Observation apparatus capable of detecting distal end position of insertion module using external light
An insertion module inserted into inside of an observed object includes a light-source light emitting module, around its distal end, configured to emitted light from a light source and a detector, provided close to the distal end, configured to detect a light quantity of incident visible light. A controller controls the light source such that a null signal is transmitted from the light-source light emitting module, the null signal being characteristic for detection of the position of the distal end and obtained by making at least light of a predetermined wavelength region have an absence of visible light. The detector performs detecting operation in a period in which the null signal is transmitted. A determination module performs determination relating to the position of the distal end, based on detection information outputted by the detector.
1. An observation apparatus for observing an inside of an observed object, the observation apparatus comprising:
an elongated insertable structure configured to be removably inserted into the inside of the observed object;
a light source configured to be controlled to:
in an observation image acquisition operation, emit an observation light in an observation wavelength region; and
in a detection image acquisition operation, emit one of no light and a detection light in a detection wavelength region different from the observation wavelength region,
wherein the light source is operatively positioned relative to the elongated insertable structure to emit the observation light and the detection light from the elongated insertable structure;
an image sensor configured to be controlled to:
in the observation image acquisition operation, acquire an observation image; and
in the detection image acquisition operation, acquire a detection image;
a controller configured to switch between:
the observation image acquisition operation where the controller controls the light source to emit the observation light in the observation wavelength region, and controls the image sensor to acquire the observation image; and
the detection image acquisition operation where the controller controls the light source to emit the one of no light and the detection light in the detection wavelength region different from the observation wavelength region, and controls the image sensor to acquire the detection image; and
a processor comprising hardware, wherein the processor is configured to implement a determination module configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on the detection image acquired in the detection image acquisition operation,
wherein the controller is further configured to control the light source to emit a controlled light in response to a determination by the processor that the elongated insertable structure is not inserted into the inside of the observed object, wherein a light quantity of the controlled light is smaller than a light quantity of the observation light.
2. The observation apparatus according to claim 1 ,
wherein the observation wavelength region is a wavelength region of visible light, and
wherein in the detection image acquisition operation, the controller is configured to control the light source to emit no light.
3. The observation apparatus according to claim 2 ,
wherein the image sensor comprises a plurality of pixels, wherein each of the plurality of pixels is configured to detect a light quantity of light in the detection wavelength region, and
wherein the determination module is configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on one of:
a maximum light quantity of the plurality of light quantities detected by the plurality of pixels of the image sensor; and
the plurality of light quantities in a descending order from the maximum light quantity,
wherein the one of the maximum light quantity and the plurality of light quantities in the descending order is a determination index.
4. The observation apparatus according to claim 3 ,
wherein the determination module is configured to determine that the elongated insertable structure is not inserted into the inside of the observed object based on a determination that the determination index is equal to or greater than a threshold light quantity, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside of the observed object based on a determination that the determination index is less than the threshold light quantity.
5. The observation apparatus according to claim 4 ,
wherein the controller is configured to perform the detection image acquisition operation a plurality of times to acquire a plurality of the detection image, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside the observed object based on a determination that the determination index associated with the plurality of the detection image is successively less than the threshold light quantity a plurality of times in time.
6. The observation apparatus according to claim 1 ,
wherein the image sensor comprises a plurality of pixels, wherein each of the plurality of pixels is configured to detect a light quantity of light in the detection wavelength region, and
wherein the determination module is configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on one of:
a maximum light quantity of the plurality of light quantities detected by the plurality of pixels of the image sensor; and
the plurality of light quantities in a descending order from the maximum light quantity,
wherein the one of the maximum light quantity and the plurality of light quantities in the descending order is a determination index.
7. The observation apparatus according to claim 6 ,
wherein the determination module is configured to determine that the elongated insertable structure is not inserted into the inside of the observed object based on a determination that the determination index is equal to or greater than a threshold light quantity, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside of the observed object based on a determination that the determination index is less than the threshold light quantity.
8. The observation apparatus according to claim 7 ,
wherein the controller is configured to perform the detection image acquisition operation a plurality of times to acquire a plurality of the detection image, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside the observed object based on a determination that the determination index associated with the plurality of the detection image is successively less than the threshold light quantity a plurality of times in time.
9. The observation apparatus according to claim 1 , wherein the observation light is white light.
10. An observation apparatus for observing an inside of an observed object, the observation apparatus comprising:
an elongated insertable structure configured to be removably inserted into the inside of the observed object;
a light source configured to be controlled to:
in an observation image acquisition operation, emit an observation light in an observation wavelength region; and
in a detection image acquisition operation, emit a detection light in a detection wavelength region different from the observation wavelength region,
wherein the light source is operatively positioned relative to the elongated insertable structure to emit the observation light and the detection light from the elongated insertable structure;
an image sensor configured to be controlled to:
in the observation image acquisition operation, acquire an observation image; and
in the detection image acquisition operation, acquire a detection image;
a controller configured to switch between:
the observation image acquisition operation where the controller controls the light source to emit the observation light in the observation wavelength region, and controls the image sensor to acquire the observation image; and
the detection image acquisition operation where the controller controls the light source to emit the detection light in the detection wavelength region different from the observation wavelength region, and controls the image sensor to acquire the detection image; and
a processor comprising hardware, wherein the processor is configured to implement a determination module configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on the detection image acquired in the detection image acquisition operation.
11. The observation apparatus according to claim 10 ,
wherein the observation wavelength region is a wavelength region of visible light, and
wherein in the detection image acquisition operation, the controller is configured to control the light source to emit no light.
12. The observation apparatus according to claim 11 ,
wherein the image sensor comprises a plurality of pixels, wherein each of the plurality of pixels is configured to detect a light quantity of light in the detection wavelength region, and
wherein the determination module is configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on one of:
a maximum light quantity of the plurality of light quantities detected by the plurality of pixels of the image sensor; and
the plurality of light quantities in a descending order from the maximum light quantity,
wherein the one of the maximum light quantity and the plurality of light quantities in the descending order is a determination index.
13. The observation apparatus according to claim 12 ,
wherein the determination module is configured to determine that the elongated insertable structure is not inserted into the inside of the observed object based on a determination that the determination index is equal to or greater than a threshold light quantity, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside of the observed object based on a determination that the determination index is less than the threshold light quantity.
14. The observation apparatus according to claim 13 ,
wherein the controller is configured to perform the detection image acquisition operation a plurality of times to acquire a plurality of the detection image, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside the observed object based on a determination that the determination index associated with the plurality of the detection image is successively less than the threshold light quantity a plurality of times in time.
15. The observation apparatus according to claim 10 ,
wherein the image sensor comprises a plurality of pixels, wherein each of the plurality of pixels is configured to detect a light quantity of light in the detection wavelength region, and
wherein the determination module is configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on one of:
a maximum light quantity of the plurality of light quantities detected by the plurality of pixels of the image sensor; and
the plurality of light quantities in a descending order from the maximum light quantity,
wherein the one of the maximum light quantity and the plurality of light quantities in the descending order is a determination index.
16. The observation apparatus according to claim 15 ,
wherein the determination module is configured to determine that the elongated insertable structure is not inserted into the inside of the observed object based on a determination that the determination index is equal to or greater than a threshold light quantity, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside of the observed object based on a determination that the determination index is less than the threshold light quantity.
17. The observation apparatus according to claim 16 ,
wherein the controller is configured to perform the detection image acquisition operation a plurality of times to acquire a plurality of the detection image, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside the observed object based on a determination that the determination index associated with the plurality of the detection image is successively less than the threshold light quantity a plurality of times in time.
18. The observation apparatus according to claim 10 , wherein the observation light is white light.
19. The observation apparatus according to claim 10 , further comprising:
a display configured to display the observation image,
wherein the image sensor comprises:
a first pixel corresponding to a red wavelength; and
a second pixel corresponding to a green wavelength or a blue wavelength;
wherein the first pixel is selectively connected to one of the display and the processor, and
wherein the second pixel is only connected to the display.
20. An observation apparatus for observing an inside of an observed object, the observation apparatus comprising:
an elongated insertable structure configured to be removably inserted into the inside of the observed object;
a light source configured to be controlled to:
in an observation image acquisition operation, emit an observation light in an observation wavelength region; and
in a detection image acquisition operation, emit one of no light and a detection light in a detection wavelength region different from the observation wavelength region,
wherein the light source is operatively positioned relative to the elongated insertable structure to emit the observation light and the detection light from the elongated insertable structure;
an image sensor configured to be controlled to:
in the observation image acquisition operation, acquire an observation image; and
in the detection image acquisition operation, acquire a detection image;
a processor comprising hardware, wherein the processor is configured to implement a determination module configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on the detection image acquired in the detection image acquisition operation;
a switch configured to switch between:
in the observation image acquisition operation, outputting the observation image to a display; and
in the detection image acquisition operation, outputting the detection image to the determination module of the processor; and
a controller configured to:
in the observation image acquisition operation, control the light source to emit the observation light in the observation wavelength region, control the image sensor to acquire the observation image, and control the switch to output observation image to the display; and
in the detection image acquisition operation, control the light source to emit the one of no light and the detection light in the detection wavelength region different from the observation wavelength region, control the image sensor to acquire the detection image, and control the switch to output the detection image to the determination module of the processor.
21. The observation apparatus according to claim 20 ,
wherein the observation wavelength region is a wavelength region of visible light, and
wherein in the detection image acquisition operation, the controller is configured to control the light source to emit no light.
22. The observation apparatus according to claim 21 ,
wherein the image sensor comprises a plurality of pixels, wherein each of the plurality of pixels is configured to detect a light quantity of light in the detection wavelength region, and
wherein the determination module is configured to determine whether the elongated insertable structure is inserted into the inside of the observed object based on one of:
a maximum light quantity of the plurality of light quantities detected by the plurality of pixels of the image sensor; and
the plurality of light quantities in a descending order from the maximum light quantity,
wherein the one of the maximum light quantity and the plurality of light quantities in the descending order is a determination index.
23. The observation apparatus according to claim 22 ,
wherein the determination module is configured to determine that the elongated insertable structure is not inserted into the inside of the observed object based on a determination that the determination index is equal to or greater than a threshold light quantity, and
wherein the determination module is configured to determine that the elongated insertable structure is inserted into the inside of the observed object based on a determination that the determination index is less than the threshold light quantity.