An endoscope configured to measure a specimen using a stripe image formed by projecting a light-dark pattern on the specimen, the endoscope including an insertion portion having an elongated shape; an imaging unit provided at a distal portion of the insertion portion and configured to acquire an image of the specimen; a lighting unit configured to illuminate an observation field of view of the imaging unit; and a pattern projector which emits projection light configured to project the light-dark pattern to the specimen and project the light-dark pattern on the specimen. The imaging unit includes an image sensor configured to image the image of the specimen; and an objective optical system configured to form the image of the specimen on the image sensor. The pattern projector includes a pattern generator configured to generate the light-dark pattern; and a projection optical system provided at the distal portion of the insertion portion and configured to emit the projection light to the specimen via the light-dark pattern. A radiation angle of the projection light in the projection optical system is smaller than an angle of view of the objective optical system. The objective optical system is in focus at farther point side than a minimum object distance which is a minimum value of an object distance at which the entire projected light-dark pattern enters an imaging field of view of the image sensor.
1. An endoscope configured to measure a specimen using a stripe image formed by projecting a light-dark pattern on the specimen, the endoscope comprising:
an insertion portion having an elongated shape;
an imaging unit provided at a distal portion of the insertion portion and configured to acquire an image of the specimen;
a lighting unit configured to illuminate an observation field of view of the imaging unit; and
a pattern projector which emits projection light configured to project the light-dark pattern to the specimen and project the light-dark pattern on the specimen,
wherein the imaging unit includes:
an image sensor configured to image the image of the specimen; and
an objective optical system configured to form the image of the specimen on the image sensor,
wherein the pattern projector includes:
a pattern generator configured to generate the light-dark pattern; and
a projection optical system provided at the distal portion of the insertion portion and configured to emit the projection light to the specimen via the light-dark pattern,
wherein a radiation angle of the projection light in the projection optical system is smaller than an angle of view of the objective optical system, and
wherein the objective optical system is in focus at a farther point side than a minimum object distance which is a minimum value of an object distance at which the entire projected light-dark pattern enters an imaging field of view of the image sensor.
2. The endoscope according to claim 1 , wherein a distance between a center of the objective optical system and a center of the projection optical system is smaller than the minimum object distance.
3. The endoscope according to claim 1 , wherein the pattern projector produces a region in which the light-dark pattern is not projected and which is on at least one side of the imaging field of view of the imaging unit relative to a direction in which stripes of the light-dark pattern are arranged, in a state in which the light-dark pattern is projected on the specimen.
4. The endoscope according to claim 3 , wherein when a magnitude of the radiation angle of the projection light is a sum of a left radiation angle and the left radiation angle, the left radiation angle and the right radiation angle are different, the left radiation angle being a left radiation angle with respect to a centerline in a depth direction of the objective optical system, and the right radiation angle being a right radiation angle with respect to the centerline.
5. The endoscope according to claim 3 , further comprising a display which has a display screen configured to display the image of the specimen and displays a frame on the display screen, the frame showing a predicted projection position on the display screen of the stripe pattern projected on the specimen.
6. The endoscope according to claim 5 , wherein the display displays the frame on the display screen even when the light-dark pattern is not projected on the specimen.
7. The endoscope according to claim 6 , further comprising a controller configured to switch an observation mode for observing the specimen and a measurement mode for measuring the specimen,
wherein the display configured to display the frame on the display screen when the controller switches to the measurement mode from the observation mode.
8. The endoscope according to claim 5 , further comprising a video processor configured to generate an image of the frame, overlap the image of the frame onto the image of the specimen acquired by the imaging unit, and output the overlapped image to the display.
9. The endoscope according to claim 8 , wherein the video processor overlaps the image of the frame onto the image of the specimen even when the light-dark pattern is not projected on the specimen.
10. The endoscope according to claim 9 , further comprising a controller configured to switch an observation mode for observing the specimen and a measurement mode for measuring the specimen,
wherein the video processor overlaps the image of the frame onto the image of the specimen when the controller switches to the measurement mode from the observation mode.
11. The endoscope according to claim 5 , further comprising a controller configured to measure the specimen using only the image of specimen displayed within the frame.