JP6694049B2 - Medical observation device and medical observation system - Google Patents

Description

  The present invention relates to a medical observation device and a medical observation system for observing a minute portion of an observation target.

  Conventionally, an optical system having a magnifying optical system for enlarging a microscopic region as a medical observation system for observing the microscopic region when performing a surgical operation on the microscopic region of a patient's brain or heart Is known (for example, refer to Patent Document 1). When performing an operation using this microscope system, an operator (user) such as a doctor performs the operation while observing the operation site through an eyepiece lens.

  FIG. 10 is a diagram schematically showing a situation in which an operator performs an operation using a conventional optical microscope system. As shown in FIG. 10, the operator 401 performs an operation while observing the operation part of the patient 402 via the eyepiece 502 of the microscope part 501. Therefore, as the operation time increases, the burden on the operator 401's eyes increases, and the burden on the operator's 401 body by keeping the same posture also increases.

  As a technique for solving the problem of such an optical microscope system, a video microscope system provided with an imaging means for imaging a microscopic portion such as a surgical site is known (for example, see Patent Document 2). ). FIG. 11 is a diagram schematically showing a situation in which an operation is performed using a conventional video-type microscope system. As shown in FIG. 11, the operator 401 performs an operation while observing an image of the operation part of the patient 402 imaged by the imaging part 601 on the monitor 602. According to such a video-type microscope system, the burden on the operator's eyes and body during a long-term operation can be significantly reduced as compared with an optical microscope system.

JP, 2004-117596, A JP-A-2002-272760

  By the way, in the case of a video microscope system, unlike an optical microscope system, it is desirable that there are few obstacles to the visual field when the operator looks at the monitor. However, for example, in the case shown in FIG. 11, the image pickup unit 601 is located between the operator 401 and the monitor 602, which hinders the operator 401 from viewing the monitor 602. The situation similar to that of FIG. 11 also occurs in FIG. 2 and the like of Patent Document 2 described above.

  As described above, in the conventional video-type microscope system, it is difficult to say that sufficient measures are taken to secure the field of view when the operator views the monitor.

  The present invention has been made in view of the above, and when a subject is imaged and an image is displayed, a user can sufficiently secure a field of view for observing the displayed image. An object is to provide an observation device and a medical observation system.

  In order to solve the above-mentioned problems and achieve the object, the medical observation apparatus according to the present invention has a columnar microscope unit that outputs an image pickup signal by enlarging and imaging a microscopic portion of an observation object, and A first joint part that holds the microscope part rotatably about a first axis parallel to the height direction of the microscope part, and a first joint part that holds the first joint part in a direction different from the height direction of the microscope part. A first arm portion that extends, a second joint portion that holds the first arm portion rotatably around a second axis that is orthogonal to the first axis, and a second arm portion that holds the second joint portion. And a support portion having, and in a plane that passes through the first and second axes, passes through an end point of the first joint portion having a maximum distance from the focus position of the microscope unit as a center. Within the circle, the microscope section, the first and second joint sections, and the Characterized to include the cross-section of the first and second arm portions.

  In the medical microscope apparatus according to the present invention according to the above-mentioned invention, the second axis is closer to the first joint section than a center of a columnar portion including the microscope section and the first joint section in a height direction. It is characterized by passing through.

  The medical microscope apparatus according to the present invention is characterized in that, in the above-mentioned invention, it further includes a transmission unit that is provided inside the support portion and that transmits an imaging signal output by the microscope portion.

  In the medical observation apparatus according to the present invention, in the above invention, the transmission means has a plurality of thin-wire coaxial cables that pass through the inside of the first joint section and transmit an image pickup signal output by the microscope section. Characterize.

  In the medical observation apparatus according to the present invention, in the above invention, a part of the plurality of thin coaxial cables forms a bundle shape that passes through an axis in a height direction of the microscope section inside the first joint section. It is characterized by extending.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, the plurality of thin coaxial cables further include two binding portions for binding both ends of a portion extending in a bundle.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, it further includes a photoelectric conversion unit that is provided inside the support unit and that converts an imaging signal output by the microscope unit into an optical signal and outputs the optical signal. And

  In the medical observation apparatus according to the present invention according to the above invention, the medical observation apparatus further includes a transmission unit that is provided inside the support unit and that transmits an imaging signal output by the microscope unit, and the transmission unit is the first joint unit. A plurality of thin-wire coaxial cables that pass through the interior of the microscope, one end of each of which is connected to the microscope unit and the other end of which is connected to the photoelectric conversion unit, and which transmits an imaging signal output by the microscope unit to the photoelectric conversion unit. It is characterized by having.

  The medical observation apparatus according to the present invention is characterized in that, in the above-mentioned invention, the photoelectric conversion means is disposed inside the first arm portion.

  The medical observation apparatus according to the present invention is, in the above-mentioned invention, further provided with a transmission unit which is provided inside the support unit and which transmits an imaging signal output by the microscope unit, wherein the transmission unit is the photoelectric conversion unit. It is characterized by further comprising an optical fiber for transmitting the converted optical signal.

  The medical observation apparatus according to the present invention is characterized in that, in the above invention, the medical observation apparatus further includes an operation input unit that is provided on a side surface of the microscope unit and that receives an operation input to the medical observation apparatus.

  A medical observation system according to the present invention includes the medical observation device described above, a control device that performs signal processing on the image pickup signal output by the microscope unit to generate image data for display, and the control device. And a display device that displays an image corresponding to the image data generated by.

  According to the present invention, the focus of the microscope section is in a plane passing through the first axis that is the rotation axis of the microscope section and the second axis that is the axis orthogonal to the first axis and that is the rotation axis of the first arm section. The cross section of the microscope part, the first and second joint parts, and the first and second arm parts is included in the circle passing through the end point of the first joint part having the maximum distance from the focus position with the position as the center. Therefore, the first and second arm portions and the second joint portion can be configured to be hidden behind the microscope portion and the first joint portion when viewed from the user. Therefore, when the object to be observed is imaged and the image is displayed, it is possible to secure a sufficient field of view for the user to see the displayed image.

1 is a perspective view showing an external configuration of a medical observation system according to Embodiment 1 of the present invention. FIG. 2 is an enlarged perspective view showing the configuration of the microscope section and its surroundings of the medical observation apparatus according to Embodiment 1 of the present invention. FIG. 3 is a partial cross-sectional view in the direction of arrow A in FIG. FIG. 4 is a schematic diagram for explaining the characteristics of the distal end portion of the medical observation device according to the first embodiment of the present invention. FIG. 5: is a figure which shows typically the condition which a user operates the microscope part of the medical observation apparatus which concerns on Embodiment 1 of this invention. FIG. 6 is a diagram schematically showing a situation of surgery performed using the medical observation system according to the first embodiment of the present invention. FIG. 7 is a partial cross-sectional view showing the configuration of the main part of the medical observation device according to the second embodiment of the present invention. FIG. 8: is a figure which shows the structure of the principal part of the observation apparatus with which the medical observation system which concerns on Embodiment 3 of this invention is equipped. FIG. 9 is a partial cross-sectional view showing the configuration of the main part of the observation device included in the medical observation system according to the fourth embodiment of the present invention. FIG. 10 is a diagram schematically showing a situation in which an operator performs an operation using a conventional optical microscope system. FIG. 11 is a diagram schematically showing a situation in which an operator performs an operation using a conventional video-type microscope system.

  Hereinafter, modes for carrying out the present invention (hereinafter, referred to as “embodiments”) will be described with reference to the accompanying drawings. It should be noted that the drawings are merely schematic, and there may be a case where the dimensional relationships and ratios are different between the drawings.

(Embodiment 1)
1 is a diagram showing a configuration of a medical observation system according to a first embodiment of the present invention. The medical observation system 1 shown in FIG. 1 includes a medical observation device (hereinafter, referred to as an observation device) 2 having a function as a microscope for enlarging and imaging a fine structure of an observation target, and an operation of the medical observation system 1. And a display device 4 for displaying an image captured by the observation device 2.

  The observation device 2 magnifies and images a base portion 5 movable on the floor surface, a support portion 6 supported by the base portion 5, and a tip of the support portion 6 that magnifies a minute portion of an observation target. And a columnar microscope section 7.

  The support portion 6 includes a first joint portion 11, a first arm portion 21, a second joint portion 12, a second arm portion 22, a third joint portion 13, a third arm portion 23, a fourth joint portion 14, and a fourth arm. It has a portion 24, a fifth joint portion 15, a fifth arm portion 25, and a sixth joint portion 16.

  The support portion 6 has four sets of two arm portions and a joint portion that rotatably connects one (the tip end side) of the two arm portions to the other (the base end side). Specifically, the four groups are (first arm portion 21, second joint portion 12, second arm portion 22), (second arm portion 22, third joint portion 13, third arm portion 23), (Third arm portion 23, fourth joint portion 14, fourth arm portion 24) and (fourth arm portion 24, fifth joint portion 15, fifth arm portion 25).

The first joint portion 11 rotatably holds the microscope portion 7 on the distal end side, and is held on the first arm portion 21 while being fixed to the distal end portion of the first arm portion 21 on the proximal end side. The first joint section 11 has a cylindrical shape and holds the microscope section 7 rotatably around a first axis O ₁ which is a central axis in the height direction. The first arm portion 21 has a shape extending from the side surface of the first joint portion 11 in a direction orthogonal to the first axis O ₁ . A more detailed configuration of the first joint section 11 will be described later.

The second joint portion 12 rotatably holds the first arm portion 21 on the tip end side, and is held on the second arm portion 22 while being fixed to the tip end portion of the second arm portion 22 on the base end side. It The second joint portion 12 has a cylindrical shape, and is rotatable about a second axis O ₂ that is a center axis in the height direction and is orthogonal to the first axis O _1. Hold. The second arm portion 22 has a substantially L-shape, and is connected to the second joint portion 12 at the end of the L-shaped vertical line portion.

The third joint portion 13 rotatably holds the L-shaped horizontal line portion of the second arm portion 22 on the distal end side, and is fixed to the distal end portion of the third arm portion 23 on the proximal end side to be the third joint portion 13. It is held by the arm portion 23. The third joint portion 13 has a cylindrical shape, is a central axis in the height direction, is an axis orthogonal to the second axis O ₂ , and is an axis parallel to the extending direction of the second arm portion 22. The second arm portion 22 is held so as to be rotatable about the third axis O ₃ . The distal end side of the third arm portion 23 has a cylindrical shape, and a hole portion penetrating in a direction orthogonal to the height direction of the distal end side cylinder is formed at the proximal end side. The third joint portion 13 is rotatably held by the fourth joint portion 14 via this hole.

The fourth joint portion 14 rotatably holds the third arm portion 23 on the tip end side, and is held on the fourth arm portion 24 while being fixed to the fourth arm portion 24 on the base end side. The fourth joint portion 14 has a cylindrical shape, and is rotatable about a fourth axis O ₄ which is a center axis in the height direction and is orthogonal to the third axis O _3. Hold.

The fifth joint portion 15 rotatably holds the fourth arm portion 24 on the tip end side, and is fixedly attached to the fifth arm portion 25 on the base end side. The fifth joint portion 15 has a cylindrical shape, and the fourth arm portion 24 can be rotated about a fifth axis O ₅ that is a central axis in the height direction and is an axis parallel to the fourth axis O _4. Hold on. The fifth arm portion 25 includes an L-shaped portion and a rod-shaped portion that extends downward from the horizontal line portion of the L shape. The fifth joint portion 15 is attached to the end portion of the L-shaped vertical line portion of the fifth arm portion 25 on the base end side.

The sixth joint portion 16 rotatably holds the fifth arm portion 25 on the tip end side, and is fixedly attached to the upper surface of the base portion 5 on the base end side. The sixth joint portion 16 has a cylindrical shape, and the fifth arm portion 25 can be rotated about a sixth axis O ₆ which is a central axis in the height direction and is an axis orthogonal to the fifth axis O _5. Hold on. The base end portion of the rod-shaped portion of the fifth arm portion 25 is attached to the tip end side of the sixth joint portion 16.

  The support unit 6 having the above-described configuration realizes movement of the microscope unit 7 with a total of 6 degrees of freedom including translational 3 degrees of freedom and rotation 3 degrees of freedom.

  The first joint section 11 to the sixth joint section 16 have electromagnetic brakes that prohibit the rotation of the microscope section 7 and the first arm section 21 to the fifth arm section 25, respectively. Each electromagnetic brake is released when an arm operation switch 73 (described later) provided in the microscope unit 7 is pressed down, and allows the microscope unit 7 and the first arm unit 21 to the fifth arm unit 25 to rotate. An air brake may be applied instead of the electromagnetic brake.

  FIG. 2 is an enlarged perspective view showing the configuration of the microscope section 7 of the observation device 2 and its surroundings. FIG. 3 is a partial cross-sectional view in the direction of arrow A in FIG. The configuration of the microscope unit 7 will be described below with reference to FIGS. 2 and 3.

The microscope section 7 is provided with a tubular portion 71 having a cylindrical shape, a hollow portion of the tubular portion 71, an image pickup portion 72 for enlarging and picking up an image of an object to be observed, and first to sixth joint portions 11 to 6. An arm operation switch 73 that accepts an operation input that releases the electromagnetic brake in the joint portion 16 to allow rotation of each joint portion, and a cross lever 74 that can change the magnification of the image pickup portion 72 and the focal length to the object to be observed. And an upper cover 75 that is formed around the upper portion of the imaging unit 72 and that is fitted into the first joint portion 11, and a hollow cylindrical shaft portion 76 that extends from the upper cover 75 along the first axis O _1. ..

  The tubular portion 71 has a cylindrical shape with a diameter smaller than that of the first joint portion 11, and a cover glass that protects the imaging unit 72 is provided on the opening surface of the lower end portion (not shown). The shape of the cylindrical portion 71 is not limited to the cylindrical shape, and may be, for example, a cylindrical shape whose cross section orthogonal to the height direction is an ellipse or a polygon.

The imaging unit 72 has a plurality of lenses arranged so that their optical axes coincide with the first axis O _1, and has an optical system 721 that collects light from the object to be observed and forms an image, and an optical system 721. It has two image pickup devices 722 and 723 which respectively generate image pickup signals by receiving the light condensed by 721 and photoelectrically converting it. It should be noted that FIG. 2 shows only a cylindrical housing that houses a plurality of lenses included in the optical system 721.

  The optical system 721 can change the magnification of the image of the object to be observed and the focal length to the object to be observed according to the operation of the cross lever 74.

  The image pickup devices 722 and 723 are respectively configured by using a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The image pickup devices 722 and 723 generate two image pickup signals having parallax with each other as the image pickup signals for generating the three-dimensional image. These image pickup signals are output as digital signals from the image pickup devices 722 and 723, respectively.

  The arm operation switch 73 is a push button type switch. While the user presses the arm operation switch 73, the electromagnetic brakes of the first joint section 11 to the sixth joint section 16 are released. The arm operation switch 73 is provided on the side surface opposite to the side surface that the user faces when operating the microscope section 7, in other words, on the side surface that becomes a blind spot for the user when operating the microscope section 7. The arm operation switch 73 forms part of an operation input unit that receives an operation input to the observation device 2.

  The cross lever 74 can be operated along the height direction of the tubular portion 71 and the circumferential direction orthogonal to the height direction. The cross lever 74 is provided on the side surface of the tubular portion 71 and on the side surface below the arm operation switch 73 along the height direction of the tubular portion 71. Similarly to the arm operation switch 73, the cross lever 74 also forms a part of an operation input unit that receives an operation input to the observation device 2.

  When the cross lever 74 is operated from the position shown in FIG. 2 along the height direction of the tubular portion 71, the enlargement ratio is changed, and the cross lever 74 is operated from the position shown in FIG. 2 along the circumferential direction of the tubular portion 71. Then, the focal length to the object to be observed is changed. For example, if the cross lever 74 is moved upward along the height direction of the tubular portion 71, the enlargement ratio becomes large, and if the cross lever 74 is moved downward along the height direction of the tubular portion 71, the enlargement ratio becomes small. Become. Further, when the cross lever 74 is moved clockwise along the circumferential direction of the tubular portion 71, the focal length to the object to be observed becomes longer, and the cross lever 74 is turned counterclockwise along the circumferential direction of the tubular portion 71. When moved, the focal length to the object to be observed becomes closer. Note that the movement direction of the cross lever 74 and the assignment of the operation are not limited to those described here.

The upper cover 75 has a cylindrical portion 751 and a hollow disk portion 752 provided at the upper end of the cylindrical portion 751 and having the same diameter as the cylindrical portion 751. The hollow disk portion 752 is attached with a cylindrical shaft portion 76 that extends along the first axis O ₁ and has a hollow portion 76a that communicates with the hollow portion 752a of the hollow disk portion 752.

  Next, with reference to FIG. 3, a configuration of a main part of the first joint section 11 will be described. The first joint portion 11 has a cylindrical shape with an upper end portion having a bottom, and rotatably supports an outer shell 111 in which the upper cover 75 of the microscope portion 7 is fitted on the inner circumference and a shaft portion 76 of the microscope portion 7. It has a shaft support part 112 and a holding part 113 that is fixed to the outer shell 111 and that holds the outer periphery of the shaft support part 112 in a fixed manner. The outer shell 111 is fixedly connected to the outer shell 211 of the first arm portion 21. A through hole 111 a is formed in a connecting portion of the outer shell 111 with the outer shell 211. The through hole 111a communicates with the through hole 211a formed in the outer shell 211. Note that, in FIG. 3, the configuration of the electromagnetic brake and the like is omitted.

FIG. 4 is a schematic diagram for explaining the characteristics of the tip portion of the observation device 2. FIG. 4 shows a plane passing through the first axis O ₁ and the second axis O ₂ . Here, the distal end portion of the observation device 2 includes the microscope portion 7, the first joint portion 11, the first arm portion 21, the second joint portion 12, and the second arm portion 22. When viewed on a plane passing through the first axis O ₁ and the second axis O ₂ , the tip of the observing device 2 has a maximum distance from the focus position O around the focus position O of the microscope unit 7. The inside of a circle C passing through the end points E ₁ and E ₂ of the one joint portion 11 has a shape including the cross section of the tip portion thereof. The focus position O of the microscope unit 7 may be variable or fixed. When the focal position O is variable, the distal end portion of the observation device 2 has the end points E ₁ and E of the first joint portion 11 whose distance from the arbitrary focal position in the changeable range is the maximum. Included inside the circle that passes through ₂ .

Further, at the tip of the observation device 2, the second axis O ₂ passes through the side closer to the first joint 11 than the center position in the height direction of the columnar portion including the microscope unit 7 and the first joint 11. .. In FIGS. 3 and 4, the height of the columnar portion is H. The center position in the height direction is a position where the distance from the lower end of the microscope section 7 is H / 2. 3 and 4, the center position in the height direction is located at the boundary between the outer peripheral surface of the microscope section 7 and the first joint section 11, but this is merely an example.

  FIG. 5 is a diagram schematically showing a situation in which the user operates the microscope unit 7. The user operates the microscope unit 7 by facing the side surface (the right side surface in FIG. 5) opposite to the side surface (the right side surface in FIG. 5) where the arm operation switch 73 is provided among the side surfaces of the tubular portion 71. At this time, the user operates the support unit 6 while pressing the arm operation switch 73 with the index finger (or middle finger or ring finger) while holding the microscope unit 7 with the right hand 101.

  Since the distal end portion of the observation device 2 has the shape feature described with reference to FIG. 4, when the user operates the microscope unit 7, the first arm unit 21, the second joint unit 12, and the second joint unit 12 The tip of the arm 22 is always located behind the microscope section 7 and the first joint section 11 when viewed from the user, which makes it difficult for the user to enter the visual field of the user. Therefore, it is possible to reduce the ratio of the tip of the observation device 2 to the visual field of the user and prevent the visual field of the user from being obstructed.

  In the observation device 2, the user can operate the support unit 6 by pressing the arm operation switch 73 while naturally holding the microscope unit 7. In particular, since the arm operation switch 73 is provided on the side surface of the microscope section 7 that is a blind spot for the user (the side surface opposite to the side surface facing the user), the user can hold the microscope section 7 by hand. Even if the microscope unit 7 is rotated or tilted, the operation of continuously pressing the arm operation switch 73 or the operation of pressing or releasing the arm operation switch 73 can be performed without a feeling of strangeness.

  Further, in the observation device 2, it is not necessary to separately provide a grip portion provided with the arm operation switch 73, and the microscope unit 7 can be configured in a small size, so that the user's visual field can be sufficiently secured.

  Further, in the observation device 2, since the user holds the periphery of the microscope unit 7 with his / her hand, the position of the optical axis of the optical system 721, that is, the direction of the imaging visual field can be intuitively recognized, and the microscope unit 7 can be positioned at a desired position. It can be easily moved to and has excellent operability.

Next, a configuration for transmitting the image pickup signal output by the image pickup unit 72 will be described with reference to FIG. A plurality of thin-wire coaxial cables, which are transmission means for transmitting an image pickup signal, extend from the image pickup elements 722 and 723, respectively, and form a cable group 81 as a whole. The cable group 81 passes through the hollow portion 76 a of the shaft portion 76. The cable group 81 is bound by binding portions 82 and 83 outside the both ends of the shaft portion 76. Therefore, the cable group 81 forms a bundle between the binding portion 82 and the binding portion 83. The bundle-shaped portion of the cable group 81 passes through the first axis O ₁ . The cable group 81 extends from the first joint portion 11 to the first arm portion 21 through the through hole 111a of the outer shell 111 and the through hole 211a of the outer shell 211.

  In this way, by bundling the cable group 81 with the two bundling portions 82 and 83, the bundled bundled portion is caused by the rotation of the microscope unit 7 with respect to the first joint portion 11 (first arm portion 21). The occurrence of twisting is suppressed.

Next, the configuration of the medical observation system 1 will be described.
The control device 3 receives the image pickup signal output from the observation device 2 and subjects the image pickup signal to predetermined signal processing to generate three-dimensional image data for display. The control device 3 is configured by using a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The control device 3 may be installed inside the base portion 5 and integrated with the observation device 2.

  The display device 4 receives the three-dimensional image data generated by the control device 3 from the control device 3, and displays the three-dimensional image corresponding to the three-dimensional image data. Such a display device 4 includes a display panel made of liquid crystal or organic EL (Electro Luminescence).

  Next, an outline of an operation performed using the medical observation system 1 having the above configuration will be described. FIG. 6 is a diagram schematically showing a situation of surgery using the medical observation system 1. Specifically, FIG. 6 is a diagram schematically showing a situation in which an operator 201 who is a user is operating on the head of a patient 202 who is an observed object. The surgeon 201 wears the glasses 301 for three-dimensional images and visually holds the three-dimensional image displayed by the display device 4 while holding down the arm operation switch 73 of the microscope unit 7 to hold the microscope unit 7. After moving to a desired position and determining the imaging field of view of the microscope section 7, the finger is released from the arm operation switch 73. As a result, the electromagnetic brakes operate in the first joint section 11 to the sixth joint section 16, and the imaging field of view of the microscope section 7 is fixed. After that, the operator 201 adjusts the magnification and the focal length to the object to be observed. Since the display device 4 displays a three-dimensional image, the operator 201 can stereoscopically grasp the surgical site through the three-dimensional image.

  In order for the operator 201 to easily grasp the microscope section 7 and not to obstruct the field of view when the operator 201 views the operation unit of the display device 4 or the patient 202, for example, the outer diameter of the tubular portion 71 is It is about 40 to 70 mm, the distance between the focus position O of the microscope unit 7 and the lower end of the microscope unit 7 is about 150 to 600 mm, and the total height of the microscope unit 7 and the first joint unit 11 is about 100 to 220 mm. It is more preferable if

According to the first embodiment of the present invention described above, in the plane passing through the first axis O ₁ and the second axis O ₂ , the distance from the focus position O of the microscope unit 7 is the maximum. Within the circle C passing through the end points E ₁ and E ₂ of the first joint section 11 which is the microscope section 7, the first joint section 11, the first arm section 21, the second joint section 12, and the second arm section 22. Since the cross section is included, the first arm portion 21, the second joint portion 12, and the second arm portion 22 are hidden behind the microscope portion 7 and the first joint portion 11 when viewed from the user. can do. Therefore, when the object to be observed is imaged and the image is displayed, it is possible to secure a sufficient field of view for the user to see the displayed image.

Further, according to the first embodiment, the second axis O ₂ passes through the side closer to the first joint section 11 than the center in the height direction of the columnar portion including the microscope section 7 and the first joint section 11. Therefore, it is possible to secure a sufficient portion to be gripped by the user without enlarging the tip portion. Therefore, it is possible to provide the observing device 2 having a shape of the tip end portion which is excellent in operability and which is suitable for realizing miniaturization.

Further, according to the first embodiment, a part of the cable group 81 is formed into a bundle and passes through the first axis O _1. Therefore, in this part, the rotation of the microscope section 7 with respect to the first joint section 11 is performed. It is possible to suppress the occurrence of twisting due to. In particular, when the bundling portion is formed by using the two binding portions 82 and 83, the twisting hardly occurs in the bundling portion.

  Further, according to the first embodiment, since the cable group 81 is arranged inside the support portion 6, compared to the case where the cable group 81 is routed outside the support portion 6, the user's The visual field of the user can be sufficiently widened without hindering the visual field. By the way, in the first embodiment, in order to maintain the sterilized state of the observation device 2, it is possible to provide a sterile drape so as to cover the surface of the observation device 2. When the sterilization drape is applied, if the cable group 81 is exposed to the outside of the support portion 6, the outer diameter of each portion of the observation device 2 is further increased, which hinders the visual field between the user and the display device 4. Therefore, the observation by the user becomes difficult. On the other hand, in the first embodiment, since the cable group 81 is arranged inside the support portion 6, it is possible to sufficiently secure the field of view of the user even when the sterile drape is applied. it can.

  Further, according to the first embodiment, since the user grasps and holds the microscope unit 7 with his / her hand, the user can intuitively recognize the direction of the optical axis of the optical system 721 or the imaging visual field of the microscope unit 7. The microscope section 7 can be easily moved to a desired position. This point is compared to the case where the grip provided with the switch for inputting the operation signal is far from the optical axis of the optical system and the optical axis direction cannot be intuitively recognized, as in the conventional surgical microscope. This is one of the very advantageous effects.

  Further, according to the first embodiment, since the support portion 6 is configured by connecting a plurality of arm portions and joint portions, the microscope portion 7 can be diversified with a simpler structure than a conventional link mechanism. It is possible to realize various movements.

(Embodiment 2)
FIG. 7: is a figure which shows the structure of the principal part of the observation apparatus with which the medical observation system which concerns on Embodiment 2 of this invention is equipped. More specifically, FIG. 7 is a diagram showing a configuration of a main part of an observation device 2A included in the medical observation system according to the second embodiment. The configuration of the medical observation system other than that shown in FIG. 7 is the same as the configuration of the medical observation system 1 described in the first embodiment.

  In the observation device 2A, the cable group 81 is connected to an FPGA (Field Programmable Gate Array) substrate 84 provided inside the first joint section 11. The FPGA board 84 is connected to the photoelectric composite module 86 via the flexible board 85 inside the first joint 11.

  The photoelectric composite module 86 includes a photoelectric conversion element that converts an image pickup signal transmitted via the cable group 81 into an optical signal and outputs the optical signal. The optoelectronic composite module 86 also relays electrical signals such as control signals and power supply signals. Such an optoelectronic composite module 86 has a cylindrical shape, and a connecting portion for connecting the flexible substrate 85 is provided on the bottom surface on the front end side. In addition, the photoelectric composite module 86 is for relaying electrical signals for control and power to a substrate on which a photoelectric conversion element that converts the image pickup signal transmitted through the flexible substrate 85 into an optical signal and outputs the optical signal is mounted. And a substrate. These substrates are housed inside a cylindrical cover member. The shape of the cover member of the photoelectric composite module 86 is not limited to the cylindrical shape, and may be, for example, a tubular shape whose cross section orthogonal to the height direction is elliptical or polygonal.

  The FPGA substrate 84, the flexible substrate 85, and the photoelectric composite module 86 have a function as a photoelectric conversion unit that converts the image pickup signal output by the microscope unit 7 into an optical signal and outputs the optical signal.

  To the base end side of the optoelectronic composite module 86, one end (tip) of the composite cable 87 that is a transmission means for transmitting an optical signal and an electric signal is connected. The composite cable 87 extends from the first joint portion 11 to the first arm portion 21 via the through hole 111a of the outer shell 111 and the through hole 211a of the outer shell 211 (see FIG. 3). The composite cable 87 is arranged inside the first arm part 21 to the fifth arm part 25, and the other end (base end) is connected to the control device 3. In the composite cable 87, one or a plurality of optical fibers are arranged on the central axis, and a plurality of metal wires are arranged around it. The optical fiber is connected to the substrate on which the photoelectric conversion element of the photoelectric composite module 86 is mounted, and transmits the optical signal obtained by photoelectrically converting the image pickup signal. On the other hand, the metal wire is connected to the electric signal relay board of the optoelectronic composite module 86, and transmits electric signals for control and power. In order to suppress the voltage drop during signal transmission in the metal wire, it is preferable to make the diameter of the metal wire as large as possible.

  According to the second embodiment of the present invention described above, similarly to the first embodiment, when the object to be observed is imaged and the image is displayed, the user has a sufficient field of view for viewing the displayed image. be able to.

  Further, according to the second embodiment, the photoelectric conversion means (FPGA substrate 84, flexible substrate 85, photoelectric device) that converts the image pickup signal output from the microscope unit 7 into an optical signal and outputs the optical signal inside the first joint unit 11. Since the composite module 86 is included), by using an optical signal, it is possible to prevent the deterioration and rounding of the signal and to transmit a large amount of data while suppressing unnecessary radiation. Therefore, it is possible to deal with the increase in the number of pixels of the image pickup devices 722 and 723 (the reduction in the density).

  Further, according to the second embodiment, since the photoelectric conversion means is provided inside the first joint section 11 closest to the microscope section 7, it is possible to minimize deterioration of signal quality due to transmission of electric signals.

  Further, according to the second embodiment, since the electric signal is transmitted by the cable group 81 including a plurality of thin-wire coaxial cables having a diameter smaller than that of the conventional metal wire, the electric signal is transmitted as compared with the case of using the conventional metal wire. The tip can be downsized.

  Further, according to the second embodiment, since the composite cable 87 that transmits an optical signal is disposed inside the support portion 6, compared with the case where the composite cable 87 is routed outside the support portion 6. As a result, it is possible to secure a sufficiently wide field of view of the user without hindering the field of view of the user.

(Embodiment 3)
FIG. 8: is a figure which shows the structure of the principal part of the observation apparatus with which the medical observation system which concerns on Embodiment 3 of this invention is equipped. More specifically, FIG. 8 is a diagram showing a configuration of a main part of an observation device 2B included in the medical observation system according to the third embodiment. The configuration of the medical observation system other than that shown in FIG. 8 is the same as the configuration of the medical observation system 1 described in the first embodiment.

  In the observation device 2B, the cable group 81 is connected to the FPGA substrate 84 provided inside the first arm unit 21. The FPGA substrate 84 is connected to the photoelectric composite module 86 via the flexible substrate 85 inside the first arm portion 21. To the base end side of the optoelectronic composite module 86, one end (tip) of the composite cable 87 that is a transmission means for transmitting an optical signal and an electric signal is connected. The composite cable 87 is arranged inside the second arm part 22 to the fifth arm part 25, and the other end (base end) thereof is connected to the control device 3.

  According to the third embodiment of the present invention described above, as in the first embodiment, when the observed object is imaged and the image is displayed, the user has a sufficient field of view for viewing the displayed image. be able to.

  Further, according to the third embodiment, the image pickup unit 72 of the microscope unit 7 and the photoelectric composite module 86 are connected by the cable group 81 including a plurality of thin coaxial cables to transmit an electric signal. As compared with the case of using the conventional metal wire, the tip portion can be downsized.

  Further, according to the third embodiment, photoelectric conversion means (FPGA substrate 84, flexible substrate 85, photoelectric device) that converts the imaging signal output from the microscope unit 7 into an optical signal and outputs the optical signal is output inside the first arm unit 21. Since the composite module 86 is included), large-capacity data transmission using an optical signal becomes possible, and it is possible to cope with the increase in the number of pixels (denseness) in the image pickup devices 722 and 723. In addition, according to the third embodiment, since the photoelectric conversion means is not provided in the first joint portion 11, the first joint portion 11 can be further miniaturized within the range satisfying the shape described with reference to FIG. it can.

(Embodiment 4)
FIG. 9 is a partial cross-sectional view showing the configuration of the main part of the observation device included in the medical observation system according to the fourth embodiment of the present invention. More specifically, FIG. 9 is a diagram showing a configuration of a main part of an observation device included in the medical observation system according to the fourth embodiment. The configuration of the medical observation system other than that shown in FIG. 9 is the same as the configuration of the medical observation system 1 described in the first embodiment.

  Hereinafter, with reference to FIG. 9, a configuration of a main part of the first arm portion 21, the second joint portion 12, and the second arm portion 22 included in the observation device 2C will be described.

In the observation device 2C, the cable group 81 including a plurality of thin-wire coaxial cables extending from the first joint portion 11 to the first arm portion 21 includes the second arm portion via the first arm portion 21 and the second joint portion 12. It extends to the inside of 22. The first arm portion 21 has an outer shell 211 fixedly attached to the first joint portion 11, and a hollow formed in the proximal end portion of the outer shell 211 extending along the second axis O ₂ on the proximal end side of the outer shell 211. And a hollow cylindrical shaft portion 212 in which a hollow portion 212a communicating with the portion 211b is formed.

  The second joint portion 12 is fixedly attached to the two shaft support portions 121 and 122 that pivotally support the shaft portion 212 and the outer shell 221 of the second arm portion 22, and the outer circumferences of the shaft support portions 121 and 122 are fixed. And a holding portion 123 which is fixed and held. In addition, in FIG. 7, the configuration of the electromagnetic brake or the like included in the second joint portion 12 is omitted.

The cable group 81 passes through the hollow portion 212 a of the first arm portion 21 and extends inside the second arm portion 22. The cable group 81 is bound by binding portions 88 and 89 outside the both ends of the shaft portion 212. The cable group 81 forms a bundle between the binding portions 88 and 89. The bundle-shaped portion of the cable group 81 passes through the second axis O ₂ .

  In this way, by bundling the cable group 81 with the two bundling portions 88 and 89, in the bunched bundled portion, the first arm portion 21 rotates with respect to the second joint portion 12 (second arm portion 22). The occurrence of twist of the cable group 81 due to the above is suppressed.

  Each thin coaxial cable that constitutes the cable group 81 is connected to the electrode of the FPGA substrate 84 that is disposed inside the second arm portion 22 and closer to the base end side than the binding portion 89. The FPGA substrate 84 is connected to the photoelectric composite module 86 via the flexible substrate 85. The optical signal obtained by converting the image pickup signal by the photoelectric composite module 86 is transmitted to the control device 3 via the composite cable 87. Also in the fourth embodiment, the FPGA substrate 84, the flexible substrate 85, and the photoelectric composite module 86 have a function as photoelectric conversion means.

  According to the fourth embodiment of the present invention described above, similarly to the first embodiment, when the object to be observed is imaged and the image is displayed, the user has a sufficient visual field for viewing the displayed image. be able to.

  Further, according to the fourth embodiment, photoelectric conversion means (FPGA substrate 84, flexible substrate 85, photoelectric device) that converts the imaging signal output from the microscope unit 7 into an optical signal and outputs the optical signal is output inside the second arm unit 22. Since the composite module 86 is included), large-capacity data transmission using an optical signal becomes possible, and it is possible to cope with the increase in the number of pixels (denseness) in the image pickup devices 722 and 723. In addition, according to the fourth embodiment, since the photoelectric conversion means is not provided in the first joint portion 11, the first joint portion 11 can be further miniaturized within the range satisfying the shape described with reference to FIG. it can.

Further, according to the fourth embodiment, since a part of the cable group 81 forms a bundle and passes through the second axis O ₂ , the second joint part 12 of the first arm part 21 ( It is possible to suppress the occurrence of twist due to the rotation with respect to the second arm portion 22). In particular, when the bundling portion is formed by using the two binding portions 88 and 89, the twisting hardly occurs in the bundling portion.

  Further, according to the fourth embodiment, since the photoelectric conversion means is not provided in the first arm portion 21, the first arm portion 21 can be made shorter than that in the third embodiment, and further miniaturization can be realized. You can

(Other embodiments)
So far, the embodiment for carrying out the present invention has been described, but the present invention should not be limited only by the above-described first to fourth embodiments. For example, two photoelectric composite modules 86 connected to the image pickup devices 722 and 723, respectively, may be arranged inside the support portion 6. In this case, the two photoelectric composite modules 86 may be arranged side by side along the direction in which the first arm portion 21 or the second arm portion 22 extends, or the first arm portion 21 or the second arm portion 22 extends. You may arrange in parallel in the direction orthogonal to a direction.

  Further, the photoelectric composite module 86 may be arranged in any of the third arm section 23 to the fifth arm section 25. In this case, the first arm part 21 and the second arm part 22 located near the microscope part 7 can be further downsized. In this case, it is desirable to form the bundle-like portion described in the first embodiment and the like on the joint portion through which the plurality of thin coaxial cables pass.

  Also, the photoelectric conversion means may be configured by integrating the FPGA substrate 84, the flexible substrate 85, and the photoelectric composite module 86.

  Further, the support portion 6 may have at least one set of two arm portions and a joint portion that rotatably connects one of the two arm portions to the other.

  Further, the image capturing section 72 may have a configuration including one or three or more image capturing elements. If the image pickup unit 72 has only one image pickup device, the display device 4 displays a two-dimensional image.

  Further, the operation input unit provided on the tubular portion 71 is not limited to the above-mentioned one. For example, an operation unit for changing the magnification and an operation unit for changing the focal length to the object to be observed may be separately provided.

  Further, the medical observation device may be arranged so as to be suspended from the ceiling of the installation location.

  As described above, the present invention can include various embodiments and the like without departing from the technical idea described in the claims.

(Appendix)
A columnar microscope part for enlarging and imaging a microscopic part of the observed object,
A support part having a first joint part connected to the microscope part and movably supporting the microscope part;
A photoelectric conversion unit that is disposed inside a portion of the support unit that is closer to the base end side than the first joint unit, and that converts an imaging signal output by the microscope unit into an optical signal and outputs the optical signal.
A medical observation apparatus comprising:

1 Medical Observation System 2, 2A, 2B, 2C, 9 Medical Observation Device 3 Control Device 4 Display Device 5 Base Section 6 Support Section 7, 501 Microscope Section 11 First Joint Section 12 Second Joint Section 13 Third Joint Section 14 4th joint part 15 5th joint part 16 6th joint part 21 1st arm part 22 2nd arm part 23 3rd arm part 24 4th arm part 25 5th arm part 71 Cylindrical part 72 Imaging part 73 Arm operation Switch 74 Cross lever 75 Upper cover 76, 212 Shaft part 76a, 211b, 212a, 752a Hollow part 81 Cable group 82, 83, 88, 89 Bundling part 84 FPGA board 85 Flexible board 86 Photoelectric composite module 87 Composite cable 111, 211, 221 Outer shell 111a, 211a Through hole 112, 121, 122 Shaft support portion 113, 123 Holding portion 5 02 Eyepiece unit 601 Imaging unit 602 Monitor 721 Optical system 722, 723 Imaging device 751 Cylindrical part 752 Hollow disk part

Claims (13)

A microscope section that outputs an imaging signal by enlarging and imaging a microscopic portion of the observed object,
A support portion that supports the microscope portion,
A photoelectric conversion unit that is provided inside the support unit and converts the image pickup signal output by the microscope unit into an optical signal and outputs the optical signal,
A medical observation device comprising:   The medical observation apparatus according to claim 1, wherein the microscope unit includes an imaging unit that magnifies and images a microscopic portion of the observation target.   The support part holds a first joint part that holds the microscope part rotatably around a first axis parallel to a height direction of the microscope part, and holds the first joint part. A first arm portion that extends in a direction different from the vertical direction, a second joint portion that holds the first arm portion rotatably around a second axis that is orthogonal to the first axis, and a second joint portion The medical observation apparatus according to claim 1 or 2, further comprising a second arm portion that operates. The microscope section has a columnar shape,
The medical instrument according to claim 3, wherein the second axis passes through a side closer to the first joint than a center in a height direction of a columnar portion including the microscope section and the first joint. Observation device.   The medical observation apparatus according to claim 3 or 4, further comprising a transmission unit that is provided inside the support unit and that transmits an imaging signal output by the microscope unit.   The medical observation apparatus according to claim 5, wherein the transmission unit has a plurality of thin-wire coaxial cables that pass through the inside of the first joint section and that transmits an image pickup signal output by the microscope section.   7. The medical device according to claim 6, wherein a part of the plurality of thin coaxial cables extends in a bundle shape that passes through an axis in the height direction of the microscope section inside the first joint section. Observation device.   The medical observation apparatus according to claim 7, further comprising two binding portions that bind both end portions of a portion where the plurality of thin-wire coaxial cables extend in a bundle shape. Further provided is a transmission unit which is provided inside the support unit and which transmits the image pickup signal output by the microscope unit,
The transmission means passes through the inside of the first joint part, one end of each of which is connected to the microscope part and the other end of which is connected to the photoelectric conversion part, and the imaging signal output by the microscope part is converted into the photoelectric signal. The medical observation apparatus according to any one of claims 3 to 8, further comprising a plurality of thin coaxial cables that are transmitted to the conversion means. The photoelectric conversion means,
The medical observation device according to any one of claims 3 to 9, wherein the medical observation device is arranged inside the first arm portion. Further provided is a transmission unit which is provided inside the support unit and which transmits the image pickup signal output by the microscope unit,
The medical observation apparatus according to claim 1, wherein the transmission unit further includes an optical fiber that transmits the optical signal converted by the photoelectric conversion unit.   The medical observation apparatus according to claim 1, further comprising an operation input unit that is provided on a side surface of the microscope unit and that receives an operation input to the medical observation apparatus. A medical observation device according to any one of claims 1 to 12,
A control device that performs signal processing on the image pickup signal output by the microscope unit to generate image data for display,
A display device for displaying an image corresponding to the image data generated by the control device;
A medical observation system comprising:

Images