Medical image processing device and medical observation system

Abstract

A medical image processing device 3 is provided with: a captured image acquisition unit 31 that acquires a captured image captured by a medical observation device 2; a determination unit 33 that determines whether an imaging visual field of the medical observation device 2 has moved or not; and an identification image generation unit 321 that, when the determination unit 33 determines that the imaging visual field has moved, generates an identification image in which a specific position within a specific region, which is a part of the entire image region of the captured image and is to be displayed on a display device, can be identified from other positions.

Description

Technical Field

[0001] The present disclosure relates to a medical image processing apparatus and a medical observation system. Background Art

[0002] Conventionally, there has been known a medical observation system that images an observation target (subject) and displays a captured image obtained by the imaging in order to support microsurgery such as neurosurgery (see, for example, Patent Document 1). The medical observation system described in Patent Document 1 includes a microscope unit that images a subject to generate a captured image, and a support unit that rotatably supports the microscope unit around a plurality of mutually different axes. Then, an observer manually or electrically changes the posture of the support unit to cause the microscope unit to image a region desired to be observed. Prior Art Documents Patent Documents

[0003] Patent Document 1 Japanese Unexamined Patent Application Publication No. 2019-166156 Summary of the Invention Problems to be Solved by the Invention

[0004] However, in the medical observation system described in Patent Document 1, even if the observer manually or electrically changes the posture of the support unit while gazing at the displayed captured image, it is difficult to position the region desired to be observed at a specific position (for example, the center position) in the captured image. Therefore, there is a demand for a technology that can easily position a region desired to be observed at a specific position in a captured image and improve convenience.

[0005] The present disclosure has been made in view of the above, and an object thereof is to provide a medical image processing apparatus and a medical observation system that can improve convenience. [Means for solving the problem]

[0006] To solve the above-mentioned problems and achieve the objectives, the medical image processing apparatus according to this disclosure comprises: an image acquisition unit that acquires an image captured by a medical observation device; a determination unit that determines whether or not the imaging field of view of the medical observation device has moved; and an identification image generation unit that, when the determination unit determines that the imaging field of view has moved, generates an identification image that makes a specific position within a specific area to be displayed on a display device among the entire image area of ​​the captured image distinguishable from other positions.

[0007] The medical image processing device according to this disclosure includes an image acquisition unit that acquires an image captured by a medical observation device, an operation unit that accepts a movement operation of the imaging field of view in the medical observation device, and an identification image generation unit that, when the operation unit accepts the movement operation, generates an identification image that makes a specific position within a specific area to be displayed on a display device from the entire image area of ​​the captured image distinguishable from other positions.

[0008] The medical observation system according to this disclosure comprises a medical observation device that captures images of a subject and generates captured images, a medical image processing device, and a display device that displays an identification image generated by the medical image processing device, wherein the medical image processing device comprises an image acquisition unit that acquires the captured images, a determination unit that determines whether or not the imaging field of view of the medical observation device has moved, and an identification image generation unit that, when the determination unit determines that the imaging field of view has moved, generates an identification image that makes a specific position within a specific area to be displayed on the display device among the entire image area of ​​the captured image distinguishable from other positions. [Effects of the Invention]

[0009] The medical image processing device and medical observation system described herein can improve convenience. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 shows a medical observation system according to Embodiment 1. [Figure 2] Figure 2 is a block diagram of a medical observation system. [Figure 3] Figure 3 is a flowchart illustrating the operation of the medical observation system. [Figure 4] Figure 4 illustrates the operation of the medical observation system. [Figure 5] Figure 5 is a diagram showing an identification image according to Embodiment 2. [Figure 6] Figure 6 is a diagram showing an identification image according to Embodiment 3. [Figure 7] Figure 7 shows an identification image according to Embodiment 4. [Figure 8] Figure 8 shows an identification image according to Embodiment 5. [Figure 9] Figure 9 is a diagram showing an identification image according to Embodiment 6. [Figure 10] Figure 10 is a block diagram showing the medical observation system according to Embodiment 7. [Figure 11] Figure 11 shows a medical observation system according to Embodiment 9. [Figure 12] Figure 12 shows a medical observation system according to Embodiment 10. [Figure 13] Figure 13 shows modified examples of embodiments 1 to 10. [Modes for carrying out the invention]

[0011] The embodiments for implementing this disclosure (hereinafter referred to as "embodiments") will be described below with reference to the drawings. However, the embodiments described below do not limit this disclosure. Furthermore, the same parts are denoted by the same reference numerals in the drawings.

[0012] (Embodiment 1) [Outline configuration of a medical observation system] FIG. 1 is a diagram showing a medical observation system 1 according to Embodiment 1. FIG. 2 is a block diagram showing the medical observation system 1. The medical observation system 1 is a system that images an observation target (subject) and displays a captured image obtained by the imaging, for example, to support microsurgery such as neurosurgery or to perform endoscopic surgery. As shown in FIG. 1 or FIG. 2, this medical observation system 1 includes a medical observation device 2 that images an observation target, a control device 3 that processes a captured image obtained by imaging by the medical observation device 2, and a display device 4 that displays the captured image processed by the control device 3.

[0013] [Configuration of Medical Observation Apparatus] The medical observation device 2 is a surgical microscope that magnifies and images a predetermined visual field region of an observation target, and as shown in FIG. 1 or FIG. 2, includes a microscope unit 21, a base unit 22 (FIG. 1), a support unit 23, a light source device 24, a light guide 25 (FIG. 1), and a foot switch 26. As shown in FIG. 2, the microscope unit 21 includes an imaging unit 211, a communication unit 212, a drive unit 213, a detection unit 214, and a brake release switch 215.

[0014] The imaging unit 211 is a part that images an observation target and generates a captured image. As shown in FIG. 2, the imaging unit 211 includes a lens unit 2111, a diaphragm 2112, an image sensor 2113, and a signal processing unit 2114. The lens unit 2111 includes a focus lens 2111a (FIG. 2), takes in a subject image from the observation target, and forms the image on the imaging surface of the image sensor 2113. The focus lens 2111a is configured using one or a plurality of lenses, and adjusts a focal position by moving along the optical axis. The lens unit 2111 is further provided with a focus mechanism (not shown) that moves the focus lens 2111a along the optical axis.

[0015] The aperture 2112 is located between the lens unit 2111 and the image sensor 2113, and, under the control of the control device 3, adjusts the amount of light of the subject image directed from the lens unit 2111 to the image sensor 2113. Here, in the AF processing performed by the control device 3, the drive unit 213 operates the aforementioned focus mechanism under the control of the control device 3 to adjust the focal position of the lens unit 2111. The drive unit 213 also operates the aperture 2112 under the control of the control device 3 to adjust the aperture value of the aperture 2112.

[0016] Furthermore, the detection unit 214 includes a position sensor such as a photointerrupter and detects the current position (focal position) of the focus lens 2111a. The detection unit 214 then outputs a signal to the control device 3 corresponding to the detected focal position. In addition, the detection unit 214 includes a linear encoder or the like and detects the current aperture value of the aperture 2112. The detection unit 214 then outputs a signal to the control device 3 corresponding to the detected aperture value.

[0017] The image sensor 2113 is composed of an image sensor that receives the subject image formed by the lens unit 2111 and generates an captured image (analog signal). The signal processing unit 2114 performs signal processing on the captured image (analog signal) generated by the image sensor 2113. For example, the signal processing unit 2114 performs signal processing on the captured image (analog signal) generated by the image sensor 2113, including removing reset noise, multiplying the analog signal by an analog gain to amplify it, and A / D conversion.

[0018] The communication unit 212 is an interface for communication with the control device 3. It transmits the captured image (digital signal) that has been processed by the signal processing unit 2114 to the control device 3, and also receives control signals from the control device 3. For the sake of clarity, the function of the brake release switch 215 will be explained when describing the configuration of the control device 3.

[0019] The base section 22 is the base of the medical observation device 2 and is configured to be movable on the floor surface via casters 221 (Figure 1). The support portion 23 extends from the base portion 22 and holds the microscope portion 21 at its tip (the end portion separated from the base portion 22). The support portion 23 allows the microscope portion 21 to move in three dimensions. In Embodiment 1, the support portion 23 is configured to have 6 degrees of freedom with respect to the movement of the microscope portion 21, but it is not limited to this, and may be configured to have a different number of degrees of freedom.

[0020] As shown in Figure 1 or Figure 2, the support unit 23 comprises first to seventh arm sections 231a to 231g, first to sixth joint sections 232a to 232f, a state switching unit 234, a posture detection unit 235, and an actuator 236. The first joint portion 232a is located at the tip of the support portion 23. This first joint portion 232a is fixedly supported by the first arm portion 231a and holds the microscope portion 21 so that it can rotate around the first axis O1 (Figure 1). Here, the first axis O1 coincides with the observation optical axis of the microscope unit 21. That is, rotating the microscope unit 21 around the first axis O1 changes the orientation of the imaging field of view of the microscope unit 21.

[0021] The first arm portion 231a is a substantially rod-shaped member that extends in a direction perpendicular to the first axis O1, and fixatively supports the first joint portion 232a at its tip. The second joint 232b holds the first arm 231a so that it can rotate around the second axis O2 (Figure 1), while being fixedly supported by the second arm 231b. Therefore, the second joint 232b allows the microscope unit 21 to rotate around the second axis O2. Here, the second axis O2 is perpendicular to the first axis O1 and parallel to the extension direction of the first arm portion 231a. That is, when the microscope portion 21 is rotated around the second axis O2, the orientation of the observation optical axis of the microscope portion 21 with respect to the object being observed is changed. In other words, the imaging field of view of the microscope portion 21 moves along the X-axis (Figure 1) which is perpendicular to the first and second axes O1 and O2 in the horizontal plane. For this reason, the second joint portion 232b is a joint portion for moving the imaging field of view of the microscope portion 21 along the X-axis.

[0022] The second arm portion 231b has a crank shape that extends in a direction perpendicular to the first and second axes O1 and O2, and fixatively supports the second joint portion 232b at its tip. The third joint 232c holds the second arm 231b so that it can rotate around the third axis O3 (Figure 1), while being fixedly supported by the third arm 231c. Therefore, the third joint 232c allows the microscope unit 21 to rotate around the third axis O3. Here, the third axis O3 is perpendicular to the first and second axes O1 and O2. That is, when the microscope unit 21 is rotated around the third axis O3, the orientation of the observation optical axis of the microscope unit 21 relative to the object being observed is changed. In other words, the imaging field of view of the microscope unit 21 moves along the Y axis (Figure 1) perpendicular to the X axis in the horizontal plane. For this reason, the third joint 232c is a joint for moving the imaging field of view of the microscope unit 21 along the Y axis.

[0023] The third arm portion 231c is a substantially rod-shaped member that extends in a direction substantially parallel to the third axis O3, and fixatively supports the third joint portion 232c at its tip. The fourth joint 232d is fixedly supported by the fourth arm 231d, while holding the third arm 231c so that it can rotate around the fourth axis O4 (Figure 1). Therefore, the fourth joint 232d allows the microscope unit 21 to rotate around the fourth axis O4. Here, the fourth axis O4 is perpendicular to the third axis O3. That is, rotating the microscope unit 21 around the fourth axis O4 adjusts the height of the microscope unit 21. For this reason, the fourth joint 232d is a joint for translating the microscope unit 21.

[0024] The fourth arm portion 231d is a substantially rod-shaped member that is perpendicular to the fourth axis O4 and extends linearly toward the base portion 22, and fixedly supports the fourth joint portion 232d at one end. The fifth arm portion 231e has the same shape as the fourth arm portion 231d. The fifth arm portion 231e is connected to the third arm portion 231c at one end so as to be rotatable about an axis parallel to the fourth axis O4. The sixth arm portion 231f has substantially the same shape as the third arm portion 231c. The sixth arm portion 231f is connected to the other ends of the fourth and fifth arm portions 231d and 231e so as to be rotatable about an axis parallel to the fourth axis O4, in a position that forms a parallelogram with the third to fifth arm portions 231c to 231e. A counterweight 233 (Figure 1) is provided at the end of the sixth arm portion 231f.

[0025] The mass and position of the counterweight 233 are adjusted so that the rotational moment generated around the fourth axis O4 and the rotational moment generated around the fifth axis O5 (Figure 1) can be canceled out by the mass of each component provided on the tip side of the support portion 23 (the side on which the microscope portion 21 is provided) relative to the counterweight 233. In other words, the support portion 23 is a balance arm (a configuration in which the counterweight 233 is provided). However, the support portion 23 may also be configured without the counterweight 233.

[0026] The fifth joint 232e is fixedly supported by the seventh arm 231g, while holding the fourth arm 231d so that it can rotate around the fifth axis O5. Therefore, the fifth joint 232e allows the microscope unit 21 to rotate around the fifth axis O5. Here, the fifth axis O5 is parallel to the fourth axis O4. That is, when the microscope unit 21 is rotated around the fifth axis O5, the height of the microscope unit 21 is adjusted. For this reason, the fifth joint 232e is a joint for translating the microscope unit 21.

[0027] The seventh arm portion 231g has a substantially L-shape, consisting of a first portion extending vertically and a second portion extending bent at approximately a right angle to the first portion, and the fifth joint portion 232e is fixedly supported by the first portion. The sixth joint 232f is fixedly supported by the base 22 and holds the second portion of the seventh arm 231g so as to be rotatable about the sixth axis O6 (Figure 1). Therefore, the sixth joint 232f allows the microscope 21 to rotate around the sixth axis O6. Here, the sixth axis O6 is an axis aligned vertically. That is, the sixth joint 232f is a joint for translating the microscope unit 21.

[0028] The first axis O1 described above is configured as a passive axis that allows the microscope unit 21 to rotate passively around the first axis O1 in response to an external force applied by the operator, without relying on power from an actuator or the like. Similarly, the fourth to sixth axes O4 to O6 are each configured as passive axes. On the other hand, the second axis O2 is configured as an active axis that allows the microscope unit 21 to rotate actively around the second axis O2 in response to the power of an actuator 236. Similarly, the third axis O3 is also configured as an active axis. In Figure 2, for the sake of explanation, only one of the two actuators 236 provided for the second and third axes O2 and O3 is shown. Furthermore, the first to sixth joints 232a to 232f are each provided with a state switching unit 234, which consists of an electromagnetic brake or the like, and a posture detection unit 235, which consists of a rotary encoder or an angular velocity sensor or the like. For the sake of clarity, in Figure 2, only one of the six state switching units 234 provided in each of the first to sixth joints 232a to 232f is shown, and only one of the six posture detection units 235 provided in each of the first to sixth joints 232a to 232f is shown.

[0029] The state switching unit 234, under the control of the control device 3, switches between either an allowable state, which permits rotation of the microscope unit 21 around the corresponding axis among the first to sixth axes O1 to O6 (for example, around the first axis O1 if the state switching unit 234 is located on the first joint 232a), or a restrictive state, which restricts such rotation. The attitude detection unit 235, under the control of the control device 3, detects the rotation angle of the microscope unit 21 around the corresponding axis among the first to sixth axes O1 to O6 (for example, around the first axis O1 if the state switching unit 234 is located on the first joint 232a). In other words, the attitude detection unit 235 detects the attitude of the support unit 23. The attitude detection unit 235 then outputs a signal to the control device 3 corresponding to the detected rotation angle.

[0030] One end of the light guide 25 is connected to the light source device 24, and the control device 3 supplies illumination light of a specified intensity to the other end of the light guide 25. The light guide 25 is connected at one end to the light source device 24 and at the other end to the microscope unit 21. The light guide 25 transmits light supplied from the light source device 24 from one end to the other and supplies it to the microscope unit 21. The light supplied to the microscope unit 21 is then shone onto the object to be observed. The light shone onto the object to be observed and reflected by the object (the image of the subject) is focused by the lens unit 2111 in the microscope unit 21 and then captured by the image sensor 2113.

[0031] The control device 3 corresponds to the medical image processing device according to this disclosure. This control device 3 is installed inside the base unit 22 and comprehensively controls the operation of the medical observation system 1. As shown in Figure 2, this control device 3 comprises a communication unit 31, an observation image generation unit 32, a control unit 33, and a storage unit 34. The communication unit 31 corresponds to the image acquisition unit according to this disclosure. This communication unit 31 is an interface for communication with the microscope unit 21 (communication unit 212), and receives the captured image (digital signal) output from the microscope unit 21 and transmits control signals from the control unit 33.

[0032] The observation image generation unit 32 processes the captured image (digital signal) output from the microscope unit 21 and received by the communication unit 31 under the control of the control unit 33. The observation image generation unit 32 then generates a display video signal for displaying the processed captured image and outputs the video signal to the display device 4. As shown in Figure 2, the observation image generation unit 32 comprises an image processing unit 321 and a display control unit 322.

[0033] The image processing unit 321 corresponds to the identification image generation unit and the scaling unit according to this disclosure. This image processing unit 321 performs image processing, detection processing, and identification image generation processing on the captured image (digital signal) received by the communication unit 31. Specifically, examples of such image processing include digital gain processing, which involves multiplying the captured image (digital signal) by a digital gain that amplifies the digital signal; optical black subtraction processing; white balance (WB) adjustment processing; demosaicing processing; color matrix subtraction processing; gamma correction processing; YC conversion processing, which generates luminance signals and chrominance signals (Y, Cb / Cr signals); and magnification processing (electronic zoom).

[0034] Furthermore, the detection process described above is a process that, based on pixel information (for example, Y value (luminance signal (Y signal))) for each pixel within a specific detection region in the entire image area of ​​the captured image after the image processing described above has been performed, detects the contrast and frequency components of the image within the detection region, detects the average luminance and maximum / minimum pixels within the detection region using filters, makes a judgment by comparing with a threshold, and detects a histogram, etc. In Embodiment 1, the detection region is a rectangular area centered on the center of the captured image. The image processing unit 321 then outputs the detection information (contrast, frequency components, average luminance, maximum / minimum pixels, and histogram, etc.) obtained by the detection process to the control device 3. The process of generating identified images will be explained later in the section titled "Operation of the Medical Observation System."

[0035] The display control unit 322 generates a video signal for displaying the captured image (luminance signal and chrominance signal (Y, Cb / Cr signal)) after image processing has been performed by the image processing unit 321, or the identification image generated by the identification image generation process by the image processing unit 321. The display control unit 322 then outputs this video signal to the display device 4.

[0036] The control unit 33 is composed of, for example, a CPU (Central Processing Unit) or an FPGA (Field-Programmable Gate Array), and controls the operation of the microscope unit 21, the light source device 24, and the display device 4, as well as the operation of the entire control device 3. Specifically, the control unit 33 switches the operating mode of the support unit 23 between free mode and fixed mode in response to an operation by the operator on the brake release switch 215 provided on the microscope unit 21.

[0037] The free mode is a mode in which all state switching units 234, provided at the first to sixth joints 232a to 232f, are in an allowable state. In other words, in this free mode, the operator can rotate the microscope unit 21 around the first to sixth axes O1 to O6 by applying an external force to the support unit 23. This free mode is set during the period when the operator is pressing the brake release switch 215. The fixed mode is a mode in which all state switching units 234, provided at the first to sixth joints 232a to 232f, are in a restricted state. In other words, in this fixed mode, even if the operator applies an external force to the support unit 23, the operator cannot rotate the microscope unit 21 around the first to sixth axes O1 to O6. This fixed mode is set during periods when the operator is not pressing the brake release switch 215.

[0038] Furthermore, in Embodiment 1, in addition to the free mode and fixed mode described above, an XY movement mode is provided as an operating mode for the support unit 23. The XY movement mode is an operation mode in which the imaging field of the microscope unit 21 is moved in the X-axis direction and the Y-axis direction, respectively, in response to the operator's operation on the foot switch 26. More specifically, while the operator is moving the lever 261 (Figure 2) of the foot switch 26 in the X direction, the control unit 33 switches the state switching unit 234 provided on the second joint 232b to the allow state and operates the actuator 236 provided on the second axis O2. As a result, the microscope unit 21 rotates around the second axis O2. When the operator stops moving the lever 261 in the X direction, the control unit 33 stops the operation of the actuator 236 and switches the state switching unit 234 to the restrict state.

[0039] On the other hand, while the operator is moving the lever 261 of the foot switch 26 in the Y direction, the control unit 33 switches the state switching unit 234 provided on the third joint 232c to the allow state and operates the actuator 236 provided on the third axis O3. As a result, the microscope unit 21 rotates around the third axis O3. When the operator stops moving the lever 261 in the Y direction, the control unit 33 stops the operation of the actuator 236 and switches the state switching unit 234 to the restrict state.

[0040] Furthermore, the control unit 33 calculates an evaluation value based on the detection information obtained by the detection processing of the image processing unit 321. Specifically, the control unit 33 calculates a focus evaluation value to evaluate the focus state of the image within the detection region of the entire image area in the captured image, based on the detection information (contrast and frequency components). For example, the control unit 33 uses the sum of the contrast obtained by the detection processing of the image processing unit 321 and the high-frequency components of the frequency components obtained by said detection processing as the focus evaluation value. A larger focus evaluation value indicates that the image is in focus.

[0041] Furthermore, the control unit 33 calculates a brightness evaluation value based on the detection information (average brightness value) to change the brightness of the image within the detection region out of the entire image region in the captured image to a reference brightness (change the detection information (average brightness value) to a reference average brightness value). The following first to fourth brightness evaluation values ​​can be used as examples of this brightness evaluation value. The first brightness evaluation value is the exposure time of each pixel in the image sensor 2113. The second brightness evaluation value is the analog gain multiplied by the signal processing unit 2114. The third brightness evaluation value is the digital gain multiplied by the image processing unit 321. The fourth brightness evaluation value is the amount of light supplied by the light source device 24.

[0042] Furthermore, the control unit 33 performs AF processing to adjust the focal position of the lens unit 2111. Specifically, the control unit 33 controls the operation of the drive unit 213 using methods such as hill climbing, based on the calculated focus evaluation value and the current focal position detected by the detection unit 214, thereby performing AF processing to position the focus lens 2111a at a focal position where the image within the detection area of ​​the entire image area in the captured image is in focus.

[0043] Furthermore, the control unit 33 performs a brightness adjustment process to adjust the brightness of the image within the detection region of the entire image area in the captured image to a reference brightness. Specifically, if the calculated brightness evaluation value is the first brightness evaluation value, the control unit 33 outputs a control signal to the microscope unit 21, and sets the exposure time of each pixel of the image sensor 2113 to the first brightness evaluation value. If the calculated brightness evaluation value is the second brightness evaluation value, the control unit 33 outputs a control signal to the microscope unit 21, and sets the analog gain multiplied by the signal processing unit 2114 to the second brightness evaluation value. Furthermore, if the calculated brightness evaluation value is the third brightness evaluation value, the control unit 33 outputs a control signal to the image processing unit 321, and sets the digital gain multiplied by the image processing unit 321 to the third brightness evaluation value. Finally, if the calculated brightness evaluation value is the fourth brightness evaluation value, the control unit 33 outputs a control signal to the light source device 24, and sets the amount of light supplied by the light source device 24 to the fourth brightness evaluation value.

[0044] Furthermore, the control unit 33 corresponds to the determination unit described herein. The function (determination process) of the determination unit will be explained later in "Operation of the Medical Observation System".

[0045] The memory unit 34 stores programs executed by the control unit 33, as well as information necessary for the processing performed by the control unit 33.

[0046] The display device 4 is composed of a display display using liquid crystal or organic EL (Electro Luminescence), etc., and displays captured images or identification images, etc., based on video signals from the display control unit 322.

[0047] [Operation of the medical observation system] Next, we will explain the operation of the medical observation system 1. Figure 3 is a flowchart illustrating the operation of the medical observation system 1. Figure 4 is a diagram illustrating the operation of the medical observation system 1. First, the control unit 33 drives the light source device 24. As a result, the light emitted from the light source device 24 is irradiated onto the object to be observed by the microscope unit 21. The control unit 33 also causes the image sensor 2113 to capture the image of the subject that has been irradiated onto the object and reflected from the object at a predetermined frame rate. The microscope unit 21 then captures the image of the subject and sequentially generates captured images. As a result, the communication unit 31 sequentially receives these captured images from the microscope unit 21 (step S1).

[0048] After step S1, the image processing unit 321 performs image processing on the captured image received in step S1. The display control unit 322 generates a display video signal corresponding to the captured image after the image processing has been performed (step S2). The display device 4 then displays the captured image corresponding to the video signal.

[0049] After step S2, the control unit 33 performs a determination process (step S3). Specifically, in step S3, the control unit 33 performs a determination process to determine whether or not the imaging field of the microscope unit 21 has moved. In Embodiment 1, the control unit 33 determines that the imaging field of the microscope unit 21 has moved if the rotation angle per unit time of the microscope unit 21 detected by at least one of the posture detection units 235 provided in the first to sixth joints 232a to 232f is greater than 0 and less than or equal to a specific threshold. On the other hand, the control unit 33 determines that the imaging field of the microscope unit 21 has not moved if the rotation angle per unit time of the microscope unit 21 exceeds the specific threshold. If the determination process determines that the imaging field of the microscope unit 21 has not moved (step S3: No), the control device 3 returns to step S2.

[0050] On the other hand, if the determination process determines that the imaging field of the microscope unit 21 has moved (step S3: Yes), the image processing unit 321 executes the identification image generation process (step S4). Specifically, in step S4, the image processing unit 321 executes an identification image generation process to generate an identification image that makes a specific position within a specific area to be displayed on the display device 4, out of the entire image area of ​​the captured image after image processing, identifiable from other positions. Here, the magnification process (electronic zoom) executed by the image processing unit 321 is a process that cuts out a rectangular area centered on, for example, the center of the image from the entire image area of ​​the captured image, and magnifies the image of the rectangular area at a specified zoom magnification. In Embodiment 1, if the specified zoom magnification is 1x, the entire image area of ​​the captured image is considered the rectangular area. However, even if the specified zoom magnification is 1x, a part of the entire image area of ​​the captured image may be considered the rectangular area. Furthermore, the specific area is the rectangular area cut out in the magnification process (electronic zoom). Furthermore, the specific position is the center position of the specific area. Furthermore, the identification image is, for example, the identification image P2 shown in Figure 4(b), an image in which an index IN1 pointing to the center of the captured image P1 (where the entire image area is a specific region) is superimposed on the captured image P1. The index IN1 is composed of a black cross shape.

[0051] After step S4, the display control unit 322 generates a video signal for display corresponding to the identification image generated in the identification image generation process in step S4 (step S5). The display device 4 then displays the identification image corresponding to the video signal. After step S5, the control device 3 returns to step S3.

[0052] As a result of the above operations, the image shown in Figure 4 will be displayed on the display device 4. In other words, during the period before the movement of the imaging field of view of the microscope unit 21 begins, the display device 4 displays the captured image P1 (Figure 4(a)) based on the video signal generated in step S2. Furthermore, during the period when the imaging field of the microscope unit 21 is moving (when it is determined in step S3 that the imaging field of the microscope unit 21 has moved), the display device 4 displays an identification image P2 (Figure 4(b)) based on the video signal generated in step S5. Then, during the period after the movement of the imaging field of view of the microscope unit 21 is completed, the display device 4 displays the captured image P3 (Figure 4(c)) based on the video signal generated in step S2.

[0053] According to Embodiment 1 described above, the following effects are achieved. The control device 3 according to Embodiment 1 generates an identification image in which an index IN1 is assigned to the center (specific position) of the image of the captured image (the entire image area is a specific region) when it is determined that the imaging field of view in the medical observation device 2 (microscope unit 21) has moved. Therefore, the observer can clearly determine the center of the captured image using the indicator IN1, and easily position the area to be observed at the center of the image by moving the imaging field of view of the microscope unit 21. Furthermore, since the indicator IN1 disappears when the imaging field of view of the microscope unit 21 is not moving, the indicator IN1 does not interfere with observation. Therefore, the control device 3 according to Embodiment 1 can improve convenience.

[0054] Incidentally, when positioning the area to be observed at the center of the captured image using the index IN1, it is particularly important when making fine adjustments to the imaging field of view of the microscope unit 21. The control device 3 according to Embodiment 1 determines that the imaging field of the microscope unit 21 has moved when the rotation angle per unit time of the microscope unit 21 detected by at least one of the posture detection units 235 provided in the first to sixth joints 232a to 232f is greater than 0 and below a specific threshold. In other words, the index IN1 is not displayed during coarse adjustment, which involves moving the imaging field of the microscope unit 21 significantly, and is displayed only during fine adjustment. Therefore, the index IN1 can be displayed only when needed.

[0055] (Embodiment 2) Next, Embodiment 2 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. Figure 5 shows the identification image P4 according to Embodiment 2. In Embodiment 2, in the identification image generation process (step S4), an identification image different from that of Embodiment 1 described above (for example, the identification image P4 shown in Figure 5) is generated.

[0056] In Embodiment 2, the identification image P4 generated by the image processing unit 321 in the identification image generation process is as follows: As shown in Figure 5, the identification image P4 is an image obtained after image processing has been performed, with an index IN1 superimposed on the image center (specific position) of the captured image (the entire image area is the specific area), and a detection frame Fr1 indicating the detection area used in the detection process superimposed on it. Note that the detection frame Fr1 does not necessarily have to coincide with the detection area. The detection frame Fr1 may be smaller or larger than the detection area, in other words, it may be superimposed as a frame corresponding to the detection area.

[0057] According to Embodiment 2 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. The control device 3 according to Embodiment 2 generates an identification image that includes an index IN1 and a detection frame Fr1 indicating the detection region used in detection processing when the imaging field of view of the microscope unit 21 is moving. Therefore, by moving the imaging field of view of the microscope unit 21 and positioning the area to be observed within the detection frame Fr1, the observer can bring that area into focus and adjust its brightness to an appropriate level. Thus, convenience can be further improved.

[0058] (Embodiment 3) Next, Embodiment 3 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. Figure 6 shows the identification images P5 to P7 according to Embodiment 3. In Embodiment 3, in the identification image generation process (step S4), different identification images from those in Embodiment 1 (for example, identification images P5 and P6 shown in Figures 6(a) and 6(b)) are generated.

[0059] In Embodiment 3, the identification images P5 to P7 generated by the image processing unit 321 in the identification image generation process are as follows. For example, consider a case where the specified zoom magnification is a low zoom magnification (corresponding to the first zoom magnification according to this disclosure) in the magnification process (electronic zoom) performed by the image processing unit 321. In this case, the image processing unit 321 generates the identification image P5 shown in Figure 6(a) in the identification image generation process. Specifically, as shown in Figure 6(a), the identification image P5 is an image in which an index IN1 indicating the image center is superimposed on the image center (specific position) of the captured image (the entire image area is a specific region) after image processing (including the low zoom magnification magnification magnification (electronic zoom) described above) has been performed, and an observation frame Fr2 indicating the observation range (corresponding to the entire image area of ​​the identification image P7 shown in Figure 6(c)) when magnification processing (electronic zoom) is performed at a higher zoom magnification magnification (corresponding to the second zoom magnification magnification related to this disclosure) than the low zoom magnification magnification is superimposed.

[0060] Furthermore, in the magnification process (electronic zoom) performed by the image processing unit 321, we assume that the specified zoom magnification is a medium zoom magnification (corresponding to the first zoom magnification according to this disclosure). In this case, the image processing unit 321 generates the identification image P6 shown in Figure 6(b) in the identification image generation process. Specifically, as shown in Figure 6(b), the identification image P6 is an image in which an index IN1 indicating the image center is superimposed on the image center (specific position) of the captured image (the entire image area is a specific region) after image processing (including the magnification processing (electronic zoom) at the medium zoom magnification described above) has been performed, and an observation frame Fr3 indicating the observation range (corresponding to the entire image area of ​​the identification image P7 shown in Figure 6(c)) when magnification processing (electronic zoom) is performed at a high zoom magnification (corresponding to the second zoom magnification related to this disclosure) that is higher than the medium zoom magnification is superimposed.

[0061] Furthermore, in the magnification process (electronic zoom) performed by the image processing unit 321, we assume that the specified zoom magnification is a high zoom magnification (corresponding to the second zoom magnification according to this disclosure). In this case, the image processing unit 321 generates the identification image P7 shown in Figure 6(c) in the identification image generation process. Specifically, as shown in Figure 6(c), the identification image P7 is an image in which only the index IN1, which points to the center of the image (specific position) of the captured image (the entire image area is a specific region), is superimposed on the captured image after image processing (including the high-magnification zoom processing (electronic zoom) described above) has been performed.

[0062] According to Embodiment 3 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. The control device 3 according to Embodiment 3 generates an identification image that, when the imaging field of view of the microscope unit 21 is moving, includes not only the index IN1 but also observation frames Fr2 and Fr3 indicating the observation range when magnification processing (electronic zoom) is performed at a high zoom magnification. Therefore, by moving the imaging field of view of the microscope unit 21 and positioning the area to be observed within the observation frames Fr2 and Fr3, the observer can avoid a situation where at least a part of the area to be observed is not displayed when switching to a high zoom magnification.

[0063] (Embodiment 4) Next, Embodiment 4 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. Figure 7 shows the identification image P9 according to Embodiment 4. In Embodiment 4, in the identification image generation process (step S4), an identification image different from that of Embodiment 1 described above (for example, the identification image P9 shown in Figure 7(b)) is generated.

[0064] Here, we assume that in the magnification process (electronic zoom) performed by the image processing unit 321, the specified zoom magnification is a low zoom magnification (corresponding to the first zoom magnification according to this disclosure). In this case, the image processing unit 321 performs magnification processing (electronic zoom) at the low zoom magnification during the period before the imaging field of the microscope unit 21 begins to move. Then, the image processing of the image processing unit 321 (including the magnification processing at the low zoom magnification (electronic zoom)) generates the captured image P8 (Figure 7(a)). Note that during the period when the imaging field of the microscope unit 21 is not moving, the image processing unit 321 does not perform the identification image generation process.

[0065] Furthermore, during the period when the imaging field of view of the microscope unit 21 is moving, the image processing unit 321 switches to a zoom magnification higher than the low zoom magnification (corresponding to the second zoom magnification according to this disclosure) and performs magnification processing (electronic zoom) at the higher zoom magnification. In addition, the image processing unit 321 performs identification image generation processing and generates the identification image P9 shown in Figure 7(b). Specifically, as shown in Figure 7(b), the identified image P9 is an image in which an index IN1 indicating the image center is superimposed on the image center (specific position) of the captured image (the entire image area is a specific region) after image processing (including the high zoom magnification processing (electronic zoom) described above) has been performed.

[0066] Then, during the period after the imaging field of view of the microscope unit 21 has finished moving, the image processing unit 321 switches from the high zoom magnification mentioned above back to the original low zoom magnification and performs magnification processing (electronic zoom) at the low zoom magnification. The image processing of the image processing unit 321 (including magnification processing (electronic zoom) at the low zoom magnification) generates the captured image P10 (Figure 7(c)). Note that during the period when the imaging field of view of the microscope unit 21 is not moving, the image processing unit 321 does not perform the identification image generation process.

[0067] According to Embodiment 4 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. In the control device 3 according to Embodiment 4, during the period when the imaging field of view of the microscope unit 21 is moving, the zoom magnification is switched to a higher zoom magnification and an identification image P9 corresponding to the higher zoom magnification is generated. Therefore, even if the specified zoom magnification is low, the observer can easily position the area they wish to observe at the center of the identification image P9 (indicator IN1) by moving the imaging field of the microscope unit 21 while confirming the identification image P9 with a high zoom magnification.

[0068] (Embodiment 5) Next, Embodiment 5 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. Figure 8 shows the identification image P12 according to Embodiment 5. In Embodiment 5, in the identification image generation process (step S4), an identification image different from that of Embodiment 1 described above (for example, the identification image P12 shown in Figure 8(b)) is generated.

[0069] Here, we assume that in the magnification process (electronic zoom) performed by the image processing unit 321, the specified zoom magnification is a high zoom magnification (corresponding to the second zoom magnification according to this disclosure). In this case, the image processing unit 321 performs magnification processing (electronic zoom) at the high zoom magnification during the period before the movement of the imaging field of view of the microscope unit 21 begins. Then, the image processing of the image processing unit 321 (including magnification processing (electronic zoom) at the high zoom magnification) the law of nature Then, the captured image P11 (Figure 8(a)) is generated. Note that during the period when the imaging field of view of the microscope unit 21 is not moving, the image processing unit 321 does not perform the identification image generation process.

[0070] Furthermore, during the period when the imaging field of view of the microscope unit 21 is moving, the image processing unit 321 switches to a zoom magnification lower than the high zoom magnification (corresponding to the first zoom magnification according to this disclosure) and performs magnification processing (electronic zoom) at the lower zoom magnification. In addition, the image processing unit 321 performs identification image generation processing and generates the identification image P12 shown in Figure 8(b). Specifically, as shown in Figure 8(b), the identified image P12 is an image in which an index IN1 indicating the image center is superimposed on the image center (specific position) of the captured image (the entire image area is a specific region) after image processing (including the low zoom magnification processing (electronic zoom) described above) has been performed.

[0071] Then, during the period after the imaging field of view of the microscope unit 21 has finished moving, the image processing unit 321 switches from the low zoom magnification mentioned above back to the original high zoom magnification and performs magnification processing (electronic zoom) at the high zoom magnification. The image processing of the image processing unit 321 (including magnification processing (electronic zoom) at the high zoom magnification) generates the captured image P13 (Figure 8(c)). Note that during the period when the imaging field of view of the microscope unit 21 is not moving, the image processing unit 321 does not perform the identification image generation process.

[0072] According to Embodiment 5 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. By the way, if you move the imaging field of view of the microscope unit 21 while viewing an image captured at a high zoom magnification, there is a risk of losing sight of the area you want to observe. In the control device 3 according to Embodiment 5, during the period when the imaging field of view of the microscope unit 21 is moving, the zoom magnification is switched to a lower zoom magnification and an identification image P12 corresponding to the lower zoom magnification is generated. Therefore, even if the specified zoom magnification is high, the observer will move the imaging field of view of the microscope unit 21 while confirming the identification image P12 with a low zoom magnification, thus eliminating the risk of losing sight of the area to be observed.

[0073] (Embodiment 6) Next, Embodiment 6 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. Figure 9 shows the identification images P15 and P16 according to Embodiment 6. In Embodiment 6, in the identification image generation process (step S4), different identification images from those in Embodiment 1 described above (for example, identification images P15 and P16 shown in Figure 9(b)) are generated.

[0074] Here, we assume that in the magnification process (electronic zoom) performed by the image processing unit 321, the specified zoom magnification is a low zoom magnification (corresponding to the first zoom magnification according to this disclosure). In this case, the image processing unit 321 performs magnification processing (electronic zoom) at the low zoom magnification during the period before the imaging field of view of the microscope unit 21 begins to move. Then, the image processing of the image processing unit 321 (including the magnification processing (electronic zoom) at the low zoom magnification) generates the captured image P14 (Figure 9(a)). Note that during the period when the imaging field of view of the microscope unit 21 is not moving, the image processing unit 321 does not perform the identification image generation process.

[0075] Furthermore, during the period when the imaging field of view of the microscope unit 21 is moving, the image processing unit 321 simultaneously performs magnification processing at the low zoom magnification (electronic zoom) and magnification processing at a zoom magnification higher than the low zoom magnification (corresponding to the second zoom magnification according to this disclosure) (electronic zoom). In addition, the image processing unit 321 performs identification image generation processing to generate identification images P15 and P16 shown in Figure 9(b). Specifically, the identification image P15 corresponds to the first identification image relating to this disclosure. As shown in Figure 9(b), this identification image P15 is an image in which an index IN1 indicating the image center is superimposed on the image center (specific position) of the captured image (the entire image area is a specific area) after image processing (including the low zoom magnification processing (electronic zoom) described above) has been performed. Furthermore, the identification image P16 corresponds to the second identification image related to this disclosure. As shown in Figure 9(b), this identification image P16 is an image in which an index IN1 indicating the image center is superimposed on the image center (specific position) of the captured image (the entire image area is a specific area) after image processing (including the high zoom magnification processing (electronic zoom) described above) has been performed.

[0076] Then, as shown in Figure 9(b), the display device 4 displays the identification image P16 as a child image in picture-in-picture mode along with the identification image P15. In the above description, it was assumed that the specified zoom magnification in the magnification process (electronic zoom) performed by the image processing unit 321 was a low zoom magnification, but this is not limited to this case. For example, even if the specified zoom magnification is the high zoom magnification described above, the system may be configured to generate the identification images P15 and P16 described above. In this case, the display device 4 will display the identification image P15 as a child image in picture-in-picture along with the identification image P16.

[0077] Then, during the period after the imaging field of view of the microscope unit 21 has finished moving, the image processing unit 321 performs magnification processing (electronic zoom) only at the original low zoom magnification. The image processing of the image processing unit 321 (including the magnification processing (electronic zoom) at the low zoom magnification) generates the captured image P17 (Figure 9(c)). Note that during the period when the imaging field of view of the microscope unit 21 has not moved, the image processing unit 321 does not perform the identification image generation process.

[0078] According to Embodiment 6 described above, the same effects as those of Embodiments 1, 4, and 5 described above are achieved.

[0079] (Embodiment 7) Next, Embodiment 7 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. Figure 10 is a block diagram showing the medical observation system 1A according to Embodiment 7. The medical observation system 1A according to Embodiment 7 is configured as a system that displays captured images in 3D.

[0080] Specifically, the display device 4A that constitutes the medical observation system 1A is composed of an active or passive 3D display. Furthermore, the medical observation device 2A (microscope unit 21A) that constitutes the medical observation system 1A also functions as a stereo camera. That is, the microscope unit 21A includes a left-eye imaging unit 211AL and a right-eye imaging unit 211AR instead of the imaging unit 211 described in Embodiment 1 above. Although the configurations of the left-eye imaging unit 211AL and the right-eye imaging unit 211AR are not shown in the figures, they have the same configuration as the imaging unit 211. The left-eye imaging unit 211AL and the right-eye imaging unit 211AR each generate a left-eye image and a right-eye image, respectively, that have parallax with respect to each other. For the sake of clarity, only one drive unit 213 is shown in Figure 10, but drive units 213 are provided for both the left eye imaging unit 211AL and the right eye imaging unit 211AR. The same applies to the detection unit 214.

[0081] In Embodiment 7, the image processing unit 321 performs the image processing, detection processing, and identification image generation processing (only during the period when the imaging field of view of the microscope unit 21A is moving) described in Embodiment 1 on the left eye image and the right eye image received from the microscope unit 21A via the communication unit 31. The following describes the identification image generation process according to Embodiment 7. The image processing unit 321 calculates the depth position (image depth) of each image center (specific position) in the left eye image (the entire image area is a specific region) and the right eye image (the entire image area is a specific region) using a known method (see, for example, Japanese Patent Application Publication No. 2019-154886). The image processing unit 321 then generates a left-eye identification image in which an index pointing to the image center of the left eye image, corresponding to the depth position, is added to the image center of the left eye image after image processing has been performed. The image processing unit 321 also generates a right-eye identification image in which an index pointing to the image center of the right eye image, corresponding to the depth position, is added to the image center of the right eye image after image processing has been performed.

[0082] In Embodiment 7, the display control unit 322 generates a three-dimensional video signal, such as a side-by-side method, from the left-eye identification image and the right-eye identification image, and outputs it to the display device 4A. As a result, the display device 4A displays the left-eye identification image and the right-eye identification image based on the three-dimensional video signal in 3D. During periods when the imaging field of view of the microscope unit 21A is not moving, the display control unit 322 generates a 3D video signal from the left-eye and right-eye images, which have undergone image processing respectively, and outputs it to the display device 4A. As a result, the display device 4A displays the left-eye and right-eye images in 3D based on this 3D video signal.

[0083] According to Embodiment 7 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. The control device 3 according to Embodiment 7 calculates the depth position of the image center in the left-eye image and the right-eye image during the period when the imaging field of view of the microscope unit 21A is moving. The control device 3 then generates a left-eye identification image in which an index pointing to the image center of the left-eye image is added to the image center so as to correspond to the depth position, and a right-eye identification image in which an index pointing to the image center of the right-eye image is added to the image center so as to correspond to the depth position. Therefore, the depth perception of the indicator is not distorted, and the observer can move the imaging field of view of the microscope unit 21A to position the area they wish to observe at the indicator (center of the image).

[0084] (Embodiment 8) Next, Embodiment 8 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. In Embodiment 8, the control unit 33 performs a different determination process (step S3) than that described in Embodiment 1. Specifically, the control unit 33 determines that the imaging field of the microscope unit 21 has moved during the period when the operator is pressing the brake release switch 215 or operating the lever 261. On the other hand, the control unit 33 determines that the imaging field of the microscope unit 21 has not moved during the period when the operator is not pressing the brake release switch 215 and the lever 261 is not being operated. In other words, the brake release switch 215 and the lever 261 correspond to the operating unit according to this disclosure.

[0085] According to Embodiment 8 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. The control device 3 according to Embodiment 8 executes the determination process described above. Therefore, the processing load of the determination process can be reduced.

[0086] (Embodiment 9) Next, Embodiment 9 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. In the embodiment 1 described above, the present disclosure was applied to a medical observation system 1 using a surgical microscope (medical observation device 2). In contrast, Embodiment 9 applies the present disclosure to a medical observation system using a rigid endoscope.

[0087] Figure 11 shows a medical observation system 1B according to Embodiment 9. As shown in Figure 11, the medical observation system 1B according to Embodiment 9 comprises a rigid endoscope 2B, a light source device 24 connected to the rigid endoscope 2B via a light guide 25 and generating illumination light emitted from the tip of the rigid endoscope 2B, a control device 3 that processes the captured image output from the rigid endoscope 2B, and a display device 4 that displays an image (captured image, identification image) based on the display video signal processed by the control device 3.

[0088] The rigid endoscope 2B corresponds to the medical observation device according to this disclosure. As shown in Figure 11, the rigid endoscope 2B comprises an insertion section 2B1 and a camera head 2B2. The insertion part 2B1 has an elongated shape, either entirely rigid or partially flexible with the rest being rigid, and is inserted into the body. The insertion part 2B1 then captures light (image of the subject) from within the body (the subject). The camera head 2B2 is detachably connected to the base end (eyepiece) of the insertion section 2B1. This camera head 2B2 has substantially the same configuration as the microscope section 21 described in Embodiment 1 above. The camera head 2B2 captures the subject image taken in by the insertion section 2B1 and outputs the captured image.

[0089] In Embodiment 9, the control device 3 (control unit 33) executes a determination process different from the determination process (step S3) described in Embodiment 1 above. Specifically, the control unit 33 calculates the amount of movement from the previous image to the next image in time series based on multiple images output sequentially from the camera head 2B2, using a known method (e.g., block matching method or gradient method). The control unit 33 then determines that the imaging field of the rigid endoscope 2B has moved if the amount of movement is greater than or equal to a specific threshold. On the other hand, the control unit 33 determines that the imaging field of the rigid endoscope 2B has not moved if the amount of movement is less than a specific threshold.

[0090] According to Embodiment 9 described above, in addition to the same effects as Embodiment 1 described above, the following effects are achieved. The control device 3 according to Embodiment 9 performs the determination process described above. Therefore, it is possible to offset the effects of hand tremors caused by the scopist holding the rigid endoscope 2B by hand and appropriately determine that the imaging field of view of the rigid endoscope 2B has moved.

[0091] (Embodiment 10) Next, Embodiment 10 will be described. In the following description, components similar to those in Embodiment 1 described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified. In the embodiment 1 described above, the present disclosure was applied to a medical observation system 1 using a surgical microscope (medical observation device 2). In contrast, Embodiment 10 applies the present disclosure to a medical observation system using a flexible endoscope.

[0092] Figure 12 shows a medical observation system 1C according to Embodiment 10. As shown in Figure 12, the medical observation system 1C according to Embodiment 10 comprises a flexible endoscope 2C that captures images of the internal organs of an observation site by inserting an insertion part 2C1 into the body and outputs the captured images, a light source device 24 that generates illumination light emitted from the tip of the flexible endoscope 2C, a control device 3 that processes the captured images output from the flexible endoscope 2C, and a display device 4 that displays images (captured images, identification images) based on the display video signals processed by the control device 3.

[0093] The flexible endoscope 2C corresponds to the medical observation device according to this disclosure. As shown in Figure 12, the flexible endoscope 2C comprises an insertion section 2C1 having a flexible, elongated shape, an operating section 2C2 connected to the proximal end of the insertion section 2C1 and receiving various operations, and a universal cord 2C3 extending from the operating section 2C2 in a direction different from the direction in which the insertion section 2C1 extends, and containing various cables connected to the light source device 24 and the control device 3. As shown in Figure 12, the insertion portion 2C1 comprises a tip portion 2C11, a flexible curved portion 2C12 connected to the base end of the tip portion 2C11 and composed of a plurality of curved pieces, and a long, flexible pipe portion 2C13 connected to the base end of the curved portion 2C12. The tip section 2C11 contains a configuration that is substantially the same as that of the microscope section 21 described in Embodiment 1, although this is not shown in detail in the illustration. The image captured from the tip section 2C11 is output to the control device 3 via the operation unit 2C2 and the universal code 2C3. In Embodiment 10, the control device 3 (control unit 33) performs the same determination process as the determination process (step S3) described in Embodiment 9 above.

[0094] Even when using a flexible endoscope 2C as in Embodiment 10 described above, the same effects as in Embodiments 1 and 9 described above are achieved.

[0095] (Other embodiments) While we have described the forms for implementing this disclosure, this disclosure should not be limited to the embodiments 1 to 10 described above. In embodiments 1 to 10 described above, the specific location related to this disclosure was the central location of a specific region, but it is not limited to this, and any other location within the specific region is acceptable. In the embodiments 1 to 10 described above, an image processing unit 321 that performs magnification processing (electronic zoom) was used as the magnification / reduction unit according to the disclosure. However, the invention is not limited to this, and the microscope units 21 and 21A may be equipped with an optical zoom function, and the control unit 33 that operates the optical zoom function may also be used as the magnification / reduction unit according to the disclosure.

[0096] Figure 13 shows modified examples of embodiments 1 to 10. In embodiments 1 to 10 described above, the indicator IN1, which is composed of a black cross shape, was used as the indicator related to this disclosure, but the invention is not limited to this. For example, as shown in the identification image P18 in Figure 13(a), an index IN2 consisting of a hollow cross shape may be used. Alternatively, for example, an index IN3 consisting of a black X shape, as shown in the identification image P19 in Figure 13(b), may be used.

[0097] Furthermore, as shown in the identification image P20 in Figure 13(c), it is also acceptable to use index IN4, which has longer vertical and horizontal lengths than index IN1. Alternatively, as shown in the identification image P21 in Figure 13(d), an index IN5 may be used, which is composed of four blacked-out L-shaped shapes combined to form a cross shape overall. Furthermore, for example, indicators composed of cross shapes of colors other than black may be used. In this case, for example, as shown in the identification image P22 in Figure 13(e), the color of the indicator IN6 may be composed of an inverted color relative to the background color.

[0098] Furthermore, in embodiments 1 to 10 described above, the image centers of the captured image and the identification image coincided with the screen center of the display device 4. However, this is not limited to this, and as shown in Figure 13(f), the identification image P23 may be displayed at an eccentric position from the screen center of the display device 4.

[0099] In embodiments 1 to 10 described above, the order of processing in the flow shown in Figure 3 may be changed as long as it is consistent. Furthermore, the technologies described in embodiments 1 to 10 may be combined as appropriate.

[0100] Furthermore, the following configurations also fall within the technical scope of this disclosure. (1) A medical image processing apparatus comprising: an image acquisition unit that acquires an image captured by a medical observation device; a determination unit that determines whether or not the imaging field of view of the medical observation device has moved; and an identification image generation unit that, when the determination unit determines that the imaging field of view has moved, generates an identification image that makes a specific position within a specific area to be displayed on a display device from the entire image area of ​​the captured image distinguishable from other positions. (2) The medical image processing apparatus described in (1) above, wherein the specific position is the central position within the specific region. (3) The medical image processing apparatus according to (1) or (2) above, wherein the identification image generation unit generates the identification image which includes a frame corresponding to a detection region for calculating an evaluation value used for controlling the focal position of the imaging unit that generates the captured image. (4) The medical image processing apparatus according to any one of (1) to (3) above, wherein the identification image generation unit generates the identification image which includes a frame corresponding to a detection region for calculating an evaluation value used to control the brightness of the captured image. (5) A medical image processing apparatus according to any one of (1) to (4), further comprising a magnification / reduction unit that magnifies or reduces the imaging field of view or the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, wherein the identification image generation unit generates the identification image including an observation frame that shows the observation range when the magnification / reduction unit is magnified or reduced by the second zoom magnification, when the magnification / reduction unit is magnified or reduced by the first zoom magnification. (6) A medical image processing apparatus according to any one of (1) to (5) above, further comprising a zoom in / out unit that enlarges or reduces the imaging field of view or the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, wherein the zoom in / out unit switches from the first zoom magnification to the second zoom magnification when the determination unit determines that the imaging field of view has moved, and switches back from the second zoom magnification to the first zoom magnification when the determination unit determines that the imaging field of view has not moved, and the identification image generation unit generates the identification image according to the second zoom magnification when the determination unit determines that the imaging field of view has moved. (7) A medical image processing apparatus according to any one of (1) to (5) above, further comprising a magnification / reduction unit that enlarges or reduces the imaging field of view or the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, wherein when the magnification / reduction unit is enlarging or reducing by the second zoom magnification, it switches from the second zoom magnification to the first zoom magnification when the determination unit determines that the imaging field of view has moved, and switches back from the first zoom magnification to the second zoom magnification when the determination unit determines that the imaging field of view has not moved, and the identification image generation unit generates the identification image according to the first zoom magnification when the determination unit determines that the imaging field of view has moved. (8) A medical image processing apparatus according to any one of (1) to (5), further comprising a zoom in / out unit that enlarges and reduces the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, wherein the zoom in / out unit simultaneously enlarges and reduces by the first zoom magnification and the second zoom magnification when the determination unit determines that the imaging field has moved, and returns to the original zoom magnification of the first or second zoom magnification when the determination unit determines that the imaging field has not moved, and the identification image generation unit generates a first identification image which is the identification image according to the first zoom magnification and a second identification image which is the identification image according to the second zoom magnification when the determination unit determines that the imaging field has moved. (9) The medical image processing apparatus according to any one of (1) to (8) above, wherein the identification image generation unit generates the identification image which includes an index that points to a specific location within the specific region. (10) The medical image processing apparatus according to (9), wherein the captured images are a left-eye image and a right-eye image with parallax between them, and the identification image generation unit generates a left-eye identification image which is the identification image to which the index is added so as to correspond to the depth position of the specific position within the specific region in the entire image area of ​​the left-eye image, and generates a right-eye identification image which is the identification image to which the index is added so as to correspond to the depth position of the specific position within the specific region in the entire image area of ​​the right-eye image. (11) The medical observation device comprises a microscope unit that images the subject and generates the imaged image, a support unit that supports the microscope unit so that it can rotate around a plurality of different axes, and a posture detection unit that detects the posture of the support unit, wherein the determination unit determines that the imaging field has moved when the amount of change per unit time of the posture detected by the posture detection unit is greater than 0 and is below a specific threshold. (12) A medical image processing apparatus comprising: an image acquisition unit for acquiring an image captured by a medical observation device; an operation unit for receiving a movement operation of the imaging field of view in the medical observation device; and an identification image generation unit that, when the operation unit receives the movement operation, generates an identification image that makes a specific position within a specific area to be displayed on a display device from the entire image area of ​​the captured image distinguishable from other positions. (13) A medical observation system comprising: a medical observation device that images a subject and generates the image; a medical image processing device according to any one of (1) to (12); and a display device that displays the identification image generated by the medical image processing device. [Explanation of Symbols]

[0101] 1,1A~1C Medical Observation System 2.2A Medical Observation Device 2B Rigid endoscope 2B1 Insertion section 2B2 Camera Head 2C Flexible Endoscope 2C1 Insertion section 2C11 Tip 2C12 Curved section 2C13 Flexible tube section 2C2 Control unit 2C3 Universal Code 3. Control device 4,4A display device 21,21A Microscope Section 22 Base section 23 Support part 24 Light source device 25 Light Guide 26 Footswitches 31 Communications Department 32 Observation Image Generation Unit 33 Control Unit 34 Storage section 211 Imaging Unit 211AL Left eye imaging unit 211AR Right eye imaging unit 212 Communications Department 213 Drive unit 214 Detection unit 215 Brake release switch 221 Caster 231a First arm section 231b Second arm section 231c Third arm section 231d Fourth arm section 231e Fifth arm section 231f Sixth Arm Section 231g, 7th arm section 232a First joint 232b Second joint 232c Third joint 232d Fourth joint 232e Fifth joint 232f Sixth joint 233 Counterweight 234 State switching section 235 Attitude detection unit 236 Actuator 261 Lever 321 Image Processing Unit 322 Display Control Unit 2111 Lens Unit 2111a Focus Lens 2112 aperture 2113 Image sensor 2114 Signal Processing Unit Fr1 detection frame Fr2, Fr3 observation frame IN1~IN6 indicators O1 First axis O2 Second axis O3 The third axis O4 The fourth axis O5 The fifth axis O6 The sixth axis P1, P3, P8, P10, P11, P13, P14, P17 Acquired Images P2,P4~P7,P9,P12,P15,P16,P18~P23 Identification image

Claims

1. A medical observation device that captures images of a subject and generates captured images, Medical image processing equipment, The system includes a display device that displays an identification image generated by the aforementioned medical image processing device, The aforementioned medical observation device is The microscope unit for imaging the subject, A support part that rotatably supports the microscope part around multiple axes that are different from each other, The system includes a posture detection unit that detects the posture of the support portion, The aforementioned medical image processing device is The image acquisition unit acquires the captured image, A determination unit that determines whether or not the imaging field of view in the medical observation device has moved, The system includes an identification image generation unit capable of generating an identification image that makes a specific position within a specific region to be displayed on the display device, out of the entire image area of ​​the captured image, identifiable from other positions, The determination unit, The imaging field of view is determined to have moved only when the amount of change in posture per unit time detected by the posture detection unit is greater than 0 and below a specific threshold. The aforementioned identification image generation unit, If the determination unit determines that the imaging field has moved, the identification image is generated. A medical observation system that does not generate the identification image when the determination unit determines that the imaging field of view has not moved.

2. The aforementioned specific location is, The medical observation system according to claim 1, wherein the central position is within the specified region.

3. The aforementioned identification image generation unit, A medical observation system according to claim 1 or 2, which generates an identification image including a frame corresponding to a detection region for calculating an evaluation value used to control the focal position of the imaging unit that generates the aforementioned captured image.

4. The aforementioned identification image generation unit, A medical observation system according to any one of claims 1 to 3, which generates an identification image including a frame corresponding to a detection region for calculating an evaluation value used to control the brightness of the captured image.

5. The system further includes a zoom in / out unit that enlarges or reduces the imaging field of view or the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, The aforementioned identification image generation unit, A medical observation system according to any one of claims 1 to 4, wherein when the scaling unit is scaling by the first zoom magnification, the system generates the identification image including an observation frame that shows the observation range when the scaling unit is scaling by the second zoom magnification.

6. The system further includes a zoom in / out unit that enlarges or reduces the imaging field of view or the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, The aforementioned scaling unit is When zooming in or out at the first zoom magnification, the determination unit switches from the first zoom magnification to the second zoom magnification at the timing when it determines that the imaging field of view has moved, and switches back from the second zoom magnification to the first zoom magnification at the timing when it determines that the imaging field of view has not moved. The aforementioned identification image generation unit, A medical observation system according to any one of claims 1 to 5, wherein the determination unit determines that the imaging field has moved, and generates the identification image corresponding to the second zoom magnification.

7. The system further includes a zoom in / out unit that enlarges or reduces the imaging field of view or the specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, The aforementioned scaling unit is When zooming in or out at the second zoom magnification, the determination unit switches from the second zoom magnification to the first zoom magnification at the timing when it determines that the imaging field of view has moved, and switches back from the first zoom magnification to the second zoom magnification at the timing when it determines that the imaging field of view has not moved. The aforementioned identification image generation unit, A medical observation system according to any one of claims 1 to 5, wherein the determination unit determines that the imaging field has moved, and generates the identification image corresponding to the first zoom magnification.

8. The device further includes a zooming unit that enlarges and reduces the aforementioned specific region by a first zoom magnification and a second zoom magnification higher than the first zoom magnification, The aforementioned scaling unit is When the determination unit determines that the imaging field of view has moved, the first zoom magnification and the second zoom magnification are simultaneously enlarged or reduced, respectively, and when the determination unit determines that the imaging field of view has not moved, the zoom magnification is returned to the original zoom magnification of either the first or second zoom magnification. The aforementioned identification image generation unit, A medical observation system according to any one of claims 1 to 5, wherein, when the determination unit determines that the imaging field has moved, a first identification image is generated which is the identification image corresponding to the first zoom magnification, and a second identification image is generated which is the identification image corresponding to the second zoom magnification.

9. The aforementioned identification image generation unit, A medical observation system according to any one of claims 1 to 8, which generates an identification image including an index that points to a specific location within the specified region.

10. The aforementioned image is Con These are the left-eye and right-eye images, which have parallax between them. The aforementioned identification image generation unit, A medical observation system according to claim 9, wherein, when the determination unit determines that the imaging field has moved, a left-eye identification image is generated, which is the identification image to which the index is added so as to correspond to the depth position of the specific position within the specific region in the entire image area of ​​the left-eye imaging image, and a right-eye identification image is generated, which is the identification image to which the index is added so as to correspond to the depth position of the specific position within the specific region in the entire image area of ​​the right-eye imaging image.

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