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    • 1. 发明授权
    • Range finder with compensation of rotation about Z-axis
    • 测距仪具有关于Z轴的旋转补偿
    • US5715043A
    • 1998-02-03
    • US580345
    • 1995-12-28
    • Jun HasegawaEiji Watanabe
    • Jun HasegawaEiji Watanabe
    • G01S11/12G01C3/00
    • G01S11/12
    • A range finder having: first and second lenses for focussing an image of a subject via spatially different optical paths; first and second photosensor arrays disposed generally parallel and each having a plurality of pixels, an image being focussed on the first and second photosensor arrays by the first lens; a third photosensor array having a plurality of pixels, an image being focussed on the third photosensor array by the second lens, and a line extending through pixels of the first photosensor array and pixels of the third photosensor array having a slant from a line extending through the optical axes of the first and second lenses; a phase difference detecting unit for detecting a phase difference between images focussed by the first and second lenses and correcting an error to be caused by the slant in accordance with images focussed on the first to third photosensor arrays; and a distance calculating unit for calculating distance data to the subject in accordance with the phase difference detected by the phase difference detecting unit.
    • 测距仪具有:第一和第二透镜,用于通过空间不同的光路聚焦被摄体的图像; 第一和第二光电传感器阵列大致平行设置,每个具有多个像素,通过第一透镜将图像聚焦在第一和第二光电传感器阵列上; 具有多个像素的第三光传感器阵列,通过第二透镜聚焦在第三光传感器阵列上的图像,以及延伸穿过第一光传感器阵列的像素的线和第三光传感器阵列的像素,其具有从延伸穿过的线 第一和第二透镜的光轴; 相位差检测单元,用于检测由第一和第二透镜聚焦的图像之间的相位差,并根据聚焦于第一至第三光电传感器阵列的图像校正由倾斜引起的误差; 以及距离计算单元,用于根据由相位差检测单元检测到的相位差计算与被摄体的距离数据。
    • 4. 发明授权
    • Endoscope system
    • 内窥镜系统
    • US08308635B2
    • 2012-11-13
    • US12330994
    • 2008-12-09
    • Hideki TanakaJun HasegawaToshio Nakamura
    • Hideki TanakaJun HasegawaToshio Nakamura
    • A61B1/00
    • A61B1/0052A61B1/0016A61B5/06A61B5/065
    • An endoscope system includes an endoscope with a bending portion installed on a distal side of an insertion portion; a bending drive unit which drives and bends the bending portion electrically; a map information storage unit which stores map information digitized by associating an amount of bending and a corresponding three-dimensional position and direction of a distal end of the insertion portion with each other, with a position near a rear end of the bending portion being designated as a reference position; a position and direction detecting unit which detects the position and direction of the distal end of the insertion portion; and a bending control unit which controls the bending drive unit to orient the distal end of the insertion portion into a target direction using the map information.
    • 一种内窥镜系统,包括:内窥镜,其具有安装在插入部的前侧的弯曲部; 弯曲驱动单元,其电动地弯曲弯曲部; 地图信息存储单元,其存储通过将弯曲的量与插入部的前端的对应的三维位置和方向相关联而被数字化的地图信息,在弯曲部的后端附近的位置被指定 作为参考; 位置和方向检测单元,其检测插入部分的远端的位置和方向; 以及弯曲控制单元,其使用所述地图信息来控制所述弯曲驱动单元将所述插入部的前端朝向目标方向。
    • 5. 发明授权
    • Endoscope bending control apparatus and endoscope system
    • 内窥镜弯曲控制装置及内窥镜系统
    • US08211009B2
    • 2012-07-03
    • US12764482
    • 2010-04-21
    • Hideki TanakaJun HasegawaToshio Nakamura
    • Hideki TanakaJun HasegawaToshio Nakamura
    • A61B1/04
    • G02B23/2476A61B1/0051A61B5/06A61B5/062
    • An endoscope bending control apparatus includes: an image feature value calculating section for calculating, based on an endoscopic image, an image feature value related to a luminal dark part; a bending control section for performing bending control on a bending portion in either one of a first bending operation mode in which a position of the luminal dark part is set as an insertion target and a distal end of the insertion portion is directed to the position and a second bending operation mode in which the distal end of the insertion portion is directed in a direction of the position of the luminal dark part; an operation mode switching section for switching an operation mode from one bending operation mode to the other according to a first switching condition based on the calculated image feature value; and a switching condition changing section for changing the first switching condition.
    • 内窥镜弯曲控制装置包括:图像特征量计算部,其根据内窥镜图像计算与管腔暗部相关的图像特征量; 弯曲控制部分,用于在其中将管腔暗部分的位置设置为插入目标的第一弯曲操作模式和插入部分的远端中的任一个中的弯曲部分上进行弯曲控制, 第二弯曲操作模式,其中插入部分的远端沿着管腔暗部位置的方向指向; 操作模式切换部分,用于根据所计算的图像特征值根据第一切换条件将操作模式从一个弯曲操作模式切换到另一个; 以及用于改变第一开关状态的开关条件改变部分。
    • 6. 发明授权
    • Endoscope system
    • 内窥镜系统
    • US08147402B2
    • 2012-04-03
    • US12763514
    • 2010-04-20
    • Hideki TanakaJun HasegawaToshio Nakamura
    • Hideki TanakaJun HasegawaToshio Nakamura
    • A61B1/00A61B1/04
    • G02B23/2476A61B1/0005A61B1/0051A61B1/0052A61B1/042A61B5/065H04N7/185
    • An endoscope system of the invention includes: an endoscope including an insertion portion, a distal end portion provided on a distal end side of the insertion portion, and a bending portion which is capable of changing a position and an orientation of the distal end portion; a position detecting section for acquiring position information on a position where the distal end portion is located; a passing target position setting section for setting a passing target position for the distal end portion; a path estimating section for estimating a path through which the distal end portion is to be passed; a bending control target position setting section for setting a bending control target position such that the distal end portion reaches the passing target position along the path; and a bending control information calculating section for calculating an amount of bending and a bending direction of the bending portion.
    • 本发明的内窥镜系统包括:内窥镜,具有插入部,设置在所述插入部的前端侧的前端部和能够改变前端部的位置和姿态的弯曲部; 位置检测部分,用于获取关于所述远端部分所在位置的位置信息; 通过目标位置设定部,用于设定前端部的通过目标位置; 路径估计部,用于估计要通过所述远端部的路径; 弯曲控制对象位置设定部,其设定使所述前端部沿着所述路径到达所述通过目标位置的弯曲控制对象位置; 以及弯曲控制信息计算部分,用于计算弯曲部分的弯曲量和弯曲方向。
    • 8. 发明授权
    • Endoscope insertion direction detecting system
    • 内窥镜插入方向检测系统
    • US07559888B2
    • 2009-07-14
    • US10531496
    • 2003-11-19
    • Jun HasegawaTetsuo Nonami
    • Jun HasegawaTetsuo Nonami
    • A61B1/04
    • A61B1/042A61B1/00147G06T7/73G06T2207/30028Y10S600/921
    • The invention provides an endoscope inserting direction detecting apparatus and method with which the direction of a lumen can be determined reliably despite a simple configuration. The endoscope inserting direction detecting apparatus includes a pixel sampling unit that samples a stated pixel value from each of domains constituting an endoscopic image received by an image input/output control circuit; a shape-of-range estimating unit that estimates the shape of a range within the endoscopic image according to the continuity of the distribution of the pixels indicating the stated pixel value; and an inserting direction determining unit that determines an inserting direction within a body cavity, in which an endoscope should be further inserted, on the basis of the estimated shape. The inserting direction is displayed together with the endoscopic image.
    • 本发明提供一种内窥镜插入方向检测装置和方法,尽管简单的结构,能够可靠地确定内腔的方向。 内窥镜插入方向检测装置包括像素采样单元,其对构成由图像输入/输出控制电路接收的内窥镜图像的各个域进行采样; 距离估计单元,其根据表示所述像素值的像素的分布的连续性来估计内窥镜图像内的范围的形状; 以及插入方向确定单元,其基于估计的形状来确定体腔内的插入方向,其中应进一步插入内窥镜。 插入方向与内窥镜图像一起显示。
    • 9. 发明授权
    • Method of controlling printed line quality
    • 控制印刷线质量的方法
    • US07443538B2
    • 2008-10-28
    • US10991475
    • 2004-11-19
    • Jun Hasegawa
    • Jun Hasegawa
    • H04N1/40
    • H04N1/58
    • A printer embodied rendering algorithm for detecting and configuring positive and negative thin lines to be rendered such that when a bright-colored thin line on a dark background (negative thin line) is rendered and the result is stored in an RGB buffer in a printer system, the thin line thickness is increased only when the brightness of the line color is higher than a predetermined threshold value and the thin line thickness is smaller than a predetermined threshold value. According to the rendering algorithm, it is possible to prevent a negative thin line from disappearing or becoming thinner without increasing a positive thin line thickness, thereby improving the visibility of the thin line.
    • 打印机具有渲染算法,用于检测和配置要呈现的正和负细线,使得当在暗背景(负细线)上的亮色细线被渲染并且结果存储在打印机系统中的RGB缓冲器中时 只有当线颜色的亮度高于预定阈值并且细线厚度小于预定阈值时,细线厚度才增加。 根据渲染算法,可以防止阴极细线消失或变薄而不增加正的细线厚度,从而提高细线的可视性。