KR101503891B1 - Endoscope system and subject observation method therewith - Google Patents

Abstract

The present invention relates to an endoscopic guide comprising an illumination unit arranged at one end of an endoscope guide for projecting light onto a subject, an infrared light projecting unit for projecting infrared light to the subject, and an infrared light projecting unit for projecting the subject from the illuminating unit and the infrared light projecting unit, An endoscope system including an image sensor unit that generates an electric signal using reflected light can be provided. In the endoscope system of the present invention, the image sensor unit includes a filter array including at least one visible light passage filter for passing visible light reflected from a subject and at least one infrared light passage filter for passing infrared light, And a plurality of light-sensitive elements for generating a first electrical signal in accordance with characteristics of light and generating a second electrical signal according to characteristics of light passing through the infrared light-passing filter. By using the present invention, the state of the subject can be grasped more accurately. In particular, the image sensor unit and the endoscope guide can be realized in a small size. In addition, the influence of heat generated in the infrared light source unit on the subject can be minimized.

Description

[0001] ENDOSCOPE SYSTEM AND SUBJECT OBSERVATION METHOD THEREWITH [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope system, and more particularly, to an endoscope system using a time-of-flight type depth camera, and a method of observing a subject using the endoscope system.

Endoscopy systems are used to observe areas that are not visible to the human body, such as organs inside the body or the interior of objects that can not be destroyed. In order to insert the endoscope guide included in the endoscope system into a narrow space, components such as illumination, an image sensor, and the like are disposed on a narrow area of about 70 mm ² . Conventional endoscopic systems were used to acquire two-dimensional images of a subject and to observe the state of the subject based on the acquired images. However, when the two-dimensional image is used, it may be difficult to accurately grasp the state of the subject. For example, when the color represented by the two-dimensional image is distorted by the shadow, or when the brightness of the two-dimensional image is influenced by the degree of the light projected from the illumination reaches the subject, It is difficult to grasp.

In recent years, a technique of acquiring a three-dimensional image using a depth camera has been utilized. The depth camera is used to obtain depth data corresponding to the distance between the camera and the object. When a depth camera is used, an image representing a real space can be obtained with three-dimensional data. Therefore, using a depth camera can overcome some limitations of 2D images.

There are various methods for acquiring depth data, and a method using a binocular camera is known. In this method, the distance between the camera and the object is measured based on the data obtained by photographing one object with two cameras. However, according to this method, two cameras are required, which causes a problem that the volume of the apparatus increases. Further, in order to acquire data for decoding an image according to this method, many operations are required. Furthermore, a separate mechanism such as a polarizing lens is needed to properly view the images photographed according to this method. That is, it is difficult to adopt a method of acquiring depth data using a binocular camera in an endoscopic system which must be implemented in a small size and perform fast calculation.

An endoscope system using a time-of-flight (Depth Camera) depth camera and a method of observing a subject using the endoscope system are provided. In particular, in order to reduce the size of the image sensor unit included in the endoscope system, at least one visible light passage filter and at least one infrared light passage filter are arranged on the same filter array. Further, in order to reduce the size of the endoscope guide included in the endoscope system and solve the heat generation problem, the infrared light source unit that emits infrared light for measuring the distance between the subject and the image sensor unit is disposed outside the endoscope guide.

An endoscope system according to an embodiment of the present invention includes: an illumination unit disposed at one end of an endoscope guide to project light onto a subject; An infrared light projecting unit disposed at one end of the endoscope guide for projecting infrared light to the subject; And an image sensor unit which is disposed at one end of the endoscope guide and generates an electric signal by using the light projected from the illuminating unit and the infrared light projecting unit to the subject and reflected from the subject. In this embodiment, the image sensor unit comprises: a filter array including at least one visible light passage filter for passing visible light reflected from the inspected object and at least one infrared light-passing filter for passing reflected infrared light from the inspected object; And a plurality of photosensitive elements for generating a first electrical signal according to characteristics of light having passed through the at least one visible light passage filter and generating a second electrical signal according to characteristics of light passing through the at least one infrared light passage filter Device array.

An endoscope system according to an embodiment of the present invention includes an infrared light transmitting part connected to an infrared light projecting part at one end and extending in the other end direction of an endoscope guide at one end of an endoscope guide along an inner area of the endoscope guide; And an infrared light source unit connected to the other end of the infrared light transmitting unit and disposed outside the endoscope guide to emit infrared light and provide infrared light to the infrared light projecting unit through the infrared light transmitting unit.

In one embodiment of the present invention, the infrared light source unit is a laser generation module that generates a laser having a frequency characteristic corresponding to a pass band of at least one infrared light-transmitting filter, and the infrared light transmitting unit converts the generated laser into an infrared light- Lt; / RTI > In this embodiment, the infrared light projecting portion may include a diffractive optical element that converts the laser transmitted through the optical fiber into a laser having a predetermined spatial distribution pattern.

The endoscope system according to an embodiment of the present invention may further include an image processing unit for generating three-dimensional data of the subject based on the generated first electric signal and the generated second electric signal. In this embodiment, the image processing unit includes a color data processing unit for performing an operation on the color information of the subject based on the generated first electric signal; A depth data processing unit for performing an operation on distance information between the subject and the image sensor unit based on the generated second electrical signal; And a data matching processing unit for generating three-dimensional data by matching the operation result of the depth data processing unit with the operation result of the color data processing unit.

The endoscopic system according to an embodiment of the present invention may further include a display interface for performing interfacing between the image processing unit and the display device so that an image decoded by the generated three-dimensional data is output to the display device.

According to another embodiment of the present invention, there is provided a method of observing a subject using an endoscope, comprising the steps of: projecting visible light to a subject and projecting infrared light to the subject using an infrared light source disposed outside the endoscope guide; A first electric signal is generated in accordance with a characteristic of light that is reflected from the subject and passed through at least one visible light passage filter included in the image sensor unit disposed at one end of the endoscope guide, Generating a second electrical signal according to characteristics of the light passing through the at least one infrared light-passing filter; And generating three-dimensional data on the subject based on the generated first electric signal and the generated second electric signal.

In another embodiment of the present invention, the infrared light projected onto the subject may be a laser having a frequency characteristic corresponding to a passband of the at least one infrared light-transmitting filter. In this embodiment, the infrared light projected on the inspected object may be a laser which has been passed through the diffractive optical element and converted so as to have a predetermined spatial distribution pattern.

In another embodiment of the present invention, generating the three-dimensional data comprises: performing a first operation on the color information of the subject based on the generated first electrical signal; Performing a second calculation on distance information between the subject and the image sensor unit based on the generated second electrical signal; And generating three-dimensional data by matching the result of the first operation and the result of the second operation.

According to another embodiment of the present invention, a method of observing a subject may further include outputting an image decoded by the generated three-dimensional data to a display device.

By using the endoscopic system of the present invention and the method of observing a test object using the endoscopic system, the state of the test object can be grasped more accurately based on the three-dimensional image of the test object. Particularly, according to the embodiment of the present invention, the image sensor unit and the endoscope guide included in the endoscope system can be realized with a small size. Therefore, the endoscope system implemented according to the embodiment of the present invention can be inserted not only inside the human body but also inside a small-sized object. In addition, when the infrared light source unit is disposed outside the endoscope guide according to the embodiment of the present invention, the influence of heat generated in the infrared light source unit on the subject can be minimized.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a conceptual view showing an open end of an endoscope guide according to an embodiment of the present invention. FIG.
Fig. 2 is a conceptual diagram showing components that can be disposed at one end of an endoscope guide of an endoscope system according to an embodiment of the present invention.
3 to 5 are conceptual diagrams for explaining a structure that the image sensor unit of the embodiment of the present invention can have.
6 is a conceptual diagram illustrating components that may be included in an endoscopic system according to an embodiment of the present invention.
7 is a conceptual diagram for explaining a structure that the infrared light projecting unit of the embodiment of the present invention can have and an operation process of the infrared light projecting unit.
8 is another conceptual diagram illustrating components that may be included in an endoscopic system according to an embodiment of the present invention.
9 is a conceptual diagram for explaining a structure that the image processing unit of the embodiment of the present invention can have and an operation process of the image processing unit.
10 is another conceptual diagram showing components that may be included in an endoscopic system according to an embodiment of the present invention.
11 is a conceptual diagram showing a configuration of an endoscope system according to an embodiment of the present invention.
12 is a flowchart for explaining a method of observing a body to be inspected according to another embodiment of the present invention.
13 is another flowchart for explaining a method of observing a subject according to another embodiment of the present invention.
14 is another flowchart for explaining a method of observing a subject according to another embodiment of the present invention.

The foregoing features and the following detailed description are exemplary of the invention in order to facilitate a description and understanding of the invention. That is, the present invention is not limited to these embodiments, but may be embodied in other forms. The following embodiments are merely examples for the purpose of fully disclosing the present invention and are intended to convey the present invention to those skilled in the art. Thus, where there are several methods for implementing the components of the present invention, it is necessary to make it clear that the implementation of the present invention is possible by any of these methods or any of the same.

It is to be understood that, in the context of this specification, when reference is made to a configuration including certain elements, or when it is mentioned that a process includes certain steps, other elements or other steps may be included. In other words, the terms used herein are for the purpose of describing specific embodiments only, and are not intended to limit the concept of the present invention. Further, the illustrative examples set forth to facilitate understanding of the invention include its complementary embodiments.

The terms used in this specification are meant to be understood by those of ordinary skill in the art to which this invention belongs. Commonly used terms should be construed in a manner consistent with the context of this specification. Also, terms used herein should not be construed as overly ideal or formal meanings unless the meanings are clearly defined. BRIEF DESCRIPTION OF THE DRAWINGS Fig.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a conceptual view showing an open end of an endoscope guide according to an embodiment of the present invention. FIG. The endoscope guide 100 can be inserted into a human body or an object which can not be destroyed. The inner region of the endoscope guide 100 may be hollow so as to allow the optical fiber, the sampling device, the drug, or the surgical instrument to pass through one end 200 and the other end 205 of the endoscope guide 100. The endoscope guide 100 may be made of a material or a shape that can be bent so as to pass through a space having a curvature.

Fig. 2 is a conceptual diagram showing components that can be disposed at one end of an endoscope guide of an endoscope system according to an embodiment of the present invention. The illumination unit 210, the infrared light projecting unit 230, and the image sensor unit 250 may be disposed at one end 200 of the endoscope guide 100. However, the arrangement structure shown in Fig. 2 is an example. The position, size, shape, etc. of each of the illumination unit 210, the infrared light projecting unit 230, and the image sensor unit 250 may be variously changed.

The illumination unit 210 can project light onto the subject. Generally, the endoscope guide 100 is put in an area that can not be directly seen by a person. Therefore, the region into which the endoscope guide 100 is inserted may be a region in which the supply of light is insufficient. The illuminating unit 210 allows the inspected object to be observed by projecting light in an area where the supply of light is insufficient. For example, the illumination unit 210 may be configured with an LED (Light Emitting Diode). As another example, the illumination unit 210 may be a configuration for emitting external light transmitted through the optical fiber. The illumination unit 210 can project light having a frequency characteristic corresponding to the visible light region. That is, the illumination unit 210 can project light that allows the user to grasp the color of the subject.

The infrared light projecting unit 230 can project infrared light to the subject. The infrared light projected from the infrared light projecting unit 230 can be used to obtain depth data corresponding to the distance between the subject and the image sensor unit 250. [ As will be described later, the distance between the subject and the image sensor unit 250 can be measured based on the time taken for the infrared light to be reflected from the subject and returned, the phase shift of the infrared light reflected back, and the like . That is, the endoscope system of the present invention can use a time-of-flight depth camera. Using the acquired depth data, a three-dimensional image of the subject can be obtained.

The image sensor unit 250 can be provided with the light projected from the illuminating unit 210 and the infrared light projecting unit 230 and reflected back from the subject. The image sensor unit 250 can generate an electrical signal using the provided light. The detailed structure of the image sensor unit 250 is mentioned with reference to Figs. 3 to 5. The process of generating the three-dimensional data of the subject based on the electric signal generated by the image sensor unit 250 will be described with reference to FIGS. 8 to 9. FIG.

3 to 5 are conceptual diagrams for explaining a configuration that the image sensor unit of the embodiment of the present invention may have. The image sensor unit 250 may include a filter array 251 and a photosensitive element array 258. The filter array 251 and the light-sensitive element array 258 may be formed in a pixel array structure in which pixels 255 are arranged in the horizontal and vertical directions.

The filter array 251 may include one or more filters for passing light therethrough. One filter included in the filter array 251 may be arranged to correspond to one pixel 255. [ The filter array 251 may include at least one visible light passage filter for passing visible light reflected from the inspected object. In particular, the filter array 251 may include one or more infrared light-passing filters that pass infrared light reflected from the subject.

The filter array 251 may include a 2x2 pixel unit 253. Each pixel 255 included in the pixel unit 253 is provided with one red light passing filter R, one green light passing filter G, one blue light passing filter B, An infrared light-passing filter IR may be disposed. When the pixel unit 253 is configured as shown in Fig. 4, the filter array 251 can be configured as shown in Fig.

However, the technical spirit of the present invention is not limited to the configurations shown in Figs. The filter array 251 may be configured in any form including one or more visible pass filters and one or more infrared pass filters. Furthermore, the visible light passage filter may be a filter for passing light of a complementary color series of magenta, yellow, and cyan. The configuration shown in Figs. 4 and 5 is an example for facilitating understanding of the present invention.

In particular, due to the characteristics of the endoscope system, the image sensor unit 250 should have a small volume. Thus, in the endoscopic system of the present invention, one or more visible pass filters and one or more infrared pass filters are disposed on the same filter array 251 instead of being implemented as separate devices. By placing one or more visible light passage filters and one or more infrared light passage filters on one filter array 251, the volume of the image sensor unit 250 can be reduced. Furthermore, the endoscope guide 100 (see FIG. 1) inserted into a human body or an object which can not be destroyed can be realized in a small size.

The light-sensitive element array 258 may be provided with light passing through one or more visible light passing filters included in the filter array 251 and one or more infrared light passing filters. The photosensitive element array 258 may include a plurality of photosensitive elements. Each of the light-sensitive elements included in the light-sensitive element array 258 can generate an electrical signal according to the characteristics of the provided light (for example, intensity of light).

Specifically, the light-sensitive element array 258 can generate the first electrical signal according to the characteristics of the light passing through the at least one visible light passage filter. That is, the light-sensitive element corresponding to the visible light passing filter included in the filter array 251 can generate the first electric signal. In addition, the light-sensitive element array 258 may generate a second electrical signal according to characteristics of light that has passed through the at least one infrared light-transmitting filter. That is, the photosensitive element corresponding to the infrared light passing filter included in the filter array 251 can generate the second electric signal.

As will be described further below, the first electrical signal may be an electrical signal including information about the color of the subject. This is because the first electrical signal is generated based on the characteristics of the visible light that has passed through the filter array 251. The second electric signal may be an electric signal including information on the distance between the subject and the image sensor unit 250. [ And the second electrical signal was generated based on the characteristics of the infrared light used to obtain the depth data.

6 is a conceptual diagram illustrating components that may be included in an endoscopic system according to an embodiment of the present invention. 6 is a side view of the endoscope guide 100 viewed from the side. 6, only the infrared light projecting unit 230 disposed at one end 200 of the endoscope guide 100 is shown. For convenience of explanation, the illumination unit 210 (see FIG. 2) and the image sensor unit 250 (see FIG. 2) have been omitted from FIG. The endoscope system according to an embodiment of the present invention may further include an infrared light transmitting unit 310 and an infrared light source unit 320.

One end of the infrared light transmitting portion 310 may be connected to the infrared light projecting portion 230. The infrared light transmitting portion 310 may be inserted into an inner region of the endoscope guide 100. The infrared light transmitting portion 310 may extend in the direction of the other end 205 from one end 200 of the endoscope guide 100 along the inner region of the endoscope guide 100.

The infrared light source unit 320 can emit infrared light. The infrared light source unit 320 may be connected to the other end of the infrared light transmission unit 310. Thus, the infrared light emitted by the infrared light source unit 320 can be provided to the infrared light projection unit 230 through the infrared light transmission unit 310. In particular, in the endoscopic system of the present invention, the infrared light source unit 320 is disposed outside the endoscope guide 100.

The infrared light projecting unit 230 must have a small volume because of the characteristics of the endoscope system. In the endoscopic system of the present invention, the infrared light transmitting portion 310 is disposed outside the endoscope guide 100, and the infrared light emitted from the infrared light transmitting portion 310 passes through the infrared light transmitting portion 310, And is provided to the projection unit 230. Therefore, the endoscope guide 100 to be inserted into a human body or an object which can not be destroyed can be realized with a small size. Further, by disposing the infrared light source unit 320 outside the endoscope guide 100, the influence of the heat generated by the infrared light source unit 320 on the subject can be minimized.

As an example, the infrared light source unit 320 may be a laser generation module. In this embodiment, the infrared light source unit 320 can generate a laser. The laser generated by the infrared light source unit 320 may have a frequency characteristic corresponding to a passband of the infrared light passing filter included in the filter array 251 (see FIG. 3) of the image sensor unit 250 . For example, the laser generated by the infrared light source unit 320 may be a near-infrared laser having a wavelength characteristic of 800 nm to 1000 nm. In this case, the infrared light passing filter included in the filter array 251 of the image sensor unit 250 should be designed to have a cut-off frequency characteristic for passing the near-infrared laser. When the infrared light source unit 320 is a laser generating module, the infrared light transmitting portion 310 may be a laser transmitting optical fiber capable of transmitting a laser.

When the infrared light source unit 320 is a laser generation module, the size of the infrared light source unit 320 may increase. Further, when the infrared light source unit 320 is a laser generation module, the amount of heat generated in the infrared light source unit 320 can be increased. In the present invention, since the infrared light source unit 320 is disposed outside the endoscope guide 100, the size of the endoscope guide 100 is reduced and the effect of heat generated in the infrared light source unit 320 is minimized Can be.

7 is a conceptual diagram for explaining a structure that the infrared light projecting unit of the embodiment of the present invention can have and an operation process of the infrared light projecting unit. 7 is a side view of the endoscope guide 100 viewed from the side. 7, only the infrared light projecting unit 230 disposed at one end 200 of the endoscope guide 100 is shown. For convenience of explanation, the illumination unit 210 (see FIG. 2) and the image sensor unit 250 (see FIG. 2) have been omitted from FIG.

The infrared light projecting unit 230 can project the infrared light transmitted through the infrared light transmitting unit 310 onto the subject TB. As an embodiment, the infrared light projecting unit 230 can project the near infrared ray laser transmitted through the laser transmitting optical fiber onto the subject TB. In particular, the infrared light projecting unit 230 may include a diffractive optical element 232. The diffraction optical element 232 is an element that generates light having an arbitrary pattern by utilizing the phenomenon of interference between diffracted lights.

In the endoscopic system of the present invention, the diffractive optical element 232 can convert the near-infrared laser transmitted through the laser-transmitting optical fiber into a laser having a predetermined spatial distribution pattern (PT). For example, the spatial distribution pattern PT of the converted laser may be a binary pattern in which spots are arranged at regular intervals. However, the spatial distribution pattern PT shown in Fig. 7 is an example of a pattern that the converted laser can have. As another example, the spatial distribution pattern of the converted laser may be an analog pattern. The infrared light projecting unit 230 can project a laser beam having a predetermined spatial distribution pattern PT onto the subject TB.

If necessary, the infrared light projecting unit 230 may further include a lens 234. The lens 234 can diffuse the laser beam passing through the diffractive optical element 232. That is, the lens 234 can cause a laser having a predetermined spatial distribution pattern PT to be projected onto a wider area of the subject TB.

8 is another conceptual diagram illustrating components that may be included in an endoscopic system according to an embodiment of the present invention. 8 is a side view of the endoscope guide 100 viewed from the side. 8, only the infrared light projecting unit 230 and the image sensor unit 250 disposed at one end 200 of the endoscope guide 100 are shown. For convenience of explanation, the illumination unit 210 (see Fig. 2) has been omitted from Fig. The endoscopic system according to an embodiment of the present invention may further include an image processing unit 500.

The image processing unit 500 may receive the first electrical signal and the second electrical signal generated by the image sensor unit 250. The image processing unit 500 can generate three-dimensional data on the subject based on the first electrical signal and the second electrical signal. As mentioned above, the first electrical signal may be an electrical signal generated based on the characteristics (e.g., intensity of visible light) of the visible light passing through the visible light passing filter included in the filter array 251 (see FIG. 3). The second electrical signal may be an electrical signal generated based on the characteristics of the infrared light passing through the infrared light passing filter included in the filter array 251.

The image processing unit 500 can generate data on the color of the subject based on the first electrical signal. Further, the image processing unit 500 may generate data on the distance between the subject and the image sensor unit 250 based on the second electrical signal. The image processing unit 500 can generate three-dimensional data on the subject using data on the color of the subject and data on the distance between the subject and the image sensor unit 250. Three-dimensional data on the subject can be used to decode a three-dimensional image representing the subject.

9 is a conceptual diagram for explaining a structure that the image processing unit of the embodiment of the present invention can have and an operation process of the image processing unit. Only the image sensor unit 250 disposed at one end 200 of the endoscope guide 100 is shown. The image processing unit 500 of the embodiment of the present invention may include a color data processing unit 510, a depth data processing unit 530, and a data matching processing unit 550. [

The image sensor unit 250 can receive light reflected from the subject TB. The visible light reflected from the subject TB can pass through the visible light passing filter included in the filter array 251 (see Fig. 3) of the image sensor unit 250. [ The infrared light reflected from the subject TB can pass through the infrared light passing filter included in the filter array 251 of the image sensor unit 250. The light-sensitive element array 258 (see FIG. 3) of the image sensor unit 250 can generate a first electrical signal based on characteristics (for example, light intensity) of light passing through the visible light passage filter. The first electrical signal may be provided to the color data processing unit 510. The photosensitive element array 258 of the image sensor unit 250 can generate the second electric signal based on the characteristics of the light passing through the infrared light passing filter. The second electrical signal may be provided to the depth data processing unit 530.

The color data processing unit 510 can perform an operation on the color information of the subject TB based on the first electrical signal. Since the first electrical signal is generated based on the characteristic of the visible light, it may include information on the color. The color data processing unit 510 can generate data on the color of the subject TB using the first electrical signal.

The depth data processing unit 530 can perform an operation on the distance information between the subject TB and the image sensor unit 250 based on the second electrical signal. The second electrical signal can be generated based on the characteristics of infrared light. The depth data processing unit 530 can calculate the time taken for the infrared light to be reflected from the subject TB and returning, the phase change of the infrared light returned after reflection based on the second electrical signal. The depth data processing unit 530 can calculate the distance between the subject TB and the image sensor unit 250 using the calculation result. That is, the depth data processing unit 530 can generate data on the distance between the subject TB and the image sensor unit 250 using the second electric signal.

The data matching processing unit 550 can be provided with the calculation result of the color data processing unit 510. [ That is, the data matching processing unit 550 can receive data on the color of the subject TB. Then, the data matching processing unit 550 can receive the calculation result of the depth data processing unit 530. [ That is, the data matching processing unit 550 can be provided with data on the distance between the subject TB and the image sensor unit 250.

The data matching processing unit 550 can match the operation result of the color data processing unit 510 with the operation result of the depth data processing unit 530. [ That is, the data matching processing unit 550 can associate the color information and the depth information with respect to the specific position of the subject TB with each other. The data matching processing unit 550 can generate three-dimensional data for the subject TB by matching the two calculation results.

10 is another conceptual diagram showing components that may be included in an endoscopic system according to an embodiment of the present invention. The endoscope system according to an embodiment of the present invention may further include a display interface 600. [ 8 to 9, the image processing unit 500 can generate three-dimensional data on the subject based on the first electrical signal and the second electrical signal.

The generated three-dimensional data can be used to decode a three-dimensional image representing a subject. When an endoscope system for generating a two-dimensional image is used, there is a limit to accurately grasp the state of the subject. However, when the decoded 3D image is used according to the embodiment of the present invention, the state of the subject can be grasped more accurately. Since the three-dimensional image is decoded based on the depth information as well as the color information, the state of the subject can be expressed more accurately. This is because color distorted by shadows and non-uniform contrast can be corrected based on the depth information.

The display interface 600 may perform interfacing between the image processing unit 500 and the display device 700. The display interface 600 may cause an image to be decoded by the three-dimensional data to be output to the display device. The user of the endoscope system can grasp the state of the subject more accurately through the three-dimensional image of the subject outputted to the display device 700. [

11 is a conceptual diagram showing a configuration of an endoscope system according to an embodiment of the present invention. An endoscope system 1000 according to an embodiment of the present invention may include a body to be examined TB, an endoscope guide 100, a display device 700, and an endoscope control device 800.

The endoscope guide 100 can be inserted into a human body or an object which can not be destroyed. The illumination unit 210, the infrared light projecting unit 230, and the image sensor unit 250 may be disposed at one end 200 of the endoscope guide 100. One end of the infrared light transmitting portion 310 may be connected to the infrared light projecting portion 230. The infrared light source unit 320 may be connected to the other end of the infrared light transmitting unit 310 and disposed outside the endoscope guide 100. By disposing the infrared light source unit 320 on the outside of the endoscope guide 100, the size of the endoscope guide 100 can be reduced and the influence of the heat generated by the infrared light source unit 320 on the subject can be minimized .

The illumination unit 210 can project light onto the subject TB. The infrared light projecting unit 230 can project the infrared light emitted from the infrared light source unit 320 and transmitted through the infrared light transmitting unit 310 to the subject TB. The image sensor unit 250 can receive visible light and infrared light reflected from the inspected object TB. In particular, one or more visible pass filters and one or more infrared pass filters may be included in the filter array 251 (see FIG. 3) of the image sensor unit 250 together. Thus, the size of the image sensor unit 250 and the endoscope guide 100 can be reduced. The image sensor unit 250 may generate an electrical signal based on the characteristics of the provided light (for example, intensity of light).

The endoscope control apparatus 800 may include an infrared light source unit 320, an image processing unit 500, and a display interface 600. [ 11 illustrates that the infrared light source unit 320, the image processing unit 500, and the display interface 600 are included in one endoscope control apparatus 800. [ However, the configuration of the endoscope control apparatus 800 shown in Fig. 11 is an example for helping understanding of the present invention. The infrared light source unit 320 may be disposed outside the endoscope guide 100 and the infrared light source unit 320 may be implemented as a separate module. Further, the image processing unit 500 and the display interface 600 may be implemented as separate devices.

The image processing unit 500 may include a color data processing unit 510, a depth data processing unit 530, and a data matching processing unit 550. An electrical signal generated by the image sensor unit 250 based on the characteristics of visible light may be provided to the color data processing unit 510. [ The electric signal generated by the image sensor unit 250 based on the characteristic of the infrared light may be provided to the depth data processing unit 530. [ The data matching processing unit 550 can generate the three-dimensional data for the subject TB by matching the calculation results of the color data processing unit 510 and the depth data processing unit 530. [

The display interface 600 may perform interfacing between the image processing unit 500 and the display device 700. The display interface 600 may cause the display device to output the three-dimensional image decoded by the generated three-dimensional data. As an example, the display interface 600 may include a decoder for converting the generated three-dimensional data into three-dimensional image information. Further, in the display interface 600, a CODEC for converting binary data into a video signal may be driven.

The display device 700 can display the decoded three-dimensional image. A user of the endoscope system can more accurately grasp the state of the subject (TB) through the three-dimensional image of the subject outputted to the display device (700).

According to the embodiment of the present invention described above, an endoscope system 1000 capable of providing a three-dimensional image including a small-sized endoscope guide 100 can be realized. The endoscope system 1000 according to an embodiment of the present invention can be used for medical purposes for effectively detecting an abnormal part in the human body. In addition, the endoscope system 1000 according to an embodiment of the present invention can be used for an industrial application for precisely checking whether a destructible object or a sample of a product is damaged or contaminated.

12 is a flowchart for explaining a method of observing a body to be inspected according to another embodiment of the present invention. A method of observing a subject according to another embodiment of the present invention is performed using an endoscope.

In step S100, visible light and infrared light can be projected onto the subject. In particular, the infrared light projected on the subject can be projected using an infrared light source disposed outside the endoscope guide.

The infrared light projected on the inspected object in step S100 may be a laser having a frequency characteristic corresponding to a pass band of one or more infrared light passing filters. For example, the infrared light projected on the subject in step S100 may be a near-infrared laser. Further, the infrared light projected on the subject in step S100 may be a laser beam which has been converted so as to have a predetermined spatial distribution pattern through the diffractive optical element. Step S100 may be performed as described in the description of Figs.

In step S200, a first electrical signal and a second electrical signal may be generated. An image sensor unit may be disposed at one end of the endoscope guide. The image sensor unit may include at least one visible light passage filter and at least one infrared light passage filter. In particular, the at least one visible light passage filter and the at least one infrared light passage filter are not implemented as separate devices, but may be included in the same image sensor unit.

The first electrical signal may be generated according to characteristics (e.g., intensity of light) of the light reflected from the inspected object and passed through the at least one visible light passage filter. The second electrical signal may be generated according to characteristics of light reflected from the subject and passed through the at least one infrared light-transmitting filter. The step S200 may be performed as described in the description of FIGS.

In step S300, three-dimensional data on the subject can be generated. The three-dimensional data on the subject may be generated based on the first electrical signal and the second electrical signal generated in step S200. The three-dimensional data generated in step S300 may be used to decode a three-dimensional image expressing the subject.

13 is another flowchart for explaining a method of observing a subject according to another embodiment of the present invention. The processing contents of steps S100 and S200 may include the processing contents of steps S100 and S200 of FIG. 12, respectively. The detailed description of the process contents of step S100 and step S200 is omitted in a range overlapping with the description of FIG. The process contents of step S300 may include the process contents of step S310, step S320, and step S330.

In step S310, a first operation may be performed. The first operation may be performed based on the first electrical signal generated in step S200. The first electrical signal can be generated based on the characteristics of visible light passing through the visible light passage filter. Thus, the first electrical signal may be an electrical signal including information about the color of the subject. That is, the first calculation may be an operation on the color information of the subject.

In step S320, a second operation may be performed. The second operation may be performed based on the second electrical signal generated in step S200. The second electrical signal may be generated based on the characteristics of the infrared light used to obtain the depth data. Thus, the second electrical signal may be an electrical signal comprising information about the distance between the subject and the image sensor unit. That is, the second calculation may be an operation on the distance information between the subject and the image sensor unit.

In this embodiment, the procedure of steps S310 and S320 may be changed. This is because the processing content of step S310 and the processing content of step S320 do not affect each other. Alternatively, steps S310 and S320 may be performed simultaneously. It is sufficient if both steps S310 and S320 are performed before step S330 is performed.

In step S330, three-dimensional data on the subject can be generated. The three-dimensional data on the subject may be generated by matching the result of the first operation performed in step S310 and the result of the second operation performed in step S320. Steps S310 to S330 may be performed as described in the description of Figs. 8 to 9. Fig.

14 is another flowchart for explaining a method of observing a subject according to another embodiment of the present invention. The processing contents of steps S100, S200, and S300 may include the processing contents of steps S100, S200, and S300 of FIG. 12, respectively. Detailed descriptions of the process contents of steps S100, S200, and S300 are omitted in a range overlapping with the description of FIG.

In step S400, an image may be output to the display device. The image output to the display device may be a three-dimensional image of the subject decoded by the three-dimensional data generated in step S300. Step S400 may be performed as described in the description of FIG.

The configuration shown in block form in each figure is an example for helping understanding of the invention. Each block may be formed of blocks of smaller units depending on the function. Alternatively, the plurality of blocks may form a block of a larger unit depending on the function. That is, the concept of the present invention is not limited to the configuration shown in the block diagram.

The present invention has been described above with reference to the embodiments of the present invention. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Accordingly, the above embodiments are to be understood in a descriptive sense rather than a restrictive sense. That is, the technical idea that can achieve the same object as the present invention, including the gist of the present invention, should be interpreted as being included in the technical idea of the present invention.

Accordingly, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. The scope of protection of the present invention is not limited to the above embodiments.

100: Endoscopic guide
200: One end of the endoscope guide 205: Another end of the endoscope guide
210: illumination part 230: infrared light projection part
232: diffractive optical element 234: lens
250: Image sensor unit 251: Filter array
253: pixel unit 255: pixel
258: photosensitive element array
310: infrared light transmitting unit 320: infrared light source unit
500: image processing unit 510: color data processing unit
530: Depth data processing unit 550: Data matching processing unit
600: display interface 700: display device
800: Endoscope control apparatus 1000: Endoscope system

Claims (12)

An illumination unit disposed at one end of the endoscope guide for projecting light onto the subject;
An infrared light projecting unit disposed at one end of the endoscope guide for projecting infrared light to the subject;
An image sensor unit which is disposed at one end of the endoscope guide and generates an electrical signal using light reflected from the test object projected from the illuminating unit and the infrared light projecting unit to the examinee;
An infrared light transmitting unit having one end connected to the infrared light projecting unit and extending from one end of the endoscope guide along the inner area of the endoscope guide toward the other end direction of the endoscope guide; And
And an infrared light source unit connected to the other end of the infrared light transmitting unit and disposed outside the endoscope guide for emitting infrared light and providing the infrared light to the infrared light projecting unit through the infrared light transmitting unit, ,
Wherein the image sensor unit comprises:
At least one visible light passage filter for passing visible light reflected from the inspected object and at least one infrared light passage filter for passing infrared light reflected from the inspected object; And
And a plurality of light-sensitive elements for generating a first electrical signal according to characteristics of light passing through the at least one visible light passage filter and generating a second electrical signal according to characteristics of light passing through the at least one infrared light- A photosensitive element array,
Wherein the infrared light source unit is a laser generation module for generating a laser,
Wherein the infrared light transmitting portion is an optical fiber for transmitting the generated laser to the infrared light projecting portion,
Wherein the infrared light projecting section includes a diffractive optical element for converting a laser transmitted through the optical fiber into a laser having a predetermined spatial distribution pattern. delete The method according to claim 1,
Wherein the laser generated by the infrared light source unit has a frequency characteristic corresponding to a pass band of the at least one infrared light passing filter. delete The method according to claim 1,
And an image processor for generating three-dimensional data of the subject based on the generated first electric signal and the generated second electric signal. 6. The method of claim 5,
Wherein the image processing unit comprises:
A color data processing unit for performing an operation on the color information of the subject based on the generated first electric signal;
A depth data processing unit for performing an operation on distance information between the subject and the image sensor unit based on the generated second electrical signal; And
And a data matching processing unit for matching the calculation result of the color data processing unit and the calculation result of the depth data processing unit to generate the three-dimensional data. 6. The method of claim 5,
And a display interface for performing interfacing between the image processing unit and the display device so that an image decoded by the generated three-dimensional data is output to a display device. A method for observing a subject using an endoscope, comprising:
Projecting visible light onto the subject and projecting infrared light to the subject using an infrared light source disposed outside the endoscope guide;
A first electric signal is generated in accordance with a characteristic of light that is reflected from the subject and passed through at least one visible light passage filter included in an image sensor unit disposed at one end of the endoscope guide, Generating a second electrical signal according to a characteristic of light passing through at least one infrared light passing filter included in the unit; And
Generating three-dimensional data for the subject based on the generated first electrical signal and the generated second electrical signal,
Wherein the infrared light that is projected onto the subject passes through the diffractive optical element and is converted to have a predetermined spatial distribution pattern. 9. The method of claim 8,
Wherein the infrared light projected on the inspected object is a laser having a frequency characteristic corresponding to a pass band of the at least one infrared light passing filter. delete 9. The method of claim 8,
Wherein generating the three-dimensional data comprises:
Performing a first calculation on the color information of the subject based on the generated first electrical signal;
Performing a second calculation on distance information between the subject and the image sensor unit based on the generated second electrical signal; And
And generating the three-dimensional data by matching the result of the first calculation and the result of the second calculation. 9. The method of claim 8,
And outputting an image decoded by the generated three-dimensional data to a display device.

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