Endoscope apparatus for three dimensional measurement for scanning spot light to execute three dimensional measurement

• US 5,436,655 A
• Filed: 07/22/1994
• Issued: 07/25/1995
• Est. Priority Date: 08/09/1991
• Status: Expired due to Term

• Current Assignee: Olympus Optical Corporation Limited (Olympus Corporation)
• Original Assignee: Olympus Optical Corporation Limited (Olympus Corporation)
• Inventors: Hiyama, Keiichi, Hattori, Shinichiro, Kanno, Masahide
• Primary Examiner(s): Britton, Howard W.
• Application Number:
  US08/279,082
• Time in Patent Office: 368 Days
• Field of Search: 348/45, 348/65, 348/68, 348/139, 348/195, 348/197
• US Class Current: 348/45
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/00194 adapted for three-dimensional imaging
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 1/063 for monochromatic or narrow-band illumination
• CPC Class Codes: A61B 5/0062 Arrangements for scanning
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: G02B 23/2476 Non-optical details, e.g. housings, mountings, supports
• CPC Class Codes: G02B 26/103 having movable or deformable optical fibres, light guides or waveguides as scanning elements light guides per se G02B6/00
• CPC Class Codes: G02B 6/04 formed by bundles of fibres G02B6/24 takes precedence

Abstract

Arranged within a measuring-light generating unit of an endoscope apparatus for three dimensional measurement, according to the invention, are measuring means, a lamp for outgoing a normal illuminating light, and a laser for outgoing a measuring light. Connected to the measuring means is a signal line which is connected to a CCD. Further, an illuminating light outgone from the lamp is condensed by a condenser lens, and is incident upon an incident end surface of a light guide. Furthermore, the measuring light outgone from the laser is condensed by the condensing lens, and is incident upon the incident end surface of the image guide. Moreover, the incident end of the image guide is connected to scanning means formed by a piezo-electric element, a speaker (voice coil) or the like through a connecting element. The scanning means is operated whereby the incident end of the image guide is reciprocally moved in a direction perpendicular to an optical axis of the measuring light. The measuring light is a light having extension or spreading. However, a flux of light of the measuring light is extremely thin, and a spot light having minimum resolution that is a single glass fiber forming the image guide is projected onto the subject.

Claims

1. An endoscope apparatus for three dimensional measurement, comprising:

an endoscope having an inserting section inserted into a body cavity;

a light-source unit having measuring spot-light supply means for supplying at least one measuring spot light for three dimensional measurement, and illuminating-light supply means for supplying an illuminating light irradiated over a wide area;

optical transmitting means having an incident end and an outgoing end, said optical transmitting means being inserted in said inserting section for transmitting said measuring light and said illuminating light from said light-source unit to said outgoing end to irradiate said measuring light and said illuminating light to a subject;

scanning means provided adjacent to said incident end of said optical transmitting means, for producing a scanning pattern of a scanning spot light within a plane extending perpendicularly to an optical axis of said measuring spot light without moving said outgoing end of said optical transmitting means according to the scanning pattern;

image pickup means for image-picking-up return lights of said measuring spot light and said illuminating light, irradiated to said subject returned from said subject; and

distance computing means for image-picking-up the return light of said measuring spot light by said image pickup means to compute a distance to said subject.

2. An endoscope apparatus for three dimensional measurement, according to claim 1, wherein said scanning means scans said measuring spot light for a predetermined range within the plane extending perpendicularly to the optical axis of said measuring spot light, within an image pickup period of time of a single field of said image pickup means.

3. An endoscope apparatus for three dimensional measurement, according to claim 1, comprising wide-area irradiating means for irradiating said measuring light to an entire image pickup area of at least said image pickup means.

4. An endoscope apparatus for three dimensional measurement, according to claim 3, wherein said wide-area illuminating means is a prism for bringing an outgoing angle to a wide angle, provided at the outgoing end surface of said optical transmitting means.

5. An endoscope apparatus for three dimensional measurement, according to claim 1, wherein said optical transmitting means includes a measuring spot light transmitting element for transmitting said measuring spot light and an illuminating-light transmitting element for transmitting said illuminating light.

6. An endoscope apparatus for three dimensional measurement, according to claim 5, wherein said measuring spot light transmitting element is an image guide for transmitting an image formed by a plurality of optical fibers.

7. An endoscope apparatus for three dimensional measurement, according to claim 1, wherein said optical transmitting means has a single optical transmitting element for transmitting said measuring spot light and said illuminating light.

8. An endoscope apparatus for three dimensional measurement, according to claim 7, wherein said optical transmitting element is an image guide for transmitting an image formed by a plurality of optical fibers.

9. An endoscope apparatus for three dimensional measurement according to claim 1, wherein said image pickup means comprises at least two solid state imaging devices located a predetermined distance from one another in a distal end of said inserting section.

10. An endoscope apparatus for three dimensional measurement according to claim 9, wherein each said solid state imaging device comprises a charge-coupled device.

11. An endoscope apparatus for three dimensional measurement according to claim 1, wherein said scanning means provides a reciprocating movement to said incident end of said optical transmitting means to produce the scanning of said scanning spot light.

12. An endoscope apparatus for three dimensional measurement according to claim 11, wherein the reciprocating movement is in said plane extending perpendicularly to the optical axis of said measuring spot light.

13. An endoscope apparatus for three dimensional measurement, according to claim 1, wherein said scanning means is provided with scanning-range control means for varying a scanning range of said measuring spot light.

14. An endoscope apparatus for three dimensional measurement, according to claim 13, wherein said scanning-range control means changes a scanning range of said measuring spot light on the basis of the image pickup signal from said image pickup means.

15. An endoscope apparatus for three dimensional measurement, according to claim 13, including:

display means for generating an image signal on the basis of the image pickup signal from said image pickup means obtained by said illuminating light, to display an image of the subject; and

indicating means for indicating a scanning range of said measuring spot light, on the basis of the image of said subject displayed on said display means,

wherein said scanning-range control means changes a scanning range of said measuring spot light, on the basis of an indicating signal from said indicating means.

16. An endoscope apparatus for three dimensional measurement, according to claim 1, comprising:

a plurality of position markers provided on the incident end surface of said optical transmitting means or at a position adjacent to said incident end surface;

position-marker detecting means for detecting said position markers; and

position regulating means for regulating a relative position between the incident end surface of said optical transmitting means and said measuring-light supply means such that said position markers detected by said position marker detecting means are within a reference position set beforehand.

17. An endoscope apparatus for three dimensional measurement, according to claim 16, wherein said position marker detecting means image-pickups the light from said position markers to detect the position markers.

18. An endoscope apparatus for three dimensional measurement, according to claim 17,

wherein said position markers are reflecting elements reflecting said measuring spot light or said illuminating light, and

wherein said position marker detecting means detects the lights from said reflecting elements.

19. An endoscope apparatus for three dimensional measurement, according to claim 17,

wherein said position markers are light emitting elements;

and

wherein said position marker detecting means detects a light from said light emitting elements.

20. An endoscope apparatus for three dimensional measurement, according to claim 1, wherein said optical transmitting means is connected to said light source unit by one connector provided adjacent to said incident end.

21. An endoscope apparatus for three dimensional measurement, according to claim 20, wherein said optical transmitting means has a measuring spot light transmitting element for transmitting said measuring spot light, and an illuminating-light transmitting element for transmitting said illuminating light.

22. An endoscope apparatus for three dimensional measurement, according to claim 20, wherein said optical transmitting means has a single optical transmitting element for transmitting said measuring spot light and said illuminating light.

23. An endoscope apparatus for three dimensional measurement, according to claim 21 or 22, including focal-position control means for variably controlling a focal position of said measuring spot light emanating from said optical transmitting means.

24. An endoscope apparatus for three dimensional measurement, according to claim 22, including supplied-light separating means for separating said measuring light and said illuminating light supplied to said optical transmitting element.

25. An endoscope apparatus for three dimensional measurement, according to claim 1, comprising irradiating-strength control means for controlling an irradiating strength of at least said measuring spot light, on the basis of an image pickup signal produced by said image pickup means.

26. An endoscope apparatus for three dimensional measurement, according to claim 25, including illuminating-strength control means for controlling an illuminating strength of said illuminating light, by the image pickup signal produced by said image pickup means.

27. An endoscope apparatus for three dimensional measurement, according to claim 26, wherein said illuminating-strength control means controls the illuminating strength of said measuring spot light, on the basis of the image pickup signal of said illuminating light produced by said image pickup means.

28. An endoscope apparatus for three dimensional measurement, according to claim 26, wherein said illuminating-strength control means controls the illuminating strength of said measuring spot light, on the basis of the image pickup signal of said measuring spot light produced by said image pickup means.

29. An endoscope apparatus for three dimensional measurement, according to claim 26, wherein said illuminating-strength control means is provided with peak hold means for holding a peak of the image pickup signal obtained by said image pickup means, and measuring-light supply control means for controlling said measuring-light supply means, on the basis of an output from said peak hold means.

30. An endoscope apparatus for three dimensional measurement, according to claim 26, wherein said measuring-light supply control means is provided with comparator means for comparing the output from said peak hold means with a predetermined value, and control-signal generating means for generating a control signal for controlling said measuring-light supply means, on the basis of an output from said comparator means.

31. An endoscope apparatus for three dimensional measurement, according to claim 1, comprising separating means for separating an image pickup signal due to said measuring spot light, from an image pickup signal obtained by said image pickup means.

32. An endoscope apparatus for three dimensional measurement, according to claim 31,

wherein said measuring-light supply means is provided with characteristic changing means for supplying a plurality of measuring spot lights and for changing respective characteristics of said plurality of measuring spot lights emanated from the outgoing end surface of said optical transmitting means, and

wherein said separating means separates image pickup signals due to said plurality of measuring spot lights, from the image pickup signal from said image pickup means, in accordance with the characteristics of said plurality of measuring spot lights due to said characteristic changing means.

33. An endoscope apparatus for three dimensional measurement, according to claim 31,

wherein said illuminating-light supply means supplies intermittently the illuminating light to said optical transmitting means,

wherein said measuring spot light supply means supplies said measuring spot light to said optical transmitting means during a period of time said illuminating light is not supplied, and

wherein said separating means separates the image pickup signal due to said measuring spot light, from the image pickup signal produced by said image pickup means, on the basis of timing at which said measuring light spot is irradiated.

34. An endoscope apparatus for three dimensional measurement, according to claim 31,

wherein said illuminating-light supply means supplies the illuminating light continuously to said optical transmitting means,

wherein said measuring spot light supply means supplies the measuring light intermittently to said optical transmitting means, and

wherein said separating means subtracts an image pickup signal except for the illuminating period of time of the measuring spot light, from the image pickup signal during the illuminating period of time of said measuring light spot, thereby separating said image pickup signal due to said measuring spot light, from the image pickup signal produced by said image pickup means.

35. An endoscope apparatus for three dimensional measurement, according to claim 31,

wherein said measuring spot light supply means supplies a plurality of measuring spot lights,

wherein said endoscope apparatus comprises characteristic changing means for changing characteristics of said plurality of measuring spot lights supplied from said measuring spot light supply means, and

wherein said separating means separates said plurality of measuring spot lights from the image pickup signal produced by said image pickup means, in accordance with the characteristics of said plurality of measuring spot lights due to said characteristic changing means.

36. An endoscope apparatus for three dimensional measurement, according to claim 31,

wherein said illuminating-light supply means supplies a plurality of illuminating lights different in wavelength from each other, intermittently to said optical transmitting means,

wherein said measuring spot light supply means supplies said measuring spot light to said optical transmitting means, during the fact that the plurality of illuminating lights different in wavelength from each other are not supplied, and

wherein said separating means separates the image pickup signal due to said measuring spot light, from the image pickup signal produced by said image pickup means, on the basis of timing at which said measuring spot light is irradiated.

37. An endoscope apparatus for three dimensional measurement, according to claim 36, wherein the plurality of illuminating lights different in wavelength from each other, supplied by said illuminating separating means are R, G and B illuminating lights.

38. An endoscope apparatus for three dimensional measurement, according to claim 31,

wherein said illuminating-light supply means supplies a plurality of illuminating lights different in wavelength from each other, to said optical transmitting means,

wherein said measuring spot light supply means supplies said measuring spot light having a predetermined light quantity, to said optical transmitting means, every illuminating period of time corresponding to each of the plurality of illuminating lights different in wavelength from each other, and

wherein said separating means separates image pickup signals due to said plurality of measuring spot lights different in wavelength from each other, and the image pickup signal due to said measuring spot lights having the predetermined light quantity from the image pickup signal produced by said image pickup means.

39. An endoscope apparatus for three dimensional measurement, according to claim 38,

wherein said plurality of illuminating lights different in wavelength from each other, supplied by said illuminating separating means, are R, G and B illuminating lights,

wherein said measuring spot light supply means supplies said measuring spot light to said optical transmitting means, except for an illuminating period of time corresponding to not more than two of said R, G and B illuminating lights, and

wherein said separating means subtracts an image pickup signal having a color to which said measuring spot light is not supplied to said optical transmitting means, of said R, G and B illuminating lights, from the image pickup signal having a color in which the measuring spot light is supplied to said optical transmitting means, of said R, G and B illuminating lights, thereby separating said image pickup signal due to said measuring spot light, from the image pickup signal produced by said image pickup means.

40. An endoscope apparatus for three dimensional measurement, comprising:

an endoscope having an inserting section inserted into a body cavity;

a light source unit having measuring-light supply means for supplying a measuring light for three dimensional measurement, and illuminating-light supply means for supplying an illuminating light irradiated in a wide area manner;

optical transmitting means having an incident end and an outgoing end, said optical transmitting means being inserted in said inserting section for transmitting said measuring light and said illuminating light from said light source unit to said outgoing end to irradiate said measuring light and said illuminating light to a subject;

scanning means provided adjacent to said incident end of said optical transmitting means to cause scanning movement in a predetermined pattern of a spot light of said measuring light within a plane extending perpendicularly to an optical axis of said measuring spot light without moving said outgoing end of said optical transmitting means according to the predetermined pattern;

image pickup means for image-picking-up return lights of said measuring light and said illuminating light irradiated to said subject, from said subject; and

distance computing means for image-picking-up the return light of said measuring light by said image pickup means to compute a distance to said subject.

41. An endoscope apparatus for three dimensional measurement, according to claim 40, including irradiation-strength control means for controlling an illuminating strength of said illuminating light, on the basis of the image pickup signal produced by said image pickup means.

42. An endoscope apparatus for three dimensional measurement, according to claim 41, wherein said irradiation-strength control means controls an irradiation strength of said measuring spot light, by an image pickup signal of said measuring illuminating light obtained by said image pickup means.

43. An endoscope apparatus for three dimensional measurement, according to claim 41, wherein said irradiation-strength control means controls the irradiation strength of said measuring spot light, by an image pickup signal of said measuring spot light obtained by said image pickup means.

44. An endoscope apparatus for three dimensional measurement, according to claim 41, wherein said irradiation-strength control means is provided with peak hold means for holding a peak of the image pickup signal obtained by said image pickup means, and measuring-light supply control means for controlling said measuring-light supply means, on the basis of an output from said peak hold means.

45. An endoscope apparatus for three dimensional measurement, according to claim 44, wherein said measuring-light supply control means is provided with comparator means for comparing the output from said peak hold means with a predetermined value, and control-signal generating means for generating a control signal for controlling said measuring-light supply means, on the basis of an output from said comparator means.