Medical observation apparatus and control method
There is provided a medical observation apparatus including: a control section configured to control, on a basis of a predetermined operation related to a movement of an imaging field of view, the movement of the imaging field of view in an imaging device supported by an arm including a plurality of links joined to each other by joint sections. The control section controls the movement of the imaging field of view by performing a cropping range control that crops an imaging range of the imaging device on the basis of the predetermined operation.
1. A medical observation apparatus comprising:
control circuitry configured to control, on a basis of a predetermined operation related to a movement of an imaging field of view, the movement of the imaging field of view in an imaging device supported by an arm including a plurality of links joined to each other by joint sections, wherein
the control circuitry controls the movement of the imaging field of view by performing a cropping range control that crops an imaging range of the imaging device on the basis of the predetermined operation,
the control circuitry causes the imaging field of view to move by the cropping range control by causing the cropping range inside the imaging range to change in correspondence with the predetermined operation,
the control circuitry controls the movement of the imaging field of view by additionally performing a movement mechanism control that moves the arm to cause the imaging field of view to move, on the basis of the predetermined operation,
the control circuitry sets a velocity of the movement of the imaging field by a combination including a velocity of the cropping range and a velocity of the movement by the movement mechanism control, and
the controls circuitry controls the movement of the imaging field of view so that the velocity of the movement of the imaging field of view is constant when the velocity of the movement mechanism control is non-zero and changing, and the velocity of the cropping range is non-zero and changing.
2. The medical observation apparatus according to claim 1 , wherein
in a case in which the predetermined operation is detected, the control circuitry starts the cropping range control and the movement mechanism control.
3. The medical observation apparatus according to claim 2 , wherein
after the movement of the imaging field of view by the movement mechanism starts, the control circuitry performs the cropping range control to return the cropping range to a state before the cropping range control is performed.
4. The medical observation apparatus according to claim 3 , wherein
when the cropping range control that returns the cropping range is completed, the control circuitry causes the imaging field of view to move by performing the movement mechanism control on the basis of the predetermined operation.
5. The medical observation apparatus according to claim 3 , wherein
when the cropping range control that returns the cropping range is completed, the control circuitry stops execution of the cropping range control.
6. The medical observation apparatus according to claim 2 , wherein
in a case in which a stopping of the predetermined operation is detected after the cropping range control and the movement mechanism control are started, but before the movement of the imaging field of view by the movement mechanism is started,
the control circuitry stops the execution of each of the cropping range control and the movement mechanism control.
7. The medical observation apparatus according to claim 6 , wherein
in a case in which, when the stopping of the predetermined operation is detected, a movement amount of the imaging field of view by the cropping range control is equal to or greater than a set threshold value, or in a case in which the movement amount is greater than the threshold value,
the control circuitry additionally performs the cropping range control to return the cropping range to a state before the cropping range control is performed, and in addition, performs the movement mechanism control so that a movement velocity of the imaging field of view becomes a movement velocity corresponding to the stopping of the predetermined operation.
8. The medical observation apparatus according to claim 7 , wherein
when the cropping range control that returns the cropping range is completed, the control circuitry stops the execution of each of the cropping range control and the movement mechanism control.
9. The medical observation apparatus according to claim 2 , wherein
in a case in which a stopping of the predetermined operation is detected after the movement of the imaging field of view by the movement mechanism is started, but before a movement velocity of the imaging field of view by the movement mechanism becomes a set target field of view movement velocity,
the control circuitry performs each of the cropping range control and the movement mechanism control so that the movement velocity of the imaging field of view becomes a movement velocity corresponding to the stopping of the predetermined operation.
10. The medical observation apparatus according to claim 9 , wherein
the control circuitry performs the movement mechanism control so that the movement velocity of the imaging field of view by the movement mechanism falls, and in addition, performs the cropping range control so that the movement velocity of the imaging field of view becomes the movement velocity corresponding to the stopping of the predetermined operation.
11. The medical observation apparatus according to claim 10 , wherein
in a case in which the movement velocity of the imaging field of view by the movement mechanism has become the movement velocity corresponding to the stopping of the predetermined operation,
the control circuitry performs the cropping range control to return the cropping range to a state before the cropping range control is performed, and in addition, performs the movement mechanism control so that the movement velocity of the imaging field of view becomes the movement velocity corresponding to the stopping of the predetermined operation.
12. The medical observation apparatus according to claim 11 , wherein
when the cropping range control that returns the cropping range is completed, the control circuitry stops the execution of each of the cropping range control and the movement mechanism control.
13. The medical observation apparatus according to claim 1 , comprising:
the arm; and
the imaging device supported by the arm.
14. The medical observation apparatus according to claim 1 , wherein
wherein the control circuitry initially causes a majority of the velocity of the movement of the imaging field by the moving of the cropping range, and subsequently causes the majority of the velocity of the movement by the movement mechanism control.
15. The medical observation apparatus according to claim 14 , wherein
between when the control circuitry initially causes the majority of the velocity of the movement of the imaging field by the moving of the cropping range and when the control circuitry causes the majority of the velocity of the movement by the movement mechanism control, the control circuitry causes the velocity of the movement due to a substantial contribution by both the moving of the cropping range and the movement mechanism control.
16. The medical observation apparatus according to claim 1 , wherein
during the movement of the imaging field, a size of objects in the imaging field is constant and a size of the cropping range is constant.
17. A medical observation apparatus comprising:
control circuitry configured to control, on a basis of a predetermined operation related to a movement of an imaging field of view, the movement of the imaging field of view in an imaging device supported by an arm including a plurality of links joined to each other by joint sections, wherein
the control circuitry controls the movement of the imaging field of view by performing a cropping range control that crops an imaging range of the imaging device on the basis of the predetermined operation,
the control circuitry controls the movement of the imaging field of view by additionally performing a movement mechanism control that moves the arm to cause the imaging field of view to move, on the basis of the predetermined operation,
in a case in which the predetermined operation is detected, the control circuitry starts the cropping range control and the movement mechanism control
after the movement of the imaging field of view by the movement mechanism starts, the control circuitry performs the cropping range control to return the cropping range to a state before the cropping range control is performed, and
the control circuitry performs the movement mechanism control to raise a movement velocity of the imaging field of view by the movement mechanism in correspondence with the cropping range control that returns the cropping range.
18. A control method executed by a medical observation apparatus, the method comprising:
controlling, on a basis of a predetermined operation related to a movement of an imaging field of view, the movement of the imaging field of view in an imaging device supported by an arm including a plurality of links joined to each other by joint sections, wherein
in the controlling, the movement of the imaging field of view is controlled by performing a cropping range control that crops an imaging range of the imaging device on the basis of the predetermined operation,
the controlling causes the imaging field of view to move by the cropping range control by causing the cropping range inside the imaging range to change in correspondence with the predetermined operation,
the controlling controls the movement of the imaging field of view by additionally performing a movement mechanism control that moves the arm to cause the imaging field of view to move, on the basis of the predetermined operation,
the controlling sets a velocity of the movement of the imaging field by a combination including a velocity of the cropping range and a velocity of the movement by the movement mechanism control, and
the controlling controls the movement of the imaging field of view so that the velocity of the movement of the imaging field of view is constant when the velocity of the movement mechanism control is non-zero and changing, and the velocity of the cropping range is non-zero and changing.
19. The control method according to claim 18 , wherein
wherein the controlling initially causes a majority of the velocity of the movement of the imaging field by the moving of the cropping range, and subsequently causes the majority of the velocity of the movement by the movement mechanism control.
20. The control method according to claim 19 , wherein between when the controlling causes the majority of the velocity of the movement of the imaging field by the moving of the cropping range and when the controlling causes the majority of the velocity of the movement by the movement mechanism control, the controlling causes the velocity of the movement due to a substantial contribution by both the moving of the cropping range and the movement mechanism control.