JP2001025035A - Stereoscopic viewing device and method for assembling, disassembling and using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stereoscopic viewing device for improving brightness, a stereoscopic effect and resolution and realizing high quality optical performance like a microscope for surgery without enlarging a hole for inserting an endoscope. SOLUTION: This stereoscopic viewing device used in the case that an observing object space is present at the back of a narrow entrance and the assembling and the use method are provided. Plural image pickup devices 6 are respectively and successively inserted from the narrow entrance 3 to the observing object space, then a support 7 is inserted from the narrow entrance, and the plural image pickup devices 6 are almost parallelly arranged toward an observing object at a mounting mechanism 9 provided on the insertion tip of the support 7. Video signals from the image pickup devices 6 are taken out from the narrow entrance 3 and observed in a stereoscopic display device 16. When observation is ended, the support 7 and the image pickup devices 6 are detached, they are pulled out in the order of the support 7 and the respective image pickup devices 6 and the use is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to observation using a stereoscopic device and treatment of an observation object. More specifically, in the medical field, surgical treatment using a stereoscopic endoscope is performed. In the industrial field, the present invention relates to repair of the interior of an aircraft engine using a stereoscopic endoscope.

[0002]

2. Description of the Related Art In the medical field, conventionally, surgical treatment using a stereoscopic endoscope is disclosed in
No. -30896 is known.

[0003] In recent years, a method of making a small hole in the body, inserting an endoscope, and performing an operation in order to reduce the burden on the patient during surgery has been rapidly spread, and has now replaced laparotomy. It has become common sense.

A variety of systems have been developed for this surgical technique. Some of these techniques are not only those that make full use of an endoscope and a treatment tool, those that have improved operability in combination with a robot, and those that also have a measurement function. I have.

[0005] However, despite the sophistication of the system, there has been no progress in the optical performance of endoscopes, which are the most important and the eyes of the procedure, and improvements are desired.

Specifically, the hole to be drilled in the body is about 10 mm, and it is considered that the smaller the hole, the better. Usually, the used optical system is about 5 to 8 mm, and there are problems such as lack of brightness, lack of three-dimensional effect, and lack of resolution. Each of these problems is caused by the fact that the outer diameter of the optical system cannot be made large, and has been a limit in the conventional stereoscopic endoscope.

[0007] Therefore, many doctors who perform procedures often request high-quality optical performance such as a surgical microscope used in neurosurgery. However, when performing an operation with a surgical microscope, a large hole must be made in the body, and it is impossible to use the same as it is.

In the industrial field, it takes time and money to disassemble and inspect the interior of an aircraft engine when inspecting and repairing the engine. Therefore, an endoscope is inserted in advance through a dedicated hole provided for inspection and repair to improve efficiency. Raising. The dedicated hole, when flying,
It cannot be made large so that foreign matter does not enter inside.

[0009] Therefore, as in the medical field, there are problems such as insufficient brightness, lack of three-dimensional effect, and insufficient resolution.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of such problems of the prior art, and has as its object to increase the brightness without increasing the size of the hole for inserting the endoscope.・
An object of the present invention is to provide a stereoscopic device which improves a stereoscopic effect and resolution and realizes high-quality optical performance such as a surgical microscope.

[0011]

SUMMARY OF THE INVENTION The present invention, which achieves the above object, is a stereoscopic apparatus for obtaining a high-quality stereoscopic image and a method of assembling / disassembling and using the apparatus.

1. The overall configuration of the device will be described: like the human eye, it is composed of two imaging devices corresponding to the right eye and the left eye and a supporting column, and the imaging device is arranged at the tip of the observation object of the supporting column. The arrangement should be substantially parallel or slightly inward toward the observation object. This inward angle is called the inward angle.

The number of image pickup devices may be two or an even number such as 4, 6, 8,. The imaging device combines two or one of the two with another imaging device prepared at the same time,
The inward angle (three-dimensional appearance) may be switched,
In this case, the number of imaging devices is an odd number such as 3, 5, 7, or the like.

The image pickup device comprises an optical system and a photoelectric conversion element such as a CCD, and a video signal from the image pickup device can be stereoscopically viewed by a monitor dedicated to stereoscopic vision through a signal processing circuit. The method of extracting the video signal may be a method of sending the signal to a signal processing circuit using an electric wire, or a method of transmitting the image signal wirelessly using a transmitting mechanism on the imaging device side and a receiving mechanism on the signal processing circuit side.

There are various types of commercially available monitors for stereoscopic viewing, such as a type that can be viewed as it is with the naked eye, a type in which an observer looks at the monitor with special glasses, and a type in which a monitor is built into the glasses themselves. And it can be used.

In the medical field, it is preferable to use the strut as a trocar because the procedure is easy.

(1-1) It is desirable that the imaging device is detachable from the support.

As described in the section of the problem to be solved by the invention, when the present stereoscopic device is used as an endoscope, the smaller the insertion hole provided in the body or the engine, the better.
Even if the imaging device itself is small, it cannot be inserted into a small hole because it is too large when mounted on a column. Therefore, at the time of insertion, the imaging device and the support are detached, and it is desirable that they can be attached after insertion.

It is preferable to use a magnetic force by a magnet or a combination of concave and convex portions provided on each of the image pickup device and the support column, because it is easy to attach and detach in an inaccessible space.

2. The details of the imaging device will be described: It is desirable that the arrangement of the imaging device satisfies the following conditions.

(1) 0.02 <L / D <0.4 where L is the distance (mm) between the optical axes at the end faces of the at least two imaging devices closest to the object, and D is at least two imaging devices. When the optical axes of the devices are respectively extended to the object to be observed, and when at least two optical axes intersect with the object at one point, the distance (mm) between this one point and the end face of the imaging device closest to the object to be observed is shown. ing.

Conditional expression (1) shows the optimal arrangement condition of the imaging device for stereoscopic observation. If L / D is less than 0.02, the inward angle between the imaging devices is 1.1 ° or less, and a three-dimensional effect cannot be obtained. When L / D is larger than 0.4, the inward angle between the imaging devices becomes 24 ° or more, and the stereoscopic effect is too large. In either case, the observer feels uncomfortable, and if observation is continued for a long time, fatigue becomes severe, which is not preferable.

Since there is a correlation between the three-dimensional effect and the degree of fatigue,
It is necessary to appropriately select L / D according to the expected observation time.

Regarding the correlation between the three-dimensional effect and the degree of fatigue, three-dimensional effect: no → L / D: 0.02 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 Inward angle: 1.15 ° 2.87 ° 5.74 ° 8.63 ° 11.54 ° 14.48 ° 17.46 ° 20.49 ° 23.58 ° Fatigue: large ← small → large Observation time: short → long ← short

Therefore, the range of the conditional expression (1) is 0.02 <L / D <0.1 or 0.15 <L / D in a short time, depending on the expected observation time.
In the case of <0.4 long time, it is preferable to set a condition that facilitates stereoscopic observation within a range of 0.1 = L / D or 0.05 <L / D <0.15.

(2-1) It is desirable that the optical system of the imaging apparatus satisfies the following conditions.

(2) 0.50 <I / F <1.70 where I is the largest diagonal length (mm) on the imaging surface of the imaging device, and F is the focal length of the entire optical system used in the imaging device. (Mm).

Conditional expression (2) shows the condition of the viewing angle of the optical system that is optimal for stereoscopic observation. If the I / F is smaller than 0.5, the visual field range is narrow, and the treatment is not successful. I / F
Is larger than 1.7, the visual field range is wide and the treatment is not successful.

Generally, distortion (distortion)
The optical system with less is expressed by the relationship of I / 2 = Ftan θ. Here, θ means a half of the viewing angle. Here, since the I / F is proportional to θ, the I / F can be read as θ. If the I / F or θ is too small, the observation range is narrow, the entire treatment range cannot be overlooked, and the operation is difficult. If the I / F or θ is too large, the perspective (perspective) increases, the observation magnification at the far point decreases rapidly, and it is difficult to work because the perspective cannot be grasped. In addition, the distortion around the screen becomes large, and the fusion of stereoscopic vision does not work well, so that it is difficult to work.

The specific relationship between I / F and θ will be described using I / 2 = Ftan θ.

In the present invention, when used as an endoscope, a hole for insertion cannot be made large. Therefore, the size of a CCD or the like used in an image pickup device is preferably a small size of 1 inch or less. The relationship between I / F and θ for some sizes of 1 inch or less is as follows: inch I (mm) F (mm) I / F (mm) θ (°) 1 16 32 0.5 14 9.4 1.7 40.4 2/3 11 22 0.5 14 6.47 1.7 40.4 1/2 8 16 0.5 14 4.7 1.7 40.4 1/3 6 12 0.5 14 3. 53 1.7 40.4 1/4 4 80.5 14 2.35 1.7 40.4 1/6 3.3 6.6 0.514 1.94 1.7 40.4 , 0.50 <I / F <1.70 is 14 ° <
θ <40.4 ° may be set.

It is said that the viewing angle at which the human eye can always stereoscopically view is about 60 °, so that θ is 30 ° (60 °).
(° / 2), the I / F is 1.15. Therefore,
Conditional expression (2) is preferably 0.90 <I / F <1.30 because a more natural three-dimensional effect is always obtained.

The range in which the focal length F of the entire system is appropriately selected depending on the size of the element such as a CCD is as follows from the above, 9.4 <F <32 for 1/2 inch, 4.7 <F <for 1 1/2 inch. It can be read as a conditional expression such as 16.

(2-2) It is desirable that the optical system of the image pickup apparatus satisfies the following conditions.

(3) 0.5 <FN <8.0 Here, FN indicates a brightness value of a fixed or variable aperture of an optical system used in the image pickup apparatus.

Conditional expression (3) indicates the optimal brightness of the optical system for stereoscopic observation according to the present invention. FN is used in Fno. (F number) is the same as the definition.

In conventional three-dimensional observation using an endoscope, the outer diameter of each optical system cannot be increased due to restrictions on the outer diameter, and thus the brightness cannot be increased.
According to the present invention, since the size of each imaging device can be increased, the brightness can be sufficiently increased.

If the FN is smaller than 0.5, the outer diameter of the optical system becomes larger, and the outer diameter of the image pickup device must be made larger than necessary. Further, it becomes difficult to correct various aberrations such as spherical aberration, the number of lenses in the optical system increases, and an aspherical lens must be used, which is not preferable because the cost increases. When the FN is larger than 8.0, it becomes dark, which is not preferable.

If the outer diameter of the imaging device has a margin, a structure for driving the aperture stop is arranged around the optical system, and the FN is made variable between 0.5 and 8.0. This is preferable because the brightness of an observation image that varies depending on the illumination state and reflectance of the observation object can be kept constant. As a means for making the aperture variable, it is preferable to move the aperture blade with a motor, a spring, a bimetal, a piezoelectric element, or the like. Alternatively, a stop means may be used by using a photochromic element, an electrochromic element, a liquid crystal, or the like.

The brightness stop may be linked (auto iris) such that the brightness is detected based on an output video signal from the image pickup apparatus, and the stop is opened when the image is too bright, and the stop is opened when the image is too dark.

The variable range is, in addition to the above equation (3), 1.2 <FN <5.6 in the case of a bright specification, and 4.0 <FN <8.0 in the case of a dark specification. Is stable, it is preferable that 3.0 <FN <6.0.

3. Illumination system will be described: According to the present invention, an illumination device for illuminating an observation object is provided inside a column.

As described in the section of the problem to be solved by the invention, when the stereoscopic device is used as an endoscope, a large hole or a large number of holes cannot be formed in a body or an engine. It is desirable to provide an integral type. In addition, in the case of a surgical operation, in addition to the insertion hole of the endoscope, two or three insertion holes for treatment may be formed, and it is conceivable to illuminate using this hole. Therefore, there is no hole for inserting the treatment tool, which is not preferable. In addition, since the treatment hole is formed in the lateral direction toward the field of view of the endoscope, if it is illuminated from here, a shadow of the treatment tool can be formed in the field of view of the endoscope, and the valley of the organ is not illuminated. It is not preferable.

On the other hand, the illumination from the direction of the support column is preferable because it can be illuminated from the front of the organ, so that there is no shadow and the valley can be evenly illuminated.

(3-1) The illuminating device comprises a light-emitting element provided near the end face of the column closest to the observation object.

As the light emitting element, for example, a small halogen lamp or light emitting diode can be considered. By providing such a light emitting element near the end surface on the observation object side, the observation object can be directly illuminated, so that the illumination light amount can be efficiently illuminated without waste. In addition, direct illumination prevents a long transmission system from entering between the light source and the observation object, so that there is no waste of light amount due to the transmission system, and there is no deterioration in color rendering.

(3-2) The illuminating device comprises a light source lamp, a condensing optical system for converging the lamp light, and a light guide for transmitting the converged light to the end face of the column closest to the object to be observed. .

As the light source lamp, a halogen lamp, a xenon lamp, a metal halide lamp or the like is used. The condensing optical system is of a type in which light is converged on the light guide by a reflector provided on the side opposite to the light guide with the light source lamp interposed, or at least one positive power is provided between the light source and the light guide. A type in which light is converged on a light guide by a refracting optical system including a held lens has good light collection efficiency.
When both are used in combination, the light collection efficiency is further improved.

The light guide is preferably made of a bundle of thousands to tens of thousands of thin optical fibers, or a liquid guide filled with plastic, rubber, or a cylinder, since it is resistant to bending. Also,
A light guide having an outer diameter of about 1 mm to 10 mm and a length of several meters is preferable as an endoscope. The industrial length is 5-20m, which is longer for large engines
Degree is preferable, and the length for medical use is inside the operating room.
About 1 to 5 m is preferable. Also, recently, there is a case where a light source is disposed outside the room in order to make the inside of the operating room clear, and in this case, a longer length of 5 to 20 m is preferable.

(3-3) The illumination device is provided with a variable focal length or fixed illumination lens near the end face closest to the object to be observed so that the illumination range can be adjusted.

The light distribution can be optimized according to the range of the visual field by the illumination lens, so that the periphery of the visual field can be observed brightly. In the case where the viewing angle is variable, it is preferable to change the focal length of the illumination lens system in accordance with the variable viewing angle because a favorable observation image without brightness unevenness can always be obtained.

The illumination lens is preferably a concave lens because the light distribution can be easily widened. Further, a lens using a convex lens, and a lens combining both a concave lens and a convex lens are preferable because light distribution can be selected more freely.

In order to obtain a constant inward angle in accordance with the change in the distance D between the imaging device and the observation object, L (the distance between the optical axes at the end faces of the at least two imaging devices closest to the observation object). ) Is preferably adjusted at any time, and the brightness of the illumination system may be changed so as to be constant in conjunction therewith. It is preferable that the illumination range be changed so as to be constant in accordance with the change in the inward angle of the imaging device. Further, it is preferable that the illumination range can be changed so that the periphery of the visual field is illuminated in conjunction with the change in the viewing angle of the imaging device.

4. Described below is an assembling method: The present invention is a method of inserting and assembling a stereoscopic device used when an observation object space exists behind a narrow entrance, wherein the first imaging device is moved from the narrow entrance to the observation object space. Insert using a guide, insert the second imaging device from the narrow entrance into the observation object space using the guide, insert the support from the narrow entrance, and use the guide for the mounting mechanism provided at the insertion tip of the support. And mounting the first and second image pickup devices.

The first imaging device is inserted into the observation object space from the narrow entrance using a guide having a smaller outer diameter than the imaging device,
The guide is held at hand so that the imaging device does not fall into the observation object space and go missing.

Next, the second imaging device is similarly inserted and holds the guide.

Next, the support is inserted, the guide is fixed by relying on the support, and the first and second imaging devices are mounted on the mounting mechanism provided at the insertion end of the support. Thus, a stereoscopic device is completed in the observation object space.

In this assembling method, by inserting the imaging device and the support column separately and assembling them in the observation object space, a device which becomes large after the assembly can be inserted from a small insertion hole.

(4-1) The guide also serves as a power supply wiring for driving the imaging device.

When the guide and the wiring are separated, the thickness increases.
It is preferable to share both of them because the hole for insertion can be used effectively.

(4-2) The guide also serves as a signal wiring for extracting a video signal from the image pickup device.

When the guide and the wiring are separated, the thickness increases.
It is preferable to share both of them because the hole for insertion can be used effectively.

5. The disassembly method will be described. The present invention relates to a disassembly and removal method of a stereoscopic device used when an observation object space exists behind a narrow entrance, and a detachment mechanism provided at an insertion tip of a support, By operating the detachment operation mechanism provided on the opposite side to the insertion tip interlocking with the detachment mechanism, the first and second imaging devices are detached from the support, the support is pulled out from the narrow entrance, and the first and second imaging devices are removed. This is a method for disassembling and extracting a stereoscopic device, wherein the two imaging devices are sequentially taken out from a narrow entrance using a guide.

Incidentally, the emergency release mechanism provided at the insertion tip can also be operated at the insertion distal end portion in case of an emergency in which the detachment operation mechanism provided on the opposite side of the insertion distal end fails and cannot be released. It has become. To operate the detachment mechanism of the insertion tip portion, for example, in the case of surgery,
By approaching from a hole for a treatment tool other than the hole for insertion with another endoscope having an observation system and operating a switch of a detachment mechanism, detachment is possible. The same applies to industrial use.

(5-1) The guide also serves as a power supply wiring for driving the imaging device.

When the guide and the wiring are separated, the thickness increases.
It is preferable to share both of them because the hole for insertion can be used effectively.

(5-2) The guide also serves as a signal wiring for extracting a video signal from the image pickup device.

When the guide and the wiring are separated, the thickness increases.
It is preferable to share both of them because the hole for insertion can be used effectively.

6. The method of use will be described: The present invention is a method of using a stereoscopic device used when an observation object space exists behind a narrow entrance, and a plurality of imaging devices are sequentially placed in the observation object space from the narrow entrance. Insert
Next, a support is inserted from a narrow entrance, and a plurality of imaging devices are arranged in a mounting mechanism provided at the insertion end of the support so as to be substantially parallel to an object to be observed. This is a method for using a stereoscopic device, characterized in that observation is performed on a display device, and when the observation is completed, the support and the imaging device are detached, the support and each of the imaging devices are extracted in this order, and use is completed.

By inserting the imaging device and the support column separately and assembling them in the observation object space, a large device can be inserted and used from a small insertion hole after assembly. In addition, since it is disassembled and removed after the observation, it can be used without making a large hole.

[0071]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. There is one embodiment.

FIG. 1 shows the entire configuration of a case where the stereoscopic device is used as an endoscope for minimally invasive surgery. When observing and treating an organ in the abdominal cavity of a patient, several holes 2 and 3 are drilled in the body 1 and a treatment tool 4 and an endoscope 5 are inserted.

The endoscope 5 is composed of two imaging devices 6, 6 and a column 7 which also serves as a trocar. The two imaging devices 6, 6 are inserted into the abdominal cavity sequentially from one hole 3,
At this time, it is suspended by the guide 8 so as not to fall into the abdominal cavity after insertion. The guide 8 also serves as a power supply wiring and a video signal output wiring.

The support 7 is inserted, the guide 8 is pulled out of the body along the support 7, and the image pickup devices 6, 6 are mounted on the support 7 by the attachment / detachment mechanism 9 having the concave-convex portion at the tip of the support 7. Details of the imaging devices 6, 6 will be described with reference to FIG.

The column 7 incorporates a lighting device.
Illumination is performed by causing light from a light source lamp 10 to enter a light guide 13 by a condensing optical system including a reflecting mirror 11 and a convex lens 12 attached to the lamp 10. Since the incident portion of the light guide 13 becomes high heat and the end face of the light guide 13 may be burned, the rod rod 14 made of heat-resistant glass is provided. The illumination light is transmitted to the tip of the column 7 by the light guide 13. Details of the lighting device at the end of the support will be described with reference to FIG.

The video signals from the imaging devices 6 and 6 are processed by the stereoscopic vision processor 15 and
Sent to 6. The stereoscopic monitor 16 can be stereoscopically viewed by wearing dedicated polarizing glasses 17. The transmitter and the receiver are controlled so that the polarizations of the monitor 16 and the glasses 17 are synchronized. The monitor using the glasses 17 may be used by a plurality of assistants for assisting the procedure in the case of a surgical operation. Since assistants often move around, it is good to have such a wireless light and light view.

In addition to the stereoscopic monitor 16, the glasses 18 with a built-in stereoscopic monitor enable stereoscopic viewing by simply wearing the glasses 18 as they are. This method may be used by those who perform the procedure. Since the treatment tool can be operated toward the patient without facing upward, the procedure can be performed easily because the sense of distance and sense of direction can be grasped. In particular, the sense of distance and sense of direction are important in Robotech Surgery. The details of Robotech Surgery will be described with reference to FIG.

When the treatment is completed, the disassembly and removal are performed as follows. By operating the detachment operation mechanism 19 provided on the hand side in conjunction with the attachment / detachment mechanism 9 provided at the insertion tip of the support column 7, the support column 7 and the imaging devices 6 are separated.

The support 7 is taken out, the two imaging devices 6, 6 are taken out one after another, and the insertion holes 2, 3 are sewn to complete the procedure.

FIG. 2 shows details of the imaging apparatus. As shown in FIG. 2A, among the three imaging devices 6 ₁ , 6 ₂ , and 6 ₃ attached to the column 7 by the attachment / detachment mechanism 9, stereoscopic viewing is possible with the imaging devices 6 ₁ and 6 ₂ . The distance between the optical axes of the imaging units ₆₁ and 6 ₂ L = 10 mm, the distance between the observation object O is D = 100 mm. Therefore, L / D =
0.1, and the inward angle α = 5.74 °. Switching the signal of the image pickup device 6 ₂ and the imaging device 6 ₃ can be a β was increased inward angle. This is convenient when you want a more three-dimensional appearance. Imaging devices 6 ₁ , 6 ₂ , 6
_As shown in FIG. 2B, the inside of ₃ is an imaging optical system 21.
And a CCD imaging device 22. Imaging optical system 2
1 has a retrofocus configuration, and F = 4.7 to
This is a 16 mm zoom lens. 8 in view angle
1 ° to 28 °. The CCD image sensor 22 uses 1/2 inch. The largest diagonal length on the image sensor 22 is I = 8 mm. Therefore, I / F = 1.7-0.
It becomes 5. The brightness is the auto iris 23 of FN = 3 to 8.

FIG. 3 shows details of the lighting device. An illumination lens and a luminous body are provided in order from the observation object side provided inside the column 7. FIG. 3A shows an illumination lens 24 to which a concave lens is fixed, and a white LED.
25. Its illumination range is about 100 °
It is. In FIG. 3B, the illumination lens 24 includes a concave lens and a convex lens that can move in the optical axis direction, and is a variable zoom lens mechanism in which the illumination light distribution characteristics can be continuously changed. Further, as the light emitter, the light guide 26 (corresponding to the light guide 13 in FIG. 1) uses a liquid light guide in which liquid is sealed in a cylindrical shape. The merit of the liquid light guide is that there is no gap between the fibers, so that there is no packing fraction, there is no loss of light amount, and the efficiency is good, as compared with the case where many optical fibers are bundled. In the case of FIG. 3B, the light source connected to the light guide 26 includes a 300 W xenon lamp 27 (corresponding to the light source lamp 10 in FIG. 1) and a reflecting mirror 28 attached to the lamp 27.
(Corresponding to the reflecting mirror 11 in FIG. 1) and a condenser optical system including a convex lens 29 (corresponding to the convex lens 12 in FIG. 1). The light guide 26 has an outer diameter of 5 mm and a length of 3 m, and the liquid uses oil having a high refractive index. The illumination range in this case is approximately 20 ° to 100 °.

FIG. 4 is a system diagram of the robotic surgery device disclosed in FIG. 1 of JP-A-6-30896. Details are given to JP-A-6-30896,
4 'is a monitor drive, 6' is a manipulator, 24
0 is a manipulator, 242 is a manipulator device or robot, 243 is a computer, 244 is a drive monitor interface, 245 is an image processor, 246 is a graphics adapter, 247 is a monoscopic monitor, 247 is a terminal, and 251 is a manual type. Lock clamp, 253 is a slide motor, 254 is a slide device, 255 is a manual lock clamp, 25
9 is a camera, 260 is a second surgical device, 266 is a camera tip, 267 is a voice recognition and synthesis system, 268 is a control stick, 269 is a touch screen, 271
Is a stereo display system, 272 is a stereoscopic monitor, 278 is a fiberscope cable,
A light source 277 is connected to the slide device 254 via, for example, a video camera 259 and a fiberscope cable 278. Camera 2
The video signal output of the 59
6, where it can be freely mixed with the graphic output from the computer 243 and displayed on the monitor 247. The video output of the camera is connected to the image processing system 245.
Is also arbitrarily input, where the camera image is analyzed,
The relative position information of the surgical device, the camera, and the anatomy is transmitted to the computer 243. The video output of the camera can also optionally be input to the stereo display system 271. Here, a stereoscopic image of the anatomical tissue can be assembled from two or more images obtained at different points, and can be displayed on the stereoscopic monitor 272.

In such a robotic surgery device, the present three-dimensional device can be applied. As shown in FIG. 2A, a detachable mechanism 9 is provided at the camera tip 266 with the slide device 254 as a support 7 and an even number Alternatively, an odd number of image pickup devices 6 are attached so as to be attachable / detachable. Otherwise the exact same system can be used.

Although the stereoscopic apparatus of the present invention and the method of assembling / disassembling and using the same have been described based on the embodiments, the present invention is not limited to these embodiments and can be variously modified.

The above-described stereoscopic device of the present invention and its assembling / disassembling and use method can be constituted, for example, as follows: [1] At least two image pickup devices and a support,
A stereoscopic device characterized in that an imaging device is arranged at a tip of a support on an observation object side in substantially parallel to an observation object, and a video signal from the imaging device is observed on a stereoscopic display device.

[2] The stereoscopic apparatus according to the above item 1, wherein at least two image pickup devices are detachable from the support.

[3] The stereoscopic apparatus according to the above item 1, wherein at least two image pickup devices satisfy the following conditions.

(1) 0.02 <L / D <0.4 where L is the distance between the optical axes at the end face of the at least two imaging devices closest to the object, and D is the light of at least two imaging devices. The axes are respectively extended to the observation object, and when at least two optical axes intersect with the observation object at one point, the distance between the one point and the end surface of the imaging apparatus closest to the observation object is shown.

[4] The stereoscopic device according to the above item 3, wherein at least two imaging devices satisfy the following conditions.

(2) 0.50 <I / F <1.70 where I is the largest diagonal length on the imaging surface of the imaging device, F is the focal length of the entire optical system used in the imaging device,
Is shown.

[5] The stereoscopic device according to the above item 3, wherein at least two image pickup devices satisfy the following condition.

(3) 0.5 <FN <8.0 where FN indicates a brightness value of a fixed or variable aperture of an optical system used in the image pickup apparatus.

[6] The stereoscopic apparatus according to the above item 1, wherein an illumination device for illuminating an observation object is provided inside the support.

[7] The stereoscopic apparatus according to the above item 6, wherein the illumination device is formed of a light emitting element provided near the end face of the column closest to the observation object.

[8] The illuminating device is characterized by comprising a light source lamp, a condensing optical system for converging the lamp light, and a light guide for transmitting the converged light to the end face of the column closest to the object to be observed. 7. The stereoscopic device according to claim 6, wherein

[0096]

[9] The stereoscopic device according to the above item 6, wherein the illumination device is provided with an illumination lens having a variable or fixed focal length near an end surface closest to the object to be observed so that an illumination range can be adjusted.

[10] This is a method for inserting and assembling a stereoscopic device used when the observation object space exists behind a narrow entrance, wherein the first imaging device is guided from the narrow entrance to the observation object space using a guide. The second imaging device is inserted from the narrow entrance into the observation object space using the guide, the support is inserted from the narrow entrance, and the first and the second are mounted on the mounting mechanism provided at the insertion tip of the support using the guide. A method for inserting and assembling a stereoscopic device, comprising mounting a second imaging device.

[11] The guide is characterized in that the guide also serves as a power supply wiring for driving the imaging device.
A method for inserting and assembling the stereoscopic device according to the claims.

[12] The method for inserting and assembling a stereoscopic device according to the above item 10, wherein the guide also serves as a signal wiring for extracting a video signal from the image pickup device.

[13] A disassembly / removal method of a stereoscopic device used when an observation object space exists behind a narrow entrance, wherein a detachment mechanism provided at an insertion tip of a column and an interlocking operation with the detachment mechanism By operating a detachment operation mechanism provided on the side opposite to the insertion tip to be inserted, the first and second imaging devices are detached from the support, the support is extracted from the narrow entrance, and the first and second imaging devices are removed. Using a guide to sequentially take out from a narrow entrance.

[14] The guide described in the above 13 wherein the guide also serves as a power supply wiring for driving the image pickup device.
A method for disassembling and taking out the stereoscopic device according to the above.

[15] The disassembly and retrieval method for a stereoscopic apparatus according to the above item 13, wherein the guide also serves as a signal wiring for extracting a video signal from the imaging device.

[16] This is a method of using a stereoscopic device used when the observation object space exists behind a narrow entrance. A plurality of image pickup devices are inserted into the observation object space sequentially from the narrow entrance, respectively. Insert the strut from the narrow entrance to
A plurality of imaging devices are arranged on the mounting mechanism provided at the insertion end of the support column substantially parallel to the object to be observed, video signals from the imaging devices are taken out from the narrow entrance, observed on the stereoscopic display device, and the observation is completed. Then, the column and the imaging device are detached, the column and the respective imaging devices are extracted in this order, and the use is completed.

[0104]

As is apparent from the above description, according to the present invention, high-quality optical performance excellent in brightness, stereoscopic effect and resolution can be achieved without increasing the size of the hole for inserting the endoscope. And a method of assembling / disassembling and using the device.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration when a stereoscopic device according to an embodiment of the present invention is used as an endoscope for minimally invasive surgery.

FIG. 2 is a diagram illustrating details of the imaging device in FIG. 1;

FIG. 3 is a diagram showing details of the lighting device of FIG. 1;

FIG. 4 is a system diagram of a known robotic surgery device to which the present invention can be applied.

[Description of Signs] 1 ... Patient's body 2, 3 ... Hole 4 ... Treatment tool 5 ... Endoscope 6,6 ₂ , 6 ₃ ... Imaging device 7 ... Support 8 ... Guide 9 ... Removable mechanism 10 ... Light source lamp 11 ... Reflecting mirror 12 ... Convex lens 13 ... Light guide 14 ... Rod rod 15 ... Stereoscopic processor 16 ... Stereoscopic monitor 17 ... Polarized glasses 18 ... Glasses with a built-in stereoscopic monitor 21 ... Imaging optical system 22 ... CCD imaging device 23 ... Auto iris 24 ... Illumination lens 25 ... White LED 26 ... Light guide 27 ... Xenon lamp 28 ... Reflection mirror 29 ... Convex lens 4 '... Monitor drive 6' ... Manipulator 240 ... Manipulator 242 ... Manipulator device or robot 243 ... Computer 244 ... Drive monitor Interface 245: Image processor 246: Graphic adapter 247: Monoscopic monitor 248: Terminal 251: Manual lock clamp 253: Slide motor 254: Slider 255: Manual lock clamp 259: Camera 260: Second surgical device 266: Camera tip 267 … Voice recognition and synthesis system 268… control stick 269… touch screen 271… stereo display system 272… stereoscopic monitor 278… fiberscope cable 277… light source

Claims (3)

[Claims] 1. An image pickup apparatus comprising: at least two image pickup devices and a support; an image pickup device disposed at an end of the support on a side of an object to be observed substantially parallel to an object to be observed; A stereoscopic device. 2. A method for inserting and assembling a stereoscopic device used when an observation object space exists behind a narrow entrance, wherein a first imaging device is inserted from a narrow entrance into an observation object space using a guide. Then, the second imaging device is inserted into the observation object space from the narrow entrance using a guide, the support is inserted from the narrow entrance, and the first and second guides are mounted on the mounting mechanism provided at the insertion end of the support using the guide. 2. A method for inserting and assembling a stereoscopic device, comprising mounting the imaging device according to (2). 3. A method of using a stereoscopic device used when an observation object space exists behind a narrow entrance, wherein a plurality of imaging devices are sequentially inserted into the observation object space from the narrow entrance, respectively. A strut is inserted from a narrow entrance, a plurality of imaging devices are arranged in a mounting mechanism provided at a tip of the strut substantially parallel to an observation object, and a video signal from the imaging device is taken out from the narrow entrance, and a stereoscopic display device is obtained. The method of using a stereoscopic device, characterized in that, after the observation is completed, the support and the imaging device are detached, the support and the respective imaging devices are extracted in this order, and the use is completed.