JPH0919403A - Device for endoscope and endoscopic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a surgical device in which plural surgical members can be used, and freedom of their motions can be increased. SOLUTION: This surgical device is provided with a cylindrical outer syringe 3, and an cylindrical endoscopic device body 5 which is provided with a penerating hole in the same direction as a longitudinal direction of this outer tube 3 except such a position that its axis is coincident with that of the outer tube 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscopic device into which forceps, scissors, cues, lasers and the like used for surgery using an endoscope are inserted, and image information of a desired region is extracted. The present invention relates to an endoscopic device capable of performing the above.

[0002]

2. Description of the Related Art In recent years, many operations have been performed to remove a tumor or the like while observing a subject with an endoscope. Surgery using such an endoscope requires forceps in the forceps hole of the endoscope.
It is performed by inserting surgical members such as scissors, cues, and lasers. In addition, in surgery using an endoscope, there is a demand for observation from multiple directions in order to observe the subject in more detail. In particular, in order to know the three-dimensional structure with a monocular endoscope having only one light receiving system, it is necessary to observe from multiple directions. Also, by having two light receiving systems on the left and right, a stereoscopic image can be obtained. Even in a stereoscopic endoscope capable of obtaining the above, the above-mentioned demand is further strengthened because a more detailed three-dimensional structure can be found by observing from a plurality of directions.

For example, as shown in FIG. 14, when the inside of the abdominal wall is imaged using a stereoscopic endoscope for abdominal surgery, a so-called laparoscope, the entrance of the laparoscope insertion portion is narrow,
Since there is no choice but to rotate around the entrance as a fulcrum,
As shown in FIG. 4 (a), the inspected part P can be displayed on the screen from the entrance side, but as shown in FIG. 4 (b), the inspected part P is photographed from the direction beyond the display area i. Then, the test part P cannot be extracted, and the test part P is left as it is.
Cannot be displayed on the screen. In this case, in order to display the test portion P, the display area is widened and displayed.

[0004]

However, conventionally,
In surgery using an endoscope, forceps, scissors,
Although it is performed by inserting a cuter, a laser, etc., the forceps hole of the endoscope is usually one, and since the diameter is thin, insertable forceps, scissors, a cuter, a laser, etc. for surgery are used. Not only was the number of members limited, but the freedom of movement was low. In addition, in surgery using an endoscope, there is a desire to observe from a plurality of directions in order to observe the subject to be examined in more detail, but when the entrance of the portion into which the endoscope is inserted is narrow and cannot be translated, When the subject is photographed from multiple directions, the subject cannot be displayed with the center of the screen.

The present invention has been made in view of the above problems, and can use a plurality of surgical members, and
It is a first object to provide a surgical device capable of increasing the degree of freedom of its operation. A second object of the present invention is to provide an endoscope apparatus capable of extracting a test part and displaying it at the center of the screen even when one test part is photographed from a plurality of directions. And

[0006]

In order to achieve the above object, the first invention of the present application is a cylindrical outer cylinder and a position where the central axis of the cylindrical outer cylinder is inserted into the outer cylinder and coincides with the central axis of the outer cylinder. Except for the above, the gist of the present invention is to have a columnar endoscope device body having a through hole provided in the same direction as the longitudinal direction of the outer cylinder. In the endoscope device of the first invention of the present application, since a cylindrical endoscope device body having a through hole is inserted into the cylindrical outer cylinder, a plurality of surgical members are used. It is possible to increase the degree of freedom of the operation.

A second aspect of the invention of the present application is an endoscope for photographing an object to be inspected, a recognition means for recognizing a position of the object to be inspected, and a detection for detecting a position of a tip of the endoscope and a light receiving direction. Means and the position of the tip of the endoscope detected by the detection means and the direction of receiving light when the tip of the endoscope on the side of the test portion is moved, and the position of the portion to be detected recognized by the recognition means. Based on the above, there is provided an image cutting-out means for extracting image information of a predetermined area centering on the inspected portion from the image information obtained by the endoscope.

In the endoscope apparatus of the second invention of the present application,
When the tip of the endoscope on the test portion side is moved, the position of the tip of the endoscope detected by the detection means and the direction of receiving light,
Based on the position of the tested part recognized by the recognition means, the image information of a predetermined region centered on the tested part is extracted from the image information obtained by the endoscope,
Even when one subject is photographed from a plurality of directions, the subject can be extracted and displayed in the center of the screen.

Further, the third invention of the present application detects an endoscope for photographing the portion to be inspected, a recognition means for recognizing the position of the portion to be inspected, a position of the tip of the endoscope and a light receiving direction. When the detection means and the tip of the endoscope on the side of the subject to be examined are moved, the position of the tip of the endoscope detected by the detector and the direction of light reception, and the position of the subject to be examined recognized by the recognition means. Based on the above, the gist of the present invention is to have a light receiving direction moving means for moving the light receiving direction of the endoscope to the subject side.

In the endoscope apparatus of the third invention of the present application,
When the tip of the endoscope on the test portion side is moved, the position of the tip of the endoscope detected by the detection means and the direction of receiving light,
Since the direction in which the endoscope receives light is moved to the side of the subject based on the position of the subject that is recognized by the recognition unit, even when one subject is photographed from a plurality of directions. It is possible to extract the test portion and display it in the center of the screen.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a first embodiment of an endoscope device according to the first invention of the present application.
As shown in FIG. 1, the endoscope device 1 includes an outer cylinder 3,
It is composed of an endoscope device main body 5. Outer cylinder 3
2 is a cylinder having an annular cross section as shown in FIG. 2A, and the endoscope device body 5 is inserted therein. As shown in FIG. 1, the endoscope device body 5 is a cylindrical member that is inserted into the outer cylinder 3 and that has five through holes C1 to C5 provided in the same direction as the longitudinal direction of the outer cylinder 3. is there. The outer shape of the endoscope device body 5 is slightly smaller than the inner diameter of the outer tube 3. Further, as shown in FIG. 2B, the central axes of the through holes C1 to C5 are arranged so as not to coincide with the central axis of the endoscope device body 5.

In the through hole C1 of the endoscope device 1, for example, as shown in FIG. 3A, the light receiving system 7 for the right side is provided.
The stereoscopic endoscope 7 including the R and the light receiving system 7L for the left side is inserted, and the forceps 9 having the through hole 9a therein is inserted into the through hole C2, for example, as shown in FIG. 3 (a). It As shown in FIG. 3C, a surgical device 11 such as scissors is inserted into the through hole 9a.

FIG. 4 shows a longitudinal section when the stereoscopic endoscope 7 is inserted into the through hole C1 of the endoscope device 1 and the forceps 9 is inserted into the through hole C2. As shown in FIG. 4, the stereoscopic endoscope 7 inserted into the through hole C1 of the endoscopic device 1 is indicated by an arrow F.
It is possible to have the degree of freedom of movement within the through hole C1 indicated by 1 and the degree of freedom of rotation within the through hole C1 indicated by the arrow F2. Further, the stereoscopic endoscope 7 inserted into the through hole C1 of the endoscopic device 1 moves the endoscopic device body 5 along the arrow f.
By rotating as shown in 2, the position can be moved without moving the outer cylinder 3.

In addition, the through hole C2 of the endoscope device 1
When the forceps 9 whose tip can be bent is inserted into one of C5, for example, C2, and further the device 11 is inserted into the through hole 9a of the forceps 9, the device 11 has an arrow f.
The degree of freedom of movement of the forceps 9 within the through hole C2 indicated by 1, the degree of freedom of rotation of the forceps 9 within the through hole C1 indicated by arrow f3, and the degree of freedom of the device 11 within the through hole 9a indicated by arrow f4. The degree of freedom of movement, the degree of freedom of bending of the forceps 9 shown by the arrow f5, and the through hole 9 in the bent state of the forceps 9 shown by the arrow f6.
It is possible to have a degree of freedom of rotation within a and a degree of freedom of movement of the forceps 9 in a bent state shown by an arrow f7. Further, the forceps 9 inserted into the through hole C2 of the endoscopic device 1 rotates the endoscopic device body 5 as shown by the arrow f2 to move the outer cylinder 3 to its position. It can be moved.

As described above, in the endoscope device 1 according to the first embodiment of the first invention of the present application, the outer tube 3 has five through holes C.
Since the endoscope device body 5 including 1 to C5 is inserted, the degree of freedom of operation of the stereoscopic endoscope 7 and the forceps 9 inserted into the through holes C1 to C5 can be increased.
In addition, the device 11 to be inserted into the forceps hole 9a of the forceps 9
Will have more freedom.

FIG. 5 is a view showing a second embodiment of the endoscope device according to the first invention of the present application. In FIG. 5,
The same components as those shown in FIGS. 1 to 3 are designated by the same reference numerals and detailed description thereof is omitted. As shown in FIG. 5, the endoscope device 20 is inserted into the motor 21 that rotates the endoscope device body 5 that is inserted into the outer cylinder 3 and the through hole of the endoscope device body 5. A motor 23 that rotates the stereoscopic endoscope 7, a rotation control unit 25 that controls the rotation direction and rotation amount of the motor 21 and the motor 23, and a rotation operation button (not shown) are provided. The operation unit 27 that outputs a corresponding rotation command to the rotation control unit 25 is provided.

The endoscope device body 5 is rotated by the motor 21 via a gear 21a provided on the outer periphery thereof and a gear 21b provided on the rotation shaft of the motor 21 and meshed with the gear 21a. Similarly, the stereoscopic endoscope 7 is also rotated by the motor 23 via the gear 23a and the gear 23b.

In the endoscope device 20, when the operator issues a command to rotate the endoscope device body 5 by the angle r shown in FIG. 6A using the operation unit 27, the rotation control unit 25. Controls the motor 21 to rotate the endoscope device main body 5 by the angle r, and controls the motor 23 to rotate the stereoscopic endoscope 7 by the angle -r shown in FIG. 6B.

As a result, even if the endoscope device body 5 is rotated, the stereoscopic endoscope 7 does not rotate with respect to the outer periphery 3, so that the right side light receiving system 7R and the left side light receiving system 7R of the stereoscopic endoscope 7 are received. The system 7L does not reverse. Therefore, when the endoscopic device body 5 is rotated, the rotation of the image obtained by the stereoscopic endoscope 7 can be prevented.

As described above, in the endoscope device 20 according to the second embodiment of the first invention of the present application, the stereoscopic endoscope 7 is rotated in reverse according to the rotation of the endoscope device body 5. Therefore, when the endoscopic device body 5 is rotated, the rotation of the image obtained by the stereoscopic endoscope 7 can be prevented.

FIG. 7 is a diagram showing an embodiment of an endoscope apparatus according to the second invention of the present application. As shown in FIG. 7, the endoscope device 30 includes a stereoscopic endoscope 31, a detection unit 33, an imaging unit 35, a cutout control unit 37, and a display unit 39. The stereoscopic endoscope 31 includes a right-side light receiving system 31R, a left-side light receiving system 31L, and a lens system having a wide-angle imaging range provided in each of the right-side light receiving system 31R and the left-side light receiving system 31L.

The detecting means 33 detects the position of the tip of the stereoscopic endoscope 31 and the light receiving direction based on a predetermined reference position.
For example, ultrasonic waves are transmitted from three positions, the ultrasonic waves are received by three ultrasonic wave reception units provided at the tip of the stereoscopic endoscope 31, and the tip of the stereoscopic endoscope 31 is detected from the difference in reception time. Find the position and the direction of light reception. The detection unit 33 is not limited to this, and for example, the stereoscopic endoscope 31 is supported by a bendable arm, and the position of the tip of the stereoscopic endoscope 31 and the light reception are determined based on the bending amount and the rotation amount of the arm. You may make it detect the direction to do. The imaging unit 35 includes the stereoscopic endoscope 31.
The optical image obtained by the above is converted into an electric signal to obtain image information. It is desirable that the image pickup unit 35 has high resolution.

The cutout control section 37 includes a mode switch 3
7a, when the stereoscopic endoscope 31 is moved while pressing the mode switch 37a, at the first time when the mode switch is pressed, the portion to be inspected at the center of the display screen is the stereoscopic endoscope 3
The image information is extracted so that it will be near the center of the screen even after one movement.

The display unit 39 includes a monitor (not shown), and displays the image information obtained by the image pickup unit 35 on the monitor. Further, the display unit 39 displays the image information extracted by the cutout control unit 37 on the monitor.

Next, a method of extracting the image information by the clipping control section 37 will be described with reference to FIGS. 8 and 9. Stereoscopic endoscope 31
8 is rotated by the angle α as shown in FIG. 8, the cutout control unit 37 first detects the angle α and the length from the fulcrum of rotation of the stereoscopic endoscope 31 by the detection unit 33. It is obtained based on the position of the tip of the endoscope 31 and the direction of receiving light. The length from the fulcrum of the stereoscopic endoscope 31 is the vicinity of the abdominal wall entrance, so that the abdominal wall entrance is confirmed on the display screen. ,
It can be obtained from the difference in the position of the tip of the stereoscopic endoscope 31 after the insertion into the abdominal wall.

When the angle α and the length from the fulcrum of the stereoscopic endoscope 31 are known, the center of the image information to be extracted is on the line B obtained by extending the central axis of the stereoscopic endoscope 31 to the subject P side. It can be seen that it is either position. Therefore, the center of the image information to be extracted can be obtained by designating which position on the line B the center of the image information to be extracted is, that is, the position in the depth direction. This designation of the position in the depth direction is performed by stereoscopically displaying the image information obtained by the left-side screen and the left-side light receiving system 31L in which the image information obtained by the right-side light receiving system 31R is three-dimensionally displayed as shown in FIG. This is performed by moving the cursors A displayed on the right-side screen displayed in 1) to the center of the inspected part P together.

As a result, the clipping control section 37 determines the rotated angle α, the length from the fulcrum of the stereoscopic endoscope 31, and
Since the distance from the stereoscopic endoscope 31 to the subject P can be known,
The position of the center of the image information to be extracted can be obtained.
Then, the cutout control unit 37 extracts the image information of a predetermined area centering on the obtained central position of the extracted image information and supplies it to the display unit 39. As a result, on the monitor of the display unit 39, an image centering on the examined part P is displayed.

For example, when the stereoscopic endoscope 31 is rotationally moved from the position shown by the solid line to the position shown by the dotted line as shown in FIG. 10 (a), image information centering on the part to be examined P is extracted. , The test portion P is displayed in the center of the screen as shown in FIGS.

Next, another example of the extraction method of the image information of the cutout control section 37 will be described with reference to FIG. First, the control unit 37 stores a characteristic portion or the entire image information of the image of the subject P, or the image information obtained by performing image processing such as contour enhancement, if necessary, as a template image on the controller 37. The position of this template image from the part P is stored. Mode switch 3 in this state
7a is pressed and the stereoscopic endoscope 31 is moved, the image information converted by the image pickup unit 35, or the image information similarly subjected to the image processing when the image processing is applied is stored in the template. The images are matched, that is, template-matched. Then, the center position of the image information to be extracted is obtained based on the moving amount of the template image at the time of this template matching. Then, the image information of a predetermined area with the obtained center position as the center of the subject P is extracted from the image information after the movement of the stereoscopic endoscope 31. Then, the cutout control unit 37 supplies the extracted image information to the display unit 39. As a result, on the monitor of the display unit 39, an image centering on the examined part P is displayed. still,
If the operation of performing the template matching is performed at predetermined time intervals while the stereoscopic endoscope 31 is moving, the image information of a predetermined area centered on the part to be inspected P is tracked while the stereoscopic endoscope 31 is moving. Can be displayed on the display unit 39.

In this case, the extraction control unit 37 extracts the image information based on the image information converted by the image pickup unit 35. Therefore, the detecting means for detecting the position of the tip of the stereoscopic endoscope 31 and the light receiving direction. 33 becomes unnecessary.

As described above, in the endoscope apparatus 30 according to the second embodiment of the present invention, the position of the tip of the stereoscopic endoscope 31 detected by the detecting means 33 and the light receiving direction are designated on the display image. Since the image information of a predetermined area centered on the examined part P is extracted from the image information obtained by the stereoscopic endoscope 31 based on the position of the examined part P thus determined, Even when the subject P is photographed from a plurality of directions,
The test part P can be extracted and displayed in the center of the screen.

Further, since the image information of a predetermined area centered on the portion P to be inspected is extracted based on the moving amount of the template image when the template matching is performed after the movement of the stereoscopic endoscope 31. Even when one test part P is photographed from a plurality of directions, the test part P can be extracted and displayed in the center of the screen.

Next, an embodiment of the endoscope apparatus according to the third invention of the present application will be described. Since the configuration of the endoscope apparatus according to the third invention of the present application is the same as that of the embodiment of the endoscope apparatus according to the second invention of the present application shown in FIG. 7, illustration and detailed description thereof are omitted. did.

In the embodiment of the endoscope apparatus according to the second aspect of the present invention described above, the image information of a predetermined area centering on the subject P is extracted from the image information converted by the image pickup section 35. However, in the endoscope apparatus according to the third invention of the present application,
The light receiving system itself of the stereoscopic endoscope 31 is directed to the subject P.

In this case, the stereoscopic endoscope 31 to be used is a flexible mirror whose tip can be turned, and a light receiving direction moving means for moving the tip is provided, or the tip of the stereoscopic endoscope 31 is changed. In addition, a light receiving direction moving means capable of changing the bending rate is provided.

For example, when the stereoscopic endoscope 31 is rotated by an angle α as shown in FIG. 8, the angle α and the stereoscopic endoscope 31 are changed.
The length from the fulcrum of can be obtained based on the detection result of the detection means 33. Therefore, if the position d in the depth direction of the portion to be inspected P is designated in the same manner as the above-described method, the cutout control unit 37 determines that the angle α, the angle γ (γ = β−α), and the stereoscopic endoscope 31. L from the fulcrum to the tip of the
And the length L to the fulcrum L + d, the angle β for directing the tip of the stereoscopic endoscope 31 to the subject P when the stereoscopic endoscope 31 is rotated by the angle α can be obtained. The light receiving direction moving means is operated so that the tip of the stereoscopic endoscope 31 faces the angle β.

When the direction of the tip of the stereoscopic endoscope 31 cannot be changed as in the case where a rigid endoscope is used as the stereoscopic endoscope 31, the bending rate can be changed as shown in FIG. A possible prism 40 is provided at the tip of the stereoscopic endoscope 31. This prism is provided with a bellows 40a on a surface through which light does not pass, and the angle θ of the prism 40 is changed by changing the amount of water injected into the prism 40.
Is to change. As described above, in the embodiment of the third invention of the present application, the image information itself obtained by the stereoscopic endoscope 31 is the image information centering on the examined part P.

In the above-described embodiment of the present invention, the case where the present invention is applied to the stereoscopic endoscope 31 has been described as an example, but the present invention is not limited to this, and the endoscope and the ultrasonic It can also be applied to endoscopes and the like.

[0039]

As described above, according to the present invention, it is possible to use a plurality of surgical members and increase the degree of freedom of operation. Further, even when one subject is photographed from a plurality of directions, the subject can be extracted and displayed in the center of the screen.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment of an endoscope device of the first invention of the present application.

FIG. 2 is a cross-sectional view (a) of the outer cylinder of the endoscope device shown in FIG. 1 and a cross-sectional view (b) of the endoscope device body.

3A is a view showing a stereoscopic endoscope inserted into the through hole shown in FIG. 1, FIG. 3B is a view showing forceps, and FIG. 3C is a view showing a device inserted into the forceps. is there.

FIG. 4 is a longitudinal cross-sectional view of the endoscopic device when a stereoscopic endoscope and forceps are inserted into the endoscopic device shown in FIG.

FIG. 5 is a diagram showing a configuration of a second embodiment of an endoscope device of the first invention of the present application.

FIG. 6 is a view showing a state when the endoscope device body shown in FIG. 5 is rotated.

FIG. 7 is a diagram showing the configuration of an embodiment of an endoscope apparatus according to the second invention of the present application.

FIG. 8 is a diagram for explaining a method of extracting image information.

FIG. 9 is a diagram for explaining a method of designating a position of a portion to be inspected.

FIG. 10 is a diagram (a) showing a case where a subject is photographed from two directions and a diagram (b, c) showing a display image obtained when the subject is photographed from two directions. is there.

FIG. 11 is a diagram for explaining another method of extracting image information.

FIG. 12 is a diagram for explaining a method of obtaining an angle when the distal end is directed to the inspected part when the endoscope is rotated.

FIG. 13 is a diagram showing a prism capable of changing the bending ratio of light.

FIG. 14 is a diagram showing a conventional example in which a to-be-examined part in the abdominal wall is imaged from two directions using a laparoscope.

[Explanation of symbols]

 1 Endoscope Device 3 Outer Cylinder 5 Endoscope Device Body 7 Stereoscopic Endoscope 9 Forceps 11 Device 20 Endoscope Device 21a, 21b, 23a, 23b Gears 21,23 Motor 25 Rotation Control Section 30 Endoscope Mirror device 31 Stereoscopic endoscope 33 Detecting means 35 Imaging section 37 Cutting-out control section 37a Mode switch 39 Display section P Test section

Claims (8)

[Claims] 1. A cylindrical outer cylinder, and a penetrating member which is inserted in the outer cylinder and is provided in the same direction as the longitudinal direction of the outer cylinder except for a position where its central axis coincides with the central axis of the outer cylinder. A columnar endoscope device main body having a hole, and an endoscope device. 2. The endoscopic device according to claim 1, wherein a diagnostic device is inserted into at least one of the through holes. 3. The endoscopic device according to claim 1, wherein a surgical member is inserted into at least one of the through holes. 4. An endoscope for capturing an image of a subject, a recognition unit for recognizing the position of the subject, a detector for detecting the position of the tip of the endoscope and the light receiving direction, and the endoscope. When the tip of the subject side is moved, based on the position of the tip of the endoscope detected by the detecting means and the direction of receiving light, and the position of the subject recognized by the recognizing means,
An image cutting device for extracting image information of a predetermined area centering on a test part from the image information obtained by the endoscope, and the endoscope device. 5. The recognizing means recognizes the position of the part to be inspected based on the position designated by the operator on the image information three-dimensionally displayed based on the image information obtained by the endoscope. The endoscope according to claim 4, wherein: 6. An endoscope for taking image of a subject to obtain image information, and image information obtained before the movement of the endoscope is matched with image information obtained after the movement of the endoscope, Image cutting means for extracting the image information of a predetermined area centered on the inspected part from the image information after the movement of the endoscope based on the moving amount of the image information when performing this matching. Endoscope device. 7. An endoscope for capturing an image of a subject, a recognition unit for recognizing the position of the subject, a detector for detecting the position of the tip of the endoscope and the direction in which the light is received, and the endoscope. When the tip of the subject side is moved, based on the position of the tip of the endoscope detected by the detecting means and the direction of receiving light, and the position of the subject recognized by the recognizing means,
An endoscope apparatus comprising: a light-receiving-direction moving unit that moves a light-receiving direction of an endoscope to a subject side. 8. The recognizing means recognizes the position of the part to be inspected based on a position designated by an operator on a three-dimensionally displayed image based on image information obtained by the endoscope. The endoscopic device according to claim 7, which is characterized in that.