Surgical controlling device, control method, and surgical system

There is provided a surgical controlling device including an exposure controlling section that performs exposure control based on a luminance detection value detected from a biological image, in which the exposure controlling section corrects, on the basis of information regarding an identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device. Further, there is provided a control method including performing, by a processor, exposure control based on a luminance detection value detected from a biological image, in which the performing the exposure control further includes correcting the luminance detection value so as to correct, based on information regarding an identified surgical optical device, luminance unevenness arising from the surgical optical device.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Phase of International Patent Application No. PCT/JP2018/006225 filed on Feb. 21, 2018, which claims priority benefit of Japanese Patent Application No. JP 2017-056091 filed in the Japan Patent Office on Mar. 22, 2017. Each of the above-referenced applications is hereby incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to a surgical controlling device, a control method, a surgical system, and a program.

BACKGROUND ART

In recent years, for example, in the medical field or the like, a scene in which a biological image is captured and a technique based on the biological image is performed has been increased. Further, various devices relating to capturing of such a biological image described above have been developed. For example, PTL 1 discloses a technology for performing exposure control relating to capturing of a biological image.

CITATION LIST

Patent Literature

SUMMARY

Technical Problem

However, the technology disclosed in PTL 1 implements exposure control on the basis of acquired angle-of-view information of an optical system. Meanwhile, luminance unevenness of a biological image to be captured may arise from various factors. Therefore, it is hard to say that the technology disclosed in PTL 1 can achieve exposure control that sufficiently takes luminance unevenness arising from a characteristic of an optical system into consideration.

Therefore, the present disclosure proposes a surgical controlling device, a control method, a surgical system, and a program that are novel and improved in that they can implement exposure control with high accuracy that does not rely upon a characteristic of an optical system.

Solution to Problem

According to the present disclosure, there is provided a surgical controlling device including: an exposure controlling section configured to perform exposure control based on a luminance detection value detected from a biological image, in which the exposure controlling section corrects, on the basis of information regarding an identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device.

Further, according to the present disclosure, there is provided a control method including performing, by a processor, exposure control based on a luminance detection value detected from a biological image, in which the performing the exposure control further includes correcting the luminance detection value so as to correct, on the basis of information regarding an identified surgical optical device, luminance unevenness arising from the surgical optical device.

Further, according to the present disclosure, there is provided a surgical system including a surgical optical device used to capture a biological image; and a surgical controlling device configured to perform exposure control based on a luminance detection value detected from the biological image, in which the surgical controlling device corrects, on the basis of information regarding the identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device.

Further, according to the present disclosure, there is provided a program for causing a computer to function as a surgical controlling device including an exposure controlling section that performs exposure control based on a luminance detection value detected from a biological image, in which the exposure controlling section corrects, on the basis of information regarding an identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device.

Advantageous Effect of Invention

As described above, according to the present disclosure, it is possible to implement exposure control that does not rely upon a characteristic of an optical system with high accuracy.

It is to be noted that the advantageous effect described above is not necessarily restrictive, and any advantageous effect indicated in the present specification or other advantageous effects that can be recognized from the present specification may be applicable together with the advantageous effect described above or in place of the advantageous effect described above.

DESCRIPTION OF EMBODIMENT

In the following, a preferred embodiment of the present disclosure is described in detail with reference to the accompanying drawings. It is to be noted that, in the present specification and the drawings, components having substantially same functional configurations are denoted by same reference characters and overlapping description of them is omitted.

It is to be noted that the description is given in the following order.

2. Example of Application

3.1. Example of System Configuration and Example of Functional Configuration

3.2. Details of Correction of Luminance Detection Value

3.3. Details of Identification of Optical Device

3.4. Flow of Operation of Control Device

4. Example of Hardware Configuration

First, the background to the conceptualization of the present technical idea is described. As described hereinabove, in recent years, a scene in which a technique based on a captured biological image is performed has been increased. As such a technique as described above, for example, endoscopic surgery using an endoscope is available. According to the endoscopic surgery, by capturing a biological image relating to an observation object (patient) by the endoscope inserted in the observation object, the surgeon can perform inspection or technique while observing the biological image.

A technology is known by which, on this occasion, for example, a luminance value histogram is generated from luminance detection values relating to captured biological images and exposure control is performed on the basis of a degree of separation of the peak medians in the luminance value histogram.

Meanwhile, in endoscopic surgery, luminance unevenness often occurs in a captured biological image due to a characteristic of an optical device used for imaging. Here, the luminance unevenness described above includes, for example, shading arising from the optical device. The shading refers to a phenomenon that peripheral darkening of the optical device, non-uniformity of sensitivity of an imaging element or the like causes mismatching between an original luminance of the image and a video signal and a peripheral region of the image becomes darker than a central region.

Further, the luminance unevenness described above includes also a black area (also called vignetting) that is caused by blocking light to be condensed by part of a structure of the optical device. In this manner, in capturing of a biological image, luminance unevenness arising from various characteristics relating to the optical device may occur.

However, in general exposure control relating to a biological image, it is the current situation that such luminance unevenness arising from an optical device described above is not taken into consideration sufficiently. Therefore, the degree of separation relating to a luminance value histogram cannot be calculated correctly due to an influence of a high-luminance imaging object or the like in a biological image, and also there is a possibility that the accuracy of exposure control may degrade.

The present technical idea has been conceptualized paying attention to the point described above and implements flexible and more highly accurate exposure control that does not rely upon a characteristic of an optical device. To this end, in the surgical controlling device, control method, surgical system and program according to an embodiment of the present disclosure as one of features thereof on the basis of information regarding an identified surgical optical device (hereinafter referred to also merely as optical device), the luminance detection value is corrected so as to correct luminance unevenness arising from the surgical optical device, and then exposure control relating to capturing of a biological image is performed. With the feature just described according to the present technical idea, highly accurate automatic exposure control that does not rely upon a characteristic of the optical device can be implemented. Consequently, the cost for exposure control can be reduced, and a clearer biological image can be acquired.

2. Example of Application

Now, an example of application of the technical idea according to the present disclosure is described.FIG.1is a view depicting an example of manner of surgical operation to which an operating room system5100that uses the technical idea according to the present disclosure is applied. A ceiling camera5187and a surgical camera5189are provided on the ceiling of an operating room such that they can image a manner of the entire operating room and the hands of a surgeon (doctor)5181who performs treatment to the affected area of a patient5185on a patient bed5183. In the ceiling camera5187and the surgical camera5189, a magnification adjustment function, a focal distance adjustment function, an imaging direction adjustment function, and so forth can be provided. An illumination5191is provided on the ceiling of the operating room and illuminates at least the hands of the surgeon5181. The illumination5191may be suitably adjustable in regard to the irradiation light amount, wavelength (color) of the irradiation light, irradiation direction of the light, and so forth.

As depicted inFIG.1, an endoscopic surgery system5113and the patient bed5183, ceiling camera5187, surgical camera5189and illumination5191are connected in cooperation with each other through an audiovisual controller5107and an operating room controlling device5109(not depicted inFIG.1). In the operating room, a central control panel5111is provided, and as described above, a user can suitably operate various devices existing in the operating room through the central control panel5111.

In the following, a configuration of the endoscopic surgery system5113is described in detail. As depicted inFIG.1, the endoscopic surgery system5113includes an endoscope5115, other surgical tools5131, a supporting arm device5141for supporting the endoscope5115, and a cart5151on which various devices for endoscopic operation are mounted.

In endoscopic surgery, in place of cutting the abdominal wall and opening, a plurality of opening devices called trockers5139ato5139dpunctures the abdominal wall. Then, through the trockers5139ato5139d, a lens barrel5117of the endoscope5115and other surgical tools5131are inserted into the body cavity of the patient5185. In the example depicted, as the other surgical tools5131, an insufflation tube5133, an energy treatment tool5135and a forceps5137are inserted in the body cavity of the patient5185. Further, the energy treatment tool5135is a treatment tool that performs incision and detachment of the tissue, sealing of a blood vessel, or the like by high-frequency current and ultrasonic vibration. However, the surgical tools5131depicted are merely an example, and as the surgical tools5131, various surgical tools that are used generally in endoscopic operation such as, for example, a tweezers or a retractor may be used.

An image of an operative part in the body cavity of the patient5185captured by the endoscope5115is displayed on a display device5155. While watching the operative part displayed on the display device5155on the real time basis, the surgeon5181performs such treatment, for example, as removal of the affected area using the energy treatment tool5135or the forceps5137. It is to be noted that, though not depicted, during surgical operation, the insufflation tube5133, energy treatment tool5135and forceps5137are supported by the surgeon5181, an assistant, or the like.

The supporting arm device5141includes an arm portion5145extending from a base portion5143. In the example depicted, the arm portion5145includes joints5147a,5147b, and5147cand links5149aand5149band is driven under the control of an arm controlling device5159. The endoscope5115is supported by the arm portion5145, so that the position and the posture thereof are controlled. Consequently, stable fixation of the position of the endoscope5115can be implemented.

The endoscope5115includes the lens barrel5117that is inserted at a region having a predetermined length from a distal end thereof into the body cavity of the patient5185, and a camera head5119connected to a proximal end of the lens barrel5117. Here, the endoscope5115may be an example of an optical device according to an embodiment of the present disclosure. In other words, the endoscope5115can be applied as an imaging device10hereinafter described. It is to be noted that, while, in the example depicted, the endoscope5115is depicted which is configured as a so-called rigid mirror having the lens barrel5117that is rigid, the endoscope5115may be configured otherwise as a flexible mirror having the flexible lens barrel5117.

An opening in which an objective lens is fitted is provided at a distal end of the lens barrel5117. A light source device5157is connected to the endoscope5115such that light generated by the light source device5157is guided to the distal end of the lens barrel5117by a light guide extending in the inside of the lens barrel5117and irradiated toward an observation target in the body cavity of the patient5185through the objective lens. It is to be noted that the endoscope5115may be a direct view mirror or may be a perspective mirror or a side view mirror.

In the inside of the camera head5119, an optical system and an imaging element are provided, so that reflected light (observation light) from an observation target is condensed to the imaging element by the optical system. Observation light is photoelectrically converted by the imaging element to generate an electric signal corresponding to the observation light, namely, an image signal corresponding to the observation image. The image signal is transmitted as RAW data to a camera control unit (CCU)5153. It is to be noted that the camera head5119has incorporated therein a function of adjusting the magnification and the focal distance by suitably driving the optical system.

It is to be noted the camera head5119may include a plurality of imaging elements, for example, in order to cope with a stereo vision (3D display) or the like. In this case, in the inside of the lens barrel5117, a plurality of series of relay optical systems is provided so as to individually guide observation light to the plurality of imaging elements.

(Various Devices Carried on Cart)

The CCU5153includes a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and so forth and comprehensively controls operation of the endoscope5115and the display device5155. Specifically, the CCU5153performs, for an image signal received from the camera head5119, various image processes for displaying an image based on the image signal such as, for example, a development process (demosaic process). Further, the CCU5153may have a function of performing exposure control relating to capturing of a biological image by the endoscope5115. Thereupon, the CCU5153identifies the endoscope5115or the light source device5157connected thereto and can correct the luminance detection value relating to the biological image in response to a characteristic of the endoscope5115or the light source device5157. The CCU5153can be applied as an example of a control device30hereinafter described.

Further, the CCU5153provides an image signal for which the image processes are performed to the display device5155. Further, to the CCU5153, the audiovisual controller5107depicted inFIG.1is connected. The CCU5153provides the image signal for which the image processes are performed also to the audiovisual controller5107. Further, the CCU5153transmits a control signal to the camera head5119to control driving of the camera head5119. The control signal may include information relating to an imaging condition such as a magnification or a focal distance. The information relating to an imaging condition may be inputted through an inputting device5161or may be inputted through the central control panel5111described hereinabove.

The display device5155displays an image based on the image signal, for which the image processes are performed by the CCU5153, under the control of the CCU5153. In the case where the endoscope5115is compatible with imaging with a high resolution such as, for example, 4K (horizontal pixel number 3840×vertical pixel number 2160) or 8K (horizontal pixel number 7680×vertical pixel number 4320), and/or in the case where the endoscope5115is compatible with 3D display, as the display device5155, a display device capable of displaying with a high resolution and/or a display device capable 3D displaying in a corresponding relationship can be used. In the case where the display device5155can be used for imaging of a high resolution of 4K, 8K or the like, using a display device of a size of 55 inches or more as the display device5155provides a more immersive feeling. Further, a plurality of display devices5155having resolutions or sizes different from each other may be provided depending on a use.

The light source device5157includes a light source such as, for example, an LED (light emitting diode) and supplies irradiation light upon imaging of an operative part to the endoscope5115. It is to be noted that the light source device5157is an example of an optical device according to an embodiment of the present disclosure. The light source device5157can be applied as an example of an irradiation device20hereinafter described.

The arm controlling device5159includes a processor such as, for example, a CPU and operates in accordance with a predetermined program to control driving of the arm portion5145of the supporting arm device5141in accordance with a predetermined control method.

The inputting device5161is an input interface to the endoscopic surgery system5113. The user can perform inputting of various kinds of information or instruction inputting to the endoscopic surgery system5113through the inputting device5161. For example, the user would input various kinds of information relating to surgical operation such as physical information of a patient, information regarding surgical technique, and so forth through the inputting device5161. Further, for example, the user would input an instruction to drive the arm portion5145, an instruction to change an imaging condition (type of irradiation light, magnification, focal distance, or the like) by the endoscope5115, an instruction to drive the energy treatment tool5135, or other instructions through the inputting device5161.

The type of the inputting device5161is not restrictive, and the inputting device5161may be any of various known inputting devices. As the inputting device5161, for example, a mouse, a keyboard, a touch panel, a switch, a foot switch5171and/or a lever may be applied. In the case where a touch panel is used as the inputting device5161, the touch panel may be provided on a display face of the display device5155.

As an alternative, the inputting device5161is a device mounted on a user such as, for example, a glasses type wearable device or an HMD (Head Mounted Display), and various inputs are performed in response to gestures or gazes detected by such devices. Further, the inputting device5161includes a camera that can detect a movement of a user, and various inputs are performed in accordance with a gesture or a gaze of a user detected from a video captured by the camera. Furthermore, the inputting device5161includes a microphone that can collect voice of a user, and various inputs are performed by voice through the microphone. In this manner, the inputting device5161is configured so as to be capable of inputting various kinds of information in a non-contact manner, so that it is possible for a user (for example, the surgeon5181) who belongs particularly in a clean area to operate equipment belonging to an unclean area in a non-contact manner. Further, since it becomes possible for the user to operate the equipment without removing a hand from a grasped tool, the convenience to the user is improved.

A treatment tool controlling device5163controls driving of the energy treatment tool5135for cauterization or incision of the tissue, sealing of a blood vessel or the like. An insufflation device5165feeds gas into the body cavity of the patient5185through the insufflation tube5133to inflate the body cavity in order to secure a field of view by the endoscope5115and secure a work space of the operator. A recorder5167is a device capable of recording various kinds of information relating to surgical operation. A printer5169is a device capable of printing various kinds of information relating to surgical operation in various forms such as a text, an image, or a graph.

In the following, a characteristic configuration of the endoscopic surgery system5113is specifically described in more detail.

The supporting arm device5141includes the base portion5143serving as a base, and the arm portion5145extending from the base portion5143. Although, in the example depicted, the arm portion5145includes a plurality of joints5147a,5147band5147cand a plurality of links5149aand5149bconnected to each other by the joint5147b, inFIG.1, for simplicity, the configuration of the arm portion5145is displayed in a simplified form. Actually, the shape, number and arrangement of the joints5147ato5147cand the links5149aand5149band the direction of the axis of rotation and so forth of the joints5147ato5147ccan be suitably set such that the arm portion5145has a desired degree of freedom. For example, the arm portion5145can be suitably configured in such a way as to have six or more degrees of freedom. Since this makes it possible for the endoscope5115to freely move in a movable range of the arm portion5145, it becomes possible to insert the lens barrel5117of the endoscope5115from a desired direction into the body cavity of the patient5185.

An actuator is provided for each of the joints5147ato5147c, and the joints5147ato5147care configured for rotation around respective predetermined axes of rotation by driving the actuators. Since driving of the actuators is controlled by the arm controlling device5159, the rotational angles of the joints5147ato5147care controlled, and driving of the arm portion5145is controlled. Consequently, control of the position and the posture of the endoscope5115can be implemented. Thereupon, the arm controlling device5159can control driving of the arm portion5145by various known control methods such as force control or position control.

For example, when the surgeon5181suitably performs operation inputting through the inputting device5161(including the foot switch5171), driving of the arm portion5145may be suitably controlled by the arm controlling device5159in response to the operation input to control the position and the posture of endoscope5115. After the endoscope5115at the distal end of the arm portion5145is moved from an arbitrary position to another arbitrary position, the endoscope5115can be supported fixedly at the position after the movement by the control described above. It is to be noted that the arm portion5145may be operated by a so-called master-slave method. In this case, the arm portion5145can be remotely operated by the user through the inputting device5161installed at a place spaced from the operating room.

Also, in the case where force control is applied, the arm controlling device5159may receive external force from the user and perform so-called power assist control for driving the actuators of the joints5147ato5147csuch that the arm portion5145moves smoothly following the external force. Consequently, when the user moves the arm portion5145while directly touching with the arm portion5145, the arm portion5145can be moved with comparatively light force. Accordingly, it is possible to move the endoscope5115more intuitively by a simpler operation, so that the convenience to the user can be improved.

Here, in general, in endoscopic operation, the endoscope5115has been supported by a doctor called a scopist. In contrast, by using the supporting arm device5141, it becomes possible to fix the position of the endoscope5115more surely without hands, and therefore, an image of the operative part can be obtained stably, and surgical operation can be performed smoothly.

It is to be noted that the arm controlling device5159may not necessarily be provided on the cart5151. Further, the arm controlling device5159may not necessarily be a single device. For example, the arm controlling device5159may be provided on each of the joints5147ato5147cof the arm portion5145of the supporting arm device5141such that the plurality of arm controlling devices5159may cooperate with each other to implement driving control of the arm portion5145.

The light source device5157supplies irradiation light when an operative part is to be imaged to the endoscope5115. The light source device5157includes, for example, a white light source configured from an LED, a laser light source or a combination of them. At this time, in the case where a white light source includes a combination of RGB laser light sources, since the output intensity and the output timing of each color (each wavelength) can be controlled with high accuracy, adjustment of the white balance of a captured image can be performed by the light source device5157. Further, in this case, laser beams are irradiated time-divisionally from the respective RGB laser light sources upon an observation target, and driving of the imaging element of the camera head5119is controlled in synchronism with the irradiation timing, so that it is also possible to time-divisionally capture images individually corresponding to RGB colors. According to the method just described, a color image can be obtained even if color filters are not provided in the imaging element.

Further, the light source device5157may be controlled for driving such that the intensity of light to be outputted is changed for each predetermined period of time. Driving of the imaging element of the camera head5119is controlled in synchronism with the timing of the change of the intensity of light to time-divisionally obtain images and synthesize the images, so that an image of a high dynamic range free from so-called underexposed blocked up shadows and overexposed highlights can be created.

Further, the light source device5157may be configured such that it can supply light of a predetermined wavelength band ready for special light observation. In the special light observation, by applying light of a narrow band in comparison with irradiation light (that is, white light) upon normal observation utilizing the wavelength dependency of absorption of light by the body tissue, for example, so-called narrow band light observation (Narrow Band Imaging) of imaging a predetermined tissue such as a blood vessel of the mucosal surface with high contrast is performed. Otherwise, in the special light observation, fluorescence observation of obtaining an image using fluorescence generated by applying excitation light may be performed. In the fluorescence observation, fluorescence observation of applying excitation light upon the body tissue and observing fluorescence from the body tissue (autofluorescence observation) or fluorescence observation of locally injecting reagent such as indocyanine green (ICG) and applying excitation light corresponding to a fluorescence wavelength of the reagent to the body tissue to obtain a fluorescence image, for example, can be performed. The light source device5157can be configured to be able to supply narrow band light and/or excitation light compatible with such special light observation.

3.1. Example of System Configuration and Example of Functional Configuration

Now, an embodiment of the present disclosure is described. First, described are an example of a configuration of a surgical system according to an embodiment of the present disclosure and an example of a functional configuration of components of the surgical system.FIG.2is an example of a functional block diagram of the surgical system according to the present embodiment. Referring toFIG.2, the surgical system according to the present embodiment may include an imaging device10, an irradiation device20, and a control device30. Further, the imaging device10, irradiation device20, and control device30are connected to each other so as to communicate with each other through a network40.

The imaging device10according to the present embodiment is a surgical imaging device for capturing a biological image in the body cavity of an observation object. As described hereinabove, the imaging device10according to the present embodiment is an example of a surgical optical device. Further, the imaging device10according to the present embodiment may be, for example, the endoscope5115depicted inFIG.1. Further, the imaging device10according to the present embodiment includes an imaging section110and a communication section120as depicted inFIG.2.

The imaging section110has a function of capturing a biological image in the body cavity of an observation object. Thereupon, the imaging section110may perform capturing of a biological image under the exposure control of the control device30. The imaging section110can perform capturing of a biological image using a shutter speed or a gain based on a control signal generated, for example, by the control device30.

The imaging section110according to the present embodiment is configured including an imaging element such as, for example, a CCD (Charge Coupled Device) or a CMOS (Complementary MOS). Here, such biological images according to the present embodiment widely include images acquired from a biological point of view for clinical, medical and experimental uses (Biological Imaging), and the imaging object is not limited to a human.

The communication section120has a function of performing information communication with the irradiation device20or the control device30through the network40. Specifically, the communication section120transmits a captured biological image or identification information for specifying the imaging device10to the control device30. Here, the identification information may be an ID capable of specifying, for example, a model of the imaging device10. Further, the communication section120receives a control signal relating to exposure control from the control device30. The communication section120may receive a control signal, for example, relating to a shutter speed or gain setting from the control device30.

The irradiation device20according to the present embodiment has a function of providing irradiation light to be used for capturing of a biological image. As described hereinabove, the irradiation device20according to the present embodiment is an example of a surgical optical device. Further, the irradiation device20according to the present embodiment may be, for example, the light source device5157depicted inFIG.1. Further, the irradiation device20according to the present embodiment includes an irradiation section210and a communication section220as depicted inFIG.2.

The irradiation section210is configured including, for example, a light source and a condenser lens. The irradiation section210may have a function of condensing light emitted from a light source on the imaging device10. Light emitted from the light source of the irradiation section210is guided to a distal end of the lens barrel5117of the endoscope5115, for example, by a light guide extending in the inside of the lens barrel and is irradiated toward an observation target in the body cavity of the patient5185through the objective lens.

The communication section220has a function of performing information communication with the imaging device10or the control device30through the network40. Specifically, the communication section220transmits identification information for specifying the irradiation device20to the control device30. Here, the identification information described above may be an ID with which, for example, a model of the irradiation device20or the like can be specified.

The control device30according to the present embodiment is a surgical controlling device performing exposure control relating to capturing a biological image. Thereupon, the control device30according to the present embodiment has a function of correcting a luminance detection value regarding a biological image in accordance with the identified surgical optical device. It is to be noted that, as an example of the surgical optical device according to the present embodiment, the imaging device10and the irradiation device20described hereinabove are available. Further, the surgical optical device according to the present embodiment is not limited to such an example as just described and may include various types of surgical optical devices relating to capturing of a biological image, such as the irradiation type, light collecting type and image forming type. Further, the control device30according to the present embodiment may be, for example, the CCU5153depicted inFIG.1. The control device30according to the present embodiment includes an exposure controlling section310, an identification section320, an image processing section330, and a communication section340as depicted inFIG.2.

The exposure controlling section310has a function of performing exposure control relating to capturing of a biological image. The exposure controlling section310can perform exposure control on the basis of comparison, for example, between a luminance detection value (hereinafter referred to as reference) defined as an appropriate level and a detected luminance detection value. Specifically, in the case where the detected luminance detection value is higher than the reference, the exposure controlling section310performs control of increasing the shutter speed from a speed at present or decreasing the gain from a gain at present, and accordingly, it is possible to decrease the exposure light amount thereby to control the luminance detection value so as to have a level same as that of the reference.

In contrast, in the case where the detected luminance detection value is lower than the reference, the exposure controlling section310performs control of reducing the shutter speed from that at present or increasing the gain from that at present, accordingly, it is possible to increase the exposure light amount thereby to control the luminance detection value so as to have a level same as that of the reference.

Further, one of features of the exposure controlling section310according to the present embodiment is that exposure control based on a luminance detection value detected from a biological image is performed. In this case, the exposure controlling section310according to the present embodiment has another one of the features that the luminance detection value in the biological image is corrected such that luminance unevenness arising from the identified surgical optical device is corrected. More specifically, the exposure controlling section310can specify a luminance correction value for correcting luminance unevenness arising from a surgical optical device and perform correction of the luminance detection value relating to the biological image using the luminance correction value. According to the functions of the exposure controlling section310according to the present embodiment described above, the luminance unevenness by a characteristic of the surgical optical device is absorbed, and then, it is possible to perform exposure control with high accuracy.

It is to be noted that, as described hereinabove, the luminance unevenness according to the present embodiment may include shading or a black area arising from a surgical optical device. In other words, the exposure controlling section310according to the present embodiment can correct a luminance detection value regarding a biological image using a luminance correction value for correcting a luminance variation arising from shading or a black area generated by a characteristic of the imaging device10or the irradiation device20.

Thereupon, the exposure controlling section310according to the present embodiment may detect an imaging object having a luminance equal to or higher than a predetermined threshold value (hereinafter referred to also as high luminance imaging object) in a biological image and perform correction of a luminance detection value using a luminance correction value corresponding to the position of the imaging object in the biological image. More specifically, the exposure control according to the present embodiment can calculate the distance from the center of the biological image to the imaging object and correct the luminance detection value using a luminance correction value corresponding to the distance. Details of the functions of the exposure controlling section310according to the present embodiment are hereinafter described separately.

The identification section320has a function of identifying a surgical optical device. The identification section320according to the present embodiment may perform the identification described above on the basis of identification information received, for example, from the imaging device10or the irradiation device20. Also, for example, the identification section320according to the present embodiment may identify the imaging device10on the basis of a biological image captured by the imaging device10. Further, the identification section320may perform recognition of an optical device on the basis of information inputted, for example, by the surgeon.

Further, the identification section320according to the present embodiment has a function of identifying the direction of the imaging device10. The identification section320can identify the direction of the imaging device10on the basis of a biological image captured by the imaging device10, for example. Further, the identification section320may identify the direction of the imaging device10on the basis of sensor information collected from the imaging device10or other peripheral apparatus. According to the functions described above of the identification section320, the exposure controlling section310can correct a luminance detection value relating to a biological image in accordance with the direction of the surgical optical device.

The image processing section330has a function of performing various image processes for a biological image captured by the imaging device10. The image processing section330according to the present embodiment may perform, for example, a gradation conversion process or a noise reduction process.

The communication section340has a function of performing information communication with the imaging device10or the irradiation device20through the network40. Specifically, the communication section340receives a biological image and identification information for specifying the imaging device10from the imaging device10. Further, the communication section340receives identification information for specifying the irradiation device20from the irradiation device20. Thereupon, the communication section340may acquire identification information relating to the irradiation device20through the imaging device10. Further, the communication section340transmits a control signal relating to exposure control generated by the exposure controlling section310to the imaging device10. As described above, the control signal described above can include a signal relating to control of the shutter speed or gain setting.

3.2. Details of Correction of Luminance Detection Value

Now, correction of a luminance detection value by the exposure controlling section310according to the present embodiment is described in detail. As described hereinabove, the exposure controlling section310according to the present embodiment can implement exposure control with high accuracy that does not rely upon an optical device by correcting luminance unevenness arising from a characteristic of the optical device.

First, luminance unevenness arising from a characteristic of an optical device is described.FIG.3is a view illustrating luminance unevenness arising from a characteristic of an optical device according to the present embodiment.FIG.3depicts a luminance value histogram generated on the basis of luminance detection values obtained from a plurality of detection frames set to a biological image. It is to be noted that, in the luminance value histogram depicted inFIG.3, the luminance value is indicated on the axis of abscissa and the pixel number is indicated on the axis of ordinate.

Further, inFIG.3, a luminance value histogram by two curves C1and C2is indicated. Here, the curve C1represents a luminance value histogram in the case where, in a state in which such luminance unevenness as shading arising from an optical device, namely, from the imaging device10or the irradiation device20occurs, a high-luminance imaging object exists in a peripheral portion of the biological image. Meanwhile, the curve C2represents a luminance value histogram in the case of a state in which such luminance unevenness as shading arising from the imaging device10or the irradiation device20does not occur or in the case where a high-luminance imaging object exists in a central region in which the influence of luminance unevenness is small.

As described above, according to an example of the technique for exposure control, although it is possible to perform exposure control on the basis of the degree of separation of peak medians in the generated luminance value histogram, referring toFIG.3, it can be recognized that a difference occurs in degree of separation described above due to luminance unevenness arising from the optical device.

More in detail, it becomes clear that the degree Df1of separation obtained from peak medians P1and P20detected on the curve C1with which luminance unevenness occurs is small in comparison with the degree Df2of separation obtained from peak medians P1and P21detected on the curve C2with which no luminance unevenness occurs.

Since luminance unevenness arising from a characteristic of an optical device has a significant influence on the peak median or the degree of separation of a luminance value histogram in this manner, it may cause accuracy degradation in exposure control based on the degree of separation.

Therefore, the exposure controlling section310according to the present embodiment can exclude the influence of luminance unevenness arising from an optical device by correcting a luminance detection value regarding a biological image using a luminance correction value compatible with the imaging device10or the irradiation device20identified by the identification section320.

Thereupon, the exposure controlling section310according to the present embodiment may detect a high-luminance imaging object in the biological image and perform correction of the luminance detection value using the luminance correction value according to the distance from the center of the biological image to the high-luminance imaging object.

FIG.4is a view illustrating detection of a high-luminance imaging object according to the present embodiment. InFIG.4, a luminance histogram generated by the exposure controlling section310on the basis of luminance detection values regarding a biological image is depicted similarly as inFIG.3. Thereupon, the exposure controlling section310may calculate a center value M of a degree Df1of separation obtained from the peak medians P1and P20to perform detection of a high-luminance imaging object. More specifically, in the case where a luminance detection value of a detection frame set to a biological image is equal to or higher than the center value M of the degree of separation, the exposure controlling section310can detect the detection frame as a high-luminance detection frame, namely, as a high-luminance imaging object.

Further, the exposure controlling section310according to the present embodiment may calculate the distance from the center of the biological image to the high-luminance detection frame (hereinafter referred to simply as high-luminance imaging object) and perform correction of the luminance detection value using a luminance correction value according to the distance.

FIG.5is a view illustrating calculation of a distance from the center of a biological image to a high-luminance imaging object by the exposure controlling section310according to the present embodiment. InFIG.5, a plurality of detection frames set to a biological image IM and a high-luminance imaging object HF detected on the basis of the center value of the degree of separation are described. Thereupon, the exposure controlling section310according to the present embodiment calculates the distance D from the center of the biological image IM to the high-luminance imaging object HF as depicted inFIG.5.

Then, the exposure controlling section310acquires a luminance correction value on the basis of the calculated distance D.FIG.6is a view depicting a relationship between the distance from the center of a biological image to the high-luminance imaging object and a luminance correction value according to the present embodiment. InFIG.6, the distance D from the center of a biological image to the high-luminance imaging object is indicated on the axis of abscissa and the correction coefficient is indicated on the axis of ordinate.

Further, in the example depicted inFIG.6, luminance correction values CF1and CF2regarding two optical devices are depicted. Here, the luminance correction value CF1may be a luminance correction value, for example, corresponding to a certain irradiation device20, and the second correction value CF2may be a luminance correction value, for example, corresponding to a certain imaging device10. The exposure controlling section310according to the present embodiment may acquire a corresponding luminance correction value in response to an optical device identified by the identification section320.

It is to be noted that, referring toFIG.6, it can be recognized that the correction coefficient increases in accordance with the distance D in regard to both of the luminance correction values CF1and CF2. This is because, as the distance from the center of a biological image to the high-luminance imaging object increases, the luminance detection value decreases due to luminance unevenness such as shading arising from the optical device. In other words, according to the exposure controlling section310according to the present embodiment, it is possible to correct the luminance, which becomes darker at peripheral portions of an image from an influence of luminance unevenness, to that in a normal state. Further, since the above-described correction by the exposure controlling section310according to the present embodiment is applicable also in the case where the detection range of the luminance is changed dynamically, more flexible exposure control can be implemented.

Further, the exposure controlling section310according to the present embodiment may perform correction of a luminance detection value using a plurality of luminance correction values individually corresponding to a plurality of optical devices. In other words, the exposure controlling section310according to the present embodiment can perform correction of a luminance detection value corresponding to a combination of characteristics of a plurality of optical devices.

FIG.7is a view illustrating correction of a luminance detection value corresponding to a combination of characteristics of a plurality of optical devices by the exposure controlling section310according to the present embodiment. InFIG.7, a correction map M1corresponding to a certain imaging device10and a correction map M2corresponding to a certain irradiation device20as well as a synthetic correction map M3synthesized by the exposure controlling section310are depicted.

Here, the correction maps M1and M2described above may each be a map as which a luminance correction value according to the distance D from the center of a biological image to the high-luminance imaging object is defined in advance. In other words, to each cell of the correction maps M1and M2depicted inFIG.7, a correction coefficient W according to the distance D described above may individually be set.

Here, when the correction coefficient W of each cell in the correction map M1of i rows and j columns is represented by W_lens[i][j] and the correction coefficient W of each cell in the correction map M2of i rows and j columns is represented by W_light[i][j], then the correction coefficient W of each cell in the synthetic correction map M3of i rows and j columns can be calculated by W=W_lens[i][j]×W_light[i][j].

That is, the exposure controlling section310according to the present embodiment may perform correction of a luminance detection value using a value obtained by multiplying a plurality of luminance correction values individually corresponding to a plurality of optical devices. In this manner, with the exposure controlling section310according to the present embodiment, correction of a luminance detection value corresponding to a combination of characteristics of a plurality of optical devices can be performed, and exposure control of high accuracy can be performed automatically also, for example, in endoscopic surgery in which a plurality of optical devices according to a use of a technique is used.

3.3. Details of Identification of Optical Device

Now, identification of an optical device by the identification section320according to the present embodiment is described in detail. As described hereinabove, the identification section320according to the present embodiment has a function of identifying various optical devices to be used for capturing of a biological image. At this time, the identification section320according to the present embodiment may perform identification of an optical device system on the basis of identification information transmitted from the imaging device10or the irradiation device20connected thereto through the network40.

In addition, the identification section320according to the present embodiment can also perform identification of an optical device on the basis of a biological image captured by the imaging device10.FIG.8is a view illustrating the shape of the imaging device10according to the present embodiment and identification of the imaging device10by the identification section320. It is to be noted that, inFIG.8, an example of the case in which the imaging device10according to the present embodiment is the endoscope5115is depicted.

A schematic external configuration of the endoscope5115according to the present embodiment is depicted on the left side inFIG.8. As depicted inFIG.8, the endoscope5115according to the present embodiment may include a camera head5119and a lens barrel5117to be inserted into the body cavity of a patient5185. Here, for example, as depicted inFIG.8, a light source emission port5121and a lens distal end portion5120are formed at a distal end portion5118of the lens barrel5117.

At this time, while luminance blurring arising from the shape of the light source emission port5121appears in a biological image captured by the endoscope5115, it is common that the shape of the light source emission port5121differs depending upon the manufacturer or the model of the endoscope5115. Therefore, the identification section320according to the present embodiment may estimate the shape of the light source emission port5121from the luminance blurring in the biological image to identify the endoscope5115.

Further, at this time, the identification section320according to the present embodiment can also identify the direction of the endoscope5115on the basis of the shape of the light source emission port5121pictured in the biological image.FIG.9is a view depicting a corresponding relationship between the direction of the endoscope5115according to the present embodiment and the captured biological image. InFIG.9, distal end portions5118-n,5118-e,5118-sand5118-wof the lens barrel5117whose directions are different from one another and biological images IM-n, IM-e, IM-s and IM-w to be captured corresponding to the respective directions are depicted.

For example, in the case where the direction of the endoscope5115is in a state of a distal end portion5110-nof the lens barrel5117, in the captured biological image IM-n, the image upper side on which the light source emission port5121exists is brighter as depicted inFIG.9. Similarly, in the biological image IM-e, the image right side on which the light source emission port5121exists is brighter; in the biological image IM-s, the image lower side on which the light source emission port5121exists is brighter; and in the biological image IM-w, the image left side on which the light source emission port5121exists is brighter.

Therefore, since high-luminance imaging objects are crowded in a predetermined direction in the captured biological image, the identification section320according to the present embodiment can identify the direction of the endoscope5115. With the above-described function of the identification section320according to the present embodiment, the exposure controlling section310can use a correction map corresponding to the direction of the imaging device10or the like and implement exposure control with higher accuracy.

It is to be noted, while the foregoing description is given taking a case in which the identification section320according to the present embodiment identifies the direction of the imaging device10on the basis of a captured biological image as an example, identification of the direction of the imaging device10by the identification section320is not limited to that of the example. The identification section320according to the present embodiment may identify the direction described above, for example, on the basis of information collected by a gyroscopic sensor, a geomagnetic sensor, or the like included in the imaging device10. Further, the identification section320according to the present embodiment can also identify the direction of the imaging device10on the basis of a magnet or the like disposed at a predetermined position of the imaging device10and magnetic information detected by a magnetic sensor included in a different apparatus.

3.4. Flow of Operation of Control Device

Now, a flow of operation of the control device30according to the present embodiment is described in detail.FIG.10is a flow chart illustrating a flow of operation of the control device30according to the present embodiment. It is to be noted that operations described in the flow chart depicted inFIG.10may be executed for each biological image to be captured, namely, for each frame.

Referring toFIG.10, the exposure controlling section310of the control device30first performs generation of a luminance value histogram based on luminance detection values of a biological image (S1101). Thereupon, the luminance detection values described above may be acquired in units of a plurality of detection frames as depicted inFIG.5.

Then, the exposure controlling section310calculates a peak median and a degree of separation in the luminance value histogram generated at step S1101(S1102).

Then, the identification section320performs identification of the imaging device10or the irradiation device20(S1103). Thereupon, as described above, the identification section320can perform the identification described above on the basis of the acquired identification information or biological image.

Then, the exposure controlling section310performs detection of a high-luminance imaging object in the biological image (S1104). At this time, as depicted inFIG.4, the exposure controlling section310can perform detection of a high-luminance imaging object on the basis of the center value of the degree of separation.

Then, the exposure controlling section310calculate a distance from the center of the biological image in regard to the high-luminance imaging object detected at step S1104(S1105).

Then, the exposure controlling section310acquires a luminance correction value corresponding to the imaging device10or the irradiation device20identified at step S1103and performs correction of the luminance detection value (S1106). Thereupon, the exposure controlling section310may perform correction of the luminance detection value using, for example, such a correction map as depicted inFIG.7.

Then, the exposure controlling section310performs generation of a luminance value histogram again on the basis of the luminance detection value after correction (S1107).

Then, the exposure controlling section310calculates a peak median and a degree of separation in the luminance value histogram generated at step S1107(S1108).

Then, the exposure controlling section310determines whether or not the degree of separation calculated at step S1108is equal to or higher than a threshold value (S1109).

Here, in the case where the degree of separation is equal to or higher than the threshold value (S1109: Yes), namely, in the case where the degree of separation between a noticed imaging object and the high-luminance imaging object is equal to or higher than the threshold value, the exposure controlling section310acquires an exposure correction amount corresponding to the degree of separation calculated at step S1108and performs exposure control based on the exposure correction amount (S1110).

Thereupon, the exposure controlling section310may acquire the exposure correction amount described above, for example, from such a correction table as depicted inFIG.11and perform the exposure control.FIG.11is a view depicting a relationship between the degree of separation and the exposure correction amount according to the present embodiment. In order to implement the acquired exposure correction amount, the exposure controlling section310may generate a control signal, for example, relating to a shutter speed or gain setting and transmit the control signal to the imaging device10through the communication section340.

In contrast, in the case where the degree of separation is lower than the threshold value (S1109: No), the control device30may move to a process for a next biological image without executing the exposure control at step S1110.

4. Example of Hardware Configuration

Now, an example of a hardware configuration of the control device30according to the embodiment of the present disclosure is described.FIG.12is a block diagram depicting an example of a hardware configuration of the control device30according to the embodiment of the present disclosure. Referring toFIG.12, the control device30includes, for example, a CPU871, a ROM872, a RAM873, a host bus874, a bridge875, an external bus876, an interface877, an inputting device878, an outputting device879, a storage880, a drive881, a connection port882, and a communication device883. It is to be noted that the hardware configuration described here is an example and part of the components may be omitted. Further, components other than the components described here may be additionally included.

The CPU871functions, for example, as an arithmetic processing device or a control device and controls general operation of the components or part of the operation on the basis of various programs recorded in the ROM872, RAM873, storage880or a removable recording medium901.

The ROM872is means storing a program to be read into the CPU871, data to be used for arithmetic operation, and so forth. In the RAM873, for example, a program to be read into the CPU871, various parameters that suitably vary when the program is executed, and so forth are stored temporarily or permanently.

The CPU871, ROM872, and RAM873are connected to each other, for example, through the host bus874capable of implementing high-speed data transmission. Meanwhile, the host bus874is connected to the external bus876whose data transmission speed is comparatively low, for example, through the bridge875. Further, the external bus876is connected to the various components through the interface877.

For example, a mouse, a keyboard, a touch panel, a button, a switch, a lever, and so forth are used for the inputting device878. Further, as the inputting device878, a remote controller (hereinafter referred to as a remote control) capable of transmitting a control signal utilizing an infrared ray or some other electric wave is sometimes used. Further, an audio inputting device such as a microphone is included in the inputting device878.

The outputting device879is a device capable of notifying the user of acquired information visually or aurally, such as, for example, a display device like a CRT (Cathode Ray Tube), an LCD or an organic EL, an audio outputting device like a speaker or a headphone, a printer, a mobile phone, or a facsimile.

The storage880is a device for storing various data therein. As the storage880, for example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device or the like is used.

The drive881is a device that reads out information recorded in the removable recording medium901such as, for example, a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory or writes information into the removable recording medium901.

The removable recording medium901includes, for example, DVD media, Blu-Ray (registered trademark) media, HD DVD media, various semiconductor storage media, or the like. As a matter of course, the removable recording medium901may include, for example, an IC card, electronic equipment, or the like in which a non-contacting type IC chip is incorporated.

The connection port882is a port for connecting an external connection apparatus902such as, for example, a USB (Universal Serial Bus) port, an IEEE1394 port, an SCSI (Small Computer System Interface), an RS-232C port, an optical audio terminal, or the like.

The external connection apparatus902includes, for example, a printer, a portable music player, a digital camera, a digital video camera, an IC recorder, or the like.

The communication device883is a communication device for connection to a network and includes, for example, a communication card for a wired or wireless LAN, Bluetooth (registered trademark), or a WUSB (Wireless USB), a router for optical communication, a router for an ADSL (Asymmetric Digital Subscriber Line), a modem for various kinds of communication, or the like.

As described above, the control device30according to the embodiment of the present disclosure has the function of correcting a luminance detection value relating to a biological image in accordance with a characteristic of an identified surgical optical device. More in detail, the control device30according to the embodiment of the present disclosure has the function of correcting a luminance detection value so as to correct luminance unevenness arising from a biological image in accordance with an identified surgical optical device. With the configuration, exposure control with high accuracy that does not rely upon a characteristic of an optical system can be implemented.

While the suitable embodiment of the present disclosure is described in detail while referring to the drawings, the technical scope of the present disclosure is not limited to this. It is clear that a person having ordinary knowledge in the technical field of the present disclosure is capable of conceiving various alterations or modifications without departing from the technical idea described in claims, and it is recognized that the various examples just described naturally belong to the technical scope of the present disclosure.

Further, the processing steps of the control device30according to the embodiment of the present disclosure are not necessarily processed in time series along the order described in the flow chart. For example, the steps according to the processing of the control device30may be processed in an order different from that described in the flow chart or may be processed in parallel.

Further, the advantageous effects described in the present specification are merely explanatory or exemplary and are not restrictive. In short, the technology according to the present disclosure can achieve other advantageous effects that are apparent to those skilled in the art from the description of the present specification together with or in place of the advantageous effects described above.

It is to be noted that also such configurations as described below belong to the technical scope of the present technology.

A surgical controlling device including:

an exposure controlling section configured to perform exposure control based on a luminance detection value detected from a biological image, in which

the exposure controlling section corrects, on the basis of information regarding an identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device.

The surgical controlling device according to (1) above, in which

the exposure controlling section specifies a luminance correction value on the basis of information regarding the identified surgical optical device and corrects the luminance detection value using the luminance correction value.

The surgical controlling device according to (1) or (2) above, in which

the luminance unevenness includes at least one of shading arising from the surgical optical device or a black area, and

the exposure controlling section corrects the luminance detection value so as to correct a luminance variation arising from at least one of the shading or the black area.

The surgical controlling device according to any one of (1) to (3) above, in which

the exposure controlling section detects an imaging object having a luminance equal to or higher than a given threshold value in the biological image and corrects the luminance detection value using a luminance correction value corresponding to a position of the imaging object in the biological image.

The surgical controlling device according to (4) above, in which

the exposure controlling section calculates a distance from the center of the biological image to the imaging object and corrects the luminance detection value using the luminance correction value corresponding to the distance.

The surgical controlling device according to any one of (1) to (5) above, in which

the surgical optical device includes at least one of a surgical imaging device or an irradiation device, and

the exposure controlling section corrects the luminance detection value so as to correct the luminance unevenness arising from at least one of the surgical imaging device or the irradiation device.

The control device according to (6) above, in which

the surgical imaging device is configured from an endoscope.

The surgical controlling device according to any one of (1) to (7) above, in which

the exposure controlling section corrects the luminance detection value using a plurality of luminance correction values individually corresponding to a plurality of the surgical optical devices.

The surgical controlling device according to any one of (1) to (8) above, in which

the exposure controlling section corrects the luminance detection value using values obtained by multiplication of a plurality of luminance correction values individually corresponding to a plurality of the surgical optical devices.

The surgical controlling device according to any one of (1) to (9) above, in which

the information regarding the surgical optical device is identified on the basis of received identification information.

The surgical controlling device according to any one of (1) to (9) above, in which

the information regarding the surgical optical device is identified on the basis of the biological image.

The surgical controlling device according to any one of (1) to (11) above, in which

the exposure controlling section corrects the luminance detection value in accordance with a direction of the identified surgical optical device.

The surgical controlling device according to any one of (1) to (12) above, further including:

an identification section configured to identify the surgical optical device.

The surgical controlling device according to any one of (1) to (13) above, in which

the exposure controlling section generates a luminance value histogram on the basis of the luminance detection value, calculates a first peak median and a second peak median in the luminance value histogram and performs exposure control on the basis of a degree of separation of the first peak median and the second peak median.

The surgical controlling device according to (14) above, in which

the exposure controlling section executes the exposure control in a case where the degree of separation is equal to or higher than a threshold value.

A control method including:

performing, by a processor, exposure control based on a luminance detection value detected from a biological image, in which

the performing the exposure control further includes correcting the luminance detection value so as to correct, on the basis of information regarding an identified surgical optical device, luminance unevenness arising from the surgical optical device.

A surgical system including:

a surgical optical device used to capture a biological image; and

a surgical controlling device configured to perform exposure control based on a luminance detection value detected from the biological image, in which

the surgical controlling device corrects, on the basis of information regarding the identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device.

A program for causing a computer to function as

a surgical controlling device including an exposure controlling section that performs exposure control based on a luminance detection value detected from a biological image, in which

the exposure controlling section corrects, on the basis of information regarding an identified surgical optical device, the luminance detection value so as to correct luminance unevenness arising from the surgical optical device.

REFERENCE SIGNS LIST