EP0845187A2 - Systeme d'endoscopie video - Google Patents

Systeme d'endoscopie video

Info

Publication number
EP0845187A2
EP0845187A2 EP96937981A EP96937981A EP0845187A2 EP 0845187 A2 EP0845187 A2 EP 0845187A2 EP 96937981 A EP96937981 A EP 96937981A EP 96937981 A EP96937981 A EP 96937981A EP 0845187 A2 EP0845187 A2 EP 0845187A2
Authority
EP
European Patent Office
Prior art keywords
image
endoscope
processing unit
video system
image processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP96937981A
Other languages
German (de)
English (en)
Inventor
Klaus M. Irion
Karl Heinz Strobl
Uwe Faust
David Chatenever
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Karl Storz SE and Co KG
Original Assignee
Karl Storz SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE19530401A external-priority patent/DE19530401A1/de
Priority claimed from DE19530453A external-priority patent/DE19530453A1/de
Application filed by Karl Storz SE and Co KG filed Critical Karl Storz SE and Co KG
Publication of EP0845187A2 publication Critical patent/EP0845187A2/fr
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/26—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes using light guides
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/40—Picture signal circuits
    • H04N1/401—Compensating positionally unequal response of the pick-up or reproducing head
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S600/00—Surgery
    • Y10S600/921—Manipulating image characteristics

Definitions

  • the invention relates to an endoscopy video system according to the preamble of claim 1 and to a method for calibrating such a video system.
  • Endoscopy video systems of this type are used in the technical as well as in the medical field for a wide variety of applications.
  • An endoscopy video system with the features of the preamble of claim 1 is known for example from DE-A-32 04 316.
  • the endoscopy video system described in this document has an endoscope with an illumination fiber bundle and an imaging fiber bundle.
  • the illuminating fiber bundle directs the light from an illuminating device to a light exit opening at the distal end of the endoscope.
  • An endoscope objective arranged at the distal end of the endoscope depicts the object field illuminated by the illumination device.
  • This image of the object field transmits the imaging fiber bundle to an electronic image sensor, which is arranged proximally and, for example, a vidicon tube or a charge-coupled device, such as a CCD chip.
  • fiber bundles that are “ordered” or “coherent” are used as imaging fiber bundles in endoscopes. This means that the light entry surface and
  • the imaging fiber bundle is now an incoherent bundle; this means that the entry-side end and the exit-side end of each fiber are not arranged in the same place in the image plane of the endoscope lens and the object plane of the image sensor, so that the transmitted image is "mixed up" in the object plane of the image sensor.
  • the imaging fiber bundle is now an incoherent bundle; this means that the entry-side end and the exit-side end of each fiber are not arranged in the same place in the image plane of the endoscope lens and the object plane of the image sensor, so that the transmitted image is "mixed up" in the object plane of the image sensor.
  • a decoder or an image processing unit corrects the "incoherent" image signal of the image recorder such that the image displayed on a monitor, for example, is again "coherent".
  • the invention is based on the knowledge that a generic video system not only allows the correction of possible incoherences of the imaging fiber bundle, but also (largely) eliminates further image errors typical of endoscopic video systems.
  • the invention is based in particular on the knowledge that an essential cause for image falsifications or irregularities is the illumination of the object field by the illumination device and the subsequent fiber optic bundle.
  • the invention is therefore based on the object of developing a generic endoscopy video system in such a way that further image falsifications or irregularities typical of endoscopy are eliminated.
  • the necessary corrections of the image of the video system are not determined and stored before the endoscope is assembled, but rather during operation of the endoscopy video system with all the components required for this and preferably with the lighting device, which will later also be used to record the endoscopic images is used.
  • the image processing unit has a "learning mode” and a “recording mode".
  • the "learning mode” the image of at least one known test object is
  • the image processing unit compares the output signal of each image element of the image sensor with a predefined target output signal for this test object, determines the change in intensity and color of the recorded image compared to the test object for each image element, which changes due to irregularities the illumination, due to the edge drop of the lens as well as transmission errors of the image relay, and due to sensitivity non-uniformities of the image sensor, and determines from this a correction value assigned to the respective image element.
  • the image processing unit corrects the respective output signal of each picture element by means of the correction value assigned to this picture element.
  • the endoscopy video system according to the invention thus allows the correction of errors in the overall system and not only of individual components of the system, such as, for example, disorder in the imaging fiber bundle, as is the case with the system known from DE-A-32 04 316.
  • SPARE BLADE Due to the focusing of the lamp filament, the non-uniform arrangement and design of the optical fibers in the optical cable between the illumination device and the endoscope, and the uneven arrangement and design of the optical fibers in the endoscope and the arrangement of the distal light exit opening (s), the object field of the Endoscope objective illuminated with a radial light distribution, the random inhomogeneities are superimposed.
  • Various patent applications describe that a more homogeneous light distribution can be achieved by an improved distal-side light guide arrangement. Using these known arrangements, the illumination can be made more homogeneous, but uniform illumination cannot be achieved.
  • the image relay system also has an edge drop when using relay lens systems or gradient lenses (claim 4).
  • imaging fiber bundles (claim 5) there are additional inhomogeneities caused by broken fibers or fibers with reduced overall transmission or different spectral transmission compared to the majority of the fibers.
  • the individual image elements of the image sensor can have different sensitivities.
  • test objects are inserted into the object field of the endoscope.
  • These test objects can be a (white) backlit screen, a homogeneous gray or white panel, homogeneous color panels, in particular with pure primary colors and / or panels, which allow the determination of the distortion of the overall system consisting of lens, image relay and image sensor ( Claim 8). These panels are arranged so that they are perpendicular to the viewing direction of the endoscope and have a certain distance.
  • test cavity is therefore preferably provided according to claim 9, into which the distal end of the endoscope is inserted in the "learning mode" and in which the test object or objects (test panels) are arranged each of which can be inserted into the object field of the endoscope objective.
  • the test panel arranged in the object field of the objective is illuminated by the light emerging from the light exit opening or openings at the distal end of the endoscope, preferably using the illumination device and the light guide cable, which are also used later for the acquisition of endoscopic images.
  • a matt screen illuminated homogeneously from behind is preferably used as the test panel.
  • the image processing unit calculates a two-dimensional filter matrix from the image of each test panel; For the imaging of a homogeneous gray or white plate, the filter matrix is basically inverse to the "endoscope white image".
  • the image processing unit compensates for the radially decreasing brightness distribution of the endoscopic image by an image normalization, which is carried out over all image elements. This gives you a largely uniform, bright picture.
  • the image processing unit can amplify the signals from picture elements which are subjected to fibers with relatively high transmission losses in such a way that the brightness of these picture elements corresponds to the brightness of neighboring picture elements (claim 13).
  • the image processing unit can individually amplify the signals of the individual image elements or groups of image elements in such a way that irregularities in the illumination of the object field are compensated for.
  • the image processing unit can change the color information of the signals of picture elements which are subjected to fibers with spectral transmission properties that deviate from the majority of the fiber bundle, by means of a conversion in the color space in such a way that the color information of the picture element corresponds to that of neighboring picture elements ( Claim 14).
  • the color compensation can be carried out via the transformation RGB to HSI with H: color value, S: color saturation and I: intensity.
  • H color value
  • S color saturation
  • I intensity
  • the image processing unit "learns" in the learning mode to correct the endoscopic image by electronically influencing individual image elements in such a way that the transmission errors which arise due to faulty transmission properties of the overall system and in particular of the fiber bundle can no longer be visually recognized allow not only the correction or compensation of differences in brightness, but also of other "image errors".
  • the image processing unit not only changes the output signals of the individual image elements, but also "sorts" the image elements in part.
  • test board on which, for example, a grid is located, allows the determination of the overall system.
  • the image processing unit can then compensate for the distortion of the overall system by means of a partial image shift or image transformation - carried out via all image elements (claim 21).
  • REPLACEMENT BLA ⁇ (RULE 26) thus the failure of individual fiber elements. In principle, only a very small proportion of the image information is lost as a result; Due to the very high contrasts between the image-transmitting fibers and the defective fiber (black), such image drops subjectively interfere very strongly.
  • the image processing unit replaces the signals from image elements which are acted upon by defective fibers by the image information of adjacent image elements which are acted upon by non-defective fibers.
  • the electronic image information of the defective fiber elements must first be localized. This can also be done by mapping a homogeneous test object. This makes it possible to eliminate subjectively disturbing image errors that occur during the life of a video endoscope by simply switching over to the learning mode and recording a test board.
  • the image processing unit replaces the signals of these picture elements with the picture information of neighboring picture elements which are acted upon by light-transmitting fibers.
  • Endoscope lenses generally do not have an adjustable aperture. Exposure control is therefore carried out by adjusting the lamp power of the lighting device and / or by changing the shutter speed of the image sensor.
  • the image sensor control unit electronically forms the different shutter speeds of the image sensor
  • REPLACEMENT BLA ⁇ (RULE 26) by varying the "photon integration time" over the individual picture elements.
  • the spectrum of the light emitted by the lamp also changes in part. Aging can also change the spectrum of the light emitted by a lamp and in particular by a gas discharge lamp.
  • the image processing unit can, according to claim 20, compensate for the color changes in the image which result from fluctuations in the color temperature of the lamp (s) of the lighting device which cause the different power loads and / or aging of the lamp (s).
  • the image processing unit calculates a correction function in the learning mode and a correction function in the learning mode, via which the disturbing network lines (grid) occurring in the image are made invisible, which are caused by the opaque fiber sheaths (Gladding) individual fibers of the fiber bundle are generated.
  • These network lines represent a periodic 2-dimensional pattern in the spatial area, which is compensated for by a sinc function as a correction function in the frequency area.
  • the image processing unit electronically changes the arrangement of the individual image elements such that the reproduced image corresponds to the image of the fiber bundle on the entry side (claim 17).
  • REPLACEMENT BLA ⁇ (RULE 26)
  • the assignment of the individual image elements of the image recorder to the original image locations, ie the actual-target assignment takes place in the learning mode in that an image is taken from a test panel which allows the target location of each image element to be clearly assigned, and that the image processing unit determines the assignment of the actual locations to the target locations.
  • the image processing unit creates the assignment based on this test image and stores the assignment, for example in the form of a table.
  • the image processing unit determines the correction values according to claim 22 in association with the bending of the endoscope .
  • the image processing unit provided in the endoscopy video system according to the invention can also generate an electronic image field diaphragm that is smaller than the endoscope image field diaphragm, so that the disturbing drop is no longer visible directly at the edge of the image (claim 23). Furthermore, the image processing unit can subject the image to further manipulations, such as electronic image erection, electronic mirroring (reverse video), etc.
  • the invention can be used in a wide variety of endoscope types:
  • REPLACEMENT BLA ⁇ (RULE 26) It is thus possible for the image sensor to be arranged distally, for example in a type of probe, and for the image of the endoscope lens to be taken directly or via an optical adjustment system which, however, does not serve as an image relay (claim 2). Of course, it is also possible to arrange the image sensor proximally.
  • the image recorder can be "permanently" installed in the endoscope or can be installed in a known manner in a video camera that is flanged to the eyepiece of the endoscope. In this case in particular, the design according to the invention, which allows calibration before each exposure, is of particular advantage.
  • the image relay required for a proximal arrangement of the image sensor, which forwards the image generated by the endoscope objective to the proximal end of the endoscope, can be a relay lens system, which in particular consists of rod lens systems and / or elements with an inhomogeneous refractive index, or an imaging one Have fiber bundles, as is used in flexible or thin-caliber rigid endoscopes.
  • a wide variety of recorders including recording tubes, are suitable as image recorders. However, it is particularly preferred if the image recorder has at least one CCD chip, since in such a sensor the number of sensor elements is greater than the number of fibers in the fiber bundle.
  • Fig. 1 shows an embodiment of the invention
  • an endoscope 1 shows an endoscope 1, which consists of a flexible insertion part 2 and a proximal part 3.
  • the introductory part 2 can be steered or angled in a known manner by means of trains (not shown), etc., by means of operating elements (also not shown).
  • an endoscope objective 4 which, in the exemplary embodiment shown, is a "foresight objective" without restricting the general applicability of the invention, i.e. the optical axis of the objective coincides with the longitudinal axis of the insertion part 2.
  • lenses can also be used within the scope of the invention, the optical axis of which includes an angle with the longitudinal axis of the insertion part 2.
  • the image of the objective 4 transmits an imaging fiber bundle 5 to the proximal end, so that it can be viewed with an eyepiece 6 which is provided on the proximal part 3.
  • an illumination device 7 is provided with a lamp, not shown, the light of which guides a light guide cable 8 to a light connection 9, which is connected to the proximal
  • REPLACEMENT BLA ⁇ (RULE 26) Part 3 is attached.
  • the light connection 9 is connected via light fiber bundles 10 to light exit openings 11 at the distal end of the endoscope 1.
  • the light emerging from the light exit openings 11 illuminates the object field of the endoscope objective 4.
  • a video camera 13 is attached to the eyepiece flange 6 'by means of a known flange 12, which has a video lens 14 and - likewise without restricting the general applicability of the invention - a CCD chip 15 as an image sensor.
  • a CCD chip 15 as an image sensor.
  • other image recorders or several chips can also be used for the different basic colors.
  • the video camera 13 is controlled by a control unit 16, which also generates a conventional video output signal, for example an RGB signal.
  • the control unit 16 is connected to the lighting device 7 via a control line 17 and controls the light output emitted by the lighting device 7 for the purpose of regulating the exposure.
  • Talking endoscopes and video units are, for example, manufactured and sold in series by the applicant of this application, Karl Storz GmbH & Co.
  • the video signal output connection of the control device 16 is connected via a line 18 to the input connection of an image processing unit 19 which corrects and processes the video output signal and displays it in particular on a monitor 20 in real time.
  • Corresponding image processing units are also known and can, for example, be a PC after in-
  • REPLACEMENT BLA ⁇ (RULE 26) have industry standard or a special image processor.
  • the applicant of the present application also supplies a suitable image processing unit under the trademark “TwinVideo”, which performs image rotations and reflections in this device.
  • the signal present on the control line 17 is also present at the image processing unit.
  • the image processing unit allows real-time image processing with prior knowledge of the image errors.
  • the image transmission properties to be corrected are electronically recognized and inverse image operations are calculated and stored.
  • the image processing unit 18 thus has a “learning mode” and a “recording mode”.
  • the image of at least one known test object is recorded, which is preferably illuminated by the lighting device.
  • the image processing unit 18 compares the output signal of each image element of the image sensor 15 with a predetermined target output signal for this test object, determines from this for each image element the change in intensity and color of the recorded image compared to the test object, which changes due to irregularities in the illumination , due to the edge drop of the lens as well as transmission errors of the image relay, and due to sensitivity irregularities of the image sensor
  • REPLACEMENT BLA ⁇ (RULE 26) result and determines from this a correction value assigned to the respective image element.
  • the image processing unit 18 corrects the respective output signal of each picture element by means of the correction value assigned to this picture element.
  • real-time image processing with priori knowledge of the image errors real-time image processing with adaptive error correction is also possible, which can also be superimposed on real-time image processing with priori knowledge of the image errors.
  • the endoscope image of a white, homogeneous, backlit focusing screen is acquired without endoscope illumination.
  • the image of a homogeneous white surface that is perpendicular to the viewing direction of the endoscope is captured.
  • a two-dimensional filter matrix is calculated that is inverse to the "endoscope white image".
  • averaging is carried out over a number of endoscope white images.
  • REPLACEMENT BLA ⁇ (RULE 26) The procedure for substituting pixels in fiber defects, such as occur due to signs of aging in the image guide bundle, is as follows:
  • the outlier detection occurs, which is caused by broken fibers of the bundle 5. All black pixels are detected using an intensity threshold criterion. All pixels that are below a certain threshold in terms of intensity are replaced by the "mean maximum" of the active pixels within a certain search area. With this procedure, fiber interspaces which act on individual picture elements or pixels can also be detected.
  • the execution of the so-called learning mode is essential for the correction of the image errors.
  • the test board in particular when a distortion correction is carried out, the test board must be arranged at a certain distance from the distal end surface of the endoscope lens at a right angle to the lens axis.
  • a test cavity is used (FIG. 2), in which a number of test panels 21 are arranged, for example, on a recon lens 22 such that they can be brought into the object field of the objective 4 of the endoscope 1 one after the other.
  • the endoscope 1 which is of the foresight type, is inserted into an opening 23 1 assigned to this endoscope type.
  • REPLACEMENT BLA ⁇ (RULE 26) Existing openings 23 2 for side-view endoscopes and 23 3 for retro-endoscopes. This ensures that the viewing direction of the endoscope is arranged exactly perpendicular to the respective test panel. The test cavity thus allows the learning mode for endoscopes to be carried out with different viewing directions. Stops 24 in the openings ensure that the predetermined distance is exactly maintained.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Surgery (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Picture Signal Circuits (AREA)

Abstract

Ce système d'endoscopie vidéo comprend un endoscope, un dispositif d'éclairage dont la lumière est guidée par une fibre optique à un ou plusieurs orifices de sortie de lumière à l'extrémité distale de l'endoscope, un objectif endoscopique monté à l'extrémité distale de l'endoscope qui reproduit le champ éclairé par le dispositif d'éclairage, un dispositif électronique de prise de vues pourvu d'une pluralité d'éléments d'image qui enregistrent l'image reproduite par l'objectif et qui sont commandés par une unité de commande du dispositif de prise de vues, et une unité de traitement d'images qui corrige et traite les signaux d'images générés par le dispositif de prise de vues et en particulier les représente en temps réel sur une unité de visionnement, tel qu'un moniteur. L'unité de traitement d'images a un mode d'apprentissage et un mode d'enregistrement. Dans le mode d'apprentissage, l'image d'au moins un objet de référence connu éclairé par le dispositif d'éclairage est enregistrée. L'unité de traitement de signaux compare ensuite le signal de sortie de chaque élément d'image généré par le dispositif de prise de vues avec un signal nominal prédéterminé de sortie pour ledit objet de référence, puis détermine pour chaque élément d'image, sur la base de cette comparaison, les changements d'intensité lumineuse et de couleur de l'image enregistrée par rapport à l'objet de référence, que ces changements soient dus à un éclairage irrégulier, à un manque de netteté aux bords de l'objectif, à des défauts de transmission de la fibre optique ou à des irrégularités de la sensibilité du dispositif de prise de vues, et en dérive une valeur de correction pour chaque élément d'image. Dans le mode d'enregistrement, l'unité de traitement d'images corrige le signal de sortie de chaque élément d'image au moyen de la valeur de correction associée audit élément d'image.
EP96937981A 1995-08-17 1996-08-19 Systeme d'endoscopie video Ceased EP0845187A2 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE19530401A DE19530401A1 (de) 1995-08-17 1995-08-17 Flexibles Endoskop
DE19530401 1995-08-17
DE19530453A DE19530453A1 (de) 1995-08-18 1995-08-18 Endoskopie-System
DE19530453 1995-08-18
PCT/DE1996/001540 WO1997007627A2 (fr) 1995-08-17 1996-08-19 Systeme d'endoscopie video

Publications (1)

Publication Number Publication Date
EP0845187A2 true EP0845187A2 (fr) 1998-06-03

Family

ID=26017809

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96937981A Ceased EP0845187A2 (fr) 1995-08-17 1996-08-19 Systeme d'endoscopie video

Country Status (4)

Country Link
US (1) US6190308B1 (fr)
EP (1) EP0845187A2 (fr)
JP (1) JPH11510973A (fr)
WO (1) WO1997007627A2 (fr)

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WO1997007627A3 (fr) 1997-04-03
WO1997007627A2 (fr) 1997-02-27
US6190308B1 (en) 2001-02-20
JPH11510973A (ja) 1999-09-21

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