JP3532660B2 - Body cavity observation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope inserted into a body cavity.
The present invention relates to an in-vivo observation device for observing the inside of a body cavity through a mirror. [0002] 2. Description of the Related Art Generally, a treatment tool and an endoscope are separately provided.
The procedure inserted into the patient's body cavity and inserted into the body cavity
Captures the image of the tip of the tool in the viewing field of the endoscope and
While observing the treatment status of the affected area with the endoscope using an endoscope
Endoscopic surgery for performing such procedures is known. [0003] Also, Japanese Patent Application Laid-Open No. 6-30896 discloses
Provide a visual field conversion mechanism to change the direction of the viewing field of the endoscope
To change the field of view of the observation optical system of the endoscope.
A configuration provided with a game mechanism is shown. And zoom
Zoom out the mechanism to widen the field of view
To the wide-angle observation position
Enlargement for locally observing a portion of the treatment target in the observation
You can zoom in to the large observation position. [0004] Generally, in a patient's body
For example, when there are multiple regions of interest such as
Is used during endoscopic surgery.
It is necessary to perform visual field conversion work to change the direction of the observation visual field
is there. In addition, sutures can be used to remove biological tissue in the patient's body.
When performing advanced procedures such as suturing or ligating
As the operation progresses, magnified observation of the treatment target and wide-angle observation
It is necessary to do the work repeatedly and repeatedly
Has become. However, Japanese Patent Application Laid-Open No. Hei 6-30896 discloses
In the information device, you can change the field of view of the endoscope and zoom in and out.
It is possible to switch the zoom-out
When switching between zoom-in and zoom-out,
Since the surgeon needs to operate the endoscope directly,
It may hinder the fine treatment that requires the inside. In the above publication, a light emitting device provided at the tip of a forceps is used.
The body and the structure with a characteristic shape are sent through the endoscope.
Image processing of the endoscope image
Field of view of the endoscope using the tip position of the clamped forceps as a reference position
A conversion operation is being performed. However, endoscopic surgery
The luminous body and structure of the forceps during the treatment with
Hidden by weaving or stains due to adhesion of blood etc.
The luminous body and structure of the forceps cannot be clearly recognized
When the forceps move, the forceps move
Dirt on the surface of the forceps by pulling it out or washing it with water
Perform special operations such as flushing out the luminous body of the forceps and the structure.
Until the structure can be recognized, change the view of the endoscope
Cannot be performed, and the treatment may be interrupted. The present invention has been made by paying attention to the above circumstances.
The purpose is to make the body
To observe a desired site in the cavity,
Simple observation according to the change of the region of interest such as the treatment target site
Means of changing the field of view and suturing
・ Enlarged image that is effective when performing advanced procedures such as ligation
Iterative operation of repeating image observation and wide-angle image observation
An object of the present invention is to provide an in-vivo observation device that is realized with good performance. [0008] SUMMARY OF THE INVENTION The present invention is directed to observing the inside of a body cavity.
Between the observation means and the field of view of the image obtained by this observation means.
Moving field of view moving means and images obtained by the observation means
Field of view variable means for moving the field of view of the
First operation means for controlling the operation of the moving means;Suture / Knot
When receiving a ligation commandThe operation of the visual field range variable means,Week
PeriodicallyA second operating means for controlling to operate automatically,
A body cavity observation device comprising: [0009] The operation of the visual field moving means is controlled by the first operating means.
Control, and by this visual field moving means,
While moving the field of view of the obtained image,Suture / ligation
When receiving a directiveThe operation of the field-of-view range changing means is controlled by the second operation
By meansAutomatically operate periodicallyControl and observe
Means for changing the field of view of the image obtained by
To change the region of interest in the body cavity.
The field of view of the corresponding observation means is changed, and the patient is
Field of view corresponding to the procedure of suturing and ligating the living tissue in the human body
The range can be changed with good operability.
You. At this time, the operation by the visual field range changing means is performed by
Procedure for inserting a needle into elephant tissue and ligating blood vessels, nerves, etc.
Enlarged observation of the target site required for the procedure and after suturing and ligating
Angle view required when transferring needle thread between forceps
The operation to alternately switch between insight and progress according to the progress of the treatment
It is performed continuously. That is, the view range variable means
Receives a suture / ligation command, ArtAnd suturing of the elderly
Zoom in at a cycle that matches the treatment speed,
In a state where theAutomatic operationIs done.
At this time, a wide-angle image and an enlarged imageIs aroundPeriod
Wide-angle image around the tissue to be sutured or ligated
And a locally enlarged image of the tissue to be sutured or ligated periodically
To be observed. [0010] 1 to 5 show a first embodiment of the present invention.
This will be described with reference to FIG. FIG. 1 is an endoscope which is an in-vivo observation device.
1 shows a schematic configuration of the entire mirror device system. This
For example, a laparoscope for observing the inside of a patient's body cavity
, Etc., is provided. The rigid endoscope 1 is inserted into a body cavity of a patient.
Insertion portion 2 and an eyepiece provided at the base end of insertion portion 2
A part 3 is provided. Furthermore, this rigid endoscope 1
As shown in FIG. 2, the objective lens 4 and the eyepiece
The eyepieces 5 are provided in the part 3 respectively.
In the meantime, a plurality of screws are provided in the cylindrical cylindrical body 6 forming the insertion portion 2.
Ray lenses 7 are spaced apart from each other by an appropriate distance.
4 and are arranged in parallel between the eyepiece 5. In addition, hardness
The optical system of the mirror 1 is provided with a distortion removing lens (not shown).
ing. Further, the insertion section 2 of the rigid endoscope 1
Trocar 9 punctured in the abdominal wall 8 etc. of the elderly
Is inserted into the body cavity. Here, insertion of the rigid endoscope 1
The eyepiece 3 side of the section 2 is a scope holder 10 having an articulated structure.
It is movably held by Further, the inside of the insertion section 2 of the rigid endoscope 1 is shown in FIG.
No illumination light guide fiber is provided. This
Light guide cable for light guide fiber for lighting
One end of the rule 11 is connected. This light guide case
The other end of the cable 11 is an external light source device for supplying illumination light.
12 is connected. The rigid endoscope 1 is inserted into the patient's abdominal wall 8 and the like.
The second trocar 9 'is pierced from an insertion location different from the insertion location.
Have been stabbed. And through this trocar 9 '
A forceps 13 as a device is inserted into a body cavity. The forceps 13 are inserted into a body cavity.
A treatment section 15 is provided at a distal end of the section 14. Further
In addition, a handle portion 16 on the proximal side is provided at the base end of the insertion portion 14.
It is arranged. The opening and closing operation of the handle portion 16 is performed.
The treatment unit 15 can be remotely opened and closed with the operation
It has become. The distal end of the treatment section 15 of the forceps 13 has a color
A marker 17 is provided. This color marker 17
It is a biocompatible paint and its color is not an organ.
Suitable colors are green, yellow and the like. In addition, as a treatment tool
Peeling forceps, scissors, laser probe instead of forceps 11
, Suture device, electric scalpel, needle holder, ultrasonic aspirator etc.
A treatment tool having the above configuration may be used. The eyepiece 3 of the rigid endoscope 1 is provided with the rigid endoscope.
TV camera unit (observation means) for capturing one observation image
18 is removably attached. This TV camera unit
In the casing 19 of the knit 18, the eyepiece 3 of the rigid endoscope 1 is provided.
Eyepiece of the rigid endoscope 1 which is disposed to face the eyepiece 5
Half mirror for distributing the optical image emitted from 3 into two
20 and one half distributed by the half mirror 20
(Optical image transmitted through the half mirror 20) is incident
Distributed by the magnifying optical system 21 and the half mirror 20.
(The light reflected by the half mirror 20)
And a wide-angle optical system 22 on which the optical image is incident.
You. In addition, the half mirror 20 is optically reflected by a prism or the like.
An element may be used. Here, the magnifying optical system 21 is a zoom lens.
(Field of View Range Variable Means) 23, Imaging Lens 24,
And a CCD 25a. In addition, wide-angle light
The science system 22 includes an imaging lens 26 and a second CCD 25b.
It is composed of The first CCD 25 of the magnifying optical system 21
a are two directions (X) orthogonal to the optical axis direction of the magnifying optical system 21.
X and Y stages (not shown)
Page. The drive source of this X, Y stage
The actuator for driving the X and Y stages (not shown)
E.g. DC servo motor, stepping motor
And voice coil motors are used. Further, the zoom lens 2 of the magnifying optical system 21
The driving source 3 is a zoom lens driving arm (not shown).
Actuator (DC servo motor, stepping motor
, Voice coil motor, etc.). The TV camera unit 18 is provided with a video signal.
No. 2 (No. 1 and No. 2) via No. cables 27a and 27b
Camera control unit (hereinafter CCU) 28a,
28b, and via a control signal cable 29
And is connected to the visual field conversion control unit 30. here
The first of the magnifying optical system 21 in the TV camera unit 18
CCD 25a is connected via one video signal cable 27a.
Connected to the first CCU 28a,
The second CCD 25b is connected via the other video cable 27b.
It is connected to the second CCU 28b. In addition, TV cameras
An X, Y stage drive actuator (not shown) in the unit 18
Controls the actuator for driving the tutor and zoom lens
To the visual field conversion control unit 30 via the signal cable 29
Connected. The first and second CCUs 28a, 28b
Is connected to the video mixer 31 and this video mixer
Reference numeral 31 is connected to a TV monitor 32. Furthermore, the second
CCU 28b is also connected to the visual field conversion control unit 30.
Have been. This view conversion control unit 30 has two (first
The first and second) foot switches 33a and 33b are respectively
It is connected. Here, the first foot switch 33a
Is a suture / ligation mode foot switch, and the second
The switch 33b is a foot switch of the visual field conversion mode.
It is. It should be noted that the second foot switch 33b is shown in FIG.
There is no zoom switch. And the real
In the system of the embodiment, the operation of the first foot switch 33a is performed.
When advanced procedures such as suturing or ligating are required
A valid suture / ligation mode is set and the second foot switch
Frequently occurs during close-up observation with the operation of the switch 33b
An effective visual field change mode is set when changing the treatment target site.
It is supposed to be. FIG. 3 shows the view conversion control unit 30.
1 shows a schematic configuration. This view conversion control unit
Reference numeral 30 denotes a color to which a signal from the second CCU 28b is input.
A space conversion unit 34 and an output signal from the color space conversion unit 34
And an extracted image generation unit 35 to which a signal is input.
Center-of-gravity position calculating unit 3 to which an output signal from the forming unit 35 is input
6 and an output signal from the center-of-gravity position calculating unit 36 are input.
Position command unit 37, and the position command unit 37 and the
1, the second foot switch 33a, 33b respectively
The connected operation mode switching unit 38 and the operation mode
XY stage control units (view
View field moving means) 39 and zoom control section (field of view range possible)
40) are provided. Here, the XY stage control unit 39 has a TV set.
Actuator for driving X and Y stages in camera unit 18
Eta is connected. And this XY stage system
The control signal output from the control unit 39 drives the X and Y stages
Is input to the actuator for use. Further
In addition, the zoom control unit 40 has a
A zoom lens driving actuator is connected. Next, the operation of the above configuration will be described.
First, when the endoscope apparatus of the present embodiment is used, it is shown in FIG.
A trocar previously punctured in the patient's abdominal wall 8 etc.
Of the rigid endoscope 1 held in the scope 9 by the scope holder 10
The insertion section 2 is inserted and inserted into a body cavity. In addition,
The abdominal wall 8 etc. of the elderly, the insertion place different from the insertion place of the rigid endoscope 1
The second trocar 9 'is punctured from the place,
The forceps 13 is inserted into the body cavity through the screw 9 '. This and
The treatment section 15 at the tip of the forceps 13 is moved to the eyepiece section 3 of the rigid endoscope 1.
Field of view R₁Is set to be inserted into
You. During use of the endoscope apparatus, the rigid endoscope 1
The observation image transmitted in the body cavity is transmitted to the TV camera unit.
The light is divided into two parts by a half mirror 20 in 18.
Further, one of the two mirrors distributed by the half mirror 20
(Optical image transmitted through the half mirror 20) is an enlarged optical
The first CCD of the magnifying optical system 21
25a and the half mirror 20
Image (reflected by the half mirror 20)
Optical image) is incident on a wide-angle optical system 22, and the wide-angle optical system 22
The image is picked up by the second CCD 25b of the optical system 22. Here, the operator performs a procedure such as suturing or ligating.
In this case, first turn on the first foot switch 33a.
Then, the suturing / ligating mode is set. This first foot
The ON signal of the switch 33a is transmitted to the view conversion control unit 3
0 is transmitted to the operation mode switching unit 38. Like this
When the ON signal of the foot switch 33a is input
The operation mode switching unit 38 controls the zoom control unit 40
An operation command suitable for suturing and ligating the tissue is issued. At this time, the operation of the zoom control unit 40
Is a procedure for inserting a needle into the tissue to be sutured, blood vessels, nerves, etc.
Magnified observation of the target site necessary for the procedure for ligating
When transferring the needle thread between the forceps 13 after the ligation procedure
Wide-angle observation required for the procedure alternates with the progress of the procedure
The switching operation is performed continuously. That is,
When receiving the suturing / ligating operation command, the
According to the operator's ligation and suturing procedure speed
The zoom lens 23 of the magnifying optical system 21 in the optical axis direction
Zooming in and out moving along the direction
Are repeated, the zoom lens of the magnifying optical system 21 is
The driving actuator of the nozzle 23 is driven. This and
Then, the TV monitor 32 displays the wide-angle image shown in FIG.
The enlarged image shown in FIG.
・ Wide-angle image around the tissue to be ligated and the set to be sutured and ligated
A locally enlarged image of the weave is periodically observed. In the suturing / ligating mode, the suturing / ligating mode is used.
During the treatment, the wide-angle optical system 22 displayed on the TV monitor 32
The operation of the forceps 13 is detected from the image of FIG.
During the suturing or ligating process or during the needle thread passing process
It is recognized by image processing that
At the end of the ligation procedure, perform a zoom-out operation and
Let the zoom-in operation be performed at the end of the thread transfer operation process.
Is also good. In addition, the operator responds to the change of the treatment target site.
When performing visual field conversion, the second foot switch 33b
Is turned on to set the field of view conversion mode. This second
The ON signal of the foot switch 33b is supplied to the visual field conversion control unit.
This is transmitted to the operation mode switching unit 38 of the knit 30. this
The ON signal of the second foot switch 33b is input as
XY stage control from the operation mode switching unit 38
The first CCD 25a of the magnifying optical system 21 is enlarged to the control unit 39.
Two directions orthogonal to the optical axis direction of the optical system 21 (X direction and
Moving in the Y direction)
A suitable operation command is issued. Next, this view conversion operation will be described.
You. Here, the image is captured by the second CCD 25b of the wide-angle optical system 22.
The video signal that has been imaged and has passed through the second CCU 25b
Is input to the color space conversion unit 34 of the conversion control unit 30.
The color space conversion unit 34 extracts the color components extracted for each pixel.
To a set color space, for example, HSI (hue, saturation,
Degree), color difference (Y, RY, BY), etc.
It is supposed to. Further, the output from the color space conversion unit 34 is extracted.
It is input to the output image generation unit 35. This extracted image generation unit 3
In step 5, the signal of the input color space is extracted in advance.
Compare whether each pixel is within the range of the target color for each pixel
If it is within the setting range, the brightness of the pixel is set to 0,
If not, set the brightness of the pixel to 1 and output in achromatic color
I do. As a result, the part of the color set as the extraction target is black,
A binary image whose other parts are white is output. The output is input to the center-of-gravity position calculator 36.
You. In the center-of-gravity position calculating unit 36, the set color extraction portion
Calculate the area centroid of a certain black part and calculate the pixel data on the image.
Output data. Note that the extraction image generation unit 35
The elephant part has brightness 1 (white) and the other parts have brightness 0.
(Black), and the center of gravity of the white portion is calculated by the center of gravity position calculation unit 36.
May be set. Also, it is output from the center-of-gravity position calculating section 36.
The pixel data is input to the position command unit 37. This position finger
In the command part 37, a preset extraction point is located.
Pixel position on the screen, such as the center of the screen, and the calculated extraction
By taking the difference from the pixel data of the target point, the extraction target point is set in advance.
Command position to move to a specified point on the screen
I am asking for it. And the data of this command position
The data is input to the operation mode switching unit 31. Here, the second
When the foot switch 33b is turned ON, the operation mode
In the mode switching unit 31, the command position calculated by the position command unit 37 is
The data is input to the XY stage control unit 39. Further, the XY stage control section 39 sets T
Point the XY stage (not shown) in the V camera unit
Of the magnifying optical system 21
CCD 25a is orthogonal to the optical axis direction of the magnifying optical system 21
It is moved in two directions (X direction and Y direction). This and
The extraction target point is set on the screen of the TV monitor 32
The first CCD 25 of the magnifying optical system 21 so as to come to the position.
Move a. In the body cavity transmitted by the rigid endoscope 1
Is magnified by the zoom lens 23 of the magnifying optical system 21.
The first CCD 25a stores only a part of the image.
It is imaged. That is, the output from the first CCD 25a is
The magnified observation can be performed by the image data to be obtained. Here, the color marker of the treatment section 15 of the forceps 13
-17 may be set as the extraction target color. Also,
The position on the screen of the TV monitor 32 where the extraction target point is to be located
Field of view conversion control unit as the center of the screen of the TV monitor 32.
In the case where the color marker 17 of the forceps 13 is set to
In the observation range of the wide-angle optical system 22, the treatment target site is
A doctor or the like that is shifted from the center of the captured image of the
In a situation where it is difficult for the operator to perform the treatment,
With the foot switch 11 moved to the treatment target site,
When it is turned on, the above-described operation causes the operation to be performed as shown in FIG.
The tip of the forceps 13 is located at the center of the image taken by the magnifying observation system.
The first CCD 25a moves as described above. In other words, the image
Performs field-of-view conversion so as to track the tip of the forceps 13. Also, provided on the second foot switch 33b.
Turn ON the zoom switch (not shown)
From the operation mode switching unit 38 to the zoom control unit 40.
A system operation command is given. At this time, the zoom control unit 40
Denotes a zoom lens (not shown) in the TV camera unit 18.
The amount of zoom movement is transmitted to the driving actuator, and the first
Move the zoom lens 23 in the visual axis direction of the CCD 25a
You. The video mixer 31 is connected to the CCU 28
a, 28b, and the two images are used as a parent-child screen
To generate a signal to be displayed and output to the TV monitor 32
Wide-angle image including the enlarged image of the region of interest and its surroundings
Images can be observed simultaneously. Here, the first CC
Single screen display of only the image sent from U28a, or
Single screen table of images only sent from second CCU 28b
The indication can also be appropriately selected as needed. Further, the extraction target point is located by the visual field conversion operation.
The setting of the position on the screen of the TV monitor 32 to be
It is possible. Performs suture / ligation mode and view conversion mode
The first and second foot switches
In addition to the hooks 33a and 33b, the handle 16 of the forceps 13
An attached hand switch may be used. Furthermore, XY
Fixed on stage and moved to perform field of view conversion
May be the imaging lens 24. Therefore, the following effects are obtained with the above configuration.
Play a fruit. That is, advanced procedures such as suturing and ligating are necessary.
Continuous magnification observation and wide-angle observation required when necessary
Suturing and ligating modes that alternate between
A visual field conversion mode that converts the observation visual field in response to changes
Operability without using multiple devices.
The necessary visual field can be obtained by endoscopic surgery. In the above embodiment, the TV camera unit is used.
Using a half mirror 20 in a casing 19 of 18
Optical image emitted from the eyepiece 3 of the rigid endoscope 1 is divided into two
Is shown, but instead of the half mirror 20,
An optical reflecting element such as a prism may be used. Further, a color marker 17 is attached to the tip of the forceps 13.
Instead of providing the tissue to be treated, as shown in FIG.
A plurality of dyes of different colors are applied, and
The minutes 41a, 41b and 41c are sequentially displayed on the screen of the TV monitor 32.
Move the first CCD 25a so that it is located at the center
View conversion may be performed. In this case, set the extraction target color.
By sequentially changing the settings, the desired treatment target
Can be positioned at the center of the screen of the screen 32. Also, instead of dyes, different colored
The clip may be fixed to the tissue to be treated. Also the image
Extract shape features such as the contour of the tip of forceps 13 using processing
Then, the tip position of the forceps 13 is detected by pattern matching.
May be issued. FIG. 6 shows a modification of the first embodiment.
Things. This modification is a view conversion control according to the first embodiment.
The configuration of the unit 30 is changed as follows.
That is, in this modification, the visual field conversion control unit of the first embodiment is used.
A new forceps tip movement detecting unit 51 and
With a zoom-in / zoom-out determination unit 52
It is. Here, the color sky in the visual field conversion control unit 30
Interval conversion unit 34, extracted image generation unit 35, and center-of-gravity position calculation
Field conversion position command by the unit 36 and the position command unit 37
A block 53 is formed, and a forceps tip movement detecting unit 51,
Suturing with the zoom-in / zoom-out determination unit 52
A ligation operation determination block 54 is formed. Other
The configuration is the same as that of the first embodiment.
The same parts as those of the embodiment are denoted by the same reference numerals, and the description thereof is omitted.
I do. In this modified example of the above configuration,
During use of the endoscope apparatus, the image signal of the wide-angle optical system 22
2 receives the signal from the CCD 25b and detects the movement of the forceps tip
The unit 51 detects the operation of the forceps 13. At this time, forceps
13 is any of the suturing / ligating operation and the needle changing operation
By the image processing in the forceps tip movement detecting section 51.
recognize. Further, processing from the forceps tip movement detecting unit 51
In response to the result, the zoom-in / zoom-out
When the joint / ligation operation is detected, the zooming of the magnifying optical system 21 is performed.
The lens 23 is zoomed in and the needle is changed.
Is detected, the zoom lens 23 of the magnifying optical system 21 is zoomed.
A control signal is generated to cause the start-up. In particular,
In the forceps tip movement detecting unit 51, the tip of the forceps 13 and the
By pattern matching of the held needle shape model
Track the movement of the tip of the forceps 13 and zoom in / zoom
In the muting determination section, the forceps 1 when the needle is inserted into the tissue
Zoom-in operation when the rotation operation of the tip of 3 is detected
And the opening / closing operation of the forceps 13 during the needle holding operation.
Zoom out operation
ing. FIGS. 7 and 8 show a second embodiment of the present invention.
It shows an example. In this embodiment, of the first embodiment,
A scope holder 10 for holding the rigid endoscope 1 of the endoscope apparatus;
Manipulator 6 having at least two degrees of freedom
1 is provided. The electric manipulator 61 has a base 62
And upwardly protrudingly provided on the base 62 and capable of moving up and down.
A support shaft 63 and an upper end of the support shaft 63 centered on the support shaft 63
A rotatable arm 64 rotatably connected, and
Moving arm 65 provided at the distal end of the
And is rotatably connected to the distal end of the moving arm 65.
And an endoscope holding ring 66. The base 62 of the electric manipulator 61
Is connected to one end of the manipulator control signal cable 67.
Is tied. This manipulator control signal cable 6
The other end of 7 is connected to a visual field conversion control unit 68.
You. FIG. 8 shows the view conversion control unit 68.
As shown, the forceps tip position calculation unit 69, the position command unit 70,
Operation mode switching unit 71 and manipulator control unit 72
Are provided respectively. Furthermore, forceps tip position calculation
The magnetic sensor main body 73 is connected to the section 69. this
The magnetic sensor main body 73 has the insertion portion 14 of the forceps 13
And a magnetic sensor 74 mounted on the rigid endoscope 1
The attached magnetic source 75 is connected. here
The magnetic sensor 74 is composed of coils of three orthogonal axes.
1 axis of the coordinate system corresponds to the insertion direction of the insertion portion 14 of the forceps 13.
It is installed to match. Also, the magnetic source 75
Similarly, it is composed of coils of three orthogonal axes, and its coordinate system is three axes
In addition, the horizontal, vertical, visual axis directions and the
They are installed to match each other. The magnetic sensor body 73 outputs a magnetic
Output signals for driving each axis of the
The source 75 generates a magnetic field. Magnetic
The sensor 74 detects the magnetic field of the magnetic source 75,
The detection data is transmitted to the magnetic sensor body 73.
ing. This detection data is calculated by the magnetic sensor body 73.
Of the magnetic sensor 74 based on the magnetic source 75
The original position and posture are to be obtained. The output signal from the magnetic sensor body 73
Is a forceps tip position calculation unit 69 of the visual field conversion control unit 68
Is input to the position command unit 70.
Swelling. Further, the output from the position command unit 70 is
The data is input to the operation mode switching unit 71. The operation mode switching section 71 has a
A first foot switch 76 for switching a ligation mode,
The second foot switch 77 for switching the conversion mode
Has been continued. Further, the output of the operation mode switching unit 71 is
It is input to the manipulator control unit 72. And this
The control signal output from the manipulator control unit 72
Therefore, the operation of the electric manipulator 61 is controlled.
It has become. The eyepiece 3 of the rigid endoscope 1 has a TV camera.
An adapter 78 is detachably fixed. This TV camera
The output signal of camera adapter 78 is connected to video signal cable 79.
It is connected to the CCU 80 via the CCU. This CCU80
It is connected to a TV monitor 32. Other configurations are
This is the same as the first embodiment, and here is the same as the first embodiment.
The same reference numerals are given to the portions, and the description thereof will be omitted. Next, the operation of the above configuration will be described.
When the endoscope device of the present embodiment is used, the magnetic sensor body 73 is used.
Drive signal for driving each axis of the magnetic source 75 in a time division manner
Is output. As a result, the magnetic source 75 generates a magnetic field.
Let it. At this time, the magnetic sensor 74 detects this magnetic field
Then, the detection data is transmitted to the magnetic sensor main body 73.
This detection data is calculated by the magnetic sensor body 73.
Then, the magnetic sensor 74 based on the magnetic source 75 is
A three-dimensional position and orientation are required. Here, the forceps on which the magnetic sensor 74 is installed
13 and the distal treatment section 15 of the forceps 13
Is known, and the coordinate system is
The three-dimensional position and shape of the forceps 13 near the hand
Force data, the installation position of the magnetic sensor 74, and the tip of the forceps 13.
Rotation / translation using distance data with the end treatment unit 15
By performing the conversion, the tip position of the forceps 13 can be calculated.
Can be. Also, as described above, the magnetic source 7
5 indicates that the coordinate system matches the coordinate system of the imaging screen of the rigid endoscope 1.
So that the calculated tip of the forceps 13
The position can be associated with the coordinate system of the imaging screen of the rigid endoscope 1.
It is possible. That is, the calculated tip position of the forceps 13 is
Electric manipulator 6 holding rigid endoscope 1
1 can be controlled. Then, the operator responds to the change of the treatment target site.
To change the visual field of the screen displayed on the screen of the TV monitor 32.
When performing switching, the second field for switching the visual field conversion mode is used.
Switch 77 is turned on. At this time,
The position data on the hand side of the forceps 13 from the
The tip position of the forceps 13 is input to the
Is calculated. This position data is input to the position command unit 70.
Want to position the tip of the forceps 13 set in advance
The position on the screen of the TV monitor 32, for example, the center of the screen,
The difference between the position of the forceps 13 and the tip of the forceps 13
Set the end to a preset point on the screen of the TV monitor 32
Find the command position to move. Then, the second foot switch 77 is turned on.
Is reached, the operation mode switching unit 71 performs view conversion.
Is sent to the manipulator control section 72 and the electric
By moving the manipulator 61 only by the command position, the forceps
The TV monitor 32 in which the tip position of the child 13 is set in advance
Field of view conversion so as to come to the set position on the screen. It is also desired to position the tip of the forceps 13
Change the field of view with the position on the screen of the TV monitor 32 as the center of the screen.
When the replacement control unit 68 is set,
The center of the image captured by the rigid endoscope 1 is displaced from the center and work by a doctor
In situations where it is difficult for the patient to perform the treatment,
With the foot switch 77 moved to the treatment target site,
Is turned ON. In this case, the forceps
13 to the center of the captured image on the TV monitor 32.
The electric manipulator 61 operates so as to be moved. Further, when an operator performs a procedure such as suturing or ligating.
The first foot switch for switching the suture / ligation mode.
Switch 76 is turned on. At this time, the first foot switch
The ON signal of the switch 76 is operated by the view conversion control unit 68.
The operation mode switching unit 71
Operation commands suitable for suturing and ligating procedures are
Is supplied to the data control unit 72. In this operation, the needle is inserted into the tissue to be sutured.
Enlarged view necessary for procedures and procedures for ligating blood vessels, nerves, etc.
And delivery of needle thread between forceps 13 after suturing and ligating procedure
The wide-angle observation required when performing the work
It is performed continuously according to. And manipul
The lator controller 72 receives a suturing / ligating operation command
And the operator's preset ligation and suturing speed
Zoom-in and zoom-out with a cycle that matches
The electric manipulator 61 is driven so that
It is. Therefore, the following effects can be obtained with the above configuration.
Play a fruit. In other words, in response to changes in the treatment target site
In the field of view conversion mode that converts the observation field of view,
The position of the tip of the forceps 13 necessary for the replacement is detected by the magnetic sensor 74.
The position detection based on the image on the TV monitor 32
Field of view conversion over a wider area than when
You. FIGS. 9 and 10 show a third embodiment of the present invention.
It shows an embodiment. In this embodiment, the first embodiment
The magnetic sensor body 73 shown in the second embodiment in the endoscope device
And the forceps 1 by the magnetic sensor body 73.
3 is obtained. That is, in this embodiment, the insertion portion of the forceps 13
A magnetic sensor 74 is attached to the near side of 14.
The magnetic sensor 74 is composed of coils of three orthogonal axes.
1 axis of the coordinate system corresponds to the insertion direction of the insertion portion 14 of the forceps 13.
It is installed to match. Further, a magnetic source is located near the rigid endoscope 1.
75 are mounted. This magnetic source 75 is a magnetic cell.
Like the sensor 74, it is composed of coils of three orthogonal axes.
All three axes are horizontal, vertical, and visible on the image plane of the rigid endoscope 1.
They are installed so as to correspond to the axial directions, respectively. The magnetic sensor 74 of the forceps 13
The magnetic sources 75 of the sex mirror 1 are each a magnetic sensor body 73.
It is connected to the. Further, in this embodiment, FIG.
As described above, the field-of-view conversion control unit having substantially the same configuration as the first embodiment.
The forceps tip position calculation unit shown in the second embodiment
69 are incorporated. This forceps tip position calculator 69
Is connected to the magnetic sensor body 73. And magnetic
The output signal from the air sensor body 73 is a forceps tip position calculation unit.
69 is input. The position command unit 37 has a forceps tip position calculation.
The output signal from the output unit 69 and the output from the centroid position calculation unit 36
And the output from the position command unit 37 is
The data is input to the operation mode switching unit 38.
Other configurations are the same as those of the first embodiment. Next, the operation of the above configuration will be described.
When using the endoscope apparatus of the present embodiment, the operator may suture, ligate, etc.
When performing the above procedure, the suture and suturing
By the first foot switch 33a for switching the ligating mode
Suture and ligate. In addition, the surgeon changes the site to be treated.
When performing field-of-view conversion corresponding to
With the second foot switch 33b,
Do. At this time, the second CCD 2 of the wide-angle optical system 22
5b, while being within the imaging range of the second CCU 25b,
The color marker 17 provided at the tip of the forceps 13 can be detected.
Situation, for example, the tissue covers the color marker
Body fluids such as blood and bile adhere to the color markers 17
However, the color of the color marker 17 cannot be accurately recognized.
And so on, when the visual field conversion control unit 30
Color space conversion unit 34, extracted image generation unit 35, gravity center position calculation
Even if the processing is performed by the unit 36, the tip position of the forceps 13 can be calculated.
This makes it impossible to perform visual field conversion. Therefore, in this embodiment, this situation is detected
The magnetic sensor is detected by the
The position information detected by the body 73 is used as the control information of the visual field conversion.
To select. Here, the detection data selection / position command unit 37
Is the tip of the forceps 13 calculated by the forceps tip position calculator 69
Position and the tip of the forceps 13 set in advance.
Using the position data on the screen of the desired TV monitor 32,
The position of the tip of the forceps 13 is set at a set position on the screen of the TV monitor 32.
Command position to move to the position
XY stage control through the operation mode switching unit 38
The data is transmitted to the unit 39 and the view is converted. Therefore, the above configuration has the following effects.
Play a fruit. That is, the endoscope apparatus of the first embodiment is
By combining the magnetic sensor body 73 shown in the second embodiment,
The tip position of the forceps 13 is adjusted by the magnetic sensor body 73.
Because it was configured so that it can be obtained,
Position detecting means for image processing as in the first embodiment.
In addition to the above, another one system should be newly provided.
it can. Therefore, the position of the distal end of the forceps 13 is
Even if it becomes impossible to detect the position,
Using the data of the position detecting means by the magnetic sensor body 73
Can change the field of view in various situations during surgery.
High reliability without interruption of view conversion operation
Can be In this embodiment, the magnetic sensor 74 is replaced.
Sensor that can detect and calculate the tip position of forceps 13
For example, ultrasonic sensors, infrared sensors,
It is possible to use a combination sensor of Iro. In place of the TV camera unit 18,
Using the TV camera adapter 78 shown in the second embodiment.
And the second holder instead of the scope holder 10
Using the electric manipulator 61 shown in the embodiment, a TV camera
Position information obtained from the captured image of the
The position information detected by the sensor body 73 is selected and the
The purator 61 may be controlled. FIGS. 11 to 13A show the present invention.
This shows a fourth embodiment. FIG. 11 shows a body cavity observation device.
1 shows a schematic configuration of an entire endoscope apparatus as a device.
In FIG. 11, reference numeral 81 denotes an operating table.
The patient 82 is loaded. On the side of the operating table 81,
A rule 83 is provided. This bedside rail 8
An electric manipulator 84 is mounted on 3. The electric manipulator 84 has a base 85
And the base 85 is rotatable in the direction of arrow A, and
An L-shaped member 86 connected to be movable up and down in the B direction,
The horizontal direction (arrow C direction) is
Arm 87 provided to be extendable and retractable
Endoscope holding ring 8 connected to the distal end of moving arm 87
8 are provided. And the electric manipulator 8
The rigid endoscope 89 is detachably connected to the endoscope holding ring 88 of FIG.
The hard manipulator 84 is connected by the electric manipulator 84.
9 is movably supported. In addition, the rigid endoscope 89 is
Trocar 9 previously punctured into the abdominal wall of the patient 82 (FIG. 1)
Ref.) Into the body cavity. Further, the rigid endoscope 89 is, for example, a laparoscope or the like.
It is formed by a visual endoscope. This rigid endoscope 89
The insertion portion 90 is inserted into the body cavity of the patient,
An eyepiece portion 91 provided at a base end portion of the portion 90;
I have. The eyepiece 91 of the rigid endoscope 89 has a TV camera.
A camera 92 is detachably attached. This TV turtle
LA 92 to camera control unit (CCU) 93
It is connected. Further, the CCU 93 controls the image in the control unit 94.
The image synthesizing unit 95 is connected. Here, the image synthesizing unit 9
5 has two input terminals and one output terminal.
I have. Then, the CCU 93 receives one of the inputs of the image synthesizing section 95.
Connected to the input terminal. The control device 94 has an image synthesizing section 95.
Besides, is connected to the other input terminal of the image synthesizing unit 95.
A marker generation unit 96 and a connection to the marker generation unit 96
Control unit 97 and the line of sight connected to this control unit 97
A detection unit 98 and a manipulator control unit 99 are provided.
Have been. Here, the output terminal of the image synthesizing section 95 is
A TV monitor 100 for observation is connected. Furthermore, T
A gaze detection device 101 is provided on the V monitor 100.
I have. This gaze detection device 101 allows the operator to use the TV monitor 10
Which part of the image displayed on the 0 display screen is being viewed
The output of the gaze detection device 101 is controlled.
Input to the line-of-sight detection unit 98 in the control device 94
ing. The detection result of the eye-gaze detecting device 101 is as follows.
To be transmitted to the control unit 97 via the line-of-sight detection unit 98
Has become. The control unit 97 sends a mark to the marker generation unit 96.
Outputs the marker generation position. In addition, the rigid endoscope 89
Taken by TV camera 92 connected to eyepiece 91 of
The input image is input to the image synthesizing unit 95 via the CCU 93.
The marker 10 created by the marker generation unit 96
6 and displayed on the TV monitor 100.
ing. The control device 94 includes an electric manipulator.
A manipulator control unit 99 connected to the
Have been. The manipulator control unit 99 includes a control unit 97
It is connected to the. And this manipulator control unit
Each of the motor manipulators 84 (not shown)
Operate the drive motor and move the L-shaped electric manipulator 84
The member 86 is rotated in the direction of arrow A, and
Move the moving arm 87 in the arrow C direction
It is designed to expand and contract. A rigid endoscope 89 is placed on the abdominal wall of the patient 82.
From the insertion place different from the insertion place of the second trocar 9 '
(See FIG. 1) is punctured and passed through this trocar 9 '
A forceps 102 as a treatment tool is inserted into a body cavity. The forceps 102 is inserted into a body cavity.
A treatment section 104 is provided at a distal end of the entrance section 103.
Furthermore, a handle portion on the hand side is provided at the base end of the insertion portion 103.
105 is provided. And this handle part 10
In response to the opening / closing operation of No. 5, the treatment section 104 remotely opens and closes
It is being made. Next, the operation of the above configuration will be described.
When using the endoscope apparatus according to the present embodiment, the operator uses the TV monitor 1.
Eye-gaze detection of where on the 00 display screen you are looking
The detection is performed by the device 101 and the line-of-sight detection unit 98. Further FIG.
Corresponds to the detected position detected here as shown in 2 (A)
Marker 106 to be generated by the marker generation unit 96
Then, the marker 106 and the endoscope image are combined with the image synthesizing unit 95.
And display it on the TV monitor 100. The operator presses an operation switch (not shown).
The marker generated by the marker generator 96
Is displayed on the display screen of the TV monitor 100.
Move to a preset position, such as the screen center point
The electric manipulator 84 is moved as described above. Note that, as an operation other than the above, the operation switch
The endoscope on the display screen of the TV monitor 100 by pressing
You can zoom in and out of the image
No. In addition, each of the above operation switches is a separate switch.
Or the function of one switch by the control unit 97.
Switching may be possible. When the switch is pressed, the marker 10
2 and the preset position such as the screen center point
Move the electric manipulator 84 so that it matches,
Zoom in / out by holding down the switch for a certain time
A timeout operation may be performed. The zoom-in and zoom-out can be performed by an electric manipulator.
The oscillator 84 is controlled to move in the axial direction of the rigid endoscope 89.
Or between the rigid endoscope 89 and the TV camera 92.
A zoom lens to the position of the monitor 100
May be moved. Also, the first camera is used instead of the TV camera 92.
The TV camera unit 18 and the electric manipulator 8 of the embodiment
4 is replaced with the scope holder 10 of the first embodiment.
Is detected by the gaze detection device 101 and the gaze detection unit 98.
Of the TV monitor 100 where the line-of-sight position
TV camera unit 1 so that it comes to the set position on the screen
8, the imaging lens 24 of the magnifying optical system 21 or the first
May be moved. Therefore, with the above configuration, the following effects are obtained.
Play a fruit. That is, the line-of-sight detection device 101
Detects the position on the display screen of V monitor 100 that the operator wants to see
The forceps 102 with a color marker or the like.
There is no need to Therefore, the tip of the forceps 102 is
The position on the TV monitor 100 where the surgeon wants to see
Field of view conversion operation can be performed with the image displayed in the center.
You. Further, the surgeon looks at the screen of the TV monitor 100.
To see where the surgeon is looking
It becomes possible to operate. As a specific example of the eye-gaze detecting device 101,
Is the operator using the CCD camera 107 as shown in FIG.
Observe the left and right eyeballs 108a and 108b
You. This is because the left and right eyeballs 108a, 108
8b and the relative position of the center of the pupil.
This is a method for detecting the lines A and B. FIG. 13B is a line of sight of the fourth embodiment.
3 shows another configuration example of the detection device 101. this
Emits light to the left and right eyeballs 108a and 108b of the operator.
The infrared light is emitted from the diode 109, and the eyeballs 108a,
The light reflected by 108b is converted to PSD (position sensor).
Device 110 to detect the line of sight A,
A method for detecting the direction of B is known. FIG.
Both methods (A) and (B) are known and will be described in detail.
Although omitted, for example, Photo Industry (January 1993)
No., P63-P64, P104-P105 / Photographic Industry
Issuance), the infrared light reflected by the pupil and the cornea of the eye
High-speed calculation of the positional relationship with the image using a microcomputer
To determine the angle of rotation of the eyeball and calculate where you are looking
The formula is described. (See Japanese Patent Application No. 5-274405)
See) FIGS. 14A to 14D show a fifth embodiment of the present invention.
It is shown. FIG. 14A is an endoscope apparatus according to the present embodiment.
Shows the overall schematic configuration, 111 is the inside of the patient's body cavity
It is a direct-view type rigid endoscope such as a laparoscope for observation. this
The insertion portion 11 inserted into the body cavity of the patient is provided in the rigid endoscope 111.
2 and an eyepiece 1 disposed at the base end of the insertion portion 112
13 are provided. Here, insertion of the rigid endoscope 111
The portion 112 is previously punctured, for example, into the patient's abdominal wall 114 or the like.
Inserted into the trocar 115 and inserted into the body cavity
I have. The rigid endoscope 1 is placed on the patient's abdominal wall 114 and the like.
The second trocar from the insertion place different from the insertion place of 11
116 is punctured. And this trocar 11
Procedure to perform treatment in the body cavity or grasp organs through 6.
The tool 117 has been inserted into the body cavity. Further, the second trocar 116
The pointer 118 is mounted. This laser point
For example, a semiconductor laser is built in the monitor 118. So
Then, the laser pointer 118 is projected from the semiconductor laser.
The emitted laser light is substantially in the axial direction of the trocar 116.
The laser pointer 118 moves to the trocar 1 in the parallel state.
16 attached. The eyepiece 113 of the rigid endoscope 111 has a T
A V camera unit 119 is mounted. This TV camera
The camera unit 119 has an adapter as shown in FIG.
A cover 120 and a TV camera 121 are provided. Further, the rigid endoscope 11 is provided in the adapter 120.
Half mirror 1 arranged to be spaced apart and opposed to one eyepiece 113
22 is provided, and the observation image obtained from the rigid endoscope 111 is
Divided into two optical paths by the half mirror 122
It has become. Note that, instead of the half mirror 122,
A beam splitter may be used. Also, the light is distributed by the half mirror 122.
One of the images (optical image transmitted through the half mirror 122)
The observation image of the first optical path 123a where light is incident is a TV camera.
Via an optical element 124 in a first endoscope image
An image is formed on the image sensor 125, and an observation image of the body cavity is obtained.
You. Here, an optical element 124 is provided in the TV camera 121.
Moved in a direction perpendicular to the optical axis direction of the first optical path 123a.
The actuator 126 is mounted. Further, the light is distributed by the half mirror 122.
The other image (reflected by the half mirror 122)
The observation image of the second optical path 123b on which the
Only laser light with filter 127 that transmits only laser light
Transmitted through the optical element 128 and the second image sensor 129
Is imaged. The second image sensor 129 includes a CCD
Alternatively, a PSD is used. Note that the first image sensor 125
Endoscope image obtained by the second imaging device 129
A state in which the obtained laser light image is superimposed
Is displayed on the TV monitor 130 shown in FIGS.
It is displayed on the screen. Next, the operation of the above configuration will be described.
First, when using the endoscope apparatus of the present embodiment, for example,
Inside the trocar 115 punctured in the abdominal wall 114 of the elderly
Insertion section 112 of rigid endoscope 111 is inserted and inserted into body cavity
Is done. Further, the rigid endoscope 11 is placed on the patient's abdominal wall 114 and the like.
The second trocar 1 is inserted from an insertion place different from the insertion place 1
16 is punctured, and the treatment instrument is passed through the trocar 116.
117 is inserted into the body cavity. At this time, the treatment tool 117
The treatment unit 117a at the tip of the eyepiece unit 113 of the rigid endoscope 111
Is set in a state of being inserted into the visual field range by Further, during use of the endoscope apparatus, the rigid endoscope 111 is used.
The observation image transmitted inside the body cavity transmitted by the TV camera unit
Is divided into two by the half mirror 122 in the unit 119
Is done. And distributed by this half mirror 122
One image (the optical transmitted through the half mirror 122)
Image) is incident on the first optical path 123a.
Via an optical element 124 in the camera 121
1 is formed on the image sensor 125, and an observation image of the body cavity is obtained.
It is. Also, the light is distributed by the half mirror 122.
Image (reflected by the half mirror 122)
The observation image of the second optical path 123b on which the optical image
Filter 127 that transmits only laser light
Passed through the optical element 128 to the second image sensor 129.
It is imaged. Then, the image is obtained by the first image sensor 125.
The obtained endoscope image is obtained by the second image sensor 129.
FIG. 14 shows a state in which the image of the laser beam to be
(C) and (D) show on the display screen of the TV monitor 130.
Shown. At this time, the display screen of the TV monitor 130
As shown in FIG. 14C and FIG.
The tissue L hit by the laser light reflects the laser light in a point-like manner
It is displayed in the state where it does. FIG. 14C shows the treatment tool 1.
Where the distance between the treatment section 117a at the distal end of the body 17 and the living tissue is close
14D shows the observation image of the rigid endoscope 111, and FIG.
When the distance between the treatment section 117a at the tip of No. 7 and the living tissue is far
1 shows an observation image of the rigid endoscope 111 of FIG. Further, observation inside the body cavity using the rigid endoscope 111
Inside, the laser light detected by the second image sensor 129 is
TV monitor based on the image data of the hit tissue L
The position of the center of gravity of the display screen 130 is calculated. And
This center of gravity position is at the center of the endoscope image on the TV monitor 130.
Activate the optical element 124 in the TV camera 121 to
It is moved by the tutor 126. Therefore, the following effects are obtained with the above configuration.
Play a fruit. That is, the treatment tool 117 and the second truck
Since the insertion direction of the tool 116 matches, the treatment tool 11
When the direction of 7 is changed, it is almost on the extension line of the treatment tool 117
The target organ to be treated is irradiated with laser light. here
Therefore, the position of the tissue L irradiated with the laser beam is always
1 by controlling it to be at the center of the observation image.
The target organ is viewed in the center of the display screen of the TV monitor 130.
I can understand. Therefore, in endoscopic surgery, the surgeon
For observing a desired site in a body cavity
The observation range of the rigid endoscope 111 can be easily changed according to the operation of 117.
Can be changed. FIG. 15 and FIGS. 16 (A) to 16 (C)
Shows a sixth embodiment of the present invention. Figure 15 is a book
1 shows a schematic configuration of an entire endoscope apparatus of an embodiment,
1 is a direct-view type such as a laparoscope for observing the inside of a patient's body cavity.
It is a rigid endoscope. The rigid endoscope 131 is inserted into the body cavity of the patient.
The insertion part 132 to be inserted and the base end of the insertion part 132
An eyepiece 133 is provided. here,
The insertion part 132 of the rigid endoscope 131 is, for example, a patient's abdominal wall in advance.
134 is inserted into the trocar 135 punctured at
Inserted into body cavity. The abdominal wall 134 of the patient
In the inside abdominal cavity 136, it is removed by endoscopic surgery
There is an affected part 137 for performing the above-mentioned treatment. The rigid endoscope 134 is placed on the patient's abdominal wall 134 and the like.
31 from the insertion place different from the insertion place 31
Curls 138 and 139 have been punctured. And this
Through the trocars 138 and 139
First and second treatment of the affected part 137 or grasping of an organ
Treatment instruments 140 and 141 are inserted into the abdominal cavity 136.
You. The rigid endoscope 131 has a light guide cable.
One end of the bull 142 is connected. This light guy
The other end of the cable 142 is connected to the light source device 143.
The light guided from the light source device 143 illuminates the abdominal cavity 136.
Is being fired. Further, the rigid endoscope 131 is a surgical manipure.
Data arm 144 with multiple degrees of freedom
Fixedly supported. This manipulator 144 is a CP
Activate controller 147 according to command from U146
And operates by controlling the driver 148.
It has become. The eyepiece 133 of the rigid endoscope 131 has a camera.
A camera 149 is attached. This camera 149
Image information in the abdominal cavity 136 obtained by the rigid endoscope 131 is
An imaging device such as a CCD for converting into an electric signal is built in.
Then, the image inside the abdominal cavity 136 obtained by the rigid endoscope 131 is displayed.
Image information is obtained by a camera 149 attached to the rigid endoscope 131.
After being converted into electrical signals and processed by the CCU 150
In addition, the rigidity is set on the monitor 152 through the image mixer 151.
The image is displayed as an image of the mirror 131. Further, the image mixer 151 has a menu.
Image creation circuit 153 and cursor image creation circuit 154
Are connected respectively. Here, create a menu image
The circuit 153 is connected to the CPU 146. And
On the monitor 152, an instruction from the CPU 146 is displayed.
16 (A) to 16 (C), a menu image creation circuit
Menu 153a generated by 153 and cursor
Arrow-shaped cursor 1 generated by the image creation circuit 154
54a is an image of the rigid endoscope 131 projected by the image mixer 151.
It is displayed simultaneously with the image. Furthermore, the cursor image creation circuit 154
Is connected to the cursor position calculation circuit 155. This car
The CPU 146 and the vector
Signal receiving circuits 156 are connected to each other. Further, the first and second treatment tools 140, 141
The gyro is placed on the head of the operator 157 who operates the
Gyro 159 fixed by fixture 158 is attached
Have been killed. And by gyro 159, the surgeon
157, the position and direction of the head are detected as vector information.
So that it can be wirelessly transmitted to the vector signal receiving circuit 156.
Has become. Note that vector information is stored in a wired
Therefore, it may be transmitted to the vector signal receiving circuit 156.
Further, means for detecting the position and direction of the head of the operator 157
As a method using a magnetic source and a three-dimensional coil, a luminous body
Method for detecting markers such as
A method using a sensor, gaze detection, or the like may be used. Further, the detection is performed by the vector signal receiving circuit 156.
The output vector information is stored in a cursor position calculation circuit 155.
Is converted into coordinate data and displayed on the monitor 152.
Cursor information as the position information of the cursor 154a.
It is provided to the forming circuit 154. This coordinate data is
At the same time, information is also transmitted to the CPU 146. Further, one of the (first)
) Of the treatment tool 140 may be one or more
Switch 160 is attached. This hands
The ON / OFF information of the switch 160 is ON / OFF received.
It is received by the communication circuit 161 and transmitted to the CPU 146.
Swelling. The transmission of ON / OFF information is as follows.
It may be wireless or wired. In addition, the ON / OFF reception
Communication circuit 161, CPU 146, cursor position calculation circuit 1
55, cursor image creation circuit 154, menu image creation
The circuit 153 is integrated as a controller 162.
ing. FIGS. 16A to 16C show the state of the monitor 15.
2 shows a display example. Here, the screen of the monitor 152
In the center, the affected area in the abdominal cavity 136 obtained by the rigid endoscope 131
137 video, menu 153a at the bottom of the screen, and
And move on the screen according to the movement of the surgeon's 157 head.
Sol 154a is displayed at the same time. Further, the image on the monitor 152 shown in FIG.
On the surface, manipulator 144 as menu 153a,
Select peripheral equipment such as light source device 143 and CCU150
Select buttons for each item of the main menu
I have. The screen of the monitor 152 shown in FIG.
Then, as the menu 153a, the menu 1 in FIG.
Select manipulator 144 in the main menu of 53a
Each item of the submenu displayed when the button is selected
Selection button, that is, the function selection of the manipulator 144.
Selection buttons for each item in the selection menu and the main menu
A return button or the like for returning to is displayed. Further, the image on the monitor 152 shown in FIG.
As for the menu 153a, the menu shown in FIG.
In the main menu of 153a, select button of light source device 143
Select each item of the submenu displayed when you select
Selection button, that is, a function selection menu of the light source device 143
Select button for each item and to return to the main menu
Are displayed. It is controlled by the CPU 146.
CCU150 as a peripheral device, an electrocautery
Devices, laser devices, ultrasonic aspirators, microtase devices
Any is fine. Next, the operation of the above configuration will be described.
First, the operator 157 holds the treatment tools 140 and 141 in both hands.
Then, the image of the affected part 137 by the rigid endoscope 131 is displayed on the monitor 15.
2 We are performing surgery while observing. As the operation progresses, the image of the affected area 137 is
When moving to the edge on the screen of the Nita 152,
The mirror 131 is moved, and the image of the affected part 137 is again displayed on the monitor 1.
52 needs to be moved to the center on the screen. This place
In this embodiment, the operator 157 moves the head in this embodiment.
To change the direction of the gyro 159, and
Cursor 154a on the main menu screen of the
Is moved to the main menu 153a of FIG.
At the position of the selection button of the manipulator 144 in the menu
bring up. In this state, the operator 157 holds the treatment tool 140
The hand switch 160 provided on the
Turn ON while holding. This information is supplied to the ON / OFF receiving circuit 161.
Is transmitted to the CPU 146 via. CPU 146
Further, the menu 1 transmitted to the menu image creation circuit 153
Information on the position and contents of the monitor
Cursor 154 obtained from the cursor position calculation circuit 155
The information of the position on the screen of the monitor 152 of a is input.
Therefore, in the CPU 146, the operator 157
It is determined whether the contents of the selection button of the menu 153a have been selected.
It is. For example, the image on the monitor 152 shown in FIG.
Main menu of menu 153a displayed on the screen
Of the selection buttons for each item of, the manipulator 144 is
If the CPU 146 determines that the selection has been made,
The screen of the monitor 152 of 16 (B) is displayed. This and
Menu 15 displayed on the screen of the monitor 152
3a, the selection button of the manipulator 144 is selected.
Buttons for selecting each item in the submenu
That is, each item of the function selection menu of the manipulator 144
Eye select button and return to return to main menu
Buttons and the like are displayed. In this state, the surgeon 157 continues to perform the same operation as before.
Perform the same operation as above, and move the cursor 154a and the hand switch 1
Display on the screen of the monitor 152 of FIG.
Of the function selection menu of the manipulator 144
Select button for each item and return to main menu
Function selection of manipulator 144 among return buttons
Select the menu selection button and select the menu 153a
Select the item to move on the surface. Here, when the user wants to enlarge or reduce the screen,
Selects the zoom selection button, and selects the treatment tools 140 and 14
1 when it is desired to perform automatic tracking
Items for automatic tracking can be selected. In addition, the treatment tools 140 and 141 are tracked.
In the case, it is provided in the operation part of the treatment tools 140 and 141, respectively.
Tracking switches of the hand switches 160 and 163 (see FIG.
(Not shown) by pressing the corresponding treatment tool
The tip can be tracked. Further, in the CPU 146, the manipulation
When it is recognized that the movement item of the data 144 has been selected,
A command is sent to the controller 147 and the driver 148
Thus, the manipulator 144 is operated. The screen of the monitor 152 shown in FIG.
Of the main menu of the menu 153a displayed in
The light source device 143 is selected from the selection buttons of each item.
Is displayed, the screen of the monitor 152 shown in FIG.
Is displayed. The screen of the monitor 152 shown in FIG.
The menu for selecting the function of the light source device 143 is displayed in the menu 153a.
Select buttons for each item, ie increase / decrease light, steal
Buttons for selecting items such as photos, videos, and filters
And a return button to return to the main menu are displayed.
The function of the light source device 143 is controlled by the CPU 146.
Control. Further, the monitor 15 shown in FIG.
Main menu 153a displayed on the screen
With the selection button of each item of the menu, CCU150 and its
By selecting the functions of other peripheral devices,
Menu of the peripheral device selected with the select button of each item in the menu
You can control the ability. Therefore, the following effects are obtained with the above configuration.
Play a fruit. That is, the surgeon 157 sets the treatment tool 140,
141 is released or displayed on the screen of the monitor 152.
Without taking your eyes off the image of the rigid endoscope 131
In addition, movement of the position of the rigid endoscope 131 and operation of various peripheral devices
To temporarily interrupt surgery for these operations
Surgery can be performed quickly and safely without performing
Wear. In addition, an assistant for holding the rigid endoscope 131
And the need for a nurse to operate peripheral devices is eliminated.
Surgery can be performed at low cost due to labor saving
And economical. FIGS. 17 to 19 show a seventh embodiment of the present invention.
It shows an embodiment. FIG. 17 shows a body cavity observation device.
1 shows a schematic configuration of an entire endoscope system.
You. This endoscope device has a tip bay for observing the inside of a patient's body cavity.
A music endoscope 171 is provided. The end curved endoscope 171 has a body cavity of a patient.
The insertion portion 172 inserted into the inside, and the base of the insertion portion 172
And a hand-side end 173 provided at the end.
You. Furthermore, the distal end side of the insertion portion 172 has
4 and a bending portion 175 for performing a bending operation on the distal end component portion 174
Are provided. The insertion section 17 of the curved endoscope 171
2 is a tiger previously punctured in the patient's abdominal wall 176, for example.
It is inserted into the curl 177 and inserted into the body cavity.
Here, the hand side of the insertion portion 172 of the distal end bending endoscope 171
The end 173 side is to the scope holder 178 of the articulated structure.
Therefore, it is held movably. Furthermore, the proximal end of the curved endoscope 171
One end of the universal cable 179 is connected to the portion 173.
Is tied. The other end of this universal cable 179
The part is a camera control unit (CCU) 180
And the field-of-view conversion drive unit 181. The CCU 180 has a TV monitor 182 and
And a visual field conversion control unit 183. This
Of the foot switch 18
4 are connected. FIG. 18A is a view conversion control unit.
FIG. This view conversion system
A signal from the CCU 180 is input to the control unit 183.
A color space conversion unit 185, an extracted image generation unit 186,
The center-of-gravity position calculation unit 187, the set position storage unit 188, and the
And a motor drive amount calculation unit 189. here
The motor drive amount calculation unit 189 has the foot switch 1
84 are connected. FIG. 19 shows a bay of the end-curved endoscope 171.
9 shows a configuration of a bending mechanism of the bending portion 175. This bay
A plurality of curved pieces 190 are rotatably connected to the curved portion 175.
Have been. Here, the curved top 190 at the foremost position
One end of each of the two angle wires 191 is fixed.
You. Further, the proximal end 173 of the endoscope 171
Is provided with a bending operation mechanism section 192 of the bending section 175.
I have. The endoscope 171 is inserted into the bending operation mechanism 192.
A cylindrical slide slidable in the axial direction of the entrance 172
A member 193 is provided. And this slide part
One angle wire 19 is attached to the front end of the outer peripheral surface of the material 193.
The other end of 1 is fixed. Furthermore, the other angle
The other end of the wire 191 is engaged with the pulley 194
Fixed to the rear end of the outer peripheral surface of the slide member 193
I have. The inner peripheral surface of the slide member 193 has a female
A screw portion 193a is formed. And this sly
The feed screw 195 is screwed into the female screw portion 193a of the
Have been combined. The base end of this feed screw 195 is coupled
Connected to the rotation shaft of the drive motor 197 through the ring 196.
Have been. The drive shaft of the drive motor 197 has an encoder
A damper 198 is attached. The endoscope 1 is placed on the patient's abdominal wall 176 and the like.
The second trocar from the insertion place different from the insertion place of 71
199 has been punctured. And this trocar 19
9, a forceps 200 as a treatment tool is inserted into a body cavity.
ing. The forceps 200 is inserted into a body cavity.
A treatment section 202 is provided at a distal end of the entrance section 201.
Furthermore, a handle portion on the proximal side is provided at the base end of the insertion portion 201.
203 is provided. And this handle part 20
In response to the opening / closing operation of Step 3, the treatment section 202 remotely opens and closes
It is being made. Further, the distal end of the treatment section 202 of the forceps 200
Is provided with a color marker 204. This color marker
Reference numeral 204 denotes a biocompatible paint, the color of which is
Colors not found in the vessels, such as green, yellow, etc., are suitable. Next, the operation of the above configuration will be described.
First, when using the endoscope apparatus of the present embodiment, for example,
Inside the trocar 177 punctured in the abdominal wall 176 of the elderly
Insertion of endoscope 171 held by scope holder 178
The insertion portion 172 is inserted and inserted into the body cavity. further,
Where is the endoscope 171 inserted into the patient's abdominal wall 176, etc.
A second trocar 199 is punctured from another insertion location,
The forceps 200 is inserted into the body cavity through the trocar 199.
Is entered. At this time, the treatment section 202 at the tip of the forceps 200
Is the field of view R by the endoscope 171₁State inserted inside
Is set to Further, during use of the endoscope apparatus, the endoscope 171 is used.
The CCD (not shown) incorporated in the tip component 174
Therefore, an observation image in the body cavity is captured. From this CCD
The output signal is converted to a video signal by the CCU 180, and the
The image signal is supplied to the color space conversion unit 1 of the visual field conversion control unit 183.
85 is input. Further, the color space conversion unit 185
Is a color space where the color components extracted for each pixel are set, for example
For example, HSI (hue, saturation, lightness), color difference (Y, RY,
(B-Y). The output signal from the color space conversion unit 185
Is input to the extracted image generation unit 186. This extracted image raw
In the component 186, the input color space signal is set in advance.
Whether each pixel is within the range of the extraction target color
Each time, and if it is within the setting range, the brightness of the pixel is set to 0,
If it is out of the setting range, the brightness of the pixel is set to 1 and achromatic
To output. As a result, the part of the color set as the extraction target
Is a black image and the rest is white.
You. Further, the output from the extracted image generation unit 186
The signal is input to the center-of-gravity position calculation unit 187. This center of gravity
The position calculation unit 187 extracts the black portion, which is the set color extraction portion.
Calculate area centroid and output pixel data on the image
You. Note that the extraction target part is extracted by the extraction image generation unit 186.
Lightness 1 (white) and other parts lightness 0 (black),
The area center of gravity of the white part is calculated by the center of gravity position calculation unit 187.
May be set as follows. The pixel data of the center-of-gravity position calculator 187 is
And an extraction point stored in advance in the set position storage unit 188.
Pixel position on the TV monitor 182 screen
(For example, the center of the screen)
9 and is input to the bending operation mechanism 192 of the bending portion 175.
Motor drive unit (not shown) that drives the drive motor 197
To generate a control signal. This control signal is
Pixel position data and the calculated pixel data of the extraction target point.
Take the difference and move the extraction target point to the set point on the screen.
By calculating the bending angle of the bending portion 175 for moving
Drive motor 1 for realizing the calculated bending angle
97 is the motor drive amount. The color marker 2 is attached to the tip of the forceps 200.
04, and use the color of the marker as the extraction target color.
The position on the screen where you want to place the extracted
Is set in the set position storage unit 188, the forceps 2
00 color marker 204 is in the observation range of the endoscope 171.
Therefore, the treatment target part is shifted from the center of the
In a situation where it is difficult for an operator such as a nurse to perform a procedure,
Move the end to the site to be treated and push the foot switch 184
By turning ON, the tip of the forceps 200 is
Move the end position to the center of the captured image on the TV monitor 182
The bending portion 175 moves as follows. Here, the foot switch 184 is turned on.
Then, the calculated control signal is given to the motor drive unit.
You. The motor driving section filters the output of the encoder 198.
And drives the drive motor 197 by a predetermined amount.
Move. At this time, the feed is performed by driving the drive motor 197.
The screw 195 rotates, and the rotation causes the slide member 1 to rotate.
93 moves back and forth in the axial direction of the insertion portion 172 of the endoscope 171
You. Here, the slide member 193 is shown in FIG.
In the case where the slide member 193 is moved rightward,
The upper angle wire 191 is pulled by the operation of
Operation, and the lower angle wire 191 is pushed out.
Made. Then, the upper
The bending portion 175 is bent toward the angle wire 191. The sliding member 193 moves in the opposite direction (FIG. 1).
9 to the left), two anglers
The ears 191 move in opposite directions, and the curved portion 175
Curved in the opposite direction. Therefore, the slide member 1
With the operation of 93, the bending portion 175 is bent in two directions.
You. In addition, orthogonally to these two wires 191,
By providing two wires and its drive control unit,
Four directions of curvature are possible. Therefore, the following effects are obtained with the above configuration.
Play a fruit. That is, a portion in the image of the TV monitor 182
Endoscope 1 for moving distal end position of forceps 200 to desired position
The field of view conversion of 71 is performed by driving the bending portion 175 of the endoscope 171.
Can be performed by using the inner wall of the body cavity or organs.
Good observation even when there are observation and treatment targets on the side and back
It can be performed. Note that the field of view of the endoscope apparatus of the seventh embodiment is changed.
Drive amount calculation section 189 in exchange control unit 183
Instead, as shown in FIG. 18B,
The image in which the pixel data is set in the set position storage unit 188
Comparison judgment to judge whether it matches with raw data
Setting unit 211, and controls the drive motor 197 until they match.
A control signal may be given. [0157] The data stored in the set position storage unit 188 is
Screen where the extraction target point is located by the view conversion operation
The setting of the upper position can be changed. In addition, operation switches
In addition to the foot switch 184, the hand
A hand switch attached to the dollar unit 203 may be used. Also, the tip of the angle wire 191 is shaped.
Constructed of shape memory alloy, using the shrinkage of the alloy by electric heating
Curving may be performed. Further, the tip position of the forceps 200
Is detected by recognizing the shape of the tip of the forceps 200 and
Tracking the movement and detecting the tip position
Shape recognition image processing may be used. FIGS. 20 and 21 show an eighth embodiment of the present invention.
FIG. This embodiment is a seventh embodiment.
A switch for holding the curved endoscope 171 of the endoscope device shown in FIG.
The electric manipulator of the second embodiment is used as a co-op holder 178.
Using the radiator 61 and a visual field conversion control unit
183, a bending / manipulator drive as shown in FIG.
Motion determination unit 221 and manipulator position command unit 222
Is newly added. And foot switch 1
The output signal from the motor driving amount calculating unit 189 and
And input to the manipulator position command unit 222, respectively.
It has become so. Other configurations are the same as in the seventh embodiment.
Identical. Next, the operation of the above configuration will be described.
When the endoscope device of the present embodiment is used, for example, the endoscope 171 is used.
The extraction target point in the observation field of view is the curved portion 17 of the endoscope 171.
5. When deviating from the movable range of 5, the visual field conversion control unit
A signal indicating the state from the center-of-gravity position calculation unit 186 of 183
Is output. When this signal is received, the foot switch 18
When 4 is turned ON, the bending / manipulator drive judgment
The unit 221 controls the manipulator 61 to operate.
The position of the extraction target point immediately before the deviation
Output the position data. Further, the manipulator position command section 222
Then, the direction of the tip of the forceps 200 is estimated from this data,
Manipulator drive signal so that the direction can be observed
And the manipulator 61 is moved. to this
Again, the color marker 204 at the tip of the forceps 200 is
If the image enters the captured image of the endoscope 171,
The manipulator drive determining unit 221 drives the bending unit 175.
Let Therefore, the following effects can be obtained with the above configuration.
Play a fruit. That is, the visual field conversion means of the endoscope 171
Then, the means by driving the bending portion 175 and the endoscope 171
Means for driving the electric manipulator 61 to be held.
And both can operate complementarily. That
Forceps out of the bending movable range of the bending portion 175 of the endoscope 171.
When the tip of the child 200 is positioned, the electric manipulator
By using the visual field conversion means by driving the
Without the need for manual operation.
The endoscope 1 can be stored in the imaging screen of the endoscope 171.
The operability of 71 can be further improved. FIGS. 22 to 25 show a ninth embodiment of the present invention.
It shows an embodiment. This embodiment is different from the second embodiment.
The configuration of the endoscope device is partially changed. That is,
In the endoscope apparatus of the present embodiment, the magnetic sensor of the second embodiment is used.
The body 73, the magnetic sensor 74 and the magnetic source 75 are omitted.
Have been. In the endoscope apparatus of the present embodiment, the CCU 8
0 to the TV monitor 32 and the visual field conversion control unit 231
Is connected. Further, the visual field conversion control unit of this embodiment
231 includes a foot switch 232 and an electric manipulator.
Data 61 are connected. Here, the view conversion control unit
As shown in FIG. 23, the knit 231
A color space conversion unit 233 to which a signal is input, and extraction image generation
234, a center-of-gravity position calculating unit 235, and a forceps tip position estimating unit.
A constant calculation unit 236, a manipulator position command unit 237,
Is provided. And the manipulator position command section
A foot switch 232 is connected to 237. [0165] In addition, the place where the rigid endoscope 1 is inserted into the body cavity is different.
Tip of insertion portion 14 of forceps 13 inserted from insertion point
As shown in FIG. 24, there are a plurality of
Color markers 238a and 238b of different colors are provided.
You. The color of the color markers 238a and 238b indicates the organ
The colors that are not available are green and yellow. Here, insertion of the forceps 13 is performed.
One color marker placed near the front end of the entrance 14
First marker by 238b, located on the tip side
The second marker is formed by the other color marker 238a.
Has been established. Then, the first marker 238b and the second
A is the distance between the marker 238a and the second marker
238a and the distal end of the treatment section 15 of the forceps 13
B respectively. FIG. 25 shows the rigid endoscope 1.
5 shows an image of the distal end portion of the forceps 13 taken in FIG. Next, the operation of the above configuration will be described.
First, when using the endoscope apparatus of this embodiment, the electric manipulator is used.
Cavity transmitted by the rigid endoscope 1 held by the data 61
The internal image is captured by the CCD in the TV camera adapter 78
Is done. The output signal from this CCD is imaged by CCU80.
It is converted into a signal and input into the visual field conversion control unit 231.
Is done. In the visual field conversion control unit 231,
The image signal is converted by the color space conversion unit 233 and the extracted image generation unit 234.
Two of the processed and extracted colors provided at the tip of the forceps 13
The color of the color markers 238a and 238b is set,
-Output a binary image in which only the portion is extracted. Further, the output from the extracted image generation unit 234
The signal is input to the center-of-gravity position calculation unit 235. This center of gravity
In the placement calculation unit 235, each of the color markers 238a,
The position of the center of gravity of 238b is calculated and output. This center of gravity position
The output signal from the operation unit 235 is a forceps tip position estimation operation unit.
236. Then, the forceps tip position estimation
The calculating unit 236 calculates the forceps 13 based on the input centroid position data.
Calculation to estimate the tip position of the manipulator
Output to the command unit 237. Subsequently, the manipulator position command section 237
Now, let's look at this tip position data and the preset extraction point
Take the difference from the pixel position data on the screen where you want to position
Move the extraction target point to the point on the screen where it is set.
Calculated when the foot switch 232 is ON
Command to the manipulator 61. In addition, a calculation for estimating the tip position of the forceps 13
Is performed as follows. Here, the first marker 23
8b to (x₁, Y₁), The second marker 238a
The position of (x_Two, Y_Two) And the first marker 238b
A is the distance between the second marker and the second marker 238a.
B is the distance between the anchor 238a and the tip of the forceps 13.
Then, the tip position (x₀, Y₀) Is the following formula
It can be calculated in (1). [0171]   (X₀, Y₀) = (B / A * (x_Two-X₁)                   + X_Two, B / A * (y_Two-Y₁) + Y_Two(1) In addition, the first marker 238b may be hidden by an organ,
If it becomes temporarily invisible due to the adhesion of
First and second markers 238b, 238a on the verge of becoming
Position (x₁', Y₁'), (X_Two', Y_Two') And the second
Current position of the marker 238a (x_Two, Y_Two)Using
The tip position of the forceps 13 is estimated from the following equation (2). [0172]   (X₀, Y₀) = (B / A * (x_Two'-X₁′)                   + X_Two, B / A * (y_Two'-Y₁') + Y_Two(2) Further, the second marker 238a is temporarily invisible.
If it does, it is viewed in the same way as for the first marker 238b.
The first and second markers 238b, 2 on the verge of disappearing
38a position (x₁', Y₁'), (X_Two', Y_Two′)
And the current position of the first marker 238b (x₁, Y₁)
And the tip position of the forceps 13 is estimated from the following equation (3).
You. [0173]   (X₀, Y₀) = ((B + A) / A * (x_Two'-X₁′)             + X₁, (B + A) / A * (y_Two'-Y₁') + Y₁(3) In addition, the marker is set as three points of different colors, respectively.
3 is provided in the insertion portion 14, and two points are taken out of the
13 may be calculated. Also, the foot switch
Attached to the handle 16 of the forceps 13 instead of the hook 232
May be provided. The following effects are obtained with the above configuration.
Play a fruit. That is, the distal end of the insertion portion 14 of the forceps 13
Two different color markers 238a and 238b are provided.
Forceps 1 which often disappears during the procedure
3 without using a marker at the distal end of the treatment section 15,
Can be calculated. Therefore, during the procedure, the forceps 1
Even if the tip of the treatment section 15 of 3 becomes invisible,
The tip position of the forceps 13 can be calculated, thereby preventing interruption of treatment and the like.
Can be Also, the two distal ends of the insertion portion 14 of the forceps 13
Of the color markers 238a and 238b of different colors
Either one of the markers is hidden by an organ or adheres to bodily fluids, etc.
Even if it temporarily disappears due to
The tip position of the forceps 13 can be estimated using the immediately preceding data.
Yes, field of view conversion can be performed reliably even during treatment. The above-mentioned rigidity is used as the visual field range changing means.
In addition to the method using a manipulator holding a mirror,
The CCD used in the magnifying optical system shown in the embodiment of FIG.
A method of moving on the stage may be used. The present invention is not limited to the above embodiment.
Instead, various modifications are made without departing from the gist of the present invention.
Of course, it can be implemented. Next, other characteristic technical matters of the present application will be described below.
Appended as noted. Note (Appendix 1) In-vivo observation to observe the region of interest in the body cavity
Means and an observation field of view of the image obtained by the in-vivo observation means
Field moving means for moving the object, and the observation means in the body cavity.
Field-of-view range changing means for changing the observation field of view of the displayed image
And a visual field movement operation input means for operating the visual field moving means
Step and variable view range for operating the view range changing means
Characterized by comprising a motion input means,
apparatus. (Appendix 2) Body cavity view described in Appendix 1
A ligating or sewing device.
Zoom in and zoom out at a cycle that matches the joint treatment speed
An in-vivo observation device characterized by performing out. (Additional Item 3) Observe the region of interest in the body cavity
Body cavity observation means and the image obtained by the body cavity observation means
Field-of-view moving means for moving the field of view of the image, and the gaze of the operator
Gaze position detection means for detecting the position, and gaze position detection
Means for moving the visual field movement direction from the visual line position information by the means.
Field of view moving direction output means for outputting to the moving means.
A body cavity observation device, characterized in that: (Appendix 4) The in-vivo view of appendix 3
Medical instrument, the tip of a treatment tool further inserted into a body cavity
Treatment tool tip position detecting means for detecting the position of
A body cavity observation device, characterized in that: (Appendix 5) Observing a region of interest in a body cavity
Body cavity observation means and the image obtained by the body cavity observation means
Field moving means for moving the field of view for image observation, and a finger
Index projection means for projecting a target, wherein the index is reflected by a portion to be inspected
Reflection index detection means for detecting the reflected light;
Test part position detecting means for detecting the position of the test part from the sensing means
And the position information of the part to be detected by the part position detecting means
A visual field moving method for outputting a visual field moving direction to the visual field moving means
Body observing apparatus comprising:
Place. (Additional Item 6) Observe the region of interest in the body cavity
Body cavity observing means, and an image obtained by the body cavity observing means.
Field-of-view conversion means for moving a field of view of an image;
Viewing range that changes the observation range of the image obtained by the observation means
Field changing means for operating the field changing means and the field changing means
Operation input means, and a visual control for operating the visual field range varying means.
Body cavity observation system comprising field range variable motion input means
M (Purpose of Supplementary Items 6 to 36)
In addition to changing the field of view according to
Performs repeated observation of a magnified image and wide-angle image with good operability.
An object of the present invention is to provide an in-vivo observation system. (Effects of Additional Items 6 to 36) Interest in body cavity
For field-of-view conversion corresponding to changes in the area and suture / ligation procedures
The range of the visual field can be changed with good operability. (Appendix 7) The body cavity observation means may be a body cavity
An endoscope inserted into the device, and a holding hand for holding the endoscope
And the body image transmitted by the endoscope is divided into two parts.
Optical path distributing means for distributing and capturing one of the distributed images
Wide-angle imaging means and magnify the other distributed image
Additional item 6 comprising an image pickup device comprising an enlarged image pickup device
Body cavity observation system. (Appendix 8) The holding means is a manual manifold.
Item 7. The in-vivo observation system according to Item 7, which is a turbulator. (Additional Item 9) The optical path distribution means is a half
Item 9. The body cavity observation system according to Item 7, which is a mirror. (Additional Item 10) The optical path distribution means is a beeper.
8. The body cavity observation system according to claim 7, which is a muscle splitter. (Additional Item 11) The wide-angle imaging means forms an image.
Item 7: In-vivo observation system consisting of a lens and an image sensor
Stem. (Additional Item 12)
Additional items consisting of a lens, an imaging lens, and an image sensor
7. The body cavity observation system of 7. (Appendix 13) The image pickup device is a single-plate mosaic.
Appearance items 11 and 12 in the body cavity
Insight system. (Appendix 14) The image pickup device is a three-plate type C
The body cavity observation system according to attachments 11 and 12, which is a CD. (Additional Item 15) The visual field converting means is a body cavity
A target identification unit inserted into the camera, and the wide-angle imaging unit.
Position for detecting the position of the target identification means from the obtained image
Detecting means, and an imaging element provided in the magnified imaging means
Moving means for moving the child, and detecting by the position detecting means.
The movement amount of the moving means is calculated based on the position
Intra-cavity observation of Additional Item 7, consisting of moving position commanding means
system. (Appendix 16) The visual field conversion means is a body cavity
A target identification unit inserted into the camera, and the wide-angle imaging unit.
Position for detecting the position of the target identification means from the obtained image
Detecting means; and an imaging lens provided in the magnifying imaging means.
Movement means for moving the lens, and detection by the position detection means
The amount of movement of the moving means is calculated based on the position
Introductory view of the additional item 7 consisting of commanding moving position command means
Insight system. (Additional Item 17) The target identifying means is a body cavity
The color material provided at the distal end of the treatment tool inserted into the
The position detection means extracts the color of the color material, and
Item that is a color extraction image processing device that detects the position of the center of gravity of
15. In-vivo observation system for body. (Additional Item 18) The target identifying means is a body cavity
It is a coloring material attached to the clip fixed to the internal tissue,
The position detection means extracts the color of the color material, and
Color extraction image processor that detects the center of gravity of the minute
Item 15. The body cavity observation system according to Item 15, 16. (Appendix 19) The target identifying means is a body cavity
A dye attached to internal tissue, wherein the position detecting means is
Extract the color of the pigment and detect the position of the center of gravity of the extracted part
Items 15 and 16, which are color extraction image processing devices
Observation system. (Additional Item 20) The target identification means may be
A contour enhancement structure provided at the distal end of the treatment tool,
The position detecting means extracts the contour of the contour enhancement structure, and
Contour extraction image processing device for detecting the position of the extracted portion of
Intracorporeal observation system according to Additional Items 15, 16. (Appendix 21) The moving means is an XY station.
And an XY stage drive motor,
The movement position instructing means receives an input from the visual field conversion operation input means.
While there is power, the position is set to a preset position on the image.
Position the target identification means detected by the position detection means.
Items 15 and 1 having an operation unit for calculating such a command position
6. The body cavity observation system of 6. (Additional Item 22) The visual field range changing means may be
Driving a zoom lens provided in the magnifying imaging means
Motor for driving the zoom lens and the variable view range
While there is an input from the action input means,
Zoom lens drive to zoom in / out
And a zoom command means for commanding the motor.
7. The body cavity observation system according to item 7. (Additional Item 23) The input device for inputting the visual field conversion operation
Step, the visual field range variable operation input means is a foot switch
An intracavity observation system according to an additional item 7. (Additional Item 24) The input means for inputting the visual field conversion operation
Step, the visual field range variable operation input means is a hand switch
An intracavity observation system according to an additional item 7. (Appendix 25) The body cavity observation means may be a body
Endoscope to be inserted into a cavity and holding for holding the endoscope
Means for imaging the body cavity image transmitted by the endoscope.
And an imaging means including an imaging lens and an imaging element.
Item 6. The body cavity observation system according to additional item 6. (Additional Item 26) The holding means may be an electric manifold.
Item 25. The body cavity observation system according to attachment 25, which is a purator. (Additional Item 27) The image pickup element is a single-plate mosaic.
Item 25 in the body cavity observation system
Tem. (Additional Item 28) The image pickup device is a three-plate type C
Item 25. The body cavity observation system according to attachment 25, which is a CD. (Additional Item 29) The visual field converting means is a body cavity
Position detection hand that detects the position of the tip of the treatment instrument inserted into the
Step, while there is an input from the visual field conversion operation input means,
A position on the image set in advance by the position detecting means.
Calculate the amount of movement to position the detected tip of the treatment tool.
Manipulator that issues a position command to the electric manipulator
25. The body cavity according to claim 25, further comprising:
Internal observation system. (Additional Item 30) The position detecting means may be magnetic.
Item 30. The in-vivo observation system according to attachment 29, which is a sensor. (Additional Item 31) The position detecting means is a supersonic
Item 30. The body cavity observation system according to attachment 29, which is a wave sensor. (Additional Item 32) The position detecting means is an infrared
Item 29. The body cavity observation system according to attachment 29, which is a line sensor. (Additional Item 33) The position detecting means may be an acceleration
In-body observation system of Appendix 29, which is a degree sensor and a gyro
Tem. (Additional Item 34) The visual field range changing means may be
While there is an input from the visual field range variable operation input means,
Zoom in / out at a preset cycle
A manipulator that issues commands to the electric manipulator
The body cavity observation system according to claim 25, comprising zoom command means.
M (Additional Item 35) The input means for inputting the visual field conversion operation
Step, the visual field range variable operation input means is a foot switch
An intrabody cavity observation system according to an additional item 25. (Appendix 36) The input means for inputting the visual field conversion operation
Step, the visual field range variable operation input means is a hand switch
An intrabody cavity observation system according to an additional item 25. (Additional Item 37) Observing a region of interest in a body cavity
Body observing means and a target identifying hand inserted into the body cavity
And the step, from the observation image obtained by the in-vivo observation means,
First position detection means for detecting the position of the target identification means;
A second method for detecting the position of the distal end of the treatment instrument inserted into the body cavity
Position detecting means, and any one of the first and second position detecting means
Data judgment / selection means for judging / selecting whether to output data
Based on the position output from the data determination / selection means.
Of the magnified observation image obtained by the in-vivo observation means
Field-of-view conversion means for changing the field of view, and the field-of-view conversion means
Body cavity observation system, comprising an operation input means for operating the body
M (Purpose of Supplementary Notes 37 to 105) In the body cavity
Even in situations where the tip of the forceps is difficult to recognize,
Provides a body cavity observation system that can perform field conversion
Is to do. (Effects of Additional Items 37 to 105) Tip of Forceps
Part can be recognized by tissue being covered or adhesion of blood etc.
Even when it disappears, the field of view conversion can be performed continuously. (Supplementary Note 38) The body cavity observation means may be a body
Endoscope to be inserted into a cavity and holding for holding the endoscope
Means to observe enlarged and wide-angle images inside the body cavity.
Light for distributing the body cavity image transmitted by the endoscope into two
Road distribution means and wide-angle imaging for capturing one of the distributed images
Means for enlarging the other distributed image by enlarging the other image
The body cavity according to attachment 37, comprising imaging means comprising: imaging means.
Internal observation system. (Additional Item 39) The holding means is a manual manifold.
Item 39. The body cavity observation system according to attachment 38, wherein the system is a purator. (Supplementary Note 40) The optical path distribution means may be a hard disk.
Item 39. The in-vivo observation system according to attachment 38, which is a fmirror. (Additional Item 41) The optical path distribution means may be
Item 39. The in-vivo observation system according to attachment 38, which is a muscle splitter. (Additional Item 42) The wide-angle imaging means forms an image.
Intracorporeal observation according to attachment 38, comprising a lens and an imaging element
system. (Supplementary Note 43) The magnified image pickup means may be
Additional items consisting of a lens, an imaging lens, and an image sensor
36. In-vivo observation system. (Additional Item 44) The image pickup device is a single-plate mosaic.
Appearance items 42 and 43 in the body cavity
Insight system. (Appendix 45) The image pickup device is a three-plate type C
The body cavity observation system according to additional items 42 and 43, which is a CD. (Additional Item 46) The target identifying means is a body cavity
The color material provided at the distal end of the treatment tool inserted into the
The first position detecting means is obtained by the wide-angle imaging means.
The color of the color material is extracted from the extracted image, and the weight of the extracted portion is
Additional Item 38 which is a color extraction image processing device for detecting a heart position
Body cavity observation system. (Additional Item 47) The target identification means may be
A coloring material provided at a plurality of insertion portions of the treatment tool,
The first position detecting means is obtained by the wide-angle imaging means.
The color of the color material is extracted from the extracted image, and the center of gravity of the extracted portion is extracted.
Item 38 which is a color extraction image processing device for detecting a position.
In-vivo observation system. (Additional Item 48) The target identification means may be
A contour enhancement structure provided at the distal end of the treatment tool,
The first position detecting means is obtained by the wide-angle imaging means.
The contour of the contour enhancement structure is extracted from the
A contour extraction image processing device that detects the position of
Item 39. The body cavity observation system according to item 38. (Additional Item 49) The Second Position Detecting Means
Item 38 is the body cavity observation system according to Item 38, which is a magnetic sensor. (Additional Item 50) The second position detecting means
Is an ultrasonic sensor;
M (Additional Item 51) The Second Position Detecting Means
Is an infrared sensor;
M (Additional Item 52) The Second Position Detecting Means
Is the accelerometer and the gyro, and
Insight system. (Additional Item 53)
A moving device for moving an image sensor provided in the magnifying image means;
Moving means and the position outputted from the data judging / selecting means.
Calculates the movement amount of the moving means based on the position and issues a command.
Item 38, the body cavity observation system comprising position command means.
M (Appendix 54) The visual field conversion means may be
Move the imaging lens provided in the magnifying imaging means
Moving means, output from the data determination / selection means
The movement amount of the moving means is calculated based on the position, and a command is issued.
Item 38 in the body cavity,
Tem. (Additional Item 55) The moving means may be an XY station.
And an XY stage drive motor,
While the position command means is input from the operation input means,
The data judgment / selection is performed at a predetermined position on the image.
Command position that matches the position output from the selection means
Items 53 and 54 having a calculation unit for calculating
Insight system. (Additional Item 56) The operation input means may be
Item 38. The in-vivo observation system according to attachment 38, which is a switch. (Appendix 57) The operation input means may be a hand
38. The body cavity observation system according to attachment 38, wherein the observation switch is a de-switch. (Appendix 58) The body cavity observation means may be a body
Endoscope to be inserted into a cavity and holding for holding the endoscope
Means for imaging the body cavity image transmitted by the endoscope.
And an imaging means including an imaging lens and an imaging element.
Item 37. The in-vivo observation system according to attachment 37. (Additional Item 59) The holding means may be an electric manifold.
The in-vivo observation system according to attachment 53, which is a purator. (Supplementary Note 60) The image pickup device is a single-plate mosaic.
Item 58, which is an active filter CCD
Tem. (Additional Item 61) The image pickup device is a three-plate type C
Item 58. The in-vivo observation system according to attachment 58, which is a CD. (Additional Item 62) The target identifying means may be a body cavity.
The color material provided at the distal end of the treatment tool inserted into the
The first position detecting means is obtained by the imaging means.
The color of the color material is extracted from the image, and the center of gravity of the extracted portion is extracted.
54. The body according to claim 53, wherein the body is a color extraction image processing device that detects the position
Intracavitary observation system. (Additional Item 63) The target identification means may be
A coloring material provided at a plurality of insertion portions of the treatment tool,
The first position detecting means is an image obtained by the imaging means.
The color of the color material is extracted from the image, and the position of the center of gravity of the extracted portion is extracted.
Item 58, which is a color extraction image processing device that detects
Internal observation system. (Additional Item 64) The target identification means may be
A contour enhancement structure provided at the distal end of the treatment tool,
The first position detecting means is an image obtained by the imaging means.
Extracting an outline of the outline emphasis structure from the image;
An additional item that is a contour extraction image processing device that detects the position of the minute
58. A body cavity observation system. (Additional Item 65) The Second Position Detecting Means
Is a body cavity observation system according to attachment 58, which is a magnetic sensor. (Additional Item 66) The Second Position Detecting Means
Is an ultrasonic sensor;
M (Additional Item 67) The Second Position Detecting Means
Is an infrared sensor;
M (Additional Item 68) The Second Position Detecting Means
Is an accelerometer and a gyro, the view of the body cavity in Appendix 58
Insight system. (Additional Item 69)
During the input from the operation input means,
Output from the data determination / selection means at the position on the selected image.
The movement amount is calculated so that the
Introductory view of the body cavity of Appendix 58 that issues a position command to the manipulator
Insight system. (Additional Item 70) The operation input means may be
Item 58. The body cavity observation system according to Item 58, which is a switch. (Appendix 71) The operation input means may be a hand
39. The body cavity observation system according to attachment 58, which is a switch. (Appendix 72) Observing a region of interest in a body cavity
Body cavity observation means and position detection for detecting the position of the region of interest
Output means and a position detected by the position detection means.
Observation visual field of the magnified observation image obtained by the in-vivo observation means
Operating the visual field converting means, and changing the visual field converting means
An in-vivo observation system, comprising: an operation input unit for causing an operation to be performed. (Appendix 73) The body cavity observation means may be a body
Endoscope to be inserted into a cavity and holding for holding the endoscope
Means to observe enlarged and wide-angle images inside the body cavity.
Light for distributing the body cavity image transmitted by the endoscope into two
Road distribution means and wide-angle imaging for capturing one of the distributed images
Means for enlarging the other distributed image by enlarging the other image
The body cavity according to item 72, wherein the imaging means comprises imaging means.
Internal observation system. (Additional Item 74) The holding means is a manual manifold.
The observation system in body cavity according to attachment 73, which is a purator. (Additional Item 75) The optical path distribution means may be a hard disk.
The in-vivo observation system according to attachment 73, which is a fmirror. (Additional Item 76) The optical path distribution means may be a beeper.
The in-vivo observation system according to attachment 73, wherein the observation system is a muscle splitter. (Additional Item 77) The wide-angle imaging means forms an image.
Intra-cavity observation according to attachment 73, comprising a lens and an imaging element
system. (Supplementary Note 78) The magnified image pickup means may be
Additional items consisting of a lens, an imaging lens, and an image sensor
73 body cavity observation system. (Appendix 79) The body cavity observation means may be a body
Endoscope to be inserted into a cavity and holding for holding the endoscope
Means for imaging the body cavity image transmitted by the endoscope.
And an imaging means including an imaging lens and an imaging device.
72. The body cavity observation system according to attachment 72. (Additional Item 80) The holding means may be an electric manifold.
Item 79. The body cavity observation system according to attachment 79, which is a purator. (Additional Item 81) The image pickup device may be a single-plate mosaic.
The body of Supplementary Items 77, 78 and 79, which is an active filter CCD
Intracavitary observation system. (Supplementary Note 82) The image pickup device is a three-plate type C
Item 77, 78, 79, which is a CD
M (Additional Item 83) The position detecting means is an operator
Additional items 73 and 79 which are line-of-sight detecting means for detecting the line of sight of
Body cavity observation system. (Additional Item 84) The line-of-sight detecting means is an operator
Camera that captures the eyeball of the eye, and the output image of the CCD camera
Additional Item 8 comprising an image processing device that detects a line of sight from an image
3. In-vivo observation system. (Additional Item 85) The line-of-sight detecting means is an operator
PSD that captures the eyeball of the eye and the gaze from the PSD output signal
Item 83, which is a signal processing device for detecting
Insight system. (Additional Item 86) The visual field conversion means may be
A moving device for moving an image sensor provided in the magnifying image means;
Moving means, and a region of interest detected by the visual line detecting means.
Calculating the movement amount of the moving means based on the position, and instructing the movement amount
The in-vivo observation system according to attachment 73, comprising a command unit. (Additional Item 87)
Move the imaging lens provided in the magnifying imaging means
Moving means, and the position of the region of interest detected by the visual line detecting means
The movement amount of the moving means is calculated based on
73. The in-vivo observation system according to claim 73, further comprising
M (Additional Item 88) The moving means may be an XY station.
And an XY stage drive motor,
While the position command means is input from the operation input means,
The line-of-sight detection means sets the position on the image set in advance.
Calculate the command position to position the detected region of interest.
Items 86 and 87 having a calculation unit
Stem. (Additional Item 89)
During the input from the operation input means,
Region of interest detected by the line-of-sight detection means at a position on the detected image
Calculating an amount of movement to position the portion;
Item 79, comprising position command means for issuing a position command to
Intracavitary observation system. (Appendix 90) The operation input means may be
Items 73 and 79 that are intra-body observation systems
M (Appendix 91) The operation input means may be a hand
Items 73 and 79, which are in-body switches,
M (Supplementary Note 92) The body cavity observation means may be a body
Endoscope to be inserted into a cavity and holding for holding the endoscope
Means and the body cavity image transmitted by the endoscope into two
An optical path distributing means for distributing and capturing one of the distributed images;
A first imaging system, and a second imaging system for capturing the other distributed image.
72. The body according to claim 72, wherein the imaging means comprises:
Intracavitary observation system. (Appendix 93) The holding means is a manual manifold.
The in-body cavity observation system according to attachment 92, which is a purator. (Additional Item 94) The optical path distribution means may be a hard disk.
The in-vivo observation system according to attachment 92, which is a fmirror. (Appendix 95) The optical path distribution means may be
Item 90. The in-vivo observation system according to attachment 92, which is a muscle splitter. (Additional Item 96) The first image pickup system is a laser
Laser light transmission filter, imaging lens, and image sensor
The observation system in body cavity according to attachment 92, wherein (Additional Item 97) The second imaging system forms an image.
Intra-cavity observation according to attachment 92, comprising a lens and an imaging element
system. (Additional Item 98) The image pickup device is a CCD.
An in-body cavity observation system according to additional item 96. (Appendix 99) The image pickup device is a PSD.
An in-body cavity observation system according to additional item 96. (Appendix 100) The image pickup device is a CCD
Item 97, the in-vivo observation system. (Additional Item 101) The position detecting means may be
The observation means in the body cavity is provided on the trocar inserted into the body cavity.
Laser light irradiation means obtained by the first imaging system.
The signal emitted from the laser beam irradiation means from the signal
Center position calculation to detect the user light and calculate the position of the center of gravity
An in-body cavity observation system according to attachment 92, further comprising an output unit. (Additional Item 102) The visual field conversion means is
Moving the imaging lens provided in the second imaging system;
Moving means, and the region of interest detected by the position detecting means.
Calculates the movement amount of the moving means based on the position and issues a command.
The body cavity observation system according to claim 92, further comprising a position command means.
M (Additional Item 103) The moving means is an XY
And a XY stage drive motor.
The position command means has an input from the operation input means.
The position detection hand at a predetermined position on the image
Command position to position the region of interest detected by the step
Item 102, which has a calculation unit for calculating
Stem. (Appendix 104) The operation input means may be
Item 92. The body cavity observation system according to Item 92, which is a switch. (Additional Item 105) The operation input means is
Item 92. The in-body-cavity observation system according to attachment 92, which is a switch. (Additional Item 106) Curved portion at tip of insertion portion
And a bending drive section for bending the bending section.
A mirror, target identification means to be inserted into a body cavity, and the endoscope
The position of the target identification means from the observation image obtained in
Position detecting means, and a position detected by the position detecting means.
Based on the observation field of view of the observation image obtained by the endoscope
Changing the visual field converting means, and operating the visual field converting means.
An in-body observation system comprising: an operation input unit for causing the operator to perform an operation. (Prior Art in Additional Item 106)
No. 80896. (Technical problem of Appendix 106) Electric manipulator
The endoscope that is held by the
Observation and treatment on the inner wall of the body cavity and the side and back of the organ
If there is a field of view conversion, the endoscope
Because the range of movement of the endoscope is limited due to the entry point,
There is a problem that the treatment target cannot be sufficiently observed. (Purpose of Additional Item 106) Inner Wall of Body Cavity
Or when there is an object to be observed or treated on the side or back of the organ
Even when field conversion is performed, the site can be observed well
Providing a body cavity observation system. (Effect of Additional Item 106)
Even if there is an observation or treatment target on the side or back of the organ,
It has the effect that the area can be observed well by field conversion
You. (Appendix 107) The endoscope is a manual
And the field-of-view conversion means is
Supplementary item 106 including a bending control unit that controls the bending driving unit
Body cavity observation system. (Additional Item 108) The endoscope is an electric
And the field-of-view conversion means is
A bending control unit that controls a bending driving unit; and the electric manipulator.
Note consisting of a manipulator control unit that controls the
Clause 106. The body cavity observation system of Clause 106. (Additional Item 109) The bending section is a bending frame.
And the bending drive unit includes an angle wire and an angle wire.
Supplementary note 10 consisting of a motor for pulling the glue wire
7, 108. In-vivo observation system. (Additional Item 110) The curved portion is a curved frame.
And wherein the bending drive unit is a shape memory alloy.
Clause 107, The body cavity observation system of 108. (Additional Item 111) The target identification means is
A color material provided in at least one place of the treatment instrument,
The position detection means extracts the color of the color material, and
Color extraction image processor that detects the center of gravity of the minute
Clause 107, The body cavity observation system of 108. (Additional Item 112) The target identification means is
This is a contour enhancement structure provided at the tip of the treatment instrument.
The position detection means extracts the contour of the contour emphasis structure,
A contour extraction image processing device that detects the position of the extracted part
Additional observation items 107 and 108 for the in-vivo observation system. (Additional Item 113) The bending control section
Bending drive control based on the position detected by the position detection means
A control signal command for calculating a signal and instructing the bending drive unit
The body cavity observation system according to attachment 107, further comprising means. (Additional Item 114) The bending control section
Bending drive control based on the position detected by the position detection means
A control signal command for calculating a signal and instructing the bending drive unit
Means, the manipulator control unit is configured to detect the position.
When the target identification means is out of the detection range of the output means
The amount of movement of the electric manipulator is calculated and a command is issued.
The body cavity of the supplementary item 108 constituted by the manipulator position command means
Internal observation system. (Additional Item 115) The operation input means is
Observation of the additional items 107 and 108 as body switches
system. (Additional Item 116) The operation input means may be
Observation of the additional items 107 and 108 as body switches
system. (Additional Item 117) Viewing the region of interest in the body cavity
Observing means in the body cavity,
Field-of-view conversion means for moving an observation field of view of an image,
Vision that changes the observation field of view of the image obtained by the intracavity observation means
Field-of-view variable means and a visual field for operating the visual field converting means
Conversion operation input means, a treatment instrument inserted into a body cavity,
At least two colors with different wavelengths at the insertion part of the treatment instrument
From the color presenting means provided in the
Position detection for obtaining the position of the color presenting means from the obtained image
Means based on the position detected by the position detecting means.
A movement position commander that calculates and commands the movement amount of the moving means.
A body cavity observation system consisting of steps. (Additional Item 118) The color presenting means
At least two color materials, wherein the position detecting means is the color material
Color, and the position of the center of gravity of the extracted part is detected.
The position near the tip of the treatment tool from the center of gravity of at least two color materials
117. The body cavity according to item 117, further comprising a position detecting means for determining the position.
Internal observation system. (Appendix 119) The color presenting means is
At least two color light emitters, and the position detecting means
Extract the color of the light body, detect the position of the center of gravity of the extracted part,
With the tip of the treatment tool from the position of the center of gravity of at least two colors of light emitters
Additional clause 117 consisting of a position detecting means for finding a nearby position
Body cavity observation system. (Purpose of Supplementary Items 117 to 119)
Even if the tip of the body becomes invisible in the body cavity,
Detects the tip position and changes the field of view based on that position
Providing an in-vivo observation system. (Effects of Additional Items 117 to 119)
Even if the tip of the instrument is no longer visible in the body cavity
Position can be detected and the field of view can be changed based on that position.
You. [0308] According to the present invention, in endoscopic surgery,
To observe the desired site in the body cavity
In response to changes in the area of interest, such as the treatment site in the patient's body.
Can easily change the field of view of the observation means
Along with advanced procedures such as suturing and ligating
Image observation and wide-angle image observation
Return operation can be realized with good operability.
Obtain the observation visual field according to the desired procedure with good operability in surgery
Can be

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram of an entire endoscope apparatus according to a first embodiment of the present invention. FIG. 2 is a schematic configuration diagram showing an internal configuration of a rigid endoscope and a TV camera unit according to the first embodiment. FIG. 3 is a schematic configuration diagram of a visual field conversion control unit according to the first embodiment. 4A is a plan view showing a state in which a wide-angle image is displayed on the screen of the TV monitor, FIG. 4B is a plan view showing a state in which an enlarged image is displayed on the screen of the TV monitor;
(C) is a top view which shows the screen of the TV monitor which performs a visual field conversion by image processing of an image. FIG. 5 is a plan view showing a screen of a TV monitor in which a plurality of dyes having different colors are attached to a treatment target tissue. FIG. 6 is a schematic configuration diagram showing a modified example of the visual field conversion control unit of the first embodiment. FIG. 7 is a schematic configuration diagram of an entire endoscope apparatus according to a second embodiment of the present invention. FIG. 8 is a schematic configuration diagram of a visual field conversion control unit according to a second embodiment. FIG. 9 is a schematic configuration diagram of an entire endoscope apparatus according to a third embodiment of the present invention. FIG. 10 is a schematic configuration diagram of a visual field conversion control unit according to a third embodiment. FIG. 11 is a schematic configuration diagram of an entire endoscope apparatus according to a fourth embodiment of the present invention. FIG. 12A is a plan view showing a state where a composite image of a marker and an image is displayed on the screen of the TV monitor, and FIG.
9 is a plan view showing a state in which the position of the composite image has moved. 13A is a schematic configuration diagram illustrating an example of a visual line detection device, and FIG. 13B is a schematic configuration diagram illustrating a modification of the visual line detection device of the fourth embodiment. FIG. 14 shows a fifth embodiment of the present invention.
(A) is a schematic configuration diagram of the entire endoscope apparatus, (B) is a schematic configuration diagram showing an internal configuration of a rigid endoscope and a TV camera unit,
(C) is a plan view showing an observation image of the rigid endoscope when the living tissue is near, and (D) is a plan view showing an observation image of the rigid endoscope when the living tissue is far. FIG. 15 is a schematic configuration diagram of an entire endoscope apparatus according to a sixth embodiment of the present invention. 16A is a plan view showing a main menu screen of the TV monitor, FIG. 16B is a plan view showing a state where a manipulator function is selected on the main menu screen of the TV monitor, and FIG. FIG. 4 is a plan view showing a state where a light source function is selected on a main menu screen. FIG. 17 is a schematic configuration diagram of an entire endoscope apparatus according to a seventh embodiment of the present invention. 18A is a schematic configuration diagram of a visual field conversion control unit according to a seventh embodiment, and FIG. 18B is a schematic configuration diagram illustrating a modified example of the visual field conversion control unit according to the seventh embodiment. FIG. 19 is a longitudinal sectional view showing a schematic configuration of a bending portion of an endoscope according to a seventh embodiment. FIG. 20 is a schematic configuration diagram of an entire endoscope apparatus according to an eighth embodiment of the present invention. FIG. 21 is a schematic configuration diagram of a visual field conversion control unit according to an eighth embodiment. FIG. 22 is a schematic configuration diagram of an entire endoscope apparatus according to a ninth embodiment of the present invention. FIG. 23 is a schematic configuration diagram of a visual field conversion control unit according to a ninth embodiment. FIG. 24 is a schematic configuration diagram showing a color marker portion at the tip of the forceps. FIG. 25 is a plan view showing an observation image of a rigid endoscope. [Description of Signs] 18 TV camera unit (observation means), 23 zoom lens (field-of-view range variable means), 33a, 76 ... first foot switch (first operation means), 33b, 77 ... second
Foot switch (second operation means), 39 ... XY stage control section (observation field moving means), 40 ... zoom control section (field of view range varying means), 61 ... electric manipulator (observation field moving means), 72 ... manipulator Control unit (observation field moving means), 78 ... TV camera adapter (observation means).

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hitoshi Mizuno 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (56) References JP-A-5-337118 (JP, A) JP-A-1-197716 (JP, A) JP-A-6-30896 (JP, A) JP-A-63-125082 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 1 / 00-1/32

Claims (1)

(57) [Claims] 1. Observing means for observing the inside of a body cavity, visual field moving means for moving a visual field of an image obtained by the observing means, and a visual field range of an image obtained by the observing means , A first operation unit for controlling an operation of the visual field moving unit, and an operation of the visual field range variable unit automatically and periodically when a suturing / ligating command is received. And a second operating means for controlling the in-vivo observation apparatus.