WO2015016166A1 - Stereoscopic rigid endoscope - Google Patents

Stereoscopic rigid endoscope Download PDF

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Publication number
WO2015016166A1
WO2015016166A1 PCT/JP2014/069791 JP2014069791W WO2015016166A1 WO 2015016166 A1 WO2015016166 A1 WO 2015016166A1 JP 2014069791 W JP2014069791 W JP 2014069791W WO 2015016166 A1 WO2015016166 A1 WO 2015016166A1
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WIPO (PCT)
Prior art keywords
eye
reflecting mirror
tip
rigid endoscope
view
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PCT/JP2014/069791
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French (fr)
Japanese (ja)
Inventor
清二 山本
毅志 永島
齋藤　博
淳 堀田
Original Assignee
国立大学法人浜松医科大学
永島医科器械株式会社
株式会社ゾディアック
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Application filed by 国立大学法人浜松医科大学, 永島医科器械株式会社, 株式会社ゾディアック filed Critical 国立大学法人浜松医科大学
Priority to JP2015529560A priority Critical patent/JP6418578B2/en
Publication of WO2015016166A1 publication Critical patent/WO2015016166A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G02B23/2446—Optical details of the image relay

Definitions

  • the present invention relates to a stereoscopic rigid endoscope having a variable visual field direction (direct view, perspective view, side view) used for surgery or diagnosis.
  • Endoscopic surgery using a rigid endoscope is known.
  • Endoscopic surgery with a rigid endoscope (a method in which a metal hard endoscope is inserted into the body instead of a soft endoscope like a stomach camera) can be performed even in a narrow surgical field. It has advantages and is capable of surgical treatment from naturally open parts such as the nostrils and mouth and small surgical wounds, and is an indispensable device for minimally invasive surgery (Minimally Invasive Surgery) and keyhole ⁇ Surgery There is no doubt.
  • Minially Invasive Surgery Minially Invasive Surgery
  • keyhole ⁇ Surgery keyhole ⁇ Surgery
  • the endoscope is monocular and is difficult to grasp a sense of distance, and complicated surgical operations such as fine stitching and peeling cannot be applied.
  • the doctor is forced to perform an operation different from the microscopic operation because of the characteristic of performing the operation with one hand.
  • the operating microscope which is the standard of microsurgery, has the advantage that both hands can be freely used while viewing stereoscopically, and the assistant can assist the operation while looking at the operative field.
  • Many surgeons are familiar with the operation. ing.
  • the incision is large and not a minimally invasive operation because the operation is performed with a microscope field outside the body.
  • An endoscope may be used for these operations.
  • the operation and technique are completely different, and it is impossible to perform a so-called fine operation such as a microscopic operation with the current endoscope.
  • Patent Document 1 describes a stereoscopic rigid endoscope, and also describes examples of a perspective mirror and a side endoscope. However, Patent Document 1 does not describe switching the viewing direction (direct view, perspective view, side view) for one lens barrel.
  • Patent Document 2 describes a technique in which a conversion adapter for switching a viewing direction (direct view, side view) is fixed and attached on the operation unit side in a conventional rigid endoscope that is not stereoscopic.
  • Patent Document 2 In a conventional rigid endoscope such as Patent Document 2, in order to switch the viewing direction (direct view, perspective view, side view), a conversion adapter having the same length as the lens barrel is fixed on the operation unit side and exchanged. It was. However, when the rigid endoscope main body is fixed to the support arm in the operation using both hands, it is difficult to fix the conversion adapter having the same length as the lens barrel on the operation unit side. Even when the endoscope is held by hand, the conversion adapter with the same length as the lens barrel is fixed and replaced every time the viewing direction (direct view, perspective view, side view) is switched. Then it takes time. The technique of Patent Document 2 is not preferable when it is necessary to quickly change the visual field direction during surgery or the like.
  • the stereoscopic rigid endoscope has two imaging optical paths, so that the lens barrel is more complicated and expensive than that for monocular vision.
  • simple lens barrel replacement the cost increases because the number of lens barrels increases.
  • Patent Document 1 a reflective prism is used at the tip in order to achieve perspective or side view.
  • a stereoscopic rigid endoscope there are two imaging optical paths and at least one illumination optical path at the distal end, and if the alignment is slightly shifted, the image quality of the observation image is greatly affected.
  • the visual field direction by reflection is the zenith direction or the opposite direction with respect to the observation image.
  • the prism needs to be installed at a predetermined relative position.
  • the imaging element is provided in the lens barrel. However, since the lens barrel has a very small diameter (for example, an outer diameter of about 5.5 mm), the imaging element has to be reduced. If the image sensor is small, image quality and resolution must be sacrificed, and high-quality observation is difficult.
  • the present invention has been made to solve the above-described problems, and can quickly switch the viewing direction (direct view, perspective view, side view) and can be observed with high image quality and high resolution.
  • An object is to provide an endoscope.
  • the present invention has the following configuration.
  • Stereoscopic rigid endoscope with variable viewing direction An operation unit having an image sensor for capturing two images for the left eye and the right eye, and an illumination light source;
  • a lens barrel having an optical system for guiding two images for the left eye and the right eye of the tip to the operation unit;
  • a detachable reflecting mirror provided at the tip of the lens barrel,
  • the lens barrel includes two independent imaging optical paths that guide the left-eye and right-eye images from the tip to the operation unit, and an illumination optical path that guides light from the illumination light source of the operation unit to the tip.
  • the reflecting mirror is arranged in an orientation such that a plane formed by an optical axis direction of the imaging optical path and a zenith direction of an observation image by the imaging element is parallel to the visual field direction.
  • Stereoscopic rigid endoscope Stereoscopic rigid endoscope.
  • the illumination optical path may guide the illumination light from the illumination light source of the operation unit to the tip by an optical fiber or the like different from the imaging optical path, or provide a half mirror on the operation unit side for illumination.
  • the optical path and the imaging optical path may be combined.
  • a light source may be provided in the operation unit, or the light source may be provided outside the operation unit and the illumination light may be guided into the operation unit by a light guide.
  • the reflecting mirror is detachably attached to the tip, and when there is no reflecting mirror, it becomes a direct-viewing mirror, and can be switched between a perspective mirror and a side mirror by attaching and detaching the reflecting mirror.
  • the reflecting mirror of the present invention may be a so-called mirror, or may be composed of a combination of transparent bodies such as glasses having different refractive indexes.
  • the barrel of the stereoscopic rigid endoscope has two imaging optical paths and is composed of a complicated optical system, so that it is more expensive than a normal barrel. In the present invention, it is not necessary to replace the lens barrel itself to change the viewing direction, which is advantageous in terms of cost.
  • the image sensor is not provided in the lens barrel but is provided in the operation unit on the hand side. Since the lens barrel has a small diameter, if the image sensor is provided in the lens barrel, the image sensor has to be made small. However, in the present invention, since the image sensor is provided in the operation unit, the size of the image sensor is sufficiently large. It is possible to achieve high image quality and high resolution. In particular, it is necessary to use a special camera in order to reproduce faithful colors with high accuracy, and the advantage of providing a camera on the operation unit side is great.
  • the zenith direction of the observation image is the zenith direction of the observation image when stereoscopic viewing is performed using the left-eye and right-eye images, and the left-eye observation window center in the distal end surface of the stereoscopic rigid endoscope. This corresponds to a direction perpendicular to a straight line passing through the center of the right-eye observation window. In stereoscopic observation, if the viewing direction is changed while ignoring the top-and-bottom direction, a sense of incongruity occurs.
  • the viewing direction is the zenith direction in the stereoscopic observation image or the opposite direction ( Compared to a clock hand, it is limited to the 12 o'clock direction and the 6 o'clock direction), and a sense of incongruity in stereoscopic vision is less likely to occur.
  • the reflecting mirror is provided in a reflecting mirror unit, A mounting portion for mounting the reflecting mirror unit so as not to rotate is provided at the tip of the lens barrel.
  • the reflecting mirror unit By attaching the reflecting mirror unit to the distal end portion of the lens barrel, the reflecting mirror unit can be easily attached and detached, and the viewing direction of the endoscope can be quickly switched during surgery or the like.
  • tip part means the part of the front-end
  • the reflection direction (viewing direction) by the reflecting mirror is limited to the top-and-bottom direction of the observation image, this relationship cannot be maintained if the reflecting mirror rotates with respect to the optical axis of the imaging optical path. End up. Therefore, an attachment portion having a structure that prevents the reflecting mirror unit from rotating is provided.
  • the reflecting surface of the reflecting mirror is configured to be horizontally long when viewed from the optical axis of the imaging optical path.
  • the reflecting surface of the reflector covers the direction of the left and right imaging windows (3 o'clock and 9 o'clock when compared to a clock hand), while the zenith direction (12 o'clock and 6 o'clock when compared to a clock hand) It is formed in a horizontally long shape so that (direction) becomes short. By doing so, it is possible to prevent halation caused by illumination light from the illumination window being reflected in the left and right imaging windows.
  • Arithmetic means for image processing an image from the image sensor Display means for displaying the image processed by the computing means,
  • the computing means can perform image processing including at least mirror image conversion according to the viewing direction.
  • a stereoscopic rigid endoscope In a stereoscopic rigid endoscope, if observation is performed through a reflecting mirror at the tip, the observation image becomes a mirror image and is difficult to see. Therefore, it is preferable to perform display by performing mirror image conversion by image processing. Further, depending on the angle in the viewing direction, other image processing is also required, so these image processing may be performed as necessary.
  • the arithmetic means has a reflector automatic identification means for automatically identifying whether or not the reflector is attached and detached and a visual field direction
  • the computing means performs image processing based on the result of the automatic identification.
  • the automatic identification for example, a different mark for each reflecting mirror unit is provided on the reflecting surface, and the mark is identified by image processing of a calculation means.
  • this invention has the following preferable embodiments.
  • Stereoscopic rigid endoscope with variable viewing direction An operation unit having an image sensor for capturing two images for the left eye and the right eye, and an illumination light source; A lens barrel having an optical system for guiding two images for the left eye and the right eye of the tip to the operation unit; A reflective mirror having a variable angle at the tip of the lens barrel; The lens barrel includes two independent imaging optical paths that guide the left-eye and right-eye images from the tip to the operation unit, and an illumination optical path that guides light from the illumination light source of the operation unit to the tip.
  • the reflecting mirror is arranged so that the visual field direction is parallel to a plane formed by an optical axis of the imaging optical path and a zenith direction of an observation image by the imaging element.
  • Stereoscopic rigid endoscope Stereoscopic rigid endoscope.
  • the present invention by providing a reflecting mirror having a variable angle at the tip, switching between direct view, perspective and side view is possible by changing the angle of the reflector at the tip. Although it is impossible to change the angle with a prism, in the present invention, the viewing direction is switched by providing a reflecting mirror with a variable angle at the tip.
  • the angle of the reflecting mirror can be changed by using a wire or a small actuator.
  • the present invention can realize a stereoscopic rigid endoscope capable of quickly switching the viewing direction (direct view, perspective view, side view) and capable of observation with high image quality and high resolution by the above configuration.
  • FIG. 1 is a schematic diagram of an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of the present embodiment
  • FIG. 2 is an enlarged view of the tip of the lens barrel
  • the stereoscopic rigid endoscope 1 includes a lens barrel 2 and an operation unit 3.
  • a lens barrel 2 having an outer diameter of 5.5 mm is used.
  • FIG. 2A is a front view of the distal end portion of the lens barrel 2
  • FIG. 2B is a top view of the distal end portion of the lens barrel 2
  • FIG. 2C is a side view of the distal end portion of the lens barrel 2.
  • a left-eye observation window 20a and a right-eye observation window 20b are provided on the distal end surface of the lens barrel 2. The image of the left-eye observation window 20a is guided to the camera 4 of the operation unit 3 through the left-eye imaging optical path 21a.
  • the image of the right-eye observation window 20b is guided to the camera 4 of the operation unit 3 through the right-eye imaging optical path 21b.
  • the imaging optical paths 21a and 21b guide the image to the operation unit 3 using a lens optical system.
  • a portion of the front end surface of the lens barrel 2 excluding the left-eye observation window 20a and the right-eye observation window 20b is an illumination window 22 that illuminates the viewing direction, and the illumination light from the light source 7 of the operation unit 3 is an optical fiber. It is guided through the illumination optical path 23 consisting of the above.
  • the illumination window 22 can irradiate illumination light from almost the entire front end surface, but particularly the illumination portions 22a and 22b are brightened.
  • the operation unit 3 is provided with a camera 4 that captures images for the left eye and right eye, and an illumination light source 7 that illuminates the distal end portion via the lens barrel 2.
  • the left and right images captured by the camera 4 are sent to the arithmetic device 5, subjected to image processing such as mirror image conversion as necessary, and displayed on the viewer 6.
  • the camera 4 may be anything as long as it has high image quality, but a high-definition camera or the like can be suitably used. It is also preferable to use a high fidelity camera that can reproduce the faithful color with high accuracy.
  • the arithmetic device 5 may be any device that can control image processing and the stereoscopic rigid endoscope system, and a PC or the like may be used.
  • the viewer 6 may be anything as long as it can be viewed stereoscopically by left and right images, and may be a goggle type used for a surgical microscope or the like, or a 3D display may be used when a plurality of people observe at the same time. good. It is better to use a viewer 6 that can reproduce high-definition and faithful colors.
  • the reflecting mirror units 10a and 10b can be attached to and detached from the distal end of the lens barrel 2, and the viewing direction (side view, perspective view and direct view) can be switched by attaching and detaching the reflecting mirror units 10a and 10b.
  • the viewing direction can be made perpendicular to the optical axis as shown in FIG. Operates as a side endoscope.
  • the perspective reflecting mirror unit 10b can be inclined with respect to the optical axis as shown in FIG. 1 operates as a perspective mirror. If the reflecting mirror unit is not attached to the tip as shown in FIG.
  • the stereoscopic rigid endoscope 1 operates as a direct endoscope.
  • the viewing direction is parallel to the plane formed by the observation zenith direction and the optical axis direction in the drawing. By limiting the viewing direction to such a direction, the uncomfortable feeling in stereoscopic vision is reduced.
  • the lens barrel 2 itself may be rotated together with the reflecting mirror units 10a and 10b.
  • the reflecting mirror units 10a and 10b include reflecting mirrors 11a and 11b, observation windows 12a and 12b, and reflecting mirror unit housings 13a and 13b.
  • the reflecting mirrors 11a and 11b may be anything as long as they can be reflected like a mirror, and may be a metal, a metal-deposited one, a combination of glass, or the like.
  • the reflecting surfaces 16a and 16b of the reflecting mirrors 11a and 11b are not formed on the entire surface, and portions that do not reflect are provided on the upper and lower portions of the reflecting mirrors 11a and 11b as shown in FIGS. This is to prevent the illumination light from the illumination units 22a and 22b from being reflected in the left-eye imaging window 20a and the right-eye imaging window 20b and causing halation.
  • the portions reflected by the reflecting surfaces 16a and 16b cover the portions of the left-eye imaging window 20a and the right-eye imaging window 20b, while the upper and lower portions are non-reflecting surfaces.
  • the projection surface is elliptical.
  • the observation windows 12a and 12b may be anything as long as they do not obstruct the visual field, and may be made of a transparent body such as glass, or may be opened without providing anything.
  • the reflecting mirror unit casings 13a and 13b may be anything as long as they can accommodate the reflecting mirrors 11a and 11b and have little influence on the living body, and metal, resin, or the like may be used.
  • Reflector unit mounting portions 14a and 14b are provided at the connecting portions between the reflector unit housings 13a and 13b and the lens barrel 2.
  • the reflecting mirror unit attaching portions 14a and 14b may be anything as long as they are attached so that the reflecting mirror units 10a and 10b do not fall off, and for example, screwing or attachment may be used. Further, as shown in FIGS. 3A and 3B, the length and the contact area of the reflector unit mounting portions 14a and 14b, which are contact portions between the reflector unit housings 13a and 13b and the lens barrel 2, are increased. This prevents the falling off effect.
  • the reflecting mirror unit mounting portions 14a and 14b are provided in the vicinity of the distal end portion of the barrel 2 as shown in the drawing.
  • the reflector units 10a and 10b can be quickly attached and detached when it is desired to quickly change the visual field direction during surgery or the like.
  • Grooves 24a and 24b are provided on the side of the lens barrel 2 of the reflector unit mounting portions 14a and 14b, and these grooves are engaged with protrusions (not shown) provided in the reflector units 10a and 10b. This prevents the reflecting mirror units 10a and 10b from rotating.
  • FIG. 5 is used to explain another embodiment of the present invention.
  • the viewing direction is switched by exchanging the reflecting mirror units having different angles of the reflecting mirrors.
  • the reflecting mirror 11c is rotatable around the support point 15c.
  • a wire, a small actuator or the like is used for turning the reflecting mirror 11c.
  • the stereoscopic rigid endoscope 1 operates as a side endoscope or a perspective mirror through the observation window 12c. Further, if the reflecting mirror 11c is rotated to a position parallel to the optical axis, it operates as a direct-viewing mirror through the observation window 12d.
  • the reflecting mirror unit 10c may be detachable or may be fixed to the lens barrel 2.
  • the visual field direction is parallel to the plane formed by the observation zenith direction and the optical axis direction in the drawing, as in the above-described embodiment.
  • the reflecting surface 16c of the reflecting mirror 11c is limited to be horizontally long, thereby preventing the illumination light from being reflected from the illumination window.
  • the image processing performed by the arithmetic device 5 of the present invention will be described with reference to FIG.
  • the camera 4 captures a left-eye image and a right-eye image that are shifted from the original image by the amount of parallax between the left-eye observation window 20a and the right-eye observation window 20b.
  • the captured image is displayed as it is on the left-eye display and right-eye display of the viewer.
  • the image captured by the camera 4 is an image obtained by inverting the mirror image because the mirror is interposed. Since it is very difficult to see as it is, it is displayed on the viewer after mirror image conversion.
  • the arithmetic unit 5 can also perform image enlargement / reduction, parallel movement, distortion correction, left-right image conversion, and the like as necessary.
  • a digital zoom function because zooming in cannot be performed by moving the lens barrel 2 forward.
  • automatic identification means for identifying which reflector unit is selected from the captured image may be provided, and the image processing may be switched according to the automatic identification result. For example, automatic identification is possible by forming different marks on the reflecting surface for each reflecting mirror unit.
  • FIG. 7 is a diagram illustrating a usage form of the stereoscopic rigid endoscope 1 of the present invention.
  • an endoscopic operation of a brain tumor is performed in a narrow place opened by a brain spatula 31.
  • a thin rigid endoscope is required to observe the deep part of the surgery.
  • the stereoscopic rigid endoscope 1 of the present invention it is possible to perform deep surgery while confirming the depth, and it is possible to stereoscopically view a wide range by switching the visual field with an detachable unit or the like.

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Abstract

This invention provides a stereoscopic rigid endoscope that allows high-image-quality, high-resolution observation and makes it possible to rapidly switch the direction of view (front, oblique, or side) without replacing a lens tube. Said stereoscopic rigid endoscope (1) with a variable direction of view has the following: a manipulation section (3) that has an illuminating light source (7) and an imaging element (4) that takes left-eye images and right-eye images; a lens tube (2) that guides said left-eye images and right-eye images from a tip section to the manipulation section; and removable reflectors (10a, 10b) provided on the tip section of the lens tube. Two independent imaging light paths that guide the left-eye images and the right-eye images from the tip section to the manipulation section and an illumination light path that guides light from the light source in the manipulation section to the tip section are provided in the lens tube. By attaching or removing the reflectors, the direction of view can be switched to front, oblique, or side. The reflectors are oriented such that the direction of view is parallel to the plane defined by the optical-axis direction of the imaging light paths and the upwards direction of the observed images produced by the imaging element.

Description

立体視硬性内視鏡Stereoscopic rigid endoscope
　手術や診断などに用いられる、視野方向（直視、斜視、側視）が可変な立体視硬性内視鏡に関する。 [Technical Field] The present invention relates to a stereoscopic rigid endoscope having a variable visual field direction (direct view, perspective view, side view) used for surgery or diagnosis.
　従来技術として、硬性内視鏡を用いた内視鏡手術が知られている。硬性内視鏡による内視鏡手術（胃カメラのようなやわらかい内視鏡ではなく金属製の硬い棒状の内視鏡を体内に挿入して手術を行う方法）は、狭い術野でも手術ができる利点があり、鼻孔や口など自然に開口している部位や小さな手術創からの手術治療が可能であり、低侵襲手術（Minimally Invasive Surgery）や鍵穴手術（Keyhole Surgery）にとって必要不可欠な装置であることに疑いはない。しかし現状の手術用内視鏡には改良すべき点が多々ある。内視鏡は単眼視であり距離感がつかみにくく微細な縫合や剥離など複雑な手術操作を加えることができない。また常に内視鏡を把持する必要があるため、片手で手術操作を加えるという特性から、顕微鏡手術とは異なる操作を医師に強いる。 As a prior art, endoscopic surgery using a rigid endoscope is known. Endoscopic surgery with a rigid endoscope (a method in which a metal hard endoscope is inserted into the body instead of a soft endoscope like a stomach camera) can be performed even in a narrow surgical field. It has advantages and is capable of surgical treatment from naturally open parts such as the nostrils and mouth and small surgical wounds, and is an indispensable device for minimally invasive surgery (Minimally Invasive Surgery) and keyhole 鍵 Surgery There is no doubt. However, there are many points to be improved in the current surgical endoscope. The endoscope is monocular and is difficult to grasp a sense of distance, and complicated surgical operations such as fine stitching and peeling cannot be applied. In addition, since it is necessary to always hold the endoscope, the doctor is forced to perform an operation different from the microscopic operation because of the characteristic of performing the operation with one hand.
　一方、微細手術（Microsurgery）のスタンダードである手術用顕微鏡は、立体視しながら両手が自由に使え、術野を見ながら助手が操作を補助できる利点があり、多くの外科医がその操作に習熟している。しかしながら、体外にある顕微鏡の視野で手術するため切開創は大きく低侵襲手術ではない。これらの手術に内視鏡を活用すれば良いが、前述のごとくその操作・手技は全く異質であり、現状の内視鏡で顕微鏡手術のようないわゆる微細手術を行うことは不可能である。 On the other hand, the operating microscope, which is the standard of microsurgery, has the advantage that both hands can be freely used while viewing stereoscopically, and the assistant can assist the operation while looking at the operative field. Many surgeons are familiar with the operation. ing. However, the incision is large and not a minimally invasive operation because the operation is performed with a microscope field outside the body. An endoscope may be used for these operations. However, as described above, the operation and technique are completely different, and it is impossible to perform a so-called fine operation such as a microscopic operation with the current endoscope.
　顕微鏡手術操作に習熟した多くの医師が違和感なく顕微鏡感覚で使用できる手術用内視鏡として立体視硬性内視鏡が知られている。特許文献１には立体視硬性内視鏡が記載されており、斜視鏡、側視鏡の例も記載されている。しかしながら、特許文献１では、１つの鏡筒に対して、視野方向（直視、斜視、側視）を切り替えることは記載されていない。 Stereoscopic rigid endoscopes are known as surgical endoscopes that can be used by many doctors who are proficient in microscopic surgical operations with a sense of incongruity. Patent Document 1 describes a stereoscopic rigid endoscope, and also describes examples of a perspective mirror and a side endoscope. However, Patent Document 1 does not describe switching the viewing direction (direct view, perspective view, side view) for one lens barrel.
　特許文献２では、立体視ではない従来型の硬性内視鏡において、視野方向（直視、側視）の切り換える変換アダプターを操作部側で固定して取り付ける技術が記載されている。 Patent Document 2 describes a technique in which a conversion adapter for switching a viewing direction (direct view, side view) is fixed and attached on the operation unit side in a conventional rigid endoscope that is not stereoscopic.
特許第３５８０８６９号公報Japanese Patent No. 3580869 特開昭６１－１４３７１２号公報Japanese Patent Laid-Open No. 61-143712
　特許文献２のような従来の硬性内視鏡では、視野方向（直視、斜視、側視）を切り換えるために、鏡筒と同じ長さを有する変換アダプターを操作部側で固定して交換を行っていた。しかしながら、両手を使う手術で硬性内視鏡本体が支持アームに固定されている場合などでは、鏡筒と同じ長さの変換アダプターを操作部側で固定操作することは困難である。また、内視鏡を手で持って使用する場合でも、視野方向（直視、斜視、側視）を切り換える度ごとに鏡筒と同じ長さの変換アダプターを操作部側で固定して交換するのでは時間がかかる。特許文献２の技術は、手術中など速やかな視野方向の切り換えを必要とする場合には好ましくない。また、従来技術として視野方向を切り換えるために鏡筒ごと交換するものもあるが、立体視硬性内視鏡では撮像用光路が２つあるため、鏡筒は単眼視のものに比べて複雑で高価であり、単純な鏡筒交換では鏡筒の本数が増える分コストアップにつながってしまう。 In a conventional rigid endoscope such as Patent Document 2, in order to switch the viewing direction (direct view, perspective view, side view), a conversion adapter having the same length as the lens barrel is fixed on the operation unit side and exchanged. It was. However, when the rigid endoscope main body is fixed to the support arm in the operation using both hands, it is difficult to fix the conversion adapter having the same length as the lens barrel on the operation unit side. Even when the endoscope is held by hand, the conversion adapter with the same length as the lens barrel is fixed and replaced every time the viewing direction (direct view, perspective view, side view) is switched. Then it takes time. The technique of Patent Document 2 is not preferable when it is necessary to quickly change the visual field direction during surgery or the like. In addition, although there is a conventional technique in which the lens barrel is replaced in order to switch the viewing direction, the stereoscopic rigid endoscope has two imaging optical paths, so that the lens barrel is more complicated and expensive than that for monocular vision. In simple lens barrel replacement, the cost increases because the number of lens barrels increases.
　特許文献１では斜視や側視にするために、先端部に反射プリズムを用いている。しかしながら、先端部を着脱自在にしたり視野方向を可変にすることは考慮されていない。立体視硬性内視鏡では、先端部に２つの撮像用光路と少なくとも１つの照明用光路があり、これらのアライメントがわずかでもずれてしまうと、観察画像の画質に大きく影響する。また、術者が直感的に立体視を把握できるようにするためには、反射による視野方向が観察画像に対して天頂方向かその逆方向である必要があるため、２つの撮像用光路と反射プリズムとは所定の相対位置になるように設置する必要がある。
　また、特許文献１では撮像素子を鏡筒内に設けているが、鏡筒は非常に細径（例えば、外径5.5mm程度）であるため、撮像素子を小さくせざるを得ない。撮像素子が小さいと画質及び分解能を犠牲にせざるを得なく、高画質な観察が困難である。 In Patent Document 1, a reflective prism is used at the tip in order to achieve perspective or side view. However, no consideration is given to making the tip part detachable or making the viewing direction variable. In a stereoscopic rigid endoscope, there are two imaging optical paths and at least one illumination optical path at the distal end, and if the alignment is slightly shifted, the image quality of the observation image is greatly affected. In addition, in order for the surgeon to intuitively grasp the stereoscopic vision, it is necessary that the visual field direction by reflection is the zenith direction or the opposite direction with respect to the observation image. The prism needs to be installed at a predetermined relative position.
In Patent Document 1, the imaging element is provided in the lens barrel. However, since the lens barrel has a very small diameter (for example, an outer diameter of about 5.5 mm), the imaging element has to be reduced. If the image sensor is small, image quality and resolution must be sacrificed, and high-quality observation is difficult.
　本発明は上記問題点を解決するためになされたものであり、速やかに視野方向（直視、斜視、側視）を切り換えることができるとともに、高画質・高分解能による観察が可能な立体視硬性内視鏡を提供することを目的とする。 The present invention has been made to solve the above-described problems, and can quickly switch the viewing direction (direct view, perspective view, side view) and can be observed with high image quality and high resolution. An object is to provide an endoscope.
　上記課題を解決するため、本発明は以下の構成を有する。
　視野方向が可変な立体視硬性内視鏡であって、
　左目用と右目用の２つ像を撮像する撮像素子と照明用光源とを有する操作部と、
　先端部の左目用と右目用の２つの像を前記操作部に導く光学系を有する鏡筒と、
　前記鏡筒の先端部に設けられた着脱自在な反射鏡と、を有し、
　前記鏡筒には、左目用と右目用の像を先端部から前記操作部に導く独立した２つの撮像用光路と、前記操作部の照明用光源からの光を先端部に導く照明用光路とが設けられており、
　前記反射鏡の着脱により、直視、斜視及び側視の視野方向の切り換えが可能であり、
　前記反射鏡は、前記撮像用光路の光軸方向と前記撮像素子による観察画像の天頂方向とがなす面と前記視野方向とが平行になるような向きに配置される、
立体視硬性内視鏡。 In order to solve the above problems, the present invention has the following configuration.
Stereoscopic rigid endoscope with variable viewing direction,
An operation unit having an image sensor for capturing two images for the left eye and the right eye, and an illumination light source;
A lens barrel having an optical system for guiding two images for the left eye and the right eye of the tip to the operation unit;
A detachable reflecting mirror provided at the tip of the lens barrel,
The lens barrel includes two independent imaging optical paths that guide the left-eye and right-eye images from the tip to the operation unit, and an illumination optical path that guides light from the illumination light source of the operation unit to the tip. Is provided,
By attaching and detaching the reflecting mirror, it is possible to switch the viewing direction between direct view, perspective view and side view,
The reflecting mirror is arranged in an orientation such that a plane formed by an optical axis direction of the imaging optical path and a zenith direction of an observation image by the imaging element is parallel to the visual field direction.
Stereoscopic rigid endoscope.
　前記撮像素子は、左目用と右目用のそれぞれに設けて２つで構成しても良いし、1つの撮像素子の撮像エリアを左目用と右目用に分割して利用しても良い。
　前記照明用光路は、操作部の照明用光源からの照明光を、撮像用光路とは別の光ファイバなどで先端部に導いても良いし、操作部側にハーフミラーなどを設けて照明用光路と撮像用光路とを兼用にしても良い。
　前記照明用光源は、発光源を操作部内に設けても良いし、発光源を操作部外に設けて導光手段により操作部内に照明光を導いても良い。 Two imaging elements may be provided for each of the left eye and the right eye, or the imaging area of one imaging element may be divided and used for the left eye and the right eye.
The illumination optical path may guide the illumination light from the illumination light source of the operation unit to the tip by an optical fiber or the like different from the imaging optical path, or provide a half mirror on the operation unit side for illumination. The optical path and the imaging optical path may be combined.
In the illumination light source, a light source may be provided in the operation unit, or the light source may be provided outside the operation unit and the illumination light may be guided into the operation unit by a light guide.
　本発明では、反射鏡を先端部に対して着脱自在にし、反射鏡が無い場合は直視鏡になり、反射鏡の着脱により、斜視鏡、側視鏡に切り換え可能にしている。なお、本発明の反射鏡は、いわゆる鏡を用いても良いし、屈折率の異なるガラスなどの透明体の組み合わせで構成しても良い。
　また、立体視硬性内視鏡の鏡筒は撮像用光路が２つあり、複雑な光学系で構成されているため、通常の鏡筒に比べて高コストである。本発明では、視野方向の変更にために鏡筒自体を交換する必要はないため、コスト的にも有利である。
　さらに、本発明では、撮像素子を鏡筒内に設けずに手元側の操作部に設けている。鏡筒は細径であるため、鏡筒内に撮像素子を設けると撮像素子を小さくせざるを得ないが、本発明では撮像素子を操作部内に設けているため、撮像素子の大きさを十分に確保することができ、高画質・高分解能を実現できる。特に、忠実色を高精度で再現するためには特殊なカメラを用いる必要があり、操作部側にカメラを設ける利点は大きい。 In the present invention, the reflecting mirror is detachably attached to the tip, and when there is no reflecting mirror, it becomes a direct-viewing mirror, and can be switched between a perspective mirror and a side mirror by attaching and detaching the reflecting mirror. The reflecting mirror of the present invention may be a so-called mirror, or may be composed of a combination of transparent bodies such as glasses having different refractive indexes.
Further, the barrel of the stereoscopic rigid endoscope has two imaging optical paths and is composed of a complicated optical system, so that it is more expensive than a normal barrel. In the present invention, it is not necessary to replace the lens barrel itself to change the viewing direction, which is advantageous in terms of cost.
Furthermore, in the present invention, the image sensor is not provided in the lens barrel but is provided in the operation unit on the hand side. Since the lens barrel has a small diameter, if the image sensor is provided in the lens barrel, the image sensor has to be made small. However, in the present invention, since the image sensor is provided in the operation unit, the size of the image sensor is sufficiently large. It is possible to achieve high image quality and high resolution. In particular, it is necessary to use a special camera in order to reproduce faithful colors with high accuracy, and the advantage of providing a camera on the operation unit side is great.
　なお、前記観察画像の天頂方向とは、左目用と右目用の画像により立体視を行う際の観察画像の天頂方向であり、立体視硬性内視鏡の先端面内において左目用観察窓中心と右目用観察窓中心とを通る直線に垂直な方向に相当する。
　立体視よる観察では天地方向を無視して視野方向を変えてしまうと違和感が生じてしまうが、本発明の構成を採用することにより、視野方向は立体視観察像における天頂方向かその逆方向（時計の針に例えると12時方向と6時方向）に限定され、立体視における違和感が生じにくい。 The zenith direction of the observation image is the zenith direction of the observation image when stereoscopic viewing is performed using the left-eye and right-eye images, and the left-eye observation window center in the distal end surface of the stereoscopic rigid endoscope. This corresponds to a direction perpendicular to a straight line passing through the center of the right-eye observation window.
In stereoscopic observation, if the viewing direction is changed while ignoring the top-and-bottom direction, a sense of incongruity occurs. However, by adopting the configuration of the present invention, the viewing direction is the zenith direction in the stereoscopic observation image or the opposite direction ( Compared to a clock hand, it is limited to the 12 o'clock direction and the 6 o'clock direction), and a sense of incongruity in stereoscopic vision is less likely to occur.
　また、本発明は以下の好ましい実施態様を有する。
　前記反射鏡は反射鏡ユニット内に設けられており、
　前記鏡筒の先端部に、前記反射鏡ユニットを回動しないように取り付ける取付部が設けられている。 Moreover, this invention has the following preferable embodiments.
The reflecting mirror is provided in a reflecting mirror unit,
A mounting portion for mounting the reflecting mirror unit so as not to rotate is provided at the tip of the lens barrel.
　反射鏡ユニットを鏡筒の先端部に取り付けることにより、反射鏡ユニットの着脱が容易になり、手術中などにおける内視鏡の視野方向の切り換えを速やかに行うことができる。なお、前記先端部とは、例えば、鏡筒の長さ方向の中間点より先端部側の部分を意味している。
　本発明では、反射鏡による反射方向（視野方向）が観察画像の天地方向に限定されるため、反射鏡が撮像用光路の光軸に対して回動してしまうと、この関係を維持できなくなってしまう。したがって、反射鏡ユニットが回動しないような構造を有する取付部を設ける。 By attaching the reflecting mirror unit to the distal end portion of the lens barrel, the reflecting mirror unit can be easily attached and detached, and the viewing direction of the endoscope can be quickly switched during surgery or the like. In addition, the said front-end | tip part means the part of the front-end | tip part side from the intermediate point of the length direction of a lens-barrel, for example.
In the present invention, since the reflection direction (viewing direction) by the reflecting mirror is limited to the top-and-bottom direction of the observation image, this relationship cannot be maintained if the reflecting mirror rotates with respect to the optical axis of the imaging optical path. End up. Therefore, an attachment portion having a structure that prevents the reflecting mirror unit from rotating is provided.
　また、本発明は以下の好ましい実施態様を有する。
　前記反射鏡の反射面が、前記撮像用光路の光軸から見て横長になるように構成されている。 Moreover, this invention has the following preferable embodiments.
The reflecting surface of the reflecting mirror is configured to be horizontally long when viewed from the optical axis of the imaging optical path.
　反射鏡の反射面は、左右の撮像用窓の配置方向（時計の針に例えると3時方向と9時方向）をカバーしつつ、天頂方向（時計の針に例えると12時方向と6時方向）が短くなるように、横長に形成されている。こうすることにより、照明窓からの照明光が左右の撮像窓に映り込むことで生じるハレーションを防止できる。 The reflecting surface of the reflector covers the direction of the left and right imaging windows (3 o'clock and 9 o'clock when compared to a clock hand), while the zenith direction (12 o'clock and 6 o'clock when compared to a clock hand) It is formed in a horizontally long shape so that (direction) becomes short. By doing so, it is possible to prevent halation caused by illumination light from the illumination window being reflected in the left and right imaging windows.
　また、本発明は以下の好ましい実施態様を有する。
　前記撮像素子からの像を画像処理する演算手段と、
　前記演算手段により画像処理された像を表示する表示手段と、をさらに有し、
　前記演算手段は、前記視野方向に応じて、少なくとも鏡像変換を含む画像処理を行うことが可能である。 Moreover, this invention has the following preferable embodiments.
Arithmetic means for image processing an image from the image sensor;
Display means for displaying the image processed by the computing means,
The computing means can perform image processing including at least mirror image conversion according to the viewing direction.
　立体視硬性内視鏡では、先端部の反射鏡を介して観察を行うと観察画像が鏡像になって見にくくなってしまうため、画像処理により鏡像変換を行って表示を行うと良い。また、視野方向の角度によっては他の画像処理も必要になるので、必要に応じてこれらの画像処理を行っても良い。 In a stereoscopic rigid endoscope, if observation is performed through a reflecting mirror at the tip, the observation image becomes a mirror image and is difficult to see. Therefore, it is preferable to perform display by performing mirror image conversion by image processing. Further, depending on the angle in the viewing direction, other image processing is also required, so these image processing may be performed as necessary.
　また、本発明は以下の好ましい実施態様を有する。
　前記演算手段は、前記反射鏡の着脱の有無及び視野方向を自動識別する反射鏡自動識別手段を有し、
　前記演算手段は、前記自動識別の結果に基づいて画像処理を行う。
　前記自動識別は、例えば、反射鏡ユニットごとに異なるマークを反射面に付与しておき、そのマークを演算手段の画像処理により識別する。 Moreover, this invention has the following preferable embodiments.
The arithmetic means has a reflector automatic identification means for automatically identifying whether or not the reflector is attached and detached and a visual field direction,
The computing means performs image processing based on the result of the automatic identification.
In the automatic identification, for example, a different mark for each reflecting mirror unit is provided on the reflecting surface, and the mark is identified by image processing of a calculation means.
　また、本発明は以下の好ましい実施態様を有する。
　視野方向が可変な立体視硬性内視鏡であって、
　左目用と右目用の２つ像を撮像する撮像素子と照明用光源とを有する操作部と、
　先端部の左目用と右目用の２つの像を前記操作部に導く光学系を有する鏡筒と、
　前記鏡筒の先端部に角度可変な反射鏡と、を有し、
　前記鏡筒には、左目用と右目用の像を先端部から前記操作部に導く独立した２つの撮像用光路と、前記操作部の照明用光源からの光を先端部に導く照明用光路とが設けられており、
　前記反射鏡の角度変化により、直視、斜視及び側視の視野方向の切り換えが可能であり、
　前記反射鏡は、前記視野方向が、前記撮像用光路の光軸と前記撮像素子による観察画像の天頂方向とがなす面に平行になるように配置される、
立体視硬性内視鏡。 Moreover, this invention has the following preferable embodiments.
Stereoscopic rigid endoscope with variable viewing direction,
An operation unit having an image sensor for capturing two images for the left eye and the right eye, and an illumination light source;
A lens barrel having an optical system for guiding two images for the left eye and the right eye of the tip to the operation unit;
A reflective mirror having a variable angle at the tip of the lens barrel;
The lens barrel includes two independent imaging optical paths that guide the left-eye and right-eye images from the tip to the operation unit, and an illumination optical path that guides light from the illumination light source of the operation unit to the tip. Is provided,
By changing the angle of the reflecting mirror, it is possible to switch the viewing direction between direct view, perspective view and side view,
The reflecting mirror is arranged so that the visual field direction is parallel to a plane formed by an optical axis of the imaging optical path and a zenith direction of an observation image by the imaging element.
Stereoscopic rigid endoscope.
　本発明では、先端部に角度可変な反射鏡を設けることで、先端部の反射鏡の角度変化により、直視、斜視及び側視の切り換えが可能に構成している。プリズムでは角度を可変にすることは不可能であるが、本発明では先端部に角度可変な反射鏡を設けることで視野方向の切り換えを実現している。反射鏡の角度変化は、ワイヤや小型アクチュエータなどを用いることで可能である。 In the present invention, by providing a reflecting mirror having a variable angle at the tip, switching between direct view, perspective and side view is possible by changing the angle of the reflector at the tip. Although it is impossible to change the angle with a prism, in the present invention, the viewing direction is switched by providing a reflecting mirror with a variable angle at the tip. The angle of the reflecting mirror can be changed by using a wire or a small actuator.
　本発明は上記構成により、速やかに視野方向（直視、斜視、側視）を切り換えることができるとともに、高画質・高分解能による観察が可能な立体視硬性内視鏡を実現することができる。 The present invention can realize a stereoscopic rigid endoscope capable of quickly switching the viewing direction (direct view, perspective view, side view) and capable of observation with high image quality and high resolution by the above configuration.
本発明の実施形態の概略図。1 is a schematic diagram of an embodiment of the present invention. 本発明の鏡筒先端部の拡大図。The enlarged view of the lens-barrel front-end | tip part of this invention. 本発明の視野方向切換の説明図。Explanatory drawing of the visual field direction switching of this invention. 本発明の反射鏡の反射面の説明図。Explanatory drawing of the reflective surface of the reflective mirror of this invention. 本発明の視野方向切換の別実施形態の説明図。Explanatory drawing of another embodiment of the visual field direction switching of this invention. 本発明における鏡像変換の説明図。Explanatory drawing of the mirror image conversion in this invention. 本発明の使用形態の説明図。Explanatory drawing of the usage form of this invention.
　以下、図面とともに本発明の立体視硬性内視鏡の好適な実施形態について説明する。なお、図面は理解しやすいように縮尺や形状を調整して記載している。 Hereinafter, preferred embodiments of the stereoscopic rigid endoscope of the present invention will be described with reference to the drawings. In the drawings, the scale and shape are adjusted for easy understanding.
　図１は本実施形態の概略図、図２は鏡筒先端部の拡大図、図３は視野方向切換の説明図である。
　立体視硬性内視鏡１は、鏡筒２及び操作部３から構成される。鏡筒２は、例えば外径5.5mmのものが用いられている。 FIG. 1 is a schematic diagram of the present embodiment, FIG. 2 is an enlarged view of the tip of the lens barrel, and FIG.
The stereoscopic rigid endoscope 1 includes a lens barrel 2 and an operation unit 3. For example, a lens barrel 2 having an outer diameter of 5.5 mm is used.
　鏡筒２には、先端部の左目用と右目用の像を操作部３に導く２つの撮像用光路21a,21bと、操作部３にある照明用光源７からの照明光を先端部に導く照明用光路23とが設けられている。図２（ａ）は鏡筒２の先端部の正面図、図２（ｂ）は鏡筒２の先端部の上面図、図２（ｃ）は鏡筒２の先端部の側面図である。鏡筒２の先端面には左目用観察窓20aと右目用観察窓20bが設けられている。左目用観察窓20aの像は左目用撮像光路21aを通って操作部３のカメラ４に導かれる。同様に、右目用観察窓20bの像は右目用撮像光路21bを通って操作部３のカメラ４に導かれる。撮像用光路21a,21bはレンズ光学系を用いて像を操作部３に導いている。鏡筒２の先端面のうち左目用観察窓20a及び右目用観察窓20bを除いた部分は視野方向を照明する照明窓22になっており、操作部３の光源７からの照明光が光ファイバなどからなる照明用光路23を通じて導かれる。照明窓22は先端面のほぼ全面から照明光を照射できるようになっているが、特に照明部22a,22bの部分が明るくなるようになっている。 In the lens barrel 2, two imaging optical paths 21 a and 21 b that guide the left-eye and right-eye images of the tip to the operation unit 3, and illumination light from the illumination light source 7 in the operation unit 3 are guided to the tip. An illumination optical path 23 is provided. 2A is a front view of the distal end portion of the lens barrel 2, FIG. 2B is a top view of the distal end portion of the lens barrel 2, and FIG. 2C is a side view of the distal end portion of the lens barrel 2. A left-eye observation window 20a and a right-eye observation window 20b are provided on the distal end surface of the lens barrel 2. The image of the left-eye observation window 20a is guided to the camera 4 of the operation unit 3 through the left-eye imaging optical path 21a. Similarly, the image of the right-eye observation window 20b is guided to the camera 4 of the operation unit 3 through the right-eye imaging optical path 21b. The imaging optical paths 21a and 21b guide the image to the operation unit 3 using a lens optical system. A portion of the front end surface of the lens barrel 2 excluding the left-eye observation window 20a and the right-eye observation window 20b is an illumination window 22 that illuminates the viewing direction, and the illumination light from the light source 7 of the operation unit 3 is an optical fiber. It is guided through the illumination optical path 23 consisting of the above. The illumination window 22 can irradiate illumination light from almost the entire front end surface, but particularly the illumination portions 22a and 22b are brightened.
　操作部３には、左目用と右目用の像を撮像するカメラ４と、鏡筒２を介して先端部を照明する照明用光源７とが設けられている。カメラ４で撮像された左右画像は、演算装置５に送られて、必要に応じて鏡像変換などの画像処理がなされ、ビューワ６で表示される。カメラ４は、高画質なものであれば何でも良いが、ハイビジョンカメラなどが好適に用いられ得る。また、忠実色を高い精度で再現できる高忠実度カメラを用いるのも好ましい。演算装置５は、画像処理や立体視硬性内視鏡システムの制御ができるものであれば良く、ＰＣ等が用いられ得る。ビューワ６は、左右画像による立体視ができるものであれば何でも良く、手術用顕微鏡などに用いられるゴーグル型のものでも良いし、複数の人が同時に観察する場合には３Ｄディスプレイなどを用いても良い。ビューワ６として、ハイビジョンや忠実色を再現できるものを用いるとさらに良い。 The operation unit 3 is provided with a camera 4 that captures images for the left eye and right eye, and an illumination light source 7 that illuminates the distal end portion via the lens barrel 2. The left and right images captured by the camera 4 are sent to the arithmetic device 5, subjected to image processing such as mirror image conversion as necessary, and displayed on the viewer 6. The camera 4 may be anything as long as it has high image quality, but a high-definition camera or the like can be suitably used. It is also preferable to use a high fidelity camera that can reproduce the faithful color with high accuracy. The arithmetic device 5 may be any device that can control image processing and the stereoscopic rigid endoscope system, and a PC or the like may be used. The viewer 6 may be anything as long as it can be viewed stereoscopically by left and right images, and may be a goggle type used for a surgical microscope or the like, or a 3D display may be used when a plurality of people observe at the same time. good. It is better to use a viewer 6 that can reproduce high-definition and faithful colors.
　鏡筒２の先端部には、反射鏡ユニット10a,10bが着脱可能になっており、反射鏡ユニット10a,10bの着脱により視野方向（側視、斜視、直視）が切り換え可能になっている。鏡筒２の先端部に側視用反射鏡ユニット10aを取り付けることで、図３（ａ）のように視野方向を光軸に対して直角にすることができ、立体視硬性内視鏡１は側視鏡として動作する。同様に、鏡筒２の先端部に斜視用反射鏡ユニット10bを取り付けることで、図３（ｂ）のように視野方向を光軸に対して斜めにすることができ、立体視硬性内視鏡１は斜視鏡として動作する。図３（ｃ）のように、先端部に反射鏡ユニットを取り付けなければ、立体視硬性内視鏡１は直視鏡として動作する。視野方向は、図面における観察天頂方向と光軸方向とがなす面に平行になっている。視野方向をこのような方向に限定することにより、立体視における違和感を低減している。視野方向を回転させたい場合は、鏡筒２自体を反射鏡ユニット10a,10bとともに回転させれば良い。 The reflecting mirror units 10a and 10b can be attached to and detached from the distal end of the lens barrel 2, and the viewing direction (side view, perspective view and direct view) can be switched by attaching and detaching the reflecting mirror units 10a and 10b. By attaching the side-viewing reflector unit 10a to the distal end of the lens barrel 2, the viewing direction can be made perpendicular to the optical axis as shown in FIG. Operates as a side endoscope. Similarly, by attaching the perspective reflecting mirror unit 10b to the distal end portion of the lens barrel 2, the viewing direction can be inclined with respect to the optical axis as shown in FIG. 1 operates as a perspective mirror. If the reflecting mirror unit is not attached to the tip as shown in FIG. 3C, the stereoscopic rigid endoscope 1 operates as a direct endoscope. The viewing direction is parallel to the plane formed by the observation zenith direction and the optical axis direction in the drawing. By limiting the viewing direction to such a direction, the uncomfortable feeling in stereoscopic vision is reduced. In order to rotate the viewing direction, the lens barrel 2 itself may be rotated together with the reflecting mirror units 10a and 10b.
　反射鏡ユニット10a,10bは、反射鏡11a,11bと、観察窓12a,12bと、反射鏡ユニット筐体13a,13bから構成される。反射鏡11a,11bは鏡のように反射できるものであれば何でも良く、金属や金属蒸着したものやガラスを組み合わせたものなどが用いられ得る。反射鏡11a,11bの反射面16a,16bは、全面に形成されておらず、図３（ａ）及び（ｂ）のように反射鏡11a,11bの上下部分に反射しない部分を設けている。これは、照明部22a,22bからの照明光が左目用撮像窓20aや右目用撮像窓20bに映り込んでハレーションを起こすことを防止するためである。図４に示すように、反射面16a,16bにより反射する部分（反射投影面17）は、左目用撮像窓20aと右目用撮像窓20bの部分をカバーしつつ、上下部分が非反射面になるように、楕円形の投影面になっている。 The reflecting mirror units 10a and 10b include reflecting mirrors 11a and 11b, observation windows 12a and 12b, and reflecting mirror unit housings 13a and 13b. The reflecting mirrors 11a and 11b may be anything as long as they can be reflected like a mirror, and may be a metal, a metal-deposited one, a combination of glass, or the like. The reflecting surfaces 16a and 16b of the reflecting mirrors 11a and 11b are not formed on the entire surface, and portions that do not reflect are provided on the upper and lower portions of the reflecting mirrors 11a and 11b as shown in FIGS. This is to prevent the illumination light from the illumination units 22a and 22b from being reflected in the left-eye imaging window 20a and the right-eye imaging window 20b and causing halation. As shown in FIG. 4, the portions reflected by the reflecting surfaces 16a and 16b (reflective projection surface 17) cover the portions of the left-eye imaging window 20a and the right-eye imaging window 20b, while the upper and lower portions are non-reflecting surfaces. Thus, the projection surface is elliptical.
　観察窓12a,12bは視野を遮らないものであれば何でも良く、ガラスなどの透明体を用いても良いし、何も設けずに開口状態にしても良い。反射鏡ユニット筐体13a,13bは、反射鏡11a,11bを収容でき、生体に対して影響が少ないものであれば何でも良く、金属や樹脂などが用いられ得る。 The observation windows 12a and 12b may be anything as long as they do not obstruct the visual field, and may be made of a transparent body such as glass, or may be opened without providing anything. The reflecting mirror unit casings 13a and 13b may be anything as long as they can accommodate the reflecting mirrors 11a and 11b and have little influence on the living body, and metal, resin, or the like may be used.
　反射鏡ユニット筐体13a,13bと鏡筒２との接続部には、反射鏡ユニット取付部14a,14bが設けられている。反射鏡ユニット取付部14a,14bは、反射鏡ユニット10a,10bが脱落しないように取り付けられるものであれば何でも良く、例えばネジ止めやアタッチメントなどが用いられ得る。また、図３（ａ）及び（ｂ）のように、反射鏡ユニット筐体13a,13bと鏡筒２との接触部分である反射鏡ユニット取付部14a,14bの長さ及び接触面積を大きくしておくことにより、脱落防止効果が高まる。反射鏡ユニット取付部14a,14bは、図面のように鏡筒２の先端部の近傍に設けられている。このように構成することにより、手術中などで速やかに視野方向を切り換えたい場合に、反射鏡ユニット10a,10bを速やかに着脱することが可能になる。反射鏡ユニット取付部14a,14bの鏡筒２側には溝24a,24bが設けられており、この溝が反射鏡ユニット10a,10bに設けられた図示されていない突出部と係合することにより、反射鏡ユニット10a,10bが回動してしまうことを防止する。 Reflector unit mounting portions 14a and 14b are provided at the connecting portions between the reflector unit housings 13a and 13b and the lens barrel 2. The reflecting mirror unit attaching portions 14a and 14b may be anything as long as they are attached so that the reflecting mirror units 10a and 10b do not fall off, and for example, screwing or attachment may be used. Further, as shown in FIGS. 3A and 3B, the length and the contact area of the reflector unit mounting portions 14a and 14b, which are contact portions between the reflector unit housings 13a and 13b and the lens barrel 2, are increased. This prevents the falling off effect. The reflecting mirror unit mounting portions 14a and 14b are provided in the vicinity of the distal end portion of the barrel 2 as shown in the drawing. With this configuration, the reflector units 10a and 10b can be quickly attached and detached when it is desired to quickly change the visual field direction during surgery or the like. Grooves 24a and 24b are provided on the side of the lens barrel 2 of the reflector unit mounting portions 14a and 14b, and these grooves are engaged with protrusions (not shown) provided in the reflector units 10a and 10b. This prevents the reflecting mirror units 10a and 10b from rotating.
　図５を用いて、本発明の別の実施形態について説明する。上述の実施形態では、反射鏡の角度が異なる反射鏡ユニットを交換することにより、視野方向を切り換えていたが、図５のように反射鏡11cを可動式にして、視野方向を変化させても良い。反射鏡11cは支持点15cを中心に回動可能になっている。反射鏡11cの回動には、ワイヤや小型アクチュエータなどを用いる。反射鏡11cの角度により、立体視硬性内視鏡１は観察窓12cを通じて側視鏡又は斜視鏡として動作する。また、反射鏡11cを光軸に対して平行になる位置に回動させれば、観察窓12dを通じて直視鏡としても動作する。本実施形態においては、反射鏡ユニット10cは着脱式でも良いし、鏡筒２に対して固定されていても良い。視野方向は、上述の実施形態と同様に図面における観察天頂方向と光軸方向とがなす面に平行になっている。また、上述の実施形態と同様に反射鏡11cの反射面16cを横長に限定することで、照明窓からの照明光の映り込みを防止している。 FIG. 5 is used to explain another embodiment of the present invention. In the above-described embodiment, the viewing direction is switched by exchanging the reflecting mirror units having different angles of the reflecting mirrors. However, even if the reflecting mirror 11c is movable and the viewing direction is changed as shown in FIG. good. The reflecting mirror 11c is rotatable around the support point 15c. For turning the reflecting mirror 11c, a wire, a small actuator or the like is used. Depending on the angle of the reflecting mirror 11c, the stereoscopic rigid endoscope 1 operates as a side endoscope or a perspective mirror through the observation window 12c. Further, if the reflecting mirror 11c is rotated to a position parallel to the optical axis, it operates as a direct-viewing mirror through the observation window 12d. In the present embodiment, the reflecting mirror unit 10c may be detachable or may be fixed to the lens barrel 2. The visual field direction is parallel to the plane formed by the observation zenith direction and the optical axis direction in the drawing, as in the above-described embodiment. Further, similarly to the above-described embodiment, the reflecting surface 16c of the reflecting mirror 11c is limited to be horizontally long, thereby preventing the illumination light from being reflected from the illumination window.
　図６を用いて、本発明の演算装置５で行われる画像処理について説明する。オリジナル像に対して、左目用観察窓20aと右目用観察窓20bの視差分だけずれた左目用画像と右目用画像が、カメラ４により撮像される。直視モードの場合は、画像反転等が起きないので、撮像された画像をそのままビューワの左目用と右目用のディスプレイに表示する。側視モードと斜視モードの場合は、反射鏡を介しているため、カメラ４で撮像される画像は鏡像反転した画像になっている。そのままでは非常に見にくいので、鏡像変換を行った上でビューワに表示する。演算装置５では、このほかに、必要に応じて、画像の拡大縮小、平行移動、歪補正、左右像変換などを行うことも可能である。特に、側視モードや斜視モードでは、鏡筒２を奥に進めることでズームアップすることができないので、デジタルズーム機能があると良い。また、どの反射鏡ユニットが選択されているかを撮像画像から識別する自動識別手段を設けて、自動識別結果に合わせて画像処理を切り換えても良い。例えば、反射鏡ユニットごとに異なるマークを反射面に形成しておくことで自動識別が可能である。 The image processing performed by the arithmetic device 5 of the present invention will be described with reference to FIG. The camera 4 captures a left-eye image and a right-eye image that are shifted from the original image by the amount of parallax between the left-eye observation window 20a and the right-eye observation window 20b. In the direct view mode, since image inversion or the like does not occur, the captured image is displayed as it is on the left-eye display and right-eye display of the viewer. In the case of the side view mode and the perspective mode, the image captured by the camera 4 is an image obtained by inverting the mirror image because the mirror is interposed. Since it is very difficult to see as it is, it is displayed on the viewer after mirror image conversion. In addition to this, the arithmetic unit 5 can also perform image enlargement / reduction, parallel movement, distortion correction, left-right image conversion, and the like as necessary. In particular, in the side view mode or the perspective mode, it is preferable to have a digital zoom function because zooming in cannot be performed by moving the lens barrel 2 forward. In addition, automatic identification means for identifying which reflector unit is selected from the captured image may be provided, and the image processing may be switched according to the automatic identification result. For example, automatic identification is possible by forming different marks on the reflecting surface for each reflecting mirror unit.
　図７は本発明の立体視硬性内視鏡１の使用形態を説明する図である。例えば、脳腫瘍の内視鏡手術などは、脳ベラ31で開口された狭い場所で行われる。バイポーラ32や吸引管33を用いて手術を行う際に、手術深部を観察するためには、細径の硬性内視鏡が必要である。本発明の立体視硬性内視鏡１を用いれば、奥行きを確認しながら深部の手術を行うことができるとともに、着脱ユニット等により視野を切り換えることで広い範囲を立体視することが可能になる。 FIG. 7 is a diagram illustrating a usage form of the stereoscopic rigid endoscope 1 of the present invention. For example, an endoscopic operation of a brain tumor is performed in a narrow place opened by a brain spatula 31. When performing surgery using the bipolar 32 or the suction tube 33, a thin rigid endoscope is required to observe the deep part of the surgery. By using the stereoscopic rigid endoscope 1 of the present invention, it is possible to perform deep surgery while confirming the depth, and it is possible to stereoscopically view a wide range by switching the visual field with an detachable unit or the like.
　以上、本発明の実施形態の一例を説明したが、本発明はこれに限定されるものではなく、特許請求の範囲に記載された技術的思想の範疇において各種の変更が可能であることは言うまでもない。 Although an example of the embodiment of the present invention has been described above, the present invention is not limited to this, and it goes without saying that various modifications can be made within the scope of the technical idea described in the claims. Yes.
　１：立体視硬性内視鏡、　２：鏡筒、　３：操作部、　４：カメラ、　５：演算装置、　６：ビューワ、　７：照明用光源　10a,10b,10c：反射鏡ユニット、　11a,11b,11c：反射鏡、　12a,12b,12c,12d：観察窓、　13a,13b,13c：反射鏡ユニット筐体、　14a,14b,14c：反射鏡ユニット取付部、　15c：支持点、　16a,16b,16c：反射面、　17：反射投影面、　20a：左目用観察窓、　20b：右目用観察窓、　21a：左目用撮像光路、　21b：右目用撮像光路、　22：照明窓、　22a,22b：照明部、　23：照明用光路、　24a,24b：溝、　31：脳ベラ、　32：バイポーラ、　33：吸引管

  1: stereoscopic rigid endoscope, 2: lens barrel, 3: operation unit, 4: camera, 5: arithmetic unit, 6: viewer, 7: light source for illumination 10a, 10b, 10c: reflector unit, 11a, 11b , 11c: Reflector, 12a, 12b, 12c, 12d: Observation window, 13a, 13b, 13c: Reflector unit housing, 14a, 14b, 14c: Reflector unit mounting part, 15c: Support point, 16a, 16b, 16c: Reflective surface, 17: Reflective projection surface, 20a: Observation window for left eye, 20b: Observation window for right eye, 21a: Imaging optical path for left eye, 21b: Imaging optical path for right eye, 22: Illumination window, 22a, 22b: Illumination part 23: Light path for illumination, 24a, 24b: Groove, 31: Brain spatula, 32: Bipolar, 33: Suction tube

Claims (6)

  1. 　視野方向が可変な立体視硬性内視鏡であって、
    　左目用と右目用の２つ像を撮像する撮像素子と照明用光源とを有する操作部と、
    　先端部の左目用と右目用の２つの像を前記操作部に導く光学系を有する鏡筒と、
    　前記鏡筒の先端部に設けられた着脱自在な反射鏡と、を有し、
    　前記鏡筒には、左目用と右目用の像を先端部から前記操作部に導く独立した２つの撮像用光路と、前記操作部の照明用光源からの光を先端部に導く照明用光路とが設けられており、
    　前記反射鏡の着脱により、直視、斜視及び側視の視野方向の切り換えが可能であり、
    　前記反射鏡は、前記撮像用光路の光軸方向と前記撮像素子による観察画像の天頂方向とがなす面と前記視野方向とが平行になるような向きに配置される、
    立体視硬性内視鏡。     Stereoscopic rigid endoscope with variable viewing direction,
    An operation unit having an image sensor for capturing two images for the left eye and the right eye, and an illumination light source;
    A lens barrel having an optical system for guiding two images for the left eye and the right eye of the tip to the operation unit;
    A detachable reflecting mirror provided at the tip of the lens barrel,
    The lens barrel includes two independent imaging optical paths that guide the left-eye and right-eye images from the tip to the operation unit, and an illumination optical path that guides light from the illumination light source of the operation unit to the tip. Is provided,
    By attaching and detaching the reflecting mirror, it is possible to switch the viewing direction between direct view, perspective view and side view,
    The reflecting mirror is arranged in an orientation such that a plane formed by an optical axis direction of the imaging optical path and a zenith direction of an observation image by the imaging element is parallel to the visual field direction.
    Stereoscopic rigid endoscope.
  2. 　前記反射鏡は反射鏡ユニット内に設けられており、
    　前記鏡筒の先端部に、前記反射鏡ユニットを回動しないように取り付ける取付部が設けられている、
    請求項１記載の立体視硬性内視鏡。     The reflecting mirror is provided in a reflecting mirror unit,
    A mounting portion is provided at the tip of the barrel so as not to rotate the reflecting mirror unit.
    The stereoscopic rigid endoscope according to claim 1.
  3. 　前記反射鏡の反射面が、前記撮像用光路の光軸から見て横長になるように構成されている、
    請求項１又は２記載の立体視硬性内視鏡。     The reflecting surface of the reflecting mirror is configured to be horizontally long when viewed from the optical axis of the imaging optical path.
    The stereoscopic rigid endoscope according to claim 1 or 2.
  4. 　前記撮像素子からの像を画像処理する演算手段と、
    　前記演算手段により画像処理された像を表示する表示手段と、をさらに有し、
    　前記演算手段は、前記視野方向に応じて、少なくとも鏡像変換を含む画像処理を行うことが可能である、
    請求項１乃至３いずれか記載の立体視硬性内視鏡。     Arithmetic means for image processing an image from the image sensor;
    Display means for displaying the image processed by the computing means,
    The arithmetic means can perform image processing including at least mirror image conversion according to the visual field direction.
    The stereoscopic rigid endoscope according to any one of claims 1 to 3.
  5. 　前記演算手段は、前記反射鏡の着脱の有無及び視野方向を自動識別する反射鏡自動識別手段を有し、
    　前記演算手段は、前記自動識別の結果に基づいて画像処理を行う、
    請求項４記載の立体視硬性内視鏡。     The arithmetic means has a reflector automatic identification means for automatically identifying whether or not the reflector is attached and detached and a visual field direction,
    The computing means performs image processing based on the result of the automatic identification.
    The stereoscopic rigid endoscope according to claim 4.
  6. 　視野方向が可変な立体視硬性内視鏡であって、
    　左目用と右目用の２つ像を撮像する撮像素子と照明用光源とを有する操作部と、
    　先端部の左目用と右目用の２つの像を前記操作部に導く光学系を有する鏡筒と、
    　前記鏡筒の先端部に角度可変な反射鏡と、を有し、
    　前記鏡筒には、左目用と右目用の像を先端部から前記操作部に導く独立した２つの撮像用光路と、前記操作部の照明用光源からの光を先端部に導く照明用光路とが設けられており、
    　前記反射鏡の角度変化により、直視、斜視及び側視の視野方向の切り換えが可能であり、
    　前記反射鏡は、前記視野方向が、前記撮像用光路の光軸と前記撮像素子による観察画像の天頂方向とがなす面に平行になるように配置される、
    立体視硬性内視鏡。

          Stereoscopic rigid endoscope with variable viewing direction,
    An operation unit having an image sensor for capturing two images for the left eye and the right eye, and an illumination light source;
    A lens barrel having an optical system for guiding two images for the left eye and the right eye of the tip to the operation unit;
    A reflective mirror having a variable angle at the tip of the lens barrel;
    The lens barrel includes two independent imaging optical paths that guide the left-eye and right-eye images from the tip to the operation unit, and an illumination optical path that guides light from the illumination light source of the operation unit to the tip. Is provided,
    By changing the angle of the reflecting mirror, it is possible to switch the viewing direction between direct view, perspective view and side view,
    The reflecting mirror is arranged so that the visual field direction is parallel to a plane formed by an optical axis of the imaging optical path and a zenith direction of an observation image by the imaging element.
    Stereoscopic rigid endoscope.

PCT/JP2014/069791 2013-07-29 2014-07-28 Stereoscopic rigid endoscope WO2015016166A1 (en)

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