JPH08332169A - Intracoelomscope - Google Patents

Abstract

PURPOSE: To make it possible to simultaneously observe the magnified image of an object to be observed and the wide angle image on its periphery, to automate visual field change, to simplify the constitution over the entire part of the device and to improve operability. CONSTITUTION: A TV camera unit 18 is provided with a wide angle optical system and magnifying optical system. A disposition part 15 of forceps 13 within the observation visual field of this TV camera unit 18 is identified by a color marker 17. The position of the forceps 13 is detected from the wide angle image and the visual field of the magnified image is moved in accordance with the detected position information of the forceps 13.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a body cavity observation apparatus for observing the inside of a body cavity through an endoscope inserted into the body cavity.

[0002]

2. Description of the Related Art Generally, a treatment tool and an endoscope are separately inserted into a body cavity of a patient, and an image of a tip portion of the treatment tool inserted into the body cavity is captured in an observation field of view of the endoscope, 2. Description of the Related Art There is known an endoscopic surgery for performing a treatment operation while observing a treatment state of an affected part with a treatment tool with an endoscope.

Further, for example, in Japanese Utility Model Application Laid-Open No. 54-31390 and Japanese Utility Model Application Laid-Open No. 1-172015, a magnified image observing section for observing a magnified image and a wide-angle image are observed in an observation optical system of one endoscope. A structure having a wide-angle image observation section for observation is shown.

[0004]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention Saikai 54-31
According to Japanese Patent No. 390 and Japanese Utility Model Laid-Open No. 172015/1995, it is possible to simultaneously observe a magnified image of a region of interest in a body cavity and a wide-angle image around the region of interest, which are obtained by endoscopic surgery. By the way, during endoscopic surgery, the site to be treated frequently changes. However, in the technique of each of the above publications, when performing the visual field conversion operation accompanying the change of the treatment target portion, the endoscope holder performs the operation, so that the burden on the endoscope holder is large. There is a problem.

Further, for example, when observing a moving object such as a treatment tool, it is necessary to perform a visual field conversion operation promptly in accordance with the movement of the treatment tool, but magnified observation by an endoscope is performed. In that case, since the operation is difficult, there is a problem that a moving object such as a treatment tool is easily detached from the enlarged observation visual field.

By automating the operation of converting the observation visual field by the endoscope, it is possible to simplify the visual field conversion operation, improve the speed, and reduce the burden on the endoscope holder. However, the techniques of the above publications cannot be achieved by themselves, and it is necessary to combine them with other systems. Therefore, there is a problem in that setup of the endoscope system as a whole is complicated, operation is complicated, and cost is increased.

The present invention has been made in view of the above circumstances, and its purpose is to enable simultaneous observation of a magnified image of an observation object (region of interest) and a wide-angle image of the periphery thereof and automation of visual field conversion. An object of the present invention is to provide an intracorporeal observation device having a simple overall structure and good operability.

[0008]

According to the present invention, there is provided an observation means for simultaneously performing wide-angle visual observation for observing a wide-angle visual field in a body cavity and magnifying observation for enlarging a part of the wide-angle visual field, and an observation means within the visual field of the observation means. The target object identifying means for identifying the target object, the position detecting means for detecting the position of the target object from the wide-angle image obtained by the observing means, and the enlargement based on the position information detected by the position detecting means The observation visual field moving means for moving the visual field of the enlarged image for observation and the operating means for controlling the operation of the observation visual field moving means are provided.

[0009]

[Function] By observing the wide-angle field of view in the body cavity by observing the wide-angle field of view, and enlarging a part of the wide-angle field of view by magnifying observation, a wide-angle image including a magnified image of the region of interest in the body cavity Simultaneous observation is performed, and the target object in the visual field of the observation means is identified by the target object identification means,
Based on the position information of the target object detected by the position detecting means, the position detecting means detects the position of the target object from the wide-angle image obtained by the wide-angle visual field observation, and the operation means controls the operation of the observation visual field moving means. By moving the visual field of the magnified image of the magnified observation by the observation visual field moving means, automatic visual field conversion according to the movement of the region of interest in the body cavity can be performed.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS.
Will be described with reference to. FIG. 1 shows a schematic configuration of the entire endoscope apparatus which is a body cavity observation apparatus. This endoscope apparatus is provided with a direct-viewing rigid endoscope 1 such as a laparoscope for observing the inside of a body cavity of a patient.

The rigid endoscope 1 is provided with an insertion portion 2 which is inserted into a body cavity of a patient, and an eyepiece portion 3 which is arranged at a base end portion of the insertion portion 2. Further, in this rigid endoscope 1, as shown in FIG. 2 (A), an objective lens 4 is provided on the distal end surface of the insertion part 2 and an eyepiece 5 is provided on the eyepiece part 3, and the insertion part 2 is formed. A plurality of relay lenses 7 are juxtaposed between the objective lens 4 and the eyepiece lens 5 in the cylindrical tubular body 6 at appropriate intervals. The optical system of the rigid endoscope 1 is provided with a distortion removing lens (not shown).

Further, the insertion portion 2 of the rigid endoscope 1 is previously inserted into a trocar 9 punctured in the abdominal wall portion 8 of the patient, for example, and is inserted into the body cavity. Here, the eyepiece 3 side of the insertion portion 2 of the rigid endoscope 1 is a scope holder 10 having an articulated structure.
It is movably held by.

Further, a light guide fiber for illumination (not shown) is arranged in the insertion portion 2 of the rigid endoscope 1. One end of the light guide cable 11 is connected to the illumination light guide fiber. The other end of the light guide cable 11 is connected to an external light source device 12 that supplies illumination light.

A second trocar 9'is punctured in the abdominal wall portion 8 of the patient or the like from an insertion position different from the insertion position of the rigid endoscope 1. The forceps 13, which is a treatment tool, is inserted into the body cavity through the trocar 9 ′.

The forceps 13 is provided with a treatment section 15 at the tip of an insertion section 14 inserted into the body cavity. Further, a handle portion 16 on the near side is arranged at the proximal end portion of the insertion portion 14. With the opening / closing operation of the handle portion 16, the treatment section 15 is remotely opened / closed.

A color marker (target identifying means) 17 is provided at the tip of the treatment section 15 of the forceps 13. The color marker 17 is a biocompatible paint, and a color that does not exist in an organ, such as green or yellow, is suitable for the color. As the treatment tool, instead of the forceps 11, a peeling forceps, scissors, a laser probe, a suturing device, an electric scalpel, a needle holder, an ultrasonic aspirator, or other treatment device having another configuration may be used.

A TV camera unit (observing means) for picking up an observation image of the rigid endoscope 1 is provided on the eyepiece 3 of the rigid endoscope 1.
18 is detachably attached. In the casing 19 of the TV camera unit 18, the eyepiece 3 of the rigid endoscope 1 is provided.
Half mirror 20 which is arranged to be opposed to the eyepiece lens 5 of FIG. 1 and is separated from the eyepiece 3 of the rigid endoscope 1, and one image (half mirror 20) which is distributed by the half mirror 20. Of the magnifying optical system (magnifying means) 21 on which the optical image transmitted through is incident, and the wide-angle optical system (wide-angle) on which the other image distributed by the half mirror 20 (optical image reflected by the half mirror 20) is incident. The visual field forming means) 22 is provided. The half mirror 20 may be an optical reflection element such as a prism.

Here, the magnifying optical system 21 is the zoom lens 2
3, a focusing lens 24, and a single-plate CCD (first CCD) 25a with a mosaic filter.
Further, the wide-angle optical system 22 is composed of an imaging lens 26 and a single-plate CCD (second CCD) 25b with a mosaic filter.

Further, the first CCD 25 of the magnifying optical system 21
a represents two directions (X) which are orthogonal to the optical axis direction of the magnifying optical system 21.
Mounted on an X, Y stage (not shown) that is movable in the Y direction). As a drive source for the X and Y stages, an X and Y stage drive actuator (not shown) such as a DC servo motor, a stepping motor, a voice coil motor is used.

Further, the zoom lens 2 of the magnifying optical system 21
As a drive source of No. 3, a zoom lens drive actuator (DC servo motor, stepping motor, voice coil motor, etc.) not shown is used.

The TV camera unit 18 also includes two CCUs 28 via the video signal cables 27a and 27b.
a, 28b, and further connected to the visual field conversion control unit 30 via a control signal cable 29. Here, the first CCD 25a of the magnifying optical system 21 in the TV camera unit 18 is connected to one first CCU 28a via a video signal cable 27a, and the second CCD 25b of the wide-angle optical system 22 connects the video cable 27b. Second through
CCU 28b. Further, the actuators for driving the X and Y stages and the actuator for driving the zoom lens (not shown) in the TV camera unit 18 are connected to the visual field conversion control unit 30 via the control signal cable 29.

Further, the first and second CCUs 28a, 28b
Is connected to a video mixer 31, and the video mixer 31 is connected to a TV monitor 32. Furthermore, the second
The CCU 28b of is also connected to the view conversion control unit 30. A foot switch (operating means) 33 is connected to the visual field conversion control unit 30. The foot switch 33 is provided with a tracking switch (not shown) and a zoom switch (not shown).

FIG. 3 shows a schematic structure of the visual field conversion control unit 30. A color space conversion unit 34 to which a signal from the second CCU 28b is input, and an extracted image generation unit (position detection unit) 35 to which an output signal from the color space conversion unit 34 is input to the visual field conversion control unit 30.
A center of gravity position calculation unit 36 to which an output signal from the extracted image generation unit 35 is input; a position command unit 37 to which output signals from the center of gravity position calculation unit 36 and the foot switch 33 are input; An XY stage control unit (observation visual field moving means) 38 and a zoom control unit 39 which are connected to the unit 37 are provided.

Here, the XY stage controller 38 has a TV
The actuators for driving the X and Y stages in the camera unit 18 are connected. The control signal output from the XY stage control unit 38 is input to the X, Y stage drive actuator. Further, an actuator for driving the zoom lens in the TV camera unit 18 is connected to the zoom controller 39.
The zoom controller 39 has a foot switch 33.
The control signal output from the zoom control unit 39 is input to the position command unit 37 and the zoom lens driving actuator, respectively.

Next, the operation of the above configuration will be described.
First, when the endoscope apparatus of the present embodiment is used, as shown in FIG. 1, for example, the insertion portion 2 of the rigid endoscope 1 held by the scope holder 10 in the trocar 9 punctured in the abdominal wall portion 8 or the like of the patient in advance. It is inserted and inserted into the body cavity. Further, a second trocar 9'is punctured into the abdominal wall portion 8 of the patient or the like from an insertion position different from the insertion position of the rigid endoscope 1, and the forceps 13 is inserted into the body cavity through the trocar 9 '. At this time, the treatment section 15 at the tip of the forceps 13 is moved to the eyepiece section 3 of the rigid endoscope 1.
Is set to be inserted into the visual field range R ₁ according to

A TV camera 18 is attached to the eyepiece 3 of the rigid endoscope 1. The observation image in the body cavity transmitted by the rigid endoscope 1 is the TV camera unit 1
It is divided into two by the half mirror 20 in 8. Further, one of the images distributed by the half mirror 20 (optical image transmitted through the half mirror 20) enters the magnifying optical system 21, and the other image distributed by the half mirror 20 (reflected by the half mirror 20). The optical image) is incident on the wide-angle optical system 22.

In the wide-angle optical system 22, the objective lens 4
An image of the same size as the image formed in 1. is formed on the second CCD 25b. Here, if the objective lens 4 is widened, an observation image of a wide range of body cavity can be obtained.

Further, the second CCD 2 of the wide-angle optical system 22
The output signal from 5b is input to the second CCU 28b and imaged by the second CCU 28b, and the image is input to the color space conversion unit 34 of the visual field conversion control unit 30 and the video mixer 31, respectively. And
The color space conversion unit 34 of the visual field conversion control unit 30 extracts a color component for each pixel from the input video signal and converts it into data of each color space (color difference, HSI, L * a * b *, etc.). Convert.

Here, the format of the video signal is NTS.
If C, Y, E _Q, the color difference signals from the E _I signal (Y, B
-Y, RY) or HSI (hue: Hue, saturation: Saturation, saturation: Saturation, using tristimulus values (X, Y, Z) that can be calculated based on the RGB signals calculated from the color difference signals.
Lightness: converted to a color space such as intensity space, L * a * b * space, etc. and output. If the video signal format is RGB, color difference, HSI, L * a
Converts to a color space such as * b * and outputs.

This output is input to the extracted image generator 35. The extracted image generation unit 35 compares, for each pixel, whether or not the input color space signal is within a preset range of extraction target colors. If the input signal is within the set range, the pixel is set to brightness 0.
If the pixel is out of the set range, the brightness of the pixel is set to 1 and the image is output in an achromatic color. As a result, a binary image in which the set color portion is black and the other portions are white is output. In addition,
The reverse output may be used.

The binary image output here is input to the center-of-gravity position calculation unit 36. The center-of-gravity position calculation unit 36 calculates the area center of gravity of the black portion where the set color is extracted, and outputs the pixel data on the image.

Further, the pixel data output from the center-of-gravity position calculation unit 36 is input to the position command unit 37. The position command unit 37 calculates the difference between the pixel data on the screen of the TV monitor 32 where the preset extraction target point is to be positioned, for example, the center of the screen of the TV monitor 32 and the calculated extraction target pixel data, A command position for moving the extraction target point to a preset point on the screen of the TV monitor 32 is obtained.

By turning on a tracking switch (not shown) provided on the foot switch 33, the command position calculated by the position command section 37 is sent to the XY stage control section 38. Then, a control signal is output from the XY stage control unit 38 to the X, Y stage driving actuator of the TV camera unit 18, and the X, Y stage is driven to drive the first CCD 25a of the magnifying optical system 21.
Are moved in two directions (X direction and Y direction) orthogonal to the optical axis direction of the magnifying optical system 21. At this time, the magnifying optical system 21 moves the XY stage drive actuator in the TV camera unit 18 by the command position by the control signal from the XY stage control unit 38 so that the extraction target point comes to the set position on the screen. The first CCD 25a of is moved.

Further, the optical image transmitted through the half mirror 20 and incident on the magnifying optical system 21 is formed on the first CCD 25a through the zoom lens 23 and the image forming lens 24. At this time, the observation image in the body cavity formed by the eyepiece lens 5 is magnified by the zoom lens 23, and the first CCD 2
Only a part of the enlarged image is formed on 5a. That is,
The magnified observation can be performed by the observation image of the body cavity formed on the first CCD 25a.

Here, a color marker 17 is provided in advance on the distal end portion of the treatment portion 15 of the forceps 13, the color of the marker 17 is set as the extraction target color, and the screen of the TV monitor 32 where the extraction target point is to be positioned. Position of TV monitor 32
The view conversion control unit 30
When set to, the following forceps tracking operation is performed. That is, in a state where the position of the color marker 17 of the treatment portion 15 of the forceps 13 is arranged in the observation range R ₁ by the second CCD 25b of the wide-angle optical system 22, the position of the treatment target site is a captured image of the magnifying optical system 21. If it is deviated from the center of R ₂ , it will be difficult for the operator such as a doctor to carry out the treatment while observing the screen of the TV monitor 32. In such a case, when the tip of the forceps 13 is brought close to the position near the treatment target portion and the treatment portion 15 of the forceps 13 holds the treatment target portion, the tracking switch of the foot switch 33 is turned on. 2B, the first CCD 25a moves so that the tip position of the forceps 13 comes to the center of the captured image R ₂ of the magnifying optical system 21 as shown in FIG. 2B. In other words, the visual field conversion is performed so that the image of the first CCD 25a tracks the tip of the forceps 13.

When the zoom switch of the foot switch 33 is turned on, the zoom control unit 39 transmits a zoom movement command to a zoom lens driving actuator (not shown) in the TV camera unit 18, and
Of the zoom lens 23 in the direction of the visual axis (optical axis) of the CCD 25a
Is moved by the amount specified. This zoom lens 23
The zoom ratio is monitored by an encoder, a potentiometer, or the like (not shown) attached to the zoom lens driving actuator, and sent from the zoom control unit 39 to the position command unit 37.

Further, the position command unit 37 performs a linear weighting operation on the moving speed to the command position given to the XY stage control unit 38 by this zoom ratio. This weighting operation is for controlling the visual field conversion speed on the screen of the TV monitor 32 to be constant even when the same observation target is observed with different zoom ratios.

A plurality of types of color markers 17 can be set. For example, when different color markers 17 are provided on the distal ends of the treatment portions 15 of the plurality of forceps 13, the force of the arbitrary forceps can be changed by switching the setting of the extraction target color stored in advance in the visual field conversion control unit 30. The field of view of the first CCD 25a can be tracked at the tip of the treatment section 15 of 13.

The video mixer 31 receives the output signals from the first and second CCUs 28a and 28b and receives the first CCU 28a and 28b.
A signal for simultaneously displaying an enlarged image by the CD 25a and a wide-angle image by the second CCD 25b is generated,
By outputting to the TV monitor 32, the enlarged image of the region of interest and the wide-angle image including the periphery thereof can be simultaneously displayed on the screen of the TV monitor 32 and can be observed. At this time, on the screen of the TV monitor 32, it is possible to switch to the image display of only one of the enlarged image by the first CCD 25a and the wide-angle image by the second CCD 25b.

Therefore, the following effects can be obtained with the above-mentioned structure. That is, since the TV camera unit 18 of the rigid endoscope 1 is provided with the magnifying optical system 21 for obtaining a magnified image of the region of interest and the wide-angle optical system 22 for obtaining a wide-angle image of the region around the region of interest, the magnified image of the region of interest and the region of interest are obtained. A wide-angle image of the surrounding area can be captured at the same time.

Further, the first CC displayed on the screen of the TV monitor 32 in a state where the enlarged image of the region of interest is tracked to the position of the color marker 17 at the tip of the treatment portion 15 of the forceps 13.
By incorporating the visual field conversion control unit 30 that performs visual field conversion of the enlarged image of D25a, the visual field conversion of the enlarged image of the first CCD 25a displayed on the screen of the TV monitor 32 is changed to the movement of the treatment portion 15 of the forceps 13. It can be done quickly in total. Therefore, it is not necessary for the endoscope holder to perform the visual field conversion of the image displayed on the screen of the TV monitor 32 as in the conventional case, so that the visual field conversion operation can be simplified and the swiftness can be improved. The burden on the mirror holder can be reduced.

Further, the field of view conversion of the magnified image of the first CCD 25a displayed on the screen of the TV monitor 32 can be realized by a simple configuration without combining with other systems using an electric manipulator as in the conventional case. The configuration of the entire device can be simplified.

The first C of the magnifying optical system 21 displayed on the screen of the TV monitor 32 during the operation of the forceps tracking function.
Wide-angle optical system 2 with a wider area than the magnified image by CD25a
The position of the distal end of the treatment section 15 of the forceps 13 can be detected over the entire display range of the wide-angle image by the second CCD 25b, and the conversion operation of the observation visual field displayed on the screen of the TV monitor 32 can be automated. The field of view conversion range can be expanded.

By the field-of-view conversion operation of this embodiment, the setting of the position on the screen of the TV monitor 32 where the extraction target point is desired can be changed as appropriate. Further, the first and second CCDs 25a and 25b are three CCDs, each of which has R and G colors.
A 3-plate CCD that captures the B image may be used. Further, instead of the first CCD 25a, the imaging lens 24 may be attached to the XY stage to perform the field conversion. Further, as the position detecting means on the image of the tip position of the treatment portion 15 of the forceps 13, pattern matching by extracting the feature amount (edge or the like) of the tip shape of the forceps 13, or this pattern matching and the color extraction is used. It may be a combination.

Further, the color marker 17 may be a member which is detachably attached to the tip of the treatment portion 15 of the forceps 13. Further, as the field-of-view conversion / zoom operation switch, in addition to the foot switch 33, a hand switch detachably attached to the handle portion 16 of the forceps 13 may be used.

4 and 5 show the second embodiment of the present invention. In this embodiment, an electric manipulator 41 having at least two degrees of freedom is used as a scope holder 10 for holding the rigid endoscope 1 of the endoscope apparatus of the first embodiment.
Is provided.

The electric manipulator 41 has a base 42.
A support shaft 43 provided on the base 42 so as to project upward, and capable of moving up and down; a rotating arm 44 connected to an upper end of the support shaft 43 so as to be rotatable about the support shaft 43; A movable arm 45 provided at the tip of the rotating arm 44 so as to be capable of expanding and contracting.
And an endoscope holding ring 46 rotatably connected to the tip of the moving arm 45.

The base 42 of the electric manipulator 41
One end of a manipulator control signal cable 47 is connected to. This manipulator control signal cable 4
The other end of 7 is connected to the visual field conversion control unit 30. Here, the visual field conversion control unit 30 is newly provided with a manipulator control unit 48 for controlling the operation of the electric manipulator 41, as shown in FIG. The input side of the manipulator control section 48 is connected to the position command section 37, and the output side is connected to the electric manipulator 41 via the manipulator control signal cable 47. The other structure is the same as that of the first embodiment, and here, the first structure is used.
The same parts as those of the embodiment are given the same reference numerals and the description thereof will be omitted.

Next, the operation of the above configuration will be described.
When the endoscope apparatus of this embodiment is used, the second CCD 2 is displayed while the observation image captured by the second CCD 25b of the wide-angle optical system 22 is displayed on the screen of the TV monitor 32.
When the color marker 17 of the treatment section 15 at the tip of the forceps 13 goes out from the wide-angle region of the observation range R ₁ of 5b, the operator may turn on a tracking switch (not shown) of the foot switch 33. In this case, in the position command unit 37, the forceps from the position in the image displayed on the screen of the TV monitor 32 immediately before the color marker 17 goes out of the imaging area (observation range R ₁ ) of the second CCD 25b. The treatment unit 15 at the tip of 13 estimates a certain direction, and issues a position command to the manipulator control unit 48 so that the direction can be observed. At this time, the electric manipulator 41 is moved by the control signal output from the manipulator control unit 48, and the color marker 17 causes the color marker 17 to capture an image of the second CCD 25b (observation range R ₁ ).
The rigid endoscope 1 is moved by the electric manipulator 41 until it is captured inside.

After the color marker 17 is imaged in the image pickup area (observation range R ₁ ) of the second CCD 25b, the XY stage driving actuator of the magnifying optical system 21 is switched to a moving state. Further, after this time point, the forceps tracking operation similar to that of the first embodiment is performed.

Therefore, the following effects can be obtained in this embodiment having the above-mentioned configuration. That is, the electric manipulator 41 that holds the rigid endoscope 1 of the first embodiment is provided, and the wide-angle optical system 2 is provided.
The observation image captured by the second CCD 25b of the second TV
While being displayed on the screen of the monitor 32, the second C
When the color marker 17 of the treatment portion 15 at the tip of the forceps 13 has come out of the wide-angle region of the observation range R ₁ of the CD 25b, the operator turns on a tracking switch (not shown) of the foot switch 33 to turn on the manipulator. Control unit 48
Electric manipulator 4 according to the control signal output from
1 is moved to move the rigid endoscope 1 by the electric manipulator 41 until the color marker 17 is captured in the image pickup area (observation range R ₁ ) of the second CCD 25b, so that the rigid marker 1 is moved outside the observation area of the rigid endoscope 1. Even if the tip of the forceps 13 has been positioned, no special manual operation is required, and the tip of the forceps 13 can be accommodated within the observation screen of the TV monitor 32, further improving operability. .

Further, FIGS. 6 to 9B show the third embodiment of the present invention.
FIG. FIG. 6 shows a schematic configuration of the entire endoscope apparatus which is a body cavity observation apparatus. Figure 6
51 is an operating table, and the patient 5 is on the operating table 51.
2 is listed. Bedside rail 5 on the side of the operating table 51
3 is provided. An articulated scope holder 54 is attached to the bedside rail 53. The scope holder 54 includes a base 54a, a first arm 54c rotatably connected to an upper end of the base 54a through a first joint 54b, and the first arm 54c.
A second arm 54e rotatably connected to the tip of c through a second joint 54d, and a third arm 54e rotatably connected to the tip of the second arm 54e through a third joint 54f.
An arm 54g and an endoscope holding portion 54h arranged at the tip of the third arm 54g are provided. A rigid endoscope 55 for observing the inside of the body cavity of the patient 52 is detachably connected to the endoscope holding portion 54h, and the rigid endoscope 55 is movably supported by the scope holder 54. The rigid endoscope 55 is inserted into the body cavity through the trocar 9 (see FIG. 1) that has been punctured in advance on the abdominal wall of the patient 52.

FIG. 7 shows a schematic structure of the rigid endoscope 55. The rigid endoscope 55 is formed by a direct-viewing endoscope such as a laparoscope. The rigid endoscope 55 is provided with an insertion portion 56 to be inserted into the body cavity of a patient and an eyepiece portion 57 arranged at the proximal end portion of the insertion portion 56.

Further, as shown in FIG. 7, the rigid endoscope 55 has two objective lenses (first and second objective lenses) on the tip surface of the insertion portion 56.
Objective lenses) 58 and 59 are arranged in parallel. here,
As the first and second objective lenses 58 and 59, lenses having the same magnification are used.

Further, two sets of relay lenses 61 and 62 are arranged in the cylindrical body 60 forming the sheath of the insertion portion 56. Here, the tip end surface of one relay lens 61 is arranged to face the first objective lens 58, and the tip end surface of the other relay lens 62 is arranged to face the second objective lens 59 at a distance.

Further, the eyepiece 57 of the rigid endoscope 55 has a connecting portion 63 connected to the insertion portion 56, and two lens barrels 64 provided in parallel with the connecting portion 63 in parallel with each other. And 65 are provided. Then, one lens barrel 64 has a first eyepiece lens 66, and the other lens barrel 65 has a second eyepiece lens 67.
Are installed respectively. Here, the magnification of the first eyepiece lens 66 is set to 1 ×, and the magnification of the second eyepiece lens 67 is higher than that, for example, set to 2 to 3 times.

Further, the first light guide that guides the observation image, which is incident from the first objective lens 58 and is transmitted through the relay lens 61, into the connecting portion 63 of the eyepiece 57 to the first eyepiece 66 side. A second light guiding optical system 69 that guides an observation image, which is incident from the optical system 68 and the second objective lens 59 and is transmitted through the relay lens 62, to the second eyepiece lens 67 side.
And are arranged. Here, the first light guide optical system 68 is provided with two prisms 70 and 71, and similarly, the second light guide optical system 69 is also provided with two prisms 72 and 73. Then, the first objective lens 58, the relay lens 61, the two prisms 70 of the first light guide optical system 68,
71 and the first eyepiece lens 66 form a wide-angle optical system 74 capable of observing an observation image in a wide-angle field of view, and the second objective lens 59, the relay lens 62, and the second light guide optical system 69.
A magnifying optical system 75 for magnifying and observing an observation range R ₄ at a substantially central portion of the observation range R ₃ in the wide-angle optical system 74 is formed by the two prisms 72 and 73 and the second eyepiece 67. .

The first TV camera unit 7 is attached to the lens barrel 64 on the wide-angle optical system 74 side of the eyepiece 57 of the rigid endoscope 55.
6. The second TV camera unit 77 is detachably attached to the lens barrel 65 on the side of the magnifying optical system 75.
Here, the first TV camera unit 76 has a first CCD that captures an observation image transmitted through the wide-angle optical system 74.
78 is built in. Further, the second TV camera unit 77 includes a second CCD 79 for capturing an observation image transmitted through the magnifying optical system 75 and the second CCD 7.
An XY stage (not shown) that moves 9 in two directions (X direction and Y direction) orthogonal to each other on a plane orthogonal to the optical axis direction is incorporated.

The second TV camera unit 77 on the magnifying optical system 75 side is connected to the first camera control unit (CCU) 80, and the first TV camera unit 76 on the wide angle optical system 74 side is the second. It is connected to the camera control unit (CCU) 81.

Further, the first CCU 80 corresponding to the magnifying optical system 75 is connected to the TV monitor 82 for observation. The output of the first CCU 80 is the TV monitor 82.
The observation image transmitted through the magnifying optical system 75 can be observed as an endoscopic image by the operator viewing the TV monitor 82.

The second C corresponding to the wide-angle optical system 74
The CU 81 is connected to the control device 83. The control device 83 is provided with a feature quantity extraction unit 84, a position calculation unit 85, a control unit 86, and an XY stage control unit 87. Here, the feature quantity extraction unit 84 uses the second CCU.
81 and the position calculation unit 85 and the control unit 86, respectively. Further, the feature amount extraction unit 84, the position calculation unit 85, and the XY stage control unit 87 are connected to the control unit 86, and, for example, an external operation switch S such as a foot switch or a hand switch is connected. ing. The XY stage controller 87 is connected to a drive motor (not shown) for the XY stage that moves the second CCD 79 in the second TV camera unit 77.

A rigid endoscope 55 is attached to the abdominal wall of the patient 52.
The second trocar 9'from an insertion position different from the insertion position of
(See FIG. 1) is punctured, and forceps 88, which is a treatment tool, is inserted into the body cavity through the trocar 9 ′.

The forceps 88 is provided with a treatment section 90 at the tip of an insertion section 89 which is inserted into the body cavity. Further, a handle portion 91 on the proximal side is arranged at the base end portion of the insertion portion 89. Then, the treatment section 90 is remotely opened / closed in accordance with the opening / closing operation of the handle section 91. In addition, a characteristic portion (target object identifying means) 92 having a set color or pattern is provided near the treatment portion 90 of the forceps 88.

Next, the operation of the above configuration will be described.
First, when the endoscope apparatus according to the present embodiment is used, as shown in FIG. 6, the rigid endoscope 5 held by the scope holder 54 in the trocar 9 that has been punctured in advance, for example, on the abdominal wall of the patient 52.
The insertion portion 56 of No. 5 is inserted and inserted into the abdominal cavity.

In this state, the magnifying optical system 75 of the rigid endoscope 55.
The observation image of the abdominal cavity of the patient 52 transmitted through the second CCD camera 79 in the second TV camera unit 77 is captured, and the enlarged observation image captured by the second CCD 79 at this time passes through the first CCU 80. TV monitor 8 for observation
It is displayed in 2. Therefore, the operator looks at the TV monitor 82 for observation, and the magnifying optical system 7 of the rigid endoscope 55 is observed.
It is possible to observe a magnified observation image in the abdominal cavity of the patient 52 transmitted through 5.

Further, a rigid endoscope 5 is attached to the abdominal wall of the patient 52 and the like.
The second trocar 9 from an insertion position different from the insertion position of 5
′ Is punctured, and the forceps 88 is inserted into the abdominal cavity through the trocar 9 ′. When inserting the forceps 88,
The operator inserts the forceps 88 into the abdominal cavity while visually observing the TV monitor 82 for observation and observing the magnified observation image transmitted through the magnifying optical system 75 of the rigid endoscope 55. At this time, forceps 8
The treatment section 90 at the tip of 8 is set to be inserted into the visual field range R ₄ by the magnifying optical system 75 of the rigid endoscope 55.

The wide-angle observation image transmitted through the wide-angle optical system 74 of the rigid endoscope 55 is the first TV camera unit 7.
The image is picked up by the first CCD 78 of No. 6, converted into an electric signal, and input to the second CCU 81. Further, the TV signal output of the second CCU 81 is input to the feature amount extraction unit 84 in the control device 83. Then, the feature quantity extraction unit 84 extracts the feature portion 92 near the treatment portion 90 of the forceps 88 from the wide-angle observation image captured by the first CCD 78 and converts it into a binary image.

Further, the output signal from the feature quantity extraction unit 84 is input to the position calculation unit 85. This position calculator 8
5, the center of gravity of the feature amount of the binary image extracted from the wide-angle observation image captured by the first CCD 78 is calculated, and the center-of-gravity position on the wide-angle observation image of the TV screen is controlled by the control unit 86.
To enter.

Now, when the characteristic portion 92 of the forceps 88 displayed on the TV monitor 82 is in the eccentric position eccentric to one corner of the display screen as shown in FIG. 8A, the wide-angle optical system 7 is used.
The wide-angle observation image captured by the second CCU 81 on the fourth side is displayed at the position shown in FIG.

In this state, when the operator presses the switch S,
In the control unit 86, the center of gravity of the characteristic portion 92 of the forceps 88 is shown in FIG.
A command is issued to the XY stage control unit 87 so as to coincide with the screen center point O of the wide-angle observation image shown in (B). This allows
The drive motor of the XY stage (not shown) of the second TV camera unit 77 is driven, and the characteristic portion 92 of the forceps 88 is arranged at the center of the screen displayed on the TV monitor 82 as shown in FIG. 8C. Thus, the position of the second CCD 79 is moved by the XY stage. As a result, the surgeon enters the abdominal cavity of the patient 52, which is transmitted through the magnifying optical system 75 of the rigid endoscope 55 with the forceps 88 arranged in the center of the display screen of the TV monitor 82 as shown in FIG. 8C. The magnified observation image of can be observed.

Further, as shown in FIG. 9A, even when the characteristic portion 92 of the forceps 88 is out of the visual field (observation range R ₄ ) of the magnifying optical system 75, an image of the wide-angle optical system 74 (observation range R _{3) is obtained.} ) Above, the characteristic portion 92 of the forceps 88 can be extracted.
In this case, when the operator presses the switch S, the forceps 8
The second C of the second TV camera unit 77 is adjusted so that the center of gravity of the feature portion 92 of the eighth image coincides with the screen center point O of the wide-angle observation image.
The CD 79 can be moved.

Also, the first CCU 80 and the second CC
The video signal output from U81 is input to a video mixer (not shown), and the first C of the first TV camera unit 76 is input.
The wide-angle observation image on the side of the wide-angle optical system 74 captured by the CD 78 and the second CCD of the second TV camera unit 77.
By generating a signal by combining two images of the magnified observation image on the magnifying optical system 75 side captured by
An enlarged observation image from the enlargement optical system 75 and a wide-angle observation image from the wide-angle optical system 74 can be simultaneously displayed on the monitor 82.

Therefore, the following effects are obtained with the above-mentioned structure. That is, since the position of the characteristic portion 92 of the forceps 88 is detected based on the wide-angle observation image from the wide-angle optical system 74, when the characteristic portion 92 of the forceps 88 disappears from the display screen of the observation TV monitor 82. Is the second TV camera unit 7 based on the wide-angle observation image from the wide-angle optical system 74.
7 is driven to move the position of the second CCD 79 to the characteristic portion 92 of the forceps 88 by the XY stage.
By moving the position of so that it comes to the center of the screen of the wide-angle observation image from the wide-angle optical system 74, the field of view of the enlarged observation image from the magnifying optical system 75 can be converted.

Further, since the wide-angle optical system 74 and the magnifying optical system 75 are provided on the rigid endoscope 55 side, two optical systems are provided.
The configurations of the first TV camera unit 76 and the second TV camera unit 77 can be simplified.

FIG. 10 shows a fourth embodiment of the present invention. In this embodiment, an electric manipulator 101 is provided as a scope holder 54 for holding a rigid endoscope 55 of the endoscope apparatus of the third embodiment.

The electric manipulator 101 has a base 1
02 and an L-shaped member 1 connected to the base 102 so as to be rotatable in the direction of arrow A and capable of moving up and down in the direction of arrow B.
03, and a movable arm 10 provided on the horizontal upper end of the L-shaped member 103 so as to be capable of expanding and contracting in the horizontal direction (direction of arrow C).
4 and an endoscope holding ring 105 connected to the tip of the moving arm 104.

Further, the control device 83 is provided with a manipulator control unit 106 connected to the electric manipulator 101. The manipulator control unit 106 is connected to the control unit 86. Then, each manipulator control unit 106 moves each drive motor (not shown) in the electric manipulator 101 to rotate the L-shaped member 103 of the electric manipulator 101 in the arrow A direction.
In addition, the moving arm 104 is moved up and down in the direction of arrow B, and the movable arm 104 is expanded and contracted in the direction of arrow C.

Information on an encoder (not shown) in the electric manipulator 101 is the manipulator control unit 106.
The position of the electric manipulator 101 and the position of the distal end portion of the rigid endoscope 55 can be calculated by the control unit 86. The other structure is the same as that of the third embodiment, and the same parts as those of the third embodiment are designated by the same reference numerals and the description thereof will be omitted.

Next, the operation of the above configuration will be described.
When using the endoscope apparatus of the present embodiment, the imaging range R _{3 of the} wide-angle observation image transmitted through the wide-angle optical system 74 of the rigid endoscope 55.
When the characteristic portion 92 of the forceps 88 near the treatment portion 90 is detached from the operator, when the operator presses the switch S, the control portion 86 is pressed.
The characteristic portion 92 of the forceps 88 is the imaging range R of the wide-angle optical system 74.
_From the position on the image immediately before it deviates from ₃ , the current forceps 88
The direction of the characteristic part 92 is estimated, and a command is issued to the manipulator control part 106 to move the rigid endoscope 55 in that direction.
As a result, the electric manipulator 101 is moved so that the characteristic portion 92 of the forceps 88 is inserted into the imaging range R ₃ of the wide-angle optical system 74, then the control command to the electric manipulator 101 is stopped, and the XY stage is controlled. Can be switched. Further, after this time point, the field conversion operation of the magnified observation image from the magnifying optical system 75 similar to that of the third embodiment is performed.

Therefore, the following effects can be obtained with the above configuration. That is, since the electric manipulator 101 for holding the rigid endoscope 55 is provided, the XY stage (not shown) of the second TV camera unit 77 is driven as in the third embodiment, and the position of the second CCD 79 is moved by the XY stage. By moving, the operation of converting the field of view of the magnified observation image from the magnifying optical system 75 can be complemented by the operation of the electric manipulator 101. Therefore, even if the characteristic portion 92 near the treatment portion 90 of the forceps 88 is out of the imaging range R ₃ of the wide-angle observation image transmitted through the wide-angle optical system 74 of the rigid endoscope 55, the switch S is removed.
By pushing, the electric manipulator 101 can be moved to easily insert the characteristic portion 92 of the forceps 88 into the imaging range R ₃ of the wide-angle optical system 74.
The operability of can be further improved.

In addition, FIGS. 11 and 12A and 12B.
Shows a fifth embodiment of the present invention. In the present embodiment, the marker generator 111 and the image synthesizer 1 are added to the controller 83 of the rigid endoscope 55 in the endoscope apparatus of the fourth embodiment.
12 is provided and a second TV is provided in the image composition unit 112.
The monitor 113 is connected.

Here, the marker generator 111 is controlled by the controller 86.
It is connected to the. Further, the image synthesizing unit 112 includes the output signal from the marker generating unit 111 and the second CCU 81.
The output signal from each is input. Then, the image signal combined by the image combining unit 112 is input to the second TV monitor 113, and is captured by the marker output from the marker generation unit 111 and the first CCD 78 of the first TV camera unit 76. The wide-angle observation image is displayed on the second TV monitor 113 in a combined state.

Next, the operation of the above configuration will be described.
When the endoscope apparatus according to the present embodiment is used, the marker generation unit 111 generates a marker in accordance with the position of the center of gravity of the characteristic portion 92 of the forceps 88 calculated by the position calculation unit 85 of the control device 83,
It is combined with the wide-angle observation image picked up by the second CCU 81 and displayed on the second TV monitor 113. As a display method on the second TV monitor 113, as shown in FIG. 12A, a marker is displayed near the center of gravity calculated by the position calculator 85 of the control device 83 or at the center of gravity.

Then, when the characteristic portion 92 of the forceps 88 displayed on the second TV monitor 113 is in the eccentric position eccentric from the center position of the display screen as shown in FIG. 12B, the operator After confirming that the position of the center of gravity detected by the marker and the position of the characteristic portion 92 of the forceps 88 displayed on the second TV monitor 113 match, the operation switch S is pressed to set the position of the center of gravity. The electric manipulator 101 is operated so that is located at the center of the screen.

Therefore, in the case of the above configuration, when the operator presses the switch S, it is possible to confirm in advance the part that comes to the center of the screen displayed on the second TV monitor 113, so it is safe. The property is improved.

13A to 13C show a sixth embodiment of the present invention. In this embodiment, a plurality of forceps 88 used in each of the third to fifth embodiments are provided at the distal end portion of the insertion portion 89, and in this embodiment, three characteristic portions 121, 12 are provided.
2,123 are provided.

Then, the forceps 88 of the present embodiment is used for the third to third steps.
When used in the endoscope apparatus of each of the fifth embodiments, for example, the leading edge characteristic portion 121 is contaminated with blood or the like, and this characteristic portion 12
When 1 cannot be extracted by the feature amount extraction unit 84 of the control device 83, the control unit 86 switches the feature amount extracted by the feature amount extraction unit 84 to one that matches the other feature unit 122 or 123. The quantity extraction unit 84 can be instructed.

In this case, the XY stage for moving the second CCD 79 in the second TV camera unit 77 may be moved so that the center of gravity of the changed characteristic portion 122 is aligned with the center of the screen, or extraction is performed. The points on the screen for matching the centers of gravity may be shifted in response to the change of the characteristic part. As an example, as shown in FIG. 13C, a circle 124 having a radius r is set from the center of the screen of the field of view R ₄ by the magnifying optical system 75, and the center of gravity of the characteristic portion 122 is the circle 1 described above.
The position of the XY stage is controlled so as to move to the closest point on the circumference of 24.

Therefore, in the case of the above structure, the forceps 8
8 has three feature parts 121, 12 at the tip of the insert part 89.
Since 2 and 123 are provided, three feature parts 121 and 12 are provided.
2,123, for example, the most advanced feature 12
When 1 is contaminated with blood or the like and this characteristic part 121 cannot be extracted by the characteristic amount extraction part 84 of the control device 83, another characteristic part 1
By setting the markers 22 and 123, the characteristic portion of the forceps 88 can be reliably detected.

14 to 16 show a seventh embodiment of the present invention. In this embodiment, a part of the endoscope apparatus of the first embodiment is modified as follows. That is, in this embodiment, the TV camera unit 131 having a different structure from the TV camera unit 18 of the first embodiment is detachably attached to the eyepiece 3 of the rigid endoscope 1. In this embodiment, the same parts as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

This TV camera unit 131 is shown in FIG.
As shown in (A), a lens unit 133 and an image pickup device unit 134 in which a plurality of image pickup devices are arranged side by side are provided in a casing 132 of the TV camera unit 131. Here, the lens unit 133 is disposed so as to face the eyepiece lens 5 of the eyepiece 3 of the rigid endoscope 1 at a distance. Further, the image pickup device unit 134 is arranged at a position where an optical image in the body cavity transmitted through the rigid endoscope 1 is formed by the lens unit 133.

The image pickup device of the image pickup device unit 134 is, for example, a solid-state image pickup device, preferably CCD135.
Is used. For example, four CCDs (4 × 4) are arranged side by side in the vertical and horizontal directions. Then, the image pickup device unit 1 is constructed by these 16 CCDs 135.
34 are configured.

Furthermore, the TV camera unit 131 is connected to a camera control unit (hereinafter CCU) 137 via a cable 136. A monitor 138 and a foot switch 139 are further connected to the CCU 137. In addition, the foot switch 139 is the forceps 13
It may be a hand switch that can be attached to and detached from the handle portion 16.

Further, in the CCU 137, as shown in FIG. 15B, four frame memories 140 are arranged side by side (4 rows A to D vertically, 4 rows a to d horizontally).
A frame memory unit 141 including six frame memories 140 (Aa to Dd) is provided. Each frame memory 140 of this frame memory unit 141
Is the image pickup device unit 13 on the TV camera unit 131 side
It is arranged in a state of corresponding to each of the 16 CCDs 135 constituting the No. 4 unit. Then, the frame memory 1 at each position (Aa to Dd) of the frame memory unit 141
40 is the TV camera unit 13 at the corresponding position
Each of them is connected to the CCD 135 on the first side.

Further, in the CCU 137, together with the frame memory unit 141, each frame memory 1 of the frame memory unit 141 as shown in FIG.
A detection circuit (position detection means) 142 for detecting image information stored in 40, a control circuit (observation visual field movement means) 143 connected to the detection circuit 142 and the foot switch 139, and an output from the control circuit 143. And a selector 144 for selecting the frame memory 140 to be displayed on the monitor 138. ON / OFF of the foot switch 139
The output is input to the control circuit 143. Then, by turning on the foot switch 139, the detection circuit 14
The selector 144 is controlled so as to be switched according to the output of No. 2, and when the foot switch 139 is turned off, the selector 144 is not switched according to the output of the detection circuit 142 and is maintained so as to maintain the setting so far. To be done.

Next, the operation of the above configuration will be described.
First, when the endoscope apparatus of the present embodiment is used, the operator observes the inside of the body cavity with the rigid endoscope 1 while holding the foot switch 139 in the OFF state.

If necessary, a treatment tool, for example, grasping forceps 13 is inserted into the body cavity through a trocar 9'through a hole different from the rigid endoscope 1. With the forceps 13 inserted in the body cavity as described above, the foot switch 139 is turned on. At this time, the optical image in the body cavity is transmitted through the objective lens 4 and the relay lens 7 in the insertion portion 2 of the rigid endoscope 1 ..., and the eyepiece lens 5, and further through the lens unit 133 in the TV camera unit 131. Image sensor unit 134
Is imaged.

Here, the output images of the 16 CCDs 135 constituting the image pickup device unit 134 are stored in the 16 frame memories 140 (Aa to Dd) in the CCU 137, respectively. That is, the image of the forceps 13 inserted into the body cavity through the trocar 9 ′ from a hole different from the rigid endoscope 1 has a part of Cb, Ca, as shown in FIG.
It is stored in the frame memory 140 at each position of Da.

Furthermore, 16 frame memories 140
The output signals (Aa to Dd) are all input to the detection circuit 142. The detection circuit 142 detects which position of the frame memory 140 of each position the color marker 17 of the grasping forceps 13 exists in. In the case of FIG. 15B, the frame memory 140 at the Cb position is detected.

The detection signal of the detection circuit 142 is sent to the control circuit 143. The control circuit 143 controls switching of the selector 144 based on the detection result from the detection circuit 142. At this time, the selector 144 selects any one of the 16 frame memories 140 (Aa to Dd). For example, in the case of FIG. 15B, the frame memory 140 at the Cb position is selected, and the image information stored in the frame memory 140 selected here is displayed on the monitor 138. That is, in this embodiment, as shown in FIG. 16, a part of the forceps 13,
For example, image information showing the tip of the forceps 13 with the color marker 17 is displayed on the monitor 138.

Therefore, the following effects can be obtained with the above configuration. That is, when the surgeon moves the forceps 13 to a desired position, the frame memory 140 showing the color marker 17 of the forceps 13 can be selected and displayed on the monitor 138. It is not necessary to adjust the forceps 13 so that the forceps 13 are shown in the visual field of the rigid endoscope 1 by moving 1, and the operability is very good. In addition, the field of view conversion is achieved without using a mechanical moving mechanism, so the reliability is high.

Further, 16 CCDs 135 constituting the image pickup device unit 134 on the TV camera unit 131 side.
Since the image is captured using one of the CCDs 135, the image quality of the image displayed on the monitor 138 is not deteriorated as compared with the case where the image of one CCD 135 is divided into a plurality of images.

The images in all the frame memories 140 of the frame memory unit 141 may be appropriately thinned out and displayed on the monitor 138 so that a wide range can be observed. Further, instead of the entire image of all the frame memories 140 of the frame memory unit 141, a part thereof may be locally displayed.

The image information from the 16 CCDs 135 constituting the image pickup device unit 134 on the TV camera unit 131 side may be directly displayed on the monitor 138 without passing through the frame memory 140.

The rigid endoscope 1 is held by an electric manipulator (not shown), and the color marker 17 at the tip of the grasping forceps 13 is held.
When the image is out of the image, the electric manipulator is moved so that it can be captured within the visual field of the rigid endoscope 1 again. Good.

Further, FIG. 17A shows an eighth embodiment of the present invention. In this embodiment, the configuration of the grasping forceps 13 used in the endoscope apparatus of the seventh embodiment is modified as follows. That is, in the present embodiment, the grasping forceps 13
A color marker 151 is provided in the middle of the insertion portion 14 of the.

When the grasping forceps 13 of this embodiment is used, the detection circuit 142 in the CCU 137 detects the color marker 151 of the forceps 13 and outputs the detection signal to the control circuit 14.
Send to 3. In the control circuit 143, the position of the treatment section 15 at the tip of the forceps 13 is obtained from the position of the color marker 151 of the forceps 13 by a predetermined calculation formula, and the position of the tip treatment section 15 is centered for one screen (FIG. 17A). The portion inside the dotted line frame 152) is read out across a plurality of frame memories 140. In addition, the monitor 1
On the screen of 38, the treatment section 15 at the tip of the forceps 13, which is a treatment tool,
Image is displayed.

Therefore, in the case of the above structure, the forceps 1
3, the treatment section 15 at the tip of the forceps 13, which is a treatment tool, is used.
Since the image can be arranged in the approximate center of the screen of the monitor 138, the operability is good.

The image information from the 16 CCDs 135 constituting the image pickup device unit 134 on the TV camera unit 131 side may be directly displayed on the monitor 138 without passing through the frame memory 140.

FIG. 17B shows the ninth embodiment of the present invention. This embodiment is a perspective type rigid endoscope 161.
It has been applied to. Here, in the perspective type rigid endoscope 161 of the present embodiment, for example, the inclination angle α of the optical axis O _{2 in} the visual field direction of the objective optical system is greater than 0 ° and 180 ° with respect to the central axis O ₁ direction of the insertion portion 162. It is set to a smaller range. The inclination angle α is preferably set to 30 °, for example.

The viewing angle β of the objective optical system is, for example, 70
It is set to °. Here, the viewing angle β of this objective optical system is set so as to overlap the direction of the central axis O ₁ of the insertion portion 162 of the rigid endoscope 161.

The eyepiece 163 of the rigid endoscope 161 has a TV.
The camera unit 164 is detachably connected. A CCD 165 is provided inside the TV camera unit 164. This CCD 165 is a frame memory 1
It is connected to 66. Furthermore, this frame memory 1
A memory 167 is connected to 66. This memory 1
A control circuit 168 and a monitor 169 are connected to 67.

A drum 170 for rotating and driving the rigid endoscope 161 is provided on the proximal side of the insertion portion 162 of the rigid endoscope 161. This drum 170 has a drive motor 171
It is fixed to the shaft of. The drive motor 171 is connected to the control circuit 168 via a driver 172. Further, an encoder 173 is coaxially fixed to the shaft of the drive motor 171. This encoder 1
73 is connected to the control circuit 168.

Next, the operation of the above configuration will be described.
First, when the endoscope apparatus according to the present embodiment is used, the rigid scope 161 is used.
The optical image from the CCD 16 of the TV camera unit 164.
Imaged at 5. The output signal from the CCD 165 is input to the frame memory 166. Further, the output signal from the frame memory 166 is output to the memory 167.

The rigid endoscope 161 is driven to rotate by the drum 170 about the central axis O ₁ of the insertion portion 162.
When the rigid endoscope 161 is driven to rotate, the control circuit 168 drives the drive motor 171 via the driver 172.

Further, while the rigid endoscope 161 is being rotated, the output signal of the encoder 173 is input to the control circuit 168. The images of the frame memory 166 are sequentially stored in the memory 167 according to the output of the encoder 173, that is, the rotation angle of the rigid endoscope 161. At this time, the memory 16
In FIG. 7, images in the frame memory 166 at a plurality of rotation angle positions of the rigid endoscope 161 are sequentially stored.

Further, during the rotational driving of the rigid endoscope 161, the control signal output from the control circuit 168 is input to the memory 167, and based on the control signal from the control circuit 168, the rigid endoscope 161 stored in the memory 167. The images of the frame memory 166 at each of the plurality of rotation angle positions are sequentially displayed on the monitor 169. In addition,
In FIG. 17B, M ₁ is an image of the frame memory 166 at an appropriate rotation angle position of the rigid endoscope 161, and M ₂ is an image of the entire circumference obtained by rotating the rigid endoscope 161.

Therefore, in the above structure, the image of the frame memory 166 obtained according to a plurality of rotation angles of the rigid scope 161 is rotated while the rigid scope 161 is being rotated.
7 and sequentially displays the images of the frame memory 166 at a plurality of rotation angle positions of the rigid endoscope 161 stored in the memory 167 on the monitor 169 based on a control signal from the control circuit 168. Since this is done, it is possible to display an image of the entire circumference obtained by rotating the perspective rigid endoscope 161 on the monitor 169.

The present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows.

Note (Additional Item 1) An intracorporeal observation unit having an enlargement observation unit for enlarging and observing a region of interest in a body cavity and a wide-angle observation unit for observing a wide area around the region of interest, and the unit is inserted into the body cavity. Based on the target identification means for identifying the target, the position detection means for detecting the position of the target identification means from the wide-angle observation image obtained by the wide-angle observation means, and the position information detected by the position detection means, the enlargement is performed. An intracorporeal observation device comprising: an observation visual field moving means for changing an observation visual field of an enlarged observation image obtained by the observation means; and an operating means for operating the observation visual field movement means.

(Additional Item 2) The intracorporeal observation device according to Additional Item 1, characterized in that it has an optical path introducing means for introducing an optical path in two directions of the magnified observation and the wide-angle observation. Observation device.

(Additional Item 3) The apparatus for observing a body cavity according to Additional Item 2, wherein the optical path introducing means simultaneously adjusts the amount of light to 2
An intracorporeal observation device characterized by being distributed in the direction. (Additional Item 4) The intracorporeal observation device according to Additional Items 1 to 3, wherein the observation visual field moving unit is an imaging system moving unit.

(Additional Item 5) The in-body-cavity observing device according to Additional Item 2, wherein the optical path introducing means switches the amount of light to divide into two. (Additional Item 6) In a body cavity observing device means having a zoom means capable of observing at any magnification from magnifying observation for magnifying and observing a region of interest in the body cavity, to wide angle observation for observing a wide area, Target identifying means for identifying the inserted target, position detecting means for detecting the position of the target identifying means, zoom magnification detecting means for detecting the magnification of the zoom means, and position information obtained from the position detecting means. And an observation visual field moving unit that moves the observation visual field of the observation image obtained by the zoom unit based on the zoom magnification obtained from the zoom magnification detection unit, and the target moves on the observation screen regardless of the zoom magnification. And an observation visual field movement control means for maintaining a substantially constant speed.

(Additional Item 7) A body cavity observing means having means for simultaneously performing magnifying observation for magnifying and observing a region of interest in a body cavity and wide-angle observation for observing a wide area around the region of interest, and a body cavity The target identifying means to be inserted, the position detecting means for detecting the position of the target identifying means from the wide-angle observation image obtained by the body cavity observing means, and the observation of the body cavity based on the position detected by the position detecting means A visual field conversion means for changing the observation visual field of the magnified observation image obtained by the means,
A system for observing the inside of a body cavity, comprising an operation input means for operating the visual field converting means.

(Prior Art of Additional Items 7 to 46)
The technique of 4-31390 gazette and the actual Kaihei 1-172015 gazette. (Technical problem of supplementary items 7 to 46) Showa 54-3139
According to the techniques disclosed in Japanese Patent Publication No. 0 and Japanese Utility Model Laid-Open No. 172015/2015, it is possible to simultaneously observe a magnified image of a region of interest in a body cavity and a wide-angle image around it, which is required in endoscopic surgery. Demanded, frequently occurs during magnifying observation,
The sophistication of visual field conversion accompanying changes in the treatment target area (reduction of the burden on the endoscope holder by automating visual field conversion, simplification of visual field conversion operation, improvement of speed, etc.) is not achieved by itself, and other Need to be combined with the system of. This causes setup, operation complexity, and cost increase due to enlargement of the entire system.

(Purpose of Additional Items 7 to 46) The system alone enables simultaneous observation of a magnified image of the region of interest and a wide-angle image of the surrounding area and automation of visual field conversion, and observation in a body cavity is simple and easy to operate. To provide a system.

(Operations of Supplementary Items 7 to 46) It is possible to simultaneously observe a magnified image of a region of interest and a wide-angle image including the periphery thereof, and perform automatic visual field conversion according to movement of the region of interest. (Additional Item 8) The in-body cavity observing system according to Additional Item 7, wherein the target identifying means is inserted into a body cavity and provided near the tip of a treatment tool applied to various types of surgery.

(Additional Item 9) In the visual field converting means, the position detected by the position detecting means in the direction of the observation visual field of the magnified observation image obtained by the body cavity observing means is included in the range of the observation visual field. The intraluminal observation system according to additional item 7, wherein the observation is performed as described above.

(Additional Item 10) The body cavity observing means captures an endoscope inserted into the body cavity, a holding means for holding the endoscope, and an image of the body cavity transmitted by the endoscope. The intracavity observation system according to item 7, further comprising an imaging means.

(Additional Item 11) The endoscope has one optical system for transmitting an image inside a body cavity, and the image pickup means is divided into an optical path dividing means for dividing the transmitted image into two. 11. The in-body-cavity observation system according to appendix 10, which includes a wide-angle imaging unit that captures one image and an enlarged imaging unit that magnifies and images the other distributed image.

(Additional Item 12) The body cavity observation system according to Additional Item 11, wherein the holding means is a manual manipulator. (Additional Item 13) The body cavity observation system according to Additional Item 11, wherein the holding means is an electric manipulator.

(Additional Item 14) The intracavity observation system according to Additional Item 11, wherein the optical path distributing means is a half mirror. (Additional Item 15) The intracavity observation system according to Additional Item 11, wherein the optical path distributing unit is a beam splitter.

(Additional Item 16) The body cavity observation system according to Additional Item 11, wherein the wide-angle image pickup means includes an imaging lens and an image pickup device. (Additional Item 17) The magnifying image pickup means is a zoom lens,
Item 11. The body cavity observation system according to item 11, which includes an imaging lens and an image sensor.

(Additional Item 18) The body cavity observation system according to Additional Items 16 and 17, wherein the image pickup device is a single plate mosaic filter CCD. (Additional Item 19) The body cavity observation system according to Additional Items 16 and 17, wherein the imaging device is a three-plate CCD.

(Additional Item 20) The target identifying means is a coloring material provided at the distal end of the treatment tool inserted into the body cavity, and the position detecting means extracts the color of the coloring material and the center of gravity of the extracted portion. Item 11. The body cavity observation system according to item 11, which is a color extraction image processing device that detects a position.

(Additional Item 21) The target identifying means is a color material provided at a plurality of positions of the insertion portion of the treatment tool, and the position detecting means extracts the color of the color material, and the barycentric position of the extracted portion. Note 1 which is a color extraction image processing device for detecting
1. Intracorporeal observation system.

(Additional Item 22) The target identifying means is a contour enhancing structure provided at the distal end of the treatment tool, and the position detecting means extracts the contour of the contour enhancing structure and the position of the extracted portion. Item 11. The body cavity observation system according to appendix 11, which is a contour extraction image processing device for detecting.

(Additional Item 23) The visual field converting means calculates the moving amount of the moving means based on the moving means for moving the image pickup device provided in the enlarged image pickup means and the position detected by the position detecting means. The observation system in the body cavity according to appendix 12, further comprising a position command means for commanding.

(Additional Item 24) The visual field converting means calculates the moving amount of the moving means based on the moving means for moving the imaging lens provided in the magnifying and imaging means and the position detected by the position detecting means. A body cavity observation system according to item 12, further comprising a position command means for calculating and commanding.

(Additional Item 25) The visual field converting means calculates the moving amount of the moving means based on the moving means for moving the image pickup device provided in the magnified image pickup means and the position detected by the position detecting means. However, the additional item 13 of the position instruction means for instructing and the holding means position instruction means for calculating and instructing the movement amount of the holding means when the target identifying means is out of the detection range of the position detecting means. Body cavity observation system.

(Additional Item 26) The field-of-view conversion means calculates the movement amount of the movement means based on the movement means for moving the imaging lens provided in the magnified image pickup means and the position detected by the position detection means. Supplementary Note 13 comprising position commanding means for calculating and commanding, and holding means position commanding means for calculating and commanding the movement amount of the holding means when the target identifying means deviates from the detection range of the position detecting means. Intracorporeal observation system.

(Additional Item 27) The moving means comprises an XY stage and an XY stage driving motor, and the position command means while the input from the operation input means occurs.
Additional items 23, 24, 25, 2 having a calculation unit for calculating a command position for positioning the target identifying unit detected by the position detecting unit at a preset position on the image.
6 body cavity observation system.

(Additional Item 28) The body cavity observation system according to additional items 11 and 12, wherein the operation input means is a foot switch. (Additional Item 29) The body cavity observation system according to additional items 11 and 12, wherein the operation input means is a hand switch.

(Additional Item 30) The endoscope has two optical systems for transmitting an image inside a body cavity, and the image pickup means has a wide-angle image pickup means for picking up an image from one of the optical systems, and the optical system. Item 10. The body cavity observation system according to item 10, further comprising: an enlarged image pickup unit that enlarges and picks up an image from the other side.

(Additional Item 31) In the body cavity observation system according to Additional Item 30, the holding means is a manual manipulator. (Additional Item 32) The body cavity observation system according to Additional Item 30, wherein the holding means is an electric manipulator.

(Additional Item 33) The body cavity observation system according to Additional Item 30, wherein the wide-angle image pickup means includes an imaging lens and an image sensor. (Additional Item 34) The magnifying image pickup means is a zoom lens,
31. The body cavity observation system according to item 30, which includes an imaging lens and an image sensor.

(Additional Item 35) The intracavity observation system according to additional items 33 and 34, wherein the image pickup device is a single-plate mosaic filter CCD. (Additional Item 36) The intracavity observation system according to Additional Items 33 and 34, wherein the image pickup device is a three-plate CCD.

(Additional Item 37) The target identifying means is a coloring material provided at the distal end of the treatment tool inserted into the body cavity, and the position detecting means extracts the color of the coloring material and the center of gravity of the extracted portion. 31. The body cavity observation system according to item 30, which is a color extraction image processing device for detecting a position.

(Additional Item 38) The target identifying means is a color material provided at a plurality of positions of the insertion portion of the treatment tool, and the position detecting means extracts the color of the color material, and the gravity center position of the extracted portion. Note 3 which is a color extraction image processing device for detecting
0 body cavity observation system.

(Additional Item 39) The target identifying means is a contour enhancing structure provided at the distal end of the treatment instrument, and the position detecting means extracts the contour of the contour enhancing structure and the position of the extracted portion. 31. The body cavity observation system according to supplementary note 30, which is a contour extraction image processing device for detecting a.

(Additional Item 40) The visual field converting means calculates the moving amount of the moving means based on the moving means for moving the image pickup device provided in the enlarged image pickup means and the position detected by the position detecting means. Then, the body cavity observation system according to appendix 31, further comprising a position command means for commanding.

(Additional Item 41) The visual field conversion means calculates the movement amount of the movement means based on the movement means for moving the imaging lens provided in the magnified image pickup means and the position detected by the position detection means. 32. A body cavity observation system according to appendix 31, which comprises a position command means for calculating and commanding.

(Additional Item 42) The visual field converting means calculates the moving amount of the moving means based on the moving means for moving the image pickup device provided in the enlarged image pickup means and the position detected by the position detecting means. Then, in the additional item 32, the position command means for instructing and the holding means position command means for calculating and instructing the movement amount of the holding means when the target identifying means is out of the detection range of the position detecting means. Body cavity observation system.

(Additional Item 43) The visual field converting means calculates the moving amount of the moving means based on the moving means for moving the imaging lens provided in the magnifying and imaging means and the position detected by the position detecting means. Item 32, which includes position command means for calculating and commanding, and holding means position commanding means for calculating and commanding the movement amount of the holding means when the target identifying means is out of the detection range of the position detecting means. Intracorporeal observation system.

(Additional Item 44) The moving means is composed of an XY stage and an XY stage drive motor, and the position commanding means is operated while input from the operation inputting means.
Additional items 40, 41, 42, 4 having an arithmetic unit for calculating a command position for positioning the target identifying means detected by the position detecting means at a preset position on the image.
3. Intracorporeal observation system.

(Additional Item 45) The body cavity observing system according to additional item 30, wherein the operation input means is a foot switch. (Additional Item 46) The body cavity observation system according to Additional Item 30, wherein the operation input unit is a hand switch.

(Additional Item 47) The endoscope has one optical system for transmitting an image inside a body cavity, and the image pickup means is divided into an optical path dividing means for dividing the transmitted image into two. It includes wide-angle imaging means including an imaging lens and an image sensor for capturing one image, and magnifying imaging means including a zoom lens, an imaging lens, and an image sensor for enlarging and capturing the other distributed image. The field-of-view conversion unit detects the zoom ratio of the zoom lens and a moving unit that moves the image sensor provided in the magnified image pickup unit, and the moving speed of the observation target is constant even when the zoom ratio changes. Speed calculating means for calculating the moving speed of the moving means,
In the body cavity according to appendix 10, comprising: a unit that calculates the amount of movement of the moving unit based on the position detected by the position detecting unit; and a position / speed command unit that commands the calculated moving speed and the moving amount to the moving unit. Observation system.

(Prior Art of Supplements 47 to 61) Japanese Patent Laid-Open No. 6-30896 discloses a device using an endoscope equipped with a zoom lens. (Technical Problem of Supplementary Items 47 to 61) When performing a visual field conversion operation when observing a region of interest with a different zoom ratio, the visual field conversion is performed despite the change of the observation range and the size of the observation target. Since the speed of the movement is constant without considering the change, the speed at which the observation target on the screen moves differs depending on the zoom ratio, which deteriorates the operability.

(Purpose of Supplementary Notes 47 to 61) To provide an intracavity observation system in which the movement speed of the observation target is kept constant even when the field of view is changed when the zoom ratio is changed, and the operability is improved. is there.

(Operation of Supplementary Items 47 to 61) Even when the region of interest is observed by changing the zoom ratio, the moving speed of the observation target is kept constant. (Additional Item 48) The endoscope has one optical system for transmitting an image inside a body cavity, and the image pickup unit divides the transmitted image into two optical path distribution units and one of the divided images. A wide-angle image pickup means including an imaging lens and an image pickup element, and a magnifying image pickup means including a zoom lens, an image pickup lens, and an image pickup element for magnifying and picking up the other distributed image. The converting means detects the zoom ratio of the zoom lens and the moving means for moving the imaging lens provided in the magnifying image pickup means, and the moving speed of the observation target becomes constant even when the zoom ratio changes. Speed calculating means for calculating the moving speed of the moving means, means for calculating the moving amount of the moving means based on the position detected by the position detecting means, and command for the calculated moving speed and moving amount to the moving means. Position Appendix 10 comprising speed command means
Intracorporeal observation system.

(Additional Item 49) The endoscope has two optical systems for transmitting an image inside the body cavity, and the image pickup means takes an image from one of the optical systems. A wide-angle image pickup means, and a magnified image pickup means including a zoom lens, an imaging lens, and an image pickup element for magnifying and picking up an image from the other side of the optical system, and the visual field conversion means is provided in the magnified image pickup means. Moving means for moving the image pickup element, and detecting the zoom ratio of the zoom lens,
Even when the zoom ratio changes, the moving speed of the moving means is calculated based on the speed calculating means for calculating the moving speed of the moving means so that the moving speed of the observation target is constant, and the position detected by the position detecting means. 11. The in-body-cavity observation system according to item 10, comprising a calculating unit and a position / velocity command unit that instructs the moving unit to calculate the moving speed and the calculated moving amount.

(Additional Item 50) The endoscope has two optical systems for transmitting an image inside the body cavity, and the image pickup means picks up an image from one of the optical systems. A wide-angle image pickup means, and a magnified image pickup means including a zoom lens, an imaging lens, and an image pickup element for magnifying and picking up an image from the other side of the optical system, and the visual field conversion means is provided in the magnified image pickup means. The moving speed of the moving means for moving the imaging lens and the zoom ratio of the zoom lens are detected, and the moving speed of the moving means is calculated so that the moving speed of the observation target is constant even when the zoom ratio changes. A supplementary note consisting of speed calculation means, means for calculating the movement amount of the moving means based on the position detected by the position detection means, and position / speed command means for instructing the calculated movement speed and movement amount to the movement means. Item 10. A body cavity observation system according to item 10.

(Additional Item 51) The body cavity observation system according to additional items 47, 48, 49 and 50, wherein the holding means is a manual manipulator. (Additional Item 52) The intracavity observation system according to additional items 47 and 48, wherein the optical path distributing unit is a half mirror.

(Additional Item 53) The intracavity observation system according to additional items 47 and 48, wherein the optical path distributing means is a beam splitter. (Additional Item 54) The intracavity observation system according to Additional Items 47, 48, 49, and 50, wherein the image pickup device is a single-plate mosaic filter CCD.

(Additional Item 55) The image pickup device is a three-plate C type.
The body cavity observation system according to supplementary items 47, 48, 49, and 50, which is a CD. (Additional Item 56) The target identifying means is a coloring material provided at the distal end of the treatment tool inserted into the body cavity, and the position detecting means extracts the color of the coloring material and detects the barycentric position of the extracted portion. Additional items 47, 48, which are color extraction image processing devices that
49, 50 in-body observation system.

(Additional Item 57) The target identifying means is a color material provided at a plurality of positions of the insertion portion of the treatment instrument, and the position detecting means extracts the color of the color material, and the barycentric position of the extracted portion. Note 4 which is a color extraction image processing device for detecting
7, 48, 49, 50 body cavity observation system.

(Additional Item 58) The target identifying means is a contour enhancing structure provided at the distal end of the treatment instrument, and the position detecting means extracts the contour of the contour enhancing structure and the position of the extracted portion. Intracorporeal observation system according to supplementary notes 47, 48, 49 and 50, which is a contour extraction image processing device for detecting.

(Additional Item 59) The moving means is composed of an XY stage and an XY stage driving motor, and the position / speed command means moves to a preset image position while input from the operation input means. Supplementary Note 47, 48, 4 having a calculation unit for calculating a command position for positioning the target identifying unit detected by the position detecting unit
9,50 body cavity observation system.

(Additional Item 60) The body cavity observation system according to additional items 47, 48, 49 and 50, wherein the operation input means is a foot switch. (Additional Item 61) The body cavity observation system according to additional items 47, 48, 49, and 50, wherein the operation input unit is a hand switch.

(Additional Item 62) A body cavity comprising an endoscope to be inserted into the body cavity, holding means for holding the endoscope, and image pickup means for picking up an image of the body cavity transmitted by the endoscope. Inside observation means, target identification means to be inserted into the body cavity, position detection means for detecting the position of the target identification means from the image obtained by the body cavity observation means, and the position detected by the position detection means An intracorporeal observation system comprising a visual field conversion means for changing the observation visual field of the intracorporeal observation means and an operation input means for operating the visual field conversion means.

(Prior Art of Additional Items 62 to 74) In Japanese Patent Application No. 6-308740, the inside of the image memory is cut out based on the position information of the treatment tool observed by the endoscope during the operation under the endoscope. A technique is disclosed in which the field of view of the endoscope is controlled and the field of view of the endoscope is held in a state of being directed toward the distal end portion of the treatment tool.

(Technical Problems of Additional Items 62 to 74) In Japanese Patent Application No. 6-308740, the visual field conversion in endoscopic surgery is performed by controlling the cut-out position of a part of the image pickup device. However, the system can be realized compactly and at low cost without having a mechanical part, but there is a problem that deterioration of image quality is inevitable because only one part of the element is used for enlarged display.

(Purpose of Supplementary Notes 62 to 74) It is an object of the present invention to provide an intracorporeal observation system capable of achieving endoscopic visual field conversion electronically without using a mechanism and without deterioration of image quality. (Operation of Additional Items 62 to 74) Electronic endoscope visual field conversion can be performed without degrading image quality.

(Additional Item 63) In the body cavity observation system according to additional item 62, the holding means is a manual manipulator. (Additional Item 64) The image pickup means includes a plurality of image pickup elements, an imaging lens, and means for spatially dividing the formed image with the plurality of image pickup elements, and the visual field conversion means includes the plurality of image pickup elements. Discriminating means for discriminating the image pickup element in which the target discriminating means detected by the position detecting means is detected by using all the image pickup element signals of 63. An intracorporeal observation system according to item 62, further comprising element selection display means for displaying the image while input from the means.

(Additional Item 65) The image pickup means comprises a plurality of image pickup elements, an image forming lens, and means for spatially dividing the formed image by the plurality of image pickup elements. Detects the position of the target identifying means by the position detecting means using all the signals of the plurality of image pickup devices, and while there is an input from the operation inputting means, the plurality of one screen portions centered on the position Item 62. The body cavity observation system according to item 62, which further comprises a reading means for reading the image across the image pickup device.

(Additional Item 66) The image pickup means comprises a plurality of image pickup elements, an imaging lens, and means for spatially dividing the formed image by the plurality of image pickup elements. Detects the position of the target identifying means by the position detecting means using all the signals of the plurality of image pickup devices, and while there is an input from the operation inputting means, the plurality of one screen portions centered on the position Item 62. The in-body-cavity observing system according to Item 62, comprising: a reading unit that reads over the image pickup device of 1) and a storage unit that stores a signal for one screen from the reading unit.

(Additional Item 67) The image pickup means includes a plurality of image pickup elements, an imaging lens, and means for spatially dividing the formed image by the plurality of image pickup elements. Detects the position of the target position identifying means by the position detecting means using the storage means for storing all signals of the plurality of image pickup devices and the signals stored in the storing means, and the input from the operation input means The in-body-cavity observation system according to item 62, further comprising: a reading unit that reads out one screen over the plurality of image pickup devices with the position substantially at the center.

(Additional Item 68) The additional item 64, 65, 66, 6 in which the image pickup device is a single-plate mosaic filter CCD.
7. Intracorporeal observation system. (Additional Item 69) The body cavity observation system according to Additional Items 64, 65, 66, and 67, in which the imaging device is a three-plate CCD.

(Additional Item 70) The target identifying means is a coloring material provided at the distal end of the treatment tool inserted into the body cavity, and the position detecting means extracts the color of the coloring material and the center of gravity of the extracted portion. The body cavity observation system according to supplementary notes 64, 65, 66, and 67, which is a color extraction image processing device that detects a position.

(Additional Item 71) The target identifying means is a color material provided at a plurality of insertion portions of the treatment instrument, and the position detecting means extracts the color of the color material, and the gravity center position of the extracted portion. Note 6 which is a color extraction image processing device for detecting
4, 65, 66, 67 body cavity observation system.

(Additional Item 72) The target identifying means is a contour enhancing structure provided at the distal end of the treatment instrument, and the position detecting means extracts the contour of the contour enhancing structure, and the position of the extracted portion. 66. A body cavity observation system according to supplementary notes 64, 65, 66, and 67, which is a contour extraction image processing device for detecting.

(Additional Item 73) The body cavity observation system according to additional item 62, wherein the operation input means is a foot switch. (Additional Item 74) The body cavity observation system according to Additional Item 62, wherein the operation input unit is a hand switch.

[0183]

According to the present invention, the wide-angle field of view in the body cavity is observed by the wide-angle field-of-view observation by the observation means, and a part of the wide-angle field of view is enlarged by the magnifying observation. Simultaneous observation of wide-angle images including the periphery is performed, the target in the field of view of the observation means is identified by the target identification means, and the position of the target is detected by the position detection means from the wide-angle image obtained by the wide-angle field observation. At the same time, the operation of the observation visual field moving means is controlled by the operating means, and the visual field of the enlarged image of the enlarged observation is moved by the observation visual field moving means based on the position information of the target object detected by the position detecting means. Simultaneous observation of a magnified image of the observation target (region of interest) and the wide-angle image around it, and automation of visual field conversion are possible, and the overall configuration of the device is simple and easy to operate. It is possible to improve.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an entire endoscope apparatus showing a first embodiment of the present invention.

2A is a schematic configuration diagram showing an internal configuration of a rigid endoscope and a TV camera unit of the first embodiment, and FIG. 2B is a plan view showing a screen of a TV monitor.

FIG. 3 is a schematic configuration diagram of a field-of-view conversion control unit of the first embodiment.

FIG. 4 is a schematic configuration diagram of an entire endoscope apparatus showing a second embodiment of the present invention.

FIG. 5 is a schematic configuration diagram of a visual field conversion control unit according to a second embodiment.

FIG. 6 is a schematic configuration diagram of an entire endoscope apparatus showing a third embodiment of the present invention.

FIG. 7 is a schematic configuration diagram showing an internal configuration of an endoscope of a third embodiment.

8A is a plan view showing a display screen of a TV monitor, FIG. 8B is a plan view showing a wide-angle observation image captured by a second CCU on the wide-angle optical system side, and FIG. The top view which shows the state which displayed the characteristic part of forceps in the center part of the display screen of an enlarged image.

FIG. 9A is a plan view showing a state where the characteristic portion of the forceps is displayed outside the observation range of the magnifying optical system, and FIG.
FIG. 4 is a plan view showing a state in which a characteristic portion of forceps is displayed in a central portion of an observation range of a magnifying optical system.

FIG. 10 is a schematic configuration diagram of an entire endoscope apparatus showing a fourth embodiment of the present invention.

FIG. 11 is a schematic configuration diagram of the entire endoscope apparatus showing a fifth embodiment of the present invention.

FIG. 12 shows a display screen of a TV monitor of the fifth embodiment, (A) is a plan view showing a state in which an observation target object and markers are displayed on the display screen of the TV monitor, (B).
[FIG. 6] is a plan view showing a state in which an observation object is removed from the inside of the marker on the display screen of the TV monitor.

FIG. 13 shows a sixth embodiment of the present invention,
(A) is a side view of the treatment instrument, (B) is a plan view showing a wide-angle image display screen of the TV monitor, and (C) is a plan view showing a magnified image display screen of the TV monitor.

FIG. 14 is a schematic configuration diagram of the entire endoscope apparatus showing a seventh embodiment of the present invention.

15A is a schematic configuration diagram showing the internal configurations of a rigid scope and a TV camera unit of the seventh embodiment, and FIG. 15B is a schematic configuration diagram of a frame memory.

FIG. 16 is a schematic configuration diagram of a control circuit connected to the TV monitor of the seventh embodiment.

17A is a schematic configuration diagram of a frame memory according to an eighth embodiment of the present invention, and FIG. 17B is a schematic configuration diagram of an entire endoscope apparatus according to a ninth embodiment of the present invention.

[Explanation of symbols]

17, 151 ... Color marker (target object identifying means), 18,
131 ... TV camera unit (observation means) 21,75
... Enlarging optical system (enlarging means), 22, 74 ... Wide-angle optical system (wide-angle visual field forming means), 33, 139 ... Foot switch (operating means), 35 ... Extracted image generating section (position detecting means), 38 ... XY stage Control unit (observation visual field moving unit), 57 ... eyepiece unit (observation unit), 85 ... position calculation unit (position detection unit), 92 ... characteristic unit (target object identification unit),
86 ... Control unit (observation visual field moving means), S ... Switch (operation means), 142 ... Detection circuit (position detection means), 14
3, 168 ... Control circuit (observation visual field moving means), 173 ...
Encoder (position detection means).

Claims (1)

[Claims] 1. An observation means for simultaneously performing wide-angle visual observation for observing a wide-angle visual field in a body cavity and magnifying observation for enlarging a part of the wide-angle visual field, and a target object for identifying a target in the visual field of the observation means. Identification means, position detection means for detecting the position of the target object from the wide-angle image obtained by the observation means, based on the position information detected by this position detection means, the field of view of the enlarged image of the enlarged observation An intracorporeal observation apparatus comprising: an observation visual field moving means for moving; and an operating means for controlling an operation of the observation visual field moving means.