output from the control device 18 under the control of the control device 18 .

[0030] One end of the second transmission cable 17 is detachably connected to the display device 16, and the other end is detachably connected to the control device 18. The second transmission cable 17 transmits the video signal processed by the control device 18 and the control signal output from the control device 18 to the display device 16.

[0031] The control device 18 is configured by, for example, a camera control unit (CCU) and has a circuit including a CPU (Central Processing Unit), etc. The control device 18 controls the overall operations of the light source device 12, the camera head 14, and the display device 16.

[0032] One end of the third transmission cable 19 is detachably connected to the light source device 12, and the other end is detachably connected to the control device 18. The third transmission cable 19 transmits a control signal from the control device 18 to the light source device 12.

[0033] (Example of camera head and control device configuration) Next, with reference to FIG. 2, an example of the configuration of the camera head 14 and the control device 18 will be described.

[0034] The camera head 14 includes a lens unit 31 , a lens driving section 32 , and an image capturing processing section 33 .

[0035] The lens unit 31 includes a plurality of lenses that are movable along an optical axis, and forms an image of a subject collected in the insertion portion 11 on an imaging surface of the imaging processing unit 33. The lens unit 31 includes a focus lens 41 and a zoom lens 42.

[0036] The focus lens 41 is made up of one or more lenses, and adjusts the focus of the camera head 14 by moving along the optical axis.

[0037] The zoom lens 42 is made up of one or more lenses, and adjusts the angle of view of the camera head 14 by moving along the optical axis.

[0038] Although not shown, the lens unit 31 also includes a focus mechanism that moves the focus lens 41 along the optical axis, and an optical zoom mechanism that moves the zoom lens 42 along the optical axis.

[0039] The lens driving unit 32 includes an actuator that operates the focus mechanism and optical zoom mechanism described above, and a driver that drives the actuator. The lens driving unit 32 adjusts the focus and angle of view of the lens unit 31 under the control of the control device 18.

[0040] Furthermore, lens driving unit 32 includes a position sensor such as a photointerrupter. Lens driving unit 32 detects the positions of focus lens 41 and zoom lens 42, and outputs detection signals according to these positions to control device 18.

[0041] The imaging processing unit 33 includes a sensor chip on which an imaging element, a signal processing unit, and the like are integrally formed. The imaging element is configured, for example, with a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and receives the subject image focused by the lens unit 31 after light is collected in the insertion unit 11 and converted into an electrical signal. The signal processing unit performs signal processing such as A / D conversion on the electrical signal (analog signal) from the imaging element and outputs image data. Under the control of the control device 18, the imaging processing unit 33 captures images of the inside of the living body and outputs image data (digital data) after A / D conversion.

[0042] The signal processing unit may be separate from the image sensor, rather than being integral with it. Preferably, the image sensor has a pixel count that allows it to output image data with 4K resolution (3840 pixels x 2160 pixels) or higher.

[0043] The control device 18 includes a signal processing unit 51 , a control unit 52 , an input unit 53 , an output unit 54 , and a storage unit 55 .

[0044] The signal processing unit 51 performs various processes on the image data (RAW data) output from the camera head 14 under the control of the control unit 52 .

[0045] The signal processing unit 51 performs RAW processing such as optical black subtraction and demosaic processing on the image data (RAW data) and converts it into RGB data. The signal processing unit 51 also performs RGB processing such as white balance, RGB gamma correction, and YC conversion on the obtained RGB data. The signal processing unit 51 also performs YC processing such as color difference correction and noise reduction on the obtained Y, Cb / Cr data. The signal processing unit 51 supplies the image data after image processing to the control unit 52.

[0046] Furthermore, the signal processing unit 51 calculates an evaluation value for controlling the camera head 14 for the image data (e.g., Y, Cb / Cr data) after image processing. For example, the signal processing unit 51 detects the contrast and frequency components of the image within the designated region based on pixel information (brightness data (Y)) for each pixel in the designated region within one frame of captured image captured by the imaging processing unit 33. Then, the signal processing unit 51 calculates a focus evaluation value (AF evaluation value) for evaluating the focus state of the captured image (the subject image within the captured image) based on the detected contrast and frequency components, and supplies the calculated value to the control unit 52.

[0047] The control unit 52 is configured by, for example, a CPU, and outputs control signals to control the operations of the light source device 12, the camera head 14, and the display device 16, as well as to control the operation of the entire control device 18. The control unit 52 includes a focus control unit 61, a light emission control unit 62, and a display control unit 63.

[0048] The focus control unit 61 adjusts the focus of the lens unit 31 (changes the position of the focus lens 41) by operating the lens driving unit 32. For example, the focus control unit 61 executes evaluation processing based on the position of the focus lens 41 detected by the lens driving unit 32 and the AF evaluation value from the signal processing unit 51. The focus control unit 61 also controls the AF operation of the focus lens 41 based on operation information from the input unit 53.

[0049] The light-emitting control unit 62 controls the light emission of the light-emitting unit 71 included in the light source device 12. The light-emitting unit 71 emits light to irradiate the surgical area, which is the subject, with, for example, normal light such as WLI (White Light Imaging) light (for example, visible light including light with a wavelength band of 360 nm to 760 nm) as light of a first wavelength band (first wavelength light) and special light such as IR (Infrared) light as light of a second wavelength band (second wavelength light). The IR light here may include NIR (Near-Infrared) light. For example, the IR light may be light with a wavelength band of 760 nm or more and 1000 μm or less.

[0050] The display control unit 63 generates a video signal for display based on the image data (Y, Cb / Cr data) processed by the signal processing unit 51 through OSD (On Screen Display) processing or the like, and outputs the signal to the display device 16.

[0051] The input unit 53 includes operation devices such as buttons, switches, a mouse, a keyboard, a touch panel, etc., and receives operations from the user. The input unit 53 supplies the control unit 52 with an input signal input by the user's operation.

[0052] The output unit 54 includes a speaker, a printer, and the like, and outputs various types of information.

[0053] The storage unit 55 stores programs executed by the control unit 52, information necessary for the processing of the control unit 52, and the like.

[0054] The display device 16 includes a display using liquid crystal or organic EL (Electro Luminescence) or the like, and displays an image based on a video signal output from the control device 18.

[0055] (AF function control) In the medical observation system 1, three focus adjustment modes are realized: one-touch AF mode, continuous AF mode, and manual mode.

[0056] The one-touch AF mode is a mode in which AF is performed one-off in response to an operation on an operation unit (not shown) provided on the camera head 14, for example.

[0057] The continuous AF mode is a mode in which AF is basically performed at all times (continuously). For example, the continuous AF mode is a mode in which captured images are continuously evaluated, and AF is performed when the obtained evaluation value satisfies a predetermined condition. The continuous AF mode can be switched on / off in response to an operation on the input unit 53, for example.

[0058] The manual mode is a mode in which the user moves the focus lens 41 in response to an operation on the input unit 53, for example.

[0059] In the one-touch AF mode and the continuous AF mode, the same processing is performed up to the determination of the movement amount of the focus lens 41.

[0060] Here, we will explain the control method of the AF function. As a control method of the AF function, for example, a method in which an AF evaluation value of a captured image is calculated and the position of the focus lens 41 is adjusted so that the AF evaluation value becomes the highest (so-called hill-climbing AF method) is mainly used.

[0061] The AF evaluation value for the position of focus lens 41 is maximized at the in-focus position. Therefore, AF can be achieved by controlling the position of focus lens 41 so that the AF evaluation value is maximized. Furthermore, a wobbling operation is performed to determine the amount and direction of movement of focus lens 41 to the in-focus position.

[0062] As shown in Fig. 3, focus lens 41 is controlled to move to a focus position using a mountain-climbing AF method and to perform a wobbling operation. In Fig. 3, the horizontal axis represents time, and the vertical axis represents the position of focus lens 41. The timing for obtaining the AF evaluation value, the control of lens movement, and drive instructions are executed based on a vertical synchronization signal (for example, a timing corresponding to one field or one frame). Here, the explanation will be given assuming that these are executed based on a timing corresponding to one frame.

[0063] In the wobbling operation, first, during the first period, the focus lens 41 is moved a fixed distance in a direction away from the image sensor, and then the focus lens is stopped for a fixed time in the second period. Then, during the third period, the focus lens is moved a fixed distance in a direction approaching the image sensor, and then the focus lens is stopped for a fixed time in the fourth period. These operations from the first period to the fourth period are considered to be a series of operations, and this series of operations is repeated. The first period to the fourth period (in any order) constitute one wobbling cycle.

[0064] The AF evaluation value for the second period and the fourth period is detected, and the difference between them is calculated to obtain the fluctuation component of the AF evaluation value due to the wobbling operation. The direction and amount of movement of the focus lens 41 to the in-focus position can be determined by determining whether this fluctuation component is positive or negative.

[0065] Incidentally, a technique called special light observation is known for surgical endoscopes and surgical microscopes. Special light observation alternates between ordinary light such as WLI light and special light such as IR light to obtain images that cannot be obtained with ordinary light alone.

[0066] FIG. 4 is a diagram comparing an image obtained by normal light observation and an image obtained by special light observation.

[0067] Figure 4A shows a WLI image obtained by irradiating only with WLI light, while Figure 4B shows a superimposed image in which an IR image obtained by irradiating with IR light is superimposed on the WLI image. Because the IR image is a luminance image made up of luminance data, the IR image highlighted in false color is superimposed on the WLI image.

[0068] As shown in Figure 4, in special light observation using IR light, the deep parts of blood vessels are highlighted in a brightness image obtained by receiving the fluorescence generated when ICG (indocyanine green) administered to the biological tissue being the subject is excited by IR light.

[0069] In special light observation, when WLI light and IR light are alternately irradiated, the AF function described above calculates the AF evaluation value for the IR image in addition to the AF evaluation value for the WLI image.

[0070] However, since IR images tend to be blurred brightness images, it was not appropriate to use the AF evaluation value of the IR image to determine the direction and amount of movement of the focus lens 41 by wobbling operation.

[0071] Therefore, in the medical observation system according to this embodiment, the wobbling operation of the focus lens 41 is controlled in accordance with the emission timing of the normal light (WLI light) and the special light (IR light).

[0072] <2. Example of wobbling operation> An example of the wobbling operation of the focus lens 41 in accordance with the emission timing of WLI light and IR light in the medical observation system 1 will be described with reference to FIG.

[0073] Fig. 5 shows the timing of the vertical synchronization signal, the emission of IR light (IR emission), the emission of WLI light (WLI emission), exposure, and the wobbling operation of the focus lens 41. Note that Fig. 3 also shows the movement of the focus lens 41 by the hill-climbing AF method in addition to the wobbling operation, but Fig. 5 shows only the wobbling operation.

[0074] 5, the control unit 52 (light-emission control unit 62) controls the light-emitting unit 71 to emit WLI light and IR light alternately in synchronization with the vertical synchronization signal. In the example of FIG. 5, the light-emitting unit 71 emits WLI light or IR light during the latter half of one cycle of the vertical synchronization signal.

[0075] 5, exposure (readout) corresponding to the light emission period of WLI light and exposure (readout) corresponding to the light emission period of IR light are alternately performed, thereby capturing WLI images and IR images alternately.

[0076] Furthermore, as shown in Figure 5, the timing of switching between the exposure corresponding to the light emission period of WLI light and the exposure corresponding to the light emission period of IR light is synchronized with the timing of switching between the movement period and stop period of the focus lens 41 during the wobbling operation.

[0077] In other words, the emission periods of the WLI light and the IR light are synchronized with the movement and stop periods of the focus lens 41 during the wobbling operation. At this time, the control unit 52 (focus control unit 61) controls the wobbling operation of the focus lens 41 according to the emission timing of the WLI light and the WLI light. More specifically, the focus control unit 61 does not move the focus lens 41 during the wobbling operation at least during the emission period of the WLI light, and moves the focus lens 41 during the wobbling operation at least during the emission period of the IR light.

[0078] Furthermore, the evaluation process using the AF evaluation value (determining the movement amount and direction of the focus lens 41) is performed during a stop period of the focus lens 41 during the wobbling operation (the exposure period of the WLI image), and the result is used for the next movement of the focus lens 41. In the evaluation process, an AF evaluation value calculated from a WLI image captured during the immediately preceding stop period of the wobbling operation and an AF evaluation value calculated from a WLI image captured during the stop period two periods before that are acquired. Note that, in the evaluation process using the AF evaluation value, it is sufficient to acquire AF evaluation values ​​calculated from at least two WLI images. Note that, the focus control unit 61 may control the focus lens 41 not to move during the wobbling operation, at least during the exposure period of pixels for receiving WLI light and calculating the AF evaluation value. For example, if the pixels for calculating the AF evaluation value used in the wobbling operation are pixels located around the center of the image sensor, the focus lens 41 is not moved during the period when the pixels located around the center are exposed to WLI light, and the focus lens 41 is moved during the period when other images are exposed to WLI light. This allows, for example, for an endoscopic image, by moving the focus lens during the exposure period of an ineffective area that is darkened by vignetting caused by the scope, making it possible to ensure a longer movement time for the focus lens.

[0079] According to the above operation, the focus lens 41 is moved in the wobbling operation during the exposure period (IR light emission period) of the IR image that is not used in calculating the AF evaluation value. That is, in the wobbling operation, the focus lens 41 does not move when capturing the WLI image, so that focus fluctuation can be reduced and evaluation processing (determination of the movement amount and direction of the focus lens 41) can be performed using the AF evaluation value calculated from two clear WLI images.

[0080] In this way, even when performing a wobbling operation during special light observation in which normal light such as WLI light and special light such as IR light are alternately irradiated, an appropriate AF evaluation value can be obtained, making it possible to achieve more accurate AF.

[0081] As described above, an IR image is captured corresponding to the IR light emission period, and an AF evaluation value is also calculated from the IR image. However, the AF evaluation value calculated from the IR image is not stored in the storage unit 55 of the control device 18, or even if it is stored in the storage unit 55, it is not used in the evaluation process.

[0082] 5, in the wobbling operation by the medical observation system 1 according to this embodiment, the focus lens 41 is moved in the wobbling operation based on the center of gravity of the exposure period corresponding to the WLI light. Specifically, the midpoint (the center of gravity of the exposure period corresponding to the IR light) of the centers of gravity of the exposure periods corresponding to two consecutive WLI lights (the exposure periods used to calculate the AF evaluation value) is set to coincide with the midpoint of the movement time of the focus lens 41 in the wobbling operation. The center of gravity of the exposure period may be the exposure time of a pixel located at the center of the image sensor.

[0083] This makes it possible to equalize the AF evaluation values ​​calculated from two WLI images when comparing them in the evaluation process of the wobbling operation.

[0084] 3, the movement of the focus lens 41 to the in-focus position is controlled by the hill-climbing AF method along with the wobbling operation of the focus lens 41, but the movement of the focus lens 41 may be completely stopped during the emission period of the WLI light, thereby reducing rolling shutter distortion in the WLI image.

[0085] <3. Modifications> (Special light observation mode and normal light observation mode) The medical observation system according to this embodiment can operate in a special light observation mode in which the surgical area to be observed is alternately illuminated with normal light and special light as described above, as well as a normal light observation mode in which only normal light is illuminated. In the normal light observation mode, the wobbling operation is performed regardless of the light emission timing.

[0086] In this case, the movement amount of the focus lens in the wobbling operation may be different between the special light observation mode and the normal light observation mode. Also, the movement amount of the focus lens in the hill-climbing AF operation may be different between the special light observation mode and the normal light observation mode. Here, "differentiating the movement amount" means differentiating the distance by which the focus lens is moved.

[0087] For example, in the special light observation mode, the movement amount of the focus lens during the IR light emission period in the wobbling operation may be smaller than in the normal light observation mode. Users often switch from the normal light observation mode to the special light observation mode when the desired focus point is already in focus. Therefore, it is not necessary to move the focus lens significantly in the special light observation mode. Furthermore, by reducing the movement amount of the focus lens during the wobbling operation, the influence of image distortion due to the wobbling operation can be reduced. For example, in the special light observation mode, the movement amount of the hill-climbing AF operation may be smaller than in the normal light observation mode. Furthermore, in the special light observation mode, the movement amount during the hill-climbing AF operation during the emission period of the second wavelength light may be smaller than the movement amount during the hill-climbing AF operation during the emission period of the first wavelength light. This allows for flexible setting of the irradiation time of the second wavelength light and the imaging frame rate for the second wavelength light. Furthermore, in the special light observation mode, the movement amount of the focus lens during the IR light emission period in the wobbling operation may be larger than in the normal light observation mode. The observation target that the surgeon wants to observe may be different between the normal light observation mode and the special light observation mode. Therefore, by making the movement amount of the focus lens larger in the special light observation mode than in the normal light observation mode, it is possible to focus on an observation target different from that in the normal light observation mode.

[0088] Furthermore, because the focal point in special light observation is located further back than the focal point in normal light observation, the focus lens may be moved farther in wobbling operation in special light observation mode than in normal light observation mode. Similarly, the reference position of the focus lens in wobbling operation in special light observation mode may be moved farther in wobbling operation than in normal light observation mode.

[0089] The moving speed of the focus lens during the wobbling operation may be different between the special light observation mode and the normal light observation mode.The moving speed of the focus lens during the hill-climbing AF operation may be different between the special light observation mode and the normal light observation mode.

[0090] For example, in the special light observation mode, the movement speed of the focus lens during the IR light emission period in the wobbling operation may be higher than in the normal light observation mode. This allows for sufficient wobbling when it becomes necessary to shorten the IR light emission period. Furthermore, for example, in the special light observation mode, the movement speed of the hill-climbing AF operation may be higher than in the normal light observation mode. This allows the focus lens to move to the in-focus position more quickly while minimizing the impact on the evaluation value. Furthermore, by reducing the movement amount during normal light emission and increasing the movement amount during IR light emission, it is possible to suppress the increase in focusing time, reduce the impact of the rolling shutter, and obtain a more accurate evaluation value. Furthermore, in the special light observation mode, the movement speed during the hill-climbing AF operation during the second wavelength light emission period may be higher than the movement speed during the hill-climbing AF operation during the first wavelength light emission period. This allows for flexible setting of the irradiation time of the second wavelength light and the frame rate of imaging with the second wavelength light.

[0091] As described above, when the movement amount and movement speed of the focus lens during wobbling are set to be different between the special light observation mode and the normal light observation mode, the movement amount and movement speed of the focus lens during wobbling may be changed in the special light observation mode depending on the irradiation time of IR light. Similarly, the movement amount and movement speed of the focus lens during wobbling may be changed in the special light observation mode depending on the imaging frame rate. This makes it easy to change the irradiation time of the first wavelength light and the second wavelength light or to change the frame rate in the special light observation mode, thereby improving design flexibility.

[0092] Furthermore, when it is determined by image recognition that the organ to be operated on is in focus, the movement amount of the focus lens during the wobbling operation may be reduced. For image recognition, for example, image recognition by machine learning using a neural network may be used. Furthermore, in the above example, the movement amount of the focus lens is determined based on at least two AF evaluation values, but the movement amount of the focus lens during the wobbling operation may also be determined using machine learning. These machine learning parameters may be changed depending on the surgical procedure.

[0093] (Operation when a problem occurs) If IR light stops emitting When the focus lens is moving during wobbling and IR light emission stops, the focus lens may be moved a predetermined distance and then returned to its reference position, rather than stopping immediately.When switching from special light observation mode to normal light observation mode, the captured image is slightly distorted, so the focus lens is returned to its reference position and then stopped for a while.

[0094] When the fluctuation component of the AF evaluation value is small If the fluctuation component of the AF evaluation value due to the wobbling operation is small, the evaluation process may not be able to be performed, so the movement amount of the focus lens during the wobbling operation may be increased. In this case, the focus lens may be moved during the wobbling operation not only during the IR light emission period but also during the WLI light emission period.

[0095] (Operations specific to endoscopic surgery systems) Wobbling operation according to the model The amount of movement of the focus lens during the wobbling operation may be changed depending on the connected insertion section (scope) or camera head. For example, a small-diameter scope used in otolaryngology has a deeper depth of field than a large-diameter scope used in laparoscopic surgery. Therefore, to obtain a highly accurate AF evaluation value, the amount of movement of the focus lens during the wobbling operation is increased. Furthermore, if the control device stores multiple modes corresponding to different surgical procedures, the control device may change the amount of movement of the focus lens during the wobbling operation according to the surgical procedure mode selected by the user. For example, the device may include an "arthroscopy mode," an "cystoscopy mode," an "otolaryngology / skull examination mode," a "hysteroscopy mode," and a "laparoscopy mode," and the amount of movement of the focus lens during the wobbling operation may be changed for each mode.

[0096] Wobbling action according to the diameter of the insertion tube The number of times the focus lens moves during wobbling may be changed depending on the diameter of the connected insertion section (scope) and camera head. For example, a small-diameter scope used in otolaryngology has a deeper depth of field than a large-diameter scope used in laparoscopic surgery. Therefore, to obtain a highly accurate AF evaluation value, the number of times the focus lens moves during wobbling is increased.

[0097] Wobbling motion according to insertion / removal of the insertion tube The insertion / removal of the insertion section (scope) may be detected, and if removal of the scope is detected during wobbling, the wobbling operation may be stopped. This prevents the actuator from being damaged by the removal movement. It is also preferable not to perform wobbling while the scope is being removed.

[0098] Wobbling operation according to the connection status of the insertion tube The connection between the insertion section (scope) and the camera head may be detected, and if the connection of the scope is not detected due to a change of scope or the like, the wobbling operation may not be performed.

[0099] (Wavelength band of light emitted by the light-emitting unit) In the above, WLI light (normal light) is irradiated as the first wavelength light, and IR light (special light) is irradiated as the second wavelength light. However, this is not limiting, and for example, blue light may be irradiated as the first wavelength light, and green light or ultraviolet light may be irradiated as the second wavelength light. Furthermore, during the irradiation time of the second wavelength light, IR light and ultraviolet light may be irradiated simultaneously, or IR light and ultraviolet light may be irradiated sequentially.

[0100] <4. Application Examples> (surgical video microscope device) Next, with reference to FIG. 6, an example in which a surgical video microscope device equipped with an arm is used will be described as another application example of the medical observation system according to this embodiment.

[0101] FIG. 6 shows an example of a microsurgery system that uses a surgical video microscope as a medical observation device for observing the inside of a patient's body.

[0102] FIG. 6 shows a state in which a doctor who is a practitioner (user) 220 is performing surgery on a treatment target (patient) 240 on a treatment table 230 using surgical instruments 221 such as a scalpel, tweezers, and forceps.

[0103] In the following description, the term "procedure" is a general term for various medical procedures, such as surgery and examination, that are performed by a doctor (user 220) on a patient (treatment target 240). In addition, while the example in Fig. 6 shows a surgical procedure as an example of a procedure, the procedure for which the surgical video microscope device 210 is used is not limited to surgery, and various other procedures may also be used.

[0104] A surgical video microscope device 210 according to this embodiment is provided beside the treatment table 230.

[0105] The surgical video microscope device 210 includes a base 211 serving as a base, an arm 212 extending from the base 211, and an imaging unit 215 connected to the tip of the arm 212 as a tip unit.

[0106] The arm section 212 has a plurality of joints 213 a , 213 b , and 213 c , a plurality of links 214 a and 214 b connected by the joints 213 a and 213 b , and an imaging unit 215 provided at the tip of the arm section 212 .

[0107] 6, for simplicity, the arm section 212 has three joints 213a to 213c and two links 214a and 214b. In practice, the numbers and shapes of the joints 213a to 213c and links 214a and 214b, the directions of the drive shafts of the joints 213a to 213c, and the like may be set appropriately to achieve a desired degree of freedom in consideration of the degree of freedom of the position and orientation of the arm section 212 and the imaging unit 215.

[0108] The joints 213a to 213c have the function of connecting the links 214a and 214b so that they can rotate, and the drive of the arm 212 is controlled by driving the rotation of the joints 213a to 213c.

[0109] An imaging unit 215 is connected to the tip of the arm portion 212 as a tip unit.

[0110] The imaging unit 215 is a unit that acquires an image of an imaging target by including an optical system that acquires an optical image of the subject, and is configured as, for example, a camera that can capture moving images and still images. As shown in Fig. 6, the posture and position of the arm 212 and the imaging unit 215 are controlled by the surgical video microscope device 210 so that the imaging unit 215 provided at the tip of the arm 212 captures an image of the treatment site of the treatment target 240.

[0111] The configuration of the imaging unit 215 connected to the tip of the arm section 212 as a tip unit is not particularly limited, and for example, the imaging unit 215 may be configured as an endoscope or a microscope. Also, the imaging unit 215 may be configured to be detachable from the arm section 212.

[0112] With this configuration, for example, an imaging unit 215 according to the intended use may be appropriately connected as a tip unit to the tip of the arm section 212. Note that, although the description here focuses on a case where the imaging unit 215 is used as the tip unit, it goes without saying that the tip unit connected to the tip of the arm section 212 is not necessarily limited to the imaging unit 215.

[0113] A display device 250 such as a monitor or display is installed at a position facing the user 220. The image of the treatment site acquired by the imaging unit 215 is subjected to various image processing by, for example, an image processing device built into or external to the surgical video microscope device 210, and then displayed as an electronic image on the display screen of the display device 250.

[0114] With this configuration, the user 220 can perform various treatments (for example, surgery) while viewing the electronic image of the treatment area displayed on the display screen of the display device 250.

[0115] 6, the imaging unit 215 includes, for example, the camera head 14 and the light source device 12 (light-emitting unit 71) described with reference to FIG. 2. An image processing device that performs various image processes on the image of the treatment site acquired by the imaging unit 215 corresponds to an example of the control device described with reference to FIG. 2. Similarly, the display device 250 corresponds to an example of the display device 16 described with reference to FIG. 2.

[0116] (General imaging system) The technology according to the present disclosure is not limited to medical observation systems, but can also be applied to general imaging systems.

[0117] Fig. 7 shows an example of the configuration of an imaging device, which is an example of a general imaging system. The imaging device 310 in Fig. 7 is configured as, for example, a consumer camera.

[0118] The imaging device 310 includes a lens unit 331 , a lens driving section 332 , an imaging processing section 333 , a signal processing section 351 , a control section 352 , an input section 353 , an output section 354 , a storage section 355 , and a light emitting section 356 .

[0119] Lens unit 331, lens driving unit 332, and image capture processing unit 333 correspond to lens unit 31, lens driving unit 32, and image capture processing unit 33, respectively, provided in camera head 14 in Fig. 2. That is, focus lens 341 and zoom lens 342 provided in lens unit 331 also correspond to focus lens 41 and zoom lens 42, respectively, provided in lens unit 31 in Fig. 2.

[0120] The signal processing unit 351, the control unit 352, the input unit 353, the output unit 354, and the storage unit 355 correspond to the signal processing unit 51, the control unit 52, the input unit 53, the output unit 54, and the storage unit 55, respectively, provided in the control device 18 in Fig. 2. That is, the focus control unit 361, the light emission control unit 362, and the display control unit 363 provided in the control unit 352 also correspond to the focus control unit 61, the light emission control unit 62, and the display control unit 63 provided in the control unit 52 in Fig. 2, respectively.

[0121] The light emitting section 356 corresponds to the light emitting section 71 included in the light source device 12 of FIG.

[0122] Even with the above configuration, even when performing a wobbling operation in an observation mode in which the first wavelength light (normal light) and the second wavelength light (special light) are alternately irradiated, an appropriate AF evaluation value can be obtained, making it possible to achieve more accurate AF.

[0123] <5. Hardware Configuration> Next, an example of the hardware configuration of the control device that constitutes the medical observation system according to this embodiment will be described in detail with reference to FIG.

[0124] FIG. 8 is a block diagram showing an example of the hardware configuration of the control device 500 that constitutes the medical observation system according to this embodiment.

[0125] 8, the control device 500 includes a CPU 501, a ROM 503, and a RAM 505. The control device 500 further includes a host bus 507, a bridge 509, an external bus 511, an interface 513, an input device 515, an output device 517, and a storage device 519. The control device 500 may also include a drive 521, a connection port 523, and a communication device 525.

[0126] The CPU 501 functions as an arithmetic processing unit and a control unit, and controls all or part of the operations within the control unit 500 in accordance with various programs recorded in the ROM 503 , RAM 505 , storage device 519 or removable recording medium 527 .

[0127] The ROM 503 stores programs used by the CPU 501, calculation parameters, etc. The RAM 505 temporarily stores programs used by the CPU 501, parameters that change as appropriate during program execution, etc. These are interconnected by a host bus 507 that is made up of an internal bus such as a CPU bus. Note that each component of the control unit 52 of the control device 18 described with reference to FIG. 2 is realized by, for example, the CPU 501.

[0128] The host bus 507 is connected to an external bus 511 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 509. An input device 515, an output device 517, a storage device 519, a drive 521, a connection port 523, and a communication device 525 are connected to the external bus 511 via an interface 513.

[0129] The input device 515 is an operation means operated by a user, such as a mouse, keyboard, touch panel, button, switch, lever, pedal, etc. The input device 515 may be, for example, a remote control means (so-called remote control) that uses infrared rays or other radio waves, or an externally connected device 529 such as a mobile phone or PDA that is compatible with the operation of the control device 500.

[0130] The input device 515 is composed of, for example, an input control circuit that generates an input signal based on information input by the user using the above-mentioned operating means and outputs the signal to the CPU 501 .

[0131] By operating the input device 515, the user can input various data to the control device 500 and instruct processing operations.

[0132] The output device 517 is configured as a device capable of visually or audibly notifying the user of acquired information. Specifically, the output device 517 is configured as a display device such as a CRT display device, a liquid crystal display device, a plasma display device, an EL display device, or a lamp, an audio output device such as a speaker or a headphone, a printer, etc.

[0133] The output device 517 outputs, for example, the results obtained by the various processes performed by the control device 500. Specifically, the display device displays the results obtained by the various processes performed by the control device 500 as text or images. On the other hand, the audio output device converts audio signals consisting of reproduced audio data, acoustic data, etc. into analog signals and outputs them. Note that the light source device 12 and the display device 16 described with reference to FIG. 2 are realized, for example, by the output device 517.

[0134] The storage device 519 is a data storage device configured as an example of a storage unit of the control device 500. The storage device 519 is configured by, for example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device. The storage device 519 stores programs executed by the CPU 501, various data, and the like.

[0135] The drive 521 is a reader / writer for a recording medium, and is either built into the control device 500 or attached externally. The drive 521 reads information recorded on a removable recording medium 527, such as an attached magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 505. The drive 521 can also write information to the attached removable recording medium 527, such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.

[0136] The removable recording medium 527 is, for example, a DVD medium, an HD-DVD medium, or a Blu-ray (registered trademark) medium. The removable recording medium 527 may also be a CompactFlash (registered trademark), a flash memory, or an SD (Secure Digital) memory card. The removable recording medium 527 may also be, for example, an IC (Integrated Circuit) card equipped with a contactless IC chip, or an electronic device.

[0137] The connection port 523 is a port for directly connecting an external device 529 to the control device 500. Examples of the connection port 523 include a USB (Universal Serial Bus) port, an IEEE 1394 port, and a SCSI (Small Computer System Interface) port. Other examples of the connection port 523 include an RS-232C port, an optical audio terminal, and an HDMI (registered trademark) (High-Definition Multimedia Interface) port. By connecting the external device 529 to the connection port 523, the control device 500 can directly obtain various types of data from the external device 529 and provide various types of data to the external device 529.

[0138] The communication device 525 is, for example, a communication interface configured with a communication device for connecting to a communication network 531. The communication device 525 is, for example, a communication card for a wired or wireless LAN (Local Area Network), Bluetooth (registered trademark), or WUSB (Wireless USB). The communication device 525 may also be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various types of communication.

[0139] The communication device 525 can transmit and receive signals between the Internet and other communication devices in accordance with a predetermined protocol such as TCP / IP. Furthermore, the communication network 531 connected to the communication device 525 may be configured as a wired or wireless network. The communication network 531 may be, for example, the Internet or a home LAN, or may be a communication network using infrared communication, radio wave communication, or satellite communication.

[0140] Each of the components of the control device 500 described above may be configured using general-purpose components, or may be configured using hardware specialized for the function of each component. Therefore, the hardware configuration to be used can be changed as appropriate depending on the technical level at the time of implementing this embodiment.

[0141] Furthermore, a computer program for realizing each function of the control device 500 constituting the medical observation system according to this embodiment can be created and installed on a personal computer or the like. It is also possible to provide a computer-readable recording medium on which such a computer program is stored. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. The computer program may also be distributed, for example, via a network without using a recording medium.

[0142] The embodiments of the present disclosure are not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present disclosure.

[0143] For example, the present disclosure can be configured as a cloud computing system in which a single function is shared and processed collaboratively by multiple devices via a network.

[0144] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by multiple devices.

[0145] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices.

[0146] The present disclosure can also be configured as follows. (1) a light emitting unit that irradiates a surgical area with light of a first wavelength and light of a second wavelength; a control unit that controls an imaging unit that images the surgical area; Equipped with The control unit controls a wobbling operation of a focus lens of the imaging unit in accordance with emission timings of the first wavelength light and the second wavelength light when the first wavelength light and the second wavelength light are alternately irradiated onto the surgical area. Medical observation system. (2) The control unit moves the focus lens in the wobbling operation at least during the emission period of the second wavelength light. (1) A medical observation system according to the present invention. (3) The control unit does not move the focus lens in the wobbling operation at least during an exposure period of pixels for receiving the first wavelength light and calculating an AF evaluation value. (2) A medical observation system according to the present invention. (4) The control unit does not move the focus lens in the wobbling operation at least during the emission period of the first wavelength light. (2) A medical observation system according to the present invention. (5) The control unit moves the focus lens in the wobbling operation based on a center of gravity of an exposure period corresponding to the first wavelength light. (2) A medical observation system according to the present invention. (6) The control unit causes a center of gravity between two successive exposure periods to coincide with a center of movement time of the focus lens in the wobbling operation. (5) A medical observation system according to (5). (7) The control unit controls the wobbling operation of the focus lens and the movement of the focus lens to a focus position. A medical observation system according to any one of (2) to (6). (8) The control unit completely stops movement of the focus lens during the emission period of the first wavelength light. (7) A medical observation system according to (7). (9) The control unit causes the movement amount of the focus lens in the wobbling operation to differ between a first mode in which the first wavelength light and the second wavelength light are alternately irradiated onto the surgical area and a second mode in which only the first wavelength light is irradiated onto the surgical area. A medical observation system according to any one of (2) to (8). (10) The control unit reduces the amount of movement of the focus lens in the wobbling operation in the first mode compared to the second mode. (9) A medical observation system according to (9). (11) In the first mode, the control unit moves the focus lens to the FAR side in the wobbling operation more than in the second mode. (9) A medical observation system according to (9). (12) The control unit causes the moving speed of the focus lens in the wobbling operation to differ between a first mode in which the first wavelength light and the second wavelength light are alternately irradiated onto the surgical area and a second mode in which only the first wavelength light is irradiated onto the surgical area. A medical observation system according to any one of (2) to (8). (13) The control unit increases the moving speed of the focus lens in the wobbling operation in the first mode compared to the second mode. (12) A medical observation system according to (12). (14) The control unit changes at least one of the movement amount of the focus lens, the movement speed of the focus lens, and the movement timing of the focus lens in the wobbling operation, depending on the irradiation time of the second wavelength light. A medical observation system according to any one of (2) to (8). (15) The control unit changes at least one of a movement amount of the focus lens, a movement speed of the focus lens, and a movement timing of the focus lens in the wobbling operation according to an imaging frame rate. A medical observation system according to any one of (2) to (8). (16) the first wavelength light is visible light, The second wavelength light is IR light. A medical observation system according to any one of (1) to (15). (17) the first wavelength light is blue light, The second wavelength light is green light. A medical observation system according to any one of (1) to (15). (18) a control unit that controls a light emitting unit that irradiates the surgical area with the first wavelength light and the second wavelength light, and an imaging unit that images the surgical area; Equipped with The control unit controls a wobbling operation of a focus lens of the imaging unit in accordance with emission timings of the first wavelength light and the second wavelength light when the first wavelength light and the second wavelength light are alternately irradiated onto the surgical area. Control device. (19) a control device including a control unit that controls a light emitting unit that irradiates a surgical area with first wavelength light and second wavelength light, and an imaging unit that images the surgical area; When the first wavelength light and the second wavelength light are alternately irradiated onto the surgical area, a wobbling operation of a focus lens of the imaging unit is controlled in accordance with the emission timing of the first wavelength light and the second wavelength light. Control method. (20) a light emitting unit that irradiates a subject with first wavelength light and second wavelength light; a control unit that controls an imaging unit that captures an image of the subject; Equipped with The control unit does not move the focus lens during a wobbling operation of the focus lens of the imaging unit at least during a period in which the light emitting unit emits the first wavelength light. Imaging device. [Explanation of symbols]

[0147] 1 medical observation system, 11 insertion part, 12 light source device, 14 camera head, 16 display device, 18 control device, 31 lens unit, 41 focus lens, 52 control part, 61 focus control part, 62 light emission control part, 71 light emission part

Claims

1. a control unit that controls an imaging unit that images biological tissue, and that controls a wobbling operation of a focus lens of the imaging unit in accordance with emission timings of the first wavelength light and the second wavelength light when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light; Equipped with The control unit does not move the focus lens during an exposure period corresponding to the first wavelength light and an emission period of the first wavelength light, and moves the focus lens during an exposure period corresponding to the second wavelength light and an emission period of the second wavelength light, within the same cycle of the wobbling operation. Medical observation system.

2. The control unit does not move the focus lens in the wobbling operation at least during an exposure period of pixels for receiving the first wavelength light and calculating an AF evaluation value. The medical observation system according to claim 1 .

3. a light emitting unit that irradiates the biological tissue with the first wavelength light and the second wavelength light; The medical observation system according to claim 1 .

4. The control unit causes a center of a center of gravity of exposure periods corresponding to two successive first wavelength lights to coincide with a center of a movement time of the focus lens in the wobbling operation. The medical observation system according to claim 1 .

5. The control unit controls the wobbling operation of the focus lens and the movement of the focus lens to a focus position. The medical observation system according to claim 1 .

6. The control unit completely stops the movement of the focus lens during the emission period of the first wavelength light. The medical observation system according to claim 5 .

7. The control unit causes the movement amount of the focus lens in the wobbling operation to differ between a first mode in which the first wavelength light and the second wavelength light are alternately irradiated onto the biological tissue and a second mode in which only the first wavelength light is irradiated onto the biological tissue. The medical observation system according to claim 1 .

8. The control unit reduces the amount of movement of the focus lens in the wobbling operation in the first mode compared to the second mode. The medical observation system according to claim 7.

9. In the first mode, the control unit moves the focus lens to the FAR side in the wobbling operation more than in the second mode. The medical observation system according to claim 7.

10. The control unit causes the moving speed of the focus lens in the wobbling operation to differ between a first mode in which the first wavelength light and the second wavelength light are alternately irradiated onto the biological tissue and a second mode in which only the first wavelength light is irradiated onto the biological tissue. The medical observation system according to claim 1 .

11. The control unit increases the moving speed of the focus lens in the wobbling operation in the first mode compared to the second mode. The medical observation system according to claim 10.

12. The control unit changes at least one of the movement amount of the focus lens, the movement speed of the focus lens, and the movement timing of the focus lens in the wobbling operation, depending on the irradiation time of the second wavelength light. The medical observation system according to claim 1 .

13. The control unit changes at least one of a movement amount of the focus lens, a movement speed of the focus lens, and a movement timing of the focus lens in the wobbling operation according to an imaging frame rate. The medical observation system according to claim 1 .

14. the first wavelength light is visible light, The second wavelength light is IR light. The medical observation system according to claim 1 .

15. the first wavelength light is blue light, The second wavelength light is green light. The medical observation system according to claim 1 .

16. a control unit that controls an imaging unit that images biological tissue, and that controls a wobbling operation of a focus lens of the imaging unit in accordance with emission timings of the first wavelength light and the second wavelength light when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light; Equipped with The control unit does not move the focus lens during an exposure period corresponding to the first wavelength light and an emission period of the first wavelength light, and moves the focus lens during an exposure period corresponding to the second wavelength light and an emission period of the second wavelength light, within the same cycle of the wobbling operation. Control device.

17. a control device including a control unit that controls an imaging unit that images biological tissue, and that controls a wobbling operation of a focus lens of the imaging unit in accordance with emission timings of the first wavelength light and the second wavelength light when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light, During the same cycle of the wobbling operation, the focus lens is not moved during an exposure period corresponding to the first wavelength light and an emission period of the first wavelength light, and the focus lens is moved during an exposure period corresponding to the second wavelength light and an emission period of the second wavelength light. Control method.

18. a control unit that controls an imaging unit that images biological tissue, and controls a wobbling operation of a focus lens of the imaging unit in accordance with emission timings of the first wavelength light and the second wavelength light when the biological tissue is alternately irradiated with the first wavelength light and the second wavelength light; Equipped with The control unit does not move the focus lens during an exposure period corresponding to the first wavelength light and an emission period of the first wavelength light, and moves the focus lens during an exposure period corresponding to the second wavelength light and an emission period of the second wavelength light, within the same cycle of the wobbling operation. Imaging device.

Images