WO2017082047A1 - Endoscope system - Google Patents

Abstract

This endoscope system includes: a first endoscope that has a first imaging unit; an arm that is operable in order to move the first imaging unit and is disposed to the first endoscope; a second endoscope that has an illumination unit which applies light to a second imaging unit and a site to be imaged by the second imaging unit; and a control device that obtains, from the first imaging unit, an image that includes, in a field of vision thereof, a light spot that is generated by the light being applied onto the site to be imaged, and causes the arm to be operated on the basis of the position of the light spot on the image such that the field of vision of the first imaging unit has a predetermined relationship relative to the field of vision of the second imaging unit.

Description

Endoscope system

The present invention relates to an endoscope system. This application claims priority based on Japanese Patent Application No. 2015-223439 filed in Japan on November 13, 2015, the contents of which are incorporated herein by reference.

Conventionally, in a surgical operation using an endoscope, it is known to perform treatment while switching between a narrow-angle image and a wide-angle image of a treatment target region (see, for example, Patent Document 1). In addition, it is known that a plurality of imaging units are arranged in the body in order to simultaneously image a treatment target region from a plurality of angles (see, for example, Patent Document 2). In addition, it is known that an imaging unit for acquiring a narrow-angle image of a treatment target region and another imaging unit for acquiring a wide-angle image of the treatment target region are arranged in the body (for example, patents). Reference 3).

Japanese Laid-Open Patent Publication No. 8-336497 International Publication No. 2011/142189 Japanese Unexamined Patent Publication No. 2000-32442

When switching and observing a plurality of images such as a narrow-angle image and a wide-angle image for one treatment target site, it is desirable that the correspondence between the images can be easily grasped. However, since the techniques disclosed in Patent Documents 1, 2, and 3 do not have a function of automatically matching the centers of the visual fields of a plurality of images, in order for the operator to grasp the correspondence between the images, The procedure may be stopped, and the operation time may be prolonged.

The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide an endoscope system in which a time for temporarily suspending treatment is reduced when a plurality of images are switched and observed.

An endoscope system according to a first aspect of the present invention is operable to move a first endoscope having a first imaging unit and the first imaging unit, and is arranged in the first endoscope. And a second endoscope having a second imaging unit and an irradiation unit that irradiates light to the imaging target site of the second imaging unit, and a light spot generated by irradiating the imaging target site with the light. An image included in the field of view is acquired from the first imaging unit, and the position of the light spot on the image is such that the field of view of the first imaging unit has a predetermined positional relationship with the field of view of the second imaging unit. And a control device for operating the arm based on the above.

According to the second aspect of the present invention, in the endoscope system according to the first aspect, the control device uses an image captured by the first imaging unit as a control procedure for operating the arm. A recognition step for recognizing the light spot, and a movement amount of the arm for moving a predetermined reference position on the image based on the light spot recognized in the recognition step is calculated after the recognition step. A calculation step; and an instruction step for outputting an operation instruction for moving the arm based on the operation amount after the calculation step, and the operation of the arm may be controlled according to the control procedure.

According to a third aspect of the present invention, in the endoscope system according to the second aspect, the control device measures a first distance that is a distance between the first imaging unit and the imaging target part. A distance step is further included in the control procedure, and in the calculation step, the first distance when the arm reaches the movement target position based on the movement amount is equal to the first distance at the start of movement of the arm. As described above, the movement amount of the arm may be calculated.

According to a fourth aspect of the present invention, in the endoscope system according to the second aspect, the control device includes a first distance that is a distance between the first imaging unit and the imaging target part, and the first A distance measuring step for measuring a second distance that is a distance between two imaging units and the imaging target part, and a distance adjusting step for operating the arm so that the first distance is larger than the second distance; May be further included in the control procedure.

According to a fifth aspect of the present invention, in the endoscope system according to the third or fourth aspect, in the distance measuring step, the control device calculates a distance between the first imaging unit and the light spot. The first distance may be calculated.

According to the sixth aspect of the present invention, the endoscope system according to any one of the first to fifth aspects is operable to move the second imaging unit, and the second endoscope A second arm may be further provided, and the control device may control the first endoscope, the second endoscope, and the arm.

According to the present invention, it is possible to provide an endoscope system that has a short time for temporarily suspending a treatment when switching and observing a plurality of images.

It is a mimetic diagram of an endoscope system concerning a 1st embodiment of the present invention. It is a typical sectional view of the 2nd endoscope of the endoscope system concerning a 1st embodiment of the present invention. It is a block diagram of the principal part of the endoscope system concerning a 1st embodiment of the present invention. It is a flowchart for demonstrating the control procedure by the control apparatus of the endoscope system which concerns on 1st Embodiment of this invention. It is a schematic diagram for demonstrating the effect | action of the endoscope system which concerns on 1st Embodiment of this invention. It is a schematic diagram for demonstrating the effect | action of the endoscope system which concerns on 1st Embodiment of this invention. It is a schematic diagram for demonstrating the effect | action of the endoscope system which concerns on 1st Embodiment of this invention. It is a mimetic diagram of an endoscope system concerning a 2nd embodiment of the present invention. It is a flowchart for demonstrating the control procedure by the control apparatus of the endoscope system which concerns on 2nd Embodiment of this invention. It is a schematic diagram for demonstrating the effect | action of the endoscope system which concerns on 2nd Embodiment of this invention. It is a schematic diagram for demonstrating the effect | action of the endoscope system which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the structure of the modification of embodiment which concerns on 2nd Embodiment of this invention. It is a mimetic diagram showing operation of the 1st endoscope in other modifications of an embodiment concerning a 2nd embodiment of the present invention. It is a schematic diagram which shows the structure of the principal part of the endoscope system which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating the control procedure by the control apparatus of the endoscope system which concerns on 3rd Embodiment of this invention. It is a schematic diagram of an endoscope system according to a fourth embodiment of the present invention. It is a schematic diagram of an endoscope system according to a fifth embodiment of the present invention. It is a schematic diagram of an endoscope system according to a sixth embodiment of the present invention. It is a schematic diagram for demonstrating an effect | action of the endoscope system which concerns on 6th Embodiment of this invention. It is a schematic diagram of an endoscope system according to a seventh embodiment of the present invention.

(First embodiment)
A first embodiment of the present invention will be described. FIG. 1 is a schematic diagram of an endoscope system according to the first embodiment of the present invention. FIG. 2 is a schematic cross-sectional view of a second endoscope of the endoscope system.
FIG. 3 is a block diagram of a main part of the endoscope system.

An endoscope system 1 shown in FIG. 1 is an endoscope system that can be used for performing a surgical operation or the like.
As shown in FIGS. 1 and 3, the endoscope system 1 includes a first endoscope 10, an arm 16, a first image processing device 21, a first sub monitor 22, and a second endoscope 23. , A second image processing device 35, a second sub-monitor 36, a control device 41, and a main monitor 45.
The endoscope system 1 according to the present embodiment is used with a known medical instrument that can be used for performing a surgical operation or the like. For example, the endoscope system 1 according to the present embodiment is used for observing, as an imaging target, a range including a region to be treated by a medical instrument inserted into the body through a trocar.

In the endoscope system 1 of the present embodiment, the first endoscope 10 acquires an image (wide-angle image) that captures a wide area including a treatment target region and displays it on the first sub-monitor 22 and the main monitor 45. It is an endoscope for making it happen. The first endoscope 10 is connected to the first image processing device 21 by a signal line SL1. Further, the first image processing device 21 and the control device 41 are connected by a signal line SL1 ′.
As shown in FIG. 1, the first endoscope 10 includes an insertion unit 11 and an operation unit 15.

The insertion part 11 has an elongated rod shape as a whole. The insertion part 11 in this embodiment has a hard property, for example. That is, in the present embodiment, the first endoscope 10 is a rigid endoscope.
The insertion portion 11 has a distal end configuration portion 12 and a shaft portion 14.

The distal end configuration portion 12 is disposed at an end portion of the insertion portion 11 opposite to the operation portion 15 side (referred to as the distal end portion of the first endoscope 10 in the present embodiment). The distal end configuration unit 12 includes an imaging unit 13 (first imaging unit) that images an imaging target region including a treatment target region. In addition to the imaging unit 13, the distal end configuration unit 12 may further include an illuminating unit (not shown) for irradiating illumination light to a region to be imaged by the imaging unit 13.

The imaging unit 13 includes, for example, an image sensor and an objective optical system (both not shown) in order to acquire an image of the treatment target region. The image sensor of the imaging unit 13 can acquire, for example, a bright field image of the imaging target part. Furthermore, the imaging unit 13 of the present embodiment can image the laser light emitted from the laser irradiation unit 27 of the second endoscope 23 described later together with the tissue including the treatment target site. That is, in the imaging unit 13 included in the first endoscope 10 of the present embodiment, the laser beam irradiated by the laser irradiation unit 27 of the second endoscope 23 is irradiated to the imaging target site of the first endoscope 10. The sensitivity of the generated light spot A1 is high enough to distinguish the light spot A1 from other parts. The image captured by the imaging unit 13 is transmitted to the first image processing device 21 described later, and further transmitted to the control device 41.

The shaft portion 14 has a hard cylindrical shape in order to guide the distal end constituting portion 12 to the vicinity of the treatment target site in the body. Inside the shaft portion 14, a signal line (not shown) from the imaging unit 13 included in the distal end configuration unit 12 is wired.

In order to attach the first endoscope 10 to the arm 16, the operation unit 15 is an end of the insertion unit 11 opposite to the distal end component 12 side (the base end of the first endoscope 10 in this embodiment). Arranged). The operation unit 15 is fixed to the shaft unit 14.

The insertion portion 11 of the first endoscope 10 of the present embodiment may have a channel for inserting a known endoscope treatment tool.

In addition, the first endoscope 10 of the present embodiment has a bending portion for bending and deforming a part of the shaft portion 14 in the vicinity of the distal end of the insertion portion 11 in order to move the imaging field of the imaging portion 13. It may be. The first endoscope 10 may be configured to rotate the imaging field of the imaging unit 13 with the center of the field of view as the center of rotation. The rotation of the imaging field of view may be configured to mechanically rotate the imaging unit 13 or may be configured to rotate an image acquired by the image sensor of the imaging unit 13 by image processing. By enabling the movement and rotation of the imaging field as described above, the image captured by the imaging unit 26 of the second endoscope 23 described later and the image captured by the imaging unit 13 of the first endoscope 10 are associated with each other. Can be made easier.

For example, the arm 16 holds the first endoscope 10 in a desired position and posture, or moves the first endoscope 10 in a desired direction. The arm 16 is connected to the control device 41 via the signal line SL2.
The arm 16 includes a link portion 17, a plurality of joint portions 18, an actuator 19, and an encoder 20.

The link unit 17 includes a distal link unit 17 a having a detachable structure to which the operation unit 15 of the first endoscope 10 can be attached, and a plurality of proximal link units 17 b that connect the plurality of joint units 18. have.

The joint portion 18 connects two adjacent link portions 17 so as to be bendable, for example. Further, some of the joint portions 18 constituting the plurality of joint portions 18 may connect the two adjacent link portions 17 so that the respective centerlines are coaxial with each other so as to be rotatable.
The upper limit of the degree of freedom of the arm 16 is not particularly limited. The arrangement and number of the joint portions 18 are sufficient if the arm 16 can be provided with the minimum degree of freedom necessary for controlling the position and posture of the first endoscope 10.

Actuator 19 is arranged at joint 18. The actuator 19 operates the joint portion 18 according to the operation control by the control device 41.

The encoder 20 is disposed at the plurality of joint portions 18. In the present embodiment, encoders 20 are arranged at all joint portions 18 included in the arm 16.
The encoder 20 is electrically connected to a control device 41 described later. The encoder 20 can output the movement amount of each joint portion 18 to the control device 41. The encoder 20 may output a signal indicating the absolute angle of each joint 18 to the control device 41.

As shown in FIG. 3, the first image processing device 21 is connected to the imaging unit 13 of the first endoscope 10. The first image processing device 21 receives image information captured by the image capturing unit 13 of the first endoscope 10 from the image capturing unit 13 and outputs the image information to the first sub-monitor 22 as a video signal. To the image control unit 43.

The first sub-monitor 22 displays a video based on the video signal output from the first image processing device 21. The first sub-monitor 22 can display a wide-angle image including the treatment target part.

As shown in FIGS. 1 to 3, the second endoscope 23 is an image (narrow-angle image) in which a narrow region including a treatment target region is an imaging target in the endoscope system 1 according to the present embodiment. It is an endoscope for acquiring and displaying on the second sub-monitor 36 and the main monitor 45. The second endoscope 23 is connected to the second image processing device 35 via the signal line SL3. Further, the second image processing device 35 and the control device 41 are connected via a signal line SL3 ′.
The second endoscope 23 has an insertion part 24 and an operation part 33.

The insertion portion 24 has an elongated rod shape as a whole. The insertion part 24 in this embodiment has a hard property, for example. That is, in the present embodiment, the second endoscope 23 is a rigid endoscope.
The insertion portion 24 has a tip configuration portion 25 and a shaft portion 32.

The distal end configuration portion 25 is disposed at an end portion of the insertion portion 24 opposite to the operation portion 33 side (referred to as the distal end portion of the second endoscope 23 in the present embodiment). The front-end | tip structure part 25 has the imaging part 26 (2nd imaging part) which images the imaging target site | part containing the treatment target site | part, and the laser irradiation part 27 for irradiating a laser beam with respect to an imaging target site | part. ing. In addition to the imaging unit 26 and the laser irradiation unit 27, the distal end configuration unit 25 may further include an illuminating unit (not illustrated) for irradiating illumination light to a region to be imaged by the imaging unit 26.

The imaging unit 26 has, for example, an image sensor and an objective optical system (both not shown) in order to acquire an image of the treatment target region. The image sensor of the imaging unit 26 can acquire, for example, a bright field image of the imaging target part. The imaging unit 26 of the second endoscope 23 may have functions such as zoom and rotation in order to obtain an image that facilitates treatment for the treatment target region.

As shown in FIG. 2, the laser irradiation unit 27 includes a light emitting unit 28 and an emitting unit 31.

The light emitting unit 28 includes a laser light source 29 and an optical system 30. As the configuration of the laser light source 29, a known configuration capable of laser oscillation so as to have brightness and color (wavelength) that can be detected by the imaging unit 13 (see FIG. 1) of the first endoscope 10 may be appropriately selected. . Laser light from the laser light source 29 is converted into parallel light through the optical system 30. Note that the optical system 30 of the light emitting unit 28 may include a filter that changes the wavelength of the laser light emitted from the laser light source 29.

The emitting unit 31 irradiates the laser beam generated by the light emitting unit 28 toward a predetermined part of the imaging field of the imaging unit 26 of the second endoscope 23. For example, the emitting unit 31 is so close and parallel that the center of the field of view of the imaging unit 26 of the second endoscope 23 and the optical axis of the laser beam can be regarded as substantially coaxial. An optical component for guiding laser light is included. That is, in the present embodiment, the emitting unit 31 emits laser light in parallel with the optical axis of the second endoscope 23 from the vicinity of the imaging unit 26 of the second endoscope 23.

The shaft portion 32 has a hard cylindrical shape in order to guide the distal end constituting portion 25 of the second endoscope 23 to the vicinity of the treatment target site in the body. A signal line (not shown) from the imaging unit 26 of the second endoscope 23 is wired inside the shaft portion 32. Moreover, the axial part 32 may have a treatment tool channel for inserting a treatment tool.

As shown in FIG. 1, in order to operate the second endoscope 23 outside the body, the operation portion 33 is an end portion on the opposite side of the distal end component portion 25 side in the insertion portion 24 (in this embodiment, the second inner portion). (Referred to as a proximal end portion of the endoscope 23).
The operation part 33 has a grip part 34.

The grip part 34 is a part that can be gripped by an operator who operates the second endoscope 23.
In the present embodiment, the operator can move the entire insertion portion 24 by gripping and moving the grip portion 34. That is, in this embodiment, when the second endoscope 23 is used, the operator can move the imaging field of view of the imaging unit 26 of the second endoscope 23 by holding and moving the holding unit 34. .
An irradiation switch 39 and a viewpoint change switch 40 which will be described later are disposed on the grip portion 34.

As shown in FIG. 3, the second image processing device 35 is connected to the imaging unit 26 of the second endoscope 23. The second image processing device 35 receives image information captured by the image capturing unit 26 of the second endoscope 23 from the image capturing unit 26 and outputs the image information to the second sub-monitor 36 as a video signal. To the image control unit 43.
The second sub monitor 36 displays video based on the video signal output from the second image processing device 35. The second sub-monitor 36 can display a narrow-angle image including the treatment target site.

As shown in FIG. 3, the arm input unit 38 is connected to the arm control unit 44 of the control device 41. The arm input unit 38 outputs a predetermined operation signal for operating the arm 16 to the arm control unit 44 by being operated by, for example, a scopist.

The irradiation switch 39 is connected to the laser control unit 42 of the control device 41. The irradiation switch 39 is a switch that switches between a state in which laser light is emitted by the laser irradiation unit 27 (on state) and a state in which laser light is not irradiated by the laser irradiation unit 27 (off state). As shown in FIG. 1, the irradiation switch 39 is disposed on the grip portion 34 of the operation portion 33 of the second endoscope 23. Thereby, an operator who operates the second endoscope 23 can easily operate the irradiation switch 39 when operating the second endoscope 23.

The viewpoint change switch 40 is electrically connected to the image control unit 43 of the control device 41.
The viewpoint change switch 40 is a change-over switch that selects one desired image from the wide-angle image obtained by the first endoscope 10 and the narrow-angle image obtained by the second endoscope 23. For example, the viewpoint change switch 40 is a push button switch, and switches the image displayed on the main monitor 45 to a wide-angle image or a narrow-angle image each time the viewpoint change switch 40 is pressed.
The viewpoint change switch 40 is easily operated by a person who performs a treatment on the treatment target site (for example, a surgeon) or a person who operates the first endoscope 10 or the second endoscope 23 (for example, a scoopist). Can be placed in position.
For example, the viewpoint change switch 40 may be disposed in the vicinity of the grip portion 34 of the second endoscope 23 (see FIG. 1). By changing the viewpoint change switch 40 of the present embodiment at a position that can be easily operated by an operator who operates the second endoscope 23, the viewpoint can be changed during the treatment using the second endoscope 23. Is easy.

The control device 41 shown in FIGS. 1 and 3 controls the arm 16 and the second endoscope 23. Further, the control device 41 causes the main monitor 45 to display an image from the first endoscope 10, an image from the second endoscope 23, and the like.
As shown in FIG. 3, the control device 41 includes a laser control unit 42, an image control unit 43, and an arm control unit 44.
The laser control unit 42 outputs an irradiation control signal for switching on / off of laser light irradiation in the laser irradiation unit 27 of the second endoscope 23 to the laser irradiation unit 27 in accordance with an input state with respect to the irradiation switch 39. Further, the laser control unit 42 outputs irradiation information indicating whether the input state to the irradiation switch 39 is on or off to the image control unit 43. The irradiation information may further include, for example, information such as laser light emission timing and laser light intensity, and information such as the size and shape of the light spot A1 (see FIG. 2) by the laser light.

The image control unit 43 is connected to the first image processing device 21, the second image processing device 35, the laser control unit 42, the viewpoint change switch 40, and the main monitor 45. Furthermore, the image control unit 43 uses a predetermined information for operating the arm control unit 44 using the image information output from the first image processing device 21 and the image information output from the second image processing device 35. Information (in this embodiment, movement direction information of the arm 16) is generated and output to the arm control unit 44.
Further, the image control unit 43 acquires an image captured by the first endoscope 10 and an image captured by the second endoscope 23, and displays an image corresponding to the switching input by the viewpoint change switch 40 to the main monitor 45. Is output. The main monitor 45 may be composed of two screens including a main screen and a sub screen. The image control unit 43 displays an image designated by the switching input by the viewpoint change switch 40 on the main screen and performs the switching input. An image that has not been selected may be displayed on the sub-screen.

The arm control unit 44 is connected to the arm input unit 38 and the image control unit 43. Further, the arm control unit 44 is connected to the actuator 19 and the encoder 20 of the arm 16. The arm control unit 44 outputs a drive signal for driving each actuator 19 of the arm 16 according to the operation signal output by the input operation to the arm input unit 38 and the operation direction information output from the image control unit 43. Output to. The arm control unit 44 controls the operation amount of each actuator 19 with reference to the sensor signal output from each encoder 20 of the arm 16.

As shown in FIG. 1, the main monitor 45 is connected to the control device 41 via a signal line SL4. As illustrated in FIG. 3, the main monitor 45 displays an image captured by the imaging unit 13 of the first endoscope 10 and an image captured by the imaging unit 26 of the second endoscope 23 via the image control unit 43. Can be displayed. In the present embodiment, the main monitor 45 selects one image selected by the switching input by the viewpoint change switch 40 from the image captured by the first endoscope 10 and the image captured by the second endoscope 23. indicate. The display state on the main monitor 45 is controlled by the image control unit 43 of the control device 41. The specific configuration of the main monitor 45 is not particularly limited. For example, as the main monitor 45, a known display system that displays an image based on an analog or digital video signal may be appropriately selected.

Control of the arm 16 in the endoscope system 1 according to the present embodiment will be described.
In the endoscope system 1 according to the present embodiment, the control device 41 moves the first endoscope 10 so that the first endoscope 10 moves following the movement of the second endoscope 23. Specifically, the arm control unit 44 (see FIG. 3) of the control device 41 drives the arm 16 so that the light spot A1 due to the laser light irradiated to the imaging target site is within the imaging field of view by the first endoscope 10. The state in the predetermined position (see FIG. 1) is maintained.
An example of specific control by the control device 41 for the first endoscope 10 and the arm 16 will be described below with reference to FIGS. FIG. 4 is a flowchart for explaining a control procedure by the control device 41 of the endoscope system 1 according to the present embodiment. 5 to 7 are schematic diagrams for explaining the operation of the endoscope system 1.

First, the image control unit 43 shown in FIG. 3 uses the laser light emitted by the laser irradiation unit 27 of the second endoscope 23 from the image picked up by the image pickup unit 13 of the first endoscope 10. Is recognized (see recognition step, step S1, FIG. 4). In step S1, the image control unit 43 recognizes the light spot A1, for example, by distinguishing and identifying the green light spot A1 by the green laser light from the tissue around the light spot A1. In addition, when the laser irradiation unit 27 generates the light spot A1 by the laser light blinking according to the predetermined light emission pattern, the light spot A1 is recognized by extracting the part where the light and darkness changes according to the above pattern from the image. Also good.
In step S1, when the image control unit 43 can recognize the light spot A1, the image control unit 43 sets the position of the light spot A1 in the image captured by the imaging unit 13 of the first endoscope 10 to a predetermined value. Store as two-dimensional coordinate information. The coordinate system at this time is, for example, a coordinate system with the center of the field of view of the image as the origin. After the image control unit 43 stores the coordinates of the light spot A1, step S1 ends and the process proceeds to step S2.
In step S1, if the image control unit 43 cannot recognize the light spot A1, step S1 is repeated until the light spot A1 can be recognized. That is, in the present embodiment, when the imaging target region is not irradiated with laser light or when the imaging target region is irradiated with laser light, the light spot A1 is captured by the first endoscope 10. The image control unit 43 repeatedly executes step S1 and stands by until the light spot A1 enters the imaging field of the imaging unit 13 of the first endoscope 10 when the imaging unit 13 is outside the imaging field of the unit 13 or the like. Note that, when the laser light irradiation is stopped according to the intentional operation, step S1 may not be started until the laser light irradiation is started.
In addition, when the image control unit 43 cannot recognize the light spot A1 in step S1, the operator operates the arm 16 or the first eye so that the light spot A1 is included in the imaging field of view of the imaging unit 13 of the first endoscope 10. The image control unit 43 may output to the main monitor 45 a message that prompts the two endoscopes 23 to operate.

Step S2 is started when the light spot A1 is recognized in step S1.
Step S2 is a collation step for collating the positional relationship between the position of the light spot A1 recognized in step S1 (recognition step) and a predetermined reference position on the image. The “predetermined reference position on the image” in the present embodiment is a position at the center of the visual field of the image captured by the imaging unit 13 of the first endoscope 10.
In step S <b> 2, the image control unit 43 outputs light within a predetermined minute range D <b> 1 centering on the field center of the image captured by the imaging unit 13 of the first endoscope 10 (imaging field center C <b> 1 of the imaging unit 13). It is determined whether the point A1 is located or whether the light spot A1 is located outside the predetermined minute range D1. In the present embodiment, the “predetermined minute range D1” is substantially the center of the visual field of the image captured by the imaging unit 13 of the first endoscope 10 and the light spot A1 generated by the laser light from the laser irradiation unit 27. A range that can be regarded as matching is set in advance.
In the present embodiment, in step S2, the image control unit 43 determines whether or not the light spot A1 is positioned within the predetermined minute range D1. When the image control unit 43 determines that the light spot A1 is located within the predetermined minute range D1 (Yes in step S2, see FIG. 5), the process returns to step S1. When the image control unit 43 determines that the light spot A1 is not located within the predetermined minute range D1 (No in step S2, see FIG. 6), the process proceeds to step S3.

Step S3 is a calculation step for calculating the operating direction of the arm 16 for moving a predetermined reference position on the image to the position of the light spot A1 recognized in step S1 (recognition step).
In step S3, the image control unit 43 sets the light spot from the center of the visual field based on the coordinates of the light spot A1 on the image captured by the imaging unit 13 of the first endoscope 10 and the coordinates of the visual field center in this image. The direction toward A1 is calculated.
Step S3 is complete | finished now and it progresses to step S4.
In this embodiment, in step S3, the movement amount of the arm 16 is not calculated, but only the moving direction of the arm 16 is calculated. In the present embodiment, the repetitive operations from the above step S1 to the following step S4 are performed, and the state where the position of the visual field center C1 is at the position of the light spot A1 (see FIG. 7) is maintained.

Step S4 is an instruction step in which the arm controller 44 outputs an operation instruction for operating the arm 16 in the operation direction calculated in step S3 to the arm 16.
In step S4, the arm control unit 44 drives the actuators 19 of the arms 16 so that the imaging field of view of the imaging unit 13 of the first endoscope 10 moves in the operation direction calculated in step S3. Output a signal. At this time, the arm control unit 44 calculates the motion amount of each degree of freedom of the arm 16 using inverse kinematics in order to move the first endoscope 10 in the motion direction calculated in step S3. The control amount of each actuator is determined. The arm control unit 44 outputs a drive signal based on this control amount.
Furthermore, in step S4, the arm control unit 44 recognizes the movement result of the arm 16 with reference to the movement amount information output from each encoder 20 of the arm 16, and adds it to each actuator 19 if necessary. The drive signal is output. Step S4 ends when the arm 16 is moved by a predetermined minute movement amount in the direction calculated in step S3. The predetermined minute movement amount does not exceed the predetermined minute range D1 by one movement of the arm 16 based on the size of the predetermined minute range D1 described in step S2. It is set in advance as a small amount of movement. Note that the movement of the arm 16 in step S4 may be performed so as to be a swing movement of the shaft portion 14 with the trocar as the swing center, for example. Further, when the shaft portion 14 or the imaging unit 13 of the first endoscope 10 can be translated in a direction orthogonal to the center line of the shaft portion 14 of the first endoscope 10, the first endoscope The ten imaging units 13 may be translated in the direction calculated in step S3.
This ends step S4 and returns to step S1.

The above steps S1 to S4 are repeatedly executed, for example, while the endoscope system 1 is operating. Further, the operator may be able to specify on / off of the control flow from step S1 to step S4.

The operation of the endoscope system 1 according to this embodiment will be described.
When the endoscope system 1 according to this embodiment shown in FIG. 1 is used, the first endoscope 10 and the second endoscope 23 are inserted into the body. That is, the insertion portion 11 of the first endoscope 10 and the insertion portion 24 of the second endoscope 23 are inserted into the body through, for example, a trocar, and the distal end constituting portion 12 of the first endoscope 10 is a treatment target site in the body. The distal end constituting portion 25 of the second endoscope 23 is guided to a position closer to the treatment target site and closer to the first endoscope 10.

In the state where the distal end constituting portion 12 of the first endoscope 10 and the distal end constituting portion 25 of the second endoscope 23 are both guided in the vicinity of the treatment target site, the distal end constituting portion 12 of the first endoscope 10 and the treatment are treated. The distance to the target part is longer than the distance between the distal end component 25 of the second endoscope 23 and the treatment target part. Therefore, the imaging unit 13 disposed in the distal end configuration unit 12 of the first endoscope 10 has a wider imaging field of view than the imaging unit 26 disposed in the distal end configuration unit 25 of the second endoscope 23. Yes. That is, when the first endoscope 10 and the second endoscope 23 are arranged in the body with the above-described distance relationship, the first endoscope 10 includes a treatment target site. A wide-angle image can be captured, and the second endoscope 23 can capture a narrow-angle image including the treatment target region. In the present embodiment, the first endoscope 10 and the second endoscope 23 may have optical functions such as zoom and macro, but an explanation in consideration of these optical functions is described in this specification. Omitted.

After the first endoscope 10 and the second endoscope 23 are guided to the vicinity of the treatment target site, for example, the operator observes the treatment target site. At this time, the operator mainly operates the second endoscope 23. Further, at this time, the first endoscope 10 operates by automatic control by the control device 41. As a specific example, after the first endoscope 10 and the second endoscope 23 are guided in the vicinity of the treatment target site, the control device 41 moves the arm 16 according to the control procedure from step S1 to step S4 described above. Make it work. By repeating each step from step S1 to step S4, as shown in FIGS. 5 to 7, the visual field center C2 of the narrow-angle image captured by the imaging unit 26 of the second endoscope 23, and the first The state in which the visual field center C1 of the wide-angle image captured by the imaging unit 13 of the endoscope 10 matches is maintained.

For example, when the operator operating the second endoscope 23 moves the imaging field of view of the second endoscope 23, the imaging unit 26 of the second endoscope 23 moves and the second endoscope 23 The laser irradiation unit 27 of the mirror 23 also moves integrally. As a result, the light spot A1 due to the laser light applied to the imaging target region including the treatment target region also moves. In the first endoscope 10, the light spot A <b> 1 that was in the center of the field of view of the image captured by the imaging unit 13 of the first endoscope 10 is the result of the operation by the operator on the second endoscope 23, It moves to a position different from the center of the field of view of the image picked up by the endoscope 10. At this time, in the above step S2, it is determined that the light spot A1 has moved out of the predetermined minute range D1 including the visual field center, and the visual field center of the image is located in the inner region of the predetermined minute range D1. Until this is done, the above steps S1 to S4 are repeatedly executed. As a result, the first endoscope 10 operates following the movement of the imaging field of the imaging unit 26 of the second endoscope 23. In the present embodiment, the amount of movement of the first endoscope 10 by executing each step from step S1 to step S4 once is a minute amount of movement, so the second endoscope 23 is moved while moving the second endoscope 23. When a treatment or observation is performed using the endoscope 23, the moving direction in step S3 is updated in a short time. As a result, in the present embodiment, the first endoscope 10 always follows the second endoscope 23 with the position closest to the second endoscope 23 as a movement target.

In addition, for example, before the operator starts treatment for the treatment target region, the operator can check a wide region including the treatment target region for the purpose of confirming the state of the tissue around the treatment target region, the running of the blood vessel, and the like. There is a case of observation from a bird's-eye view. In the endoscope system 1 according to the present embodiment, the first endoscope 10 can be used for such a bird's-eye view. For example, the operator displays a narrow-angle image captured by the imaging unit 26 of the second endoscope 23 on the main monitor 45 or a wide-angle image captured by the imaging unit 13 of the first endoscope 10. For example, the viewpoint changing switch 40 (see FIG. 1) is appropriately operated.

In the present embodiment, which image is displayed on the main monitor 45 between the image captured by the imaging unit 13 of the first endoscope 10 and the image captured by the imaging unit 26 of the second endoscope 23. Regardless, the center of the visual field is always maintained in a state where they coincide with each other. For this reason, the image newly displayed on the main monitor 45 as a result of switching input to the viewpoint change switch 40 is an image in which the same part as the previously displayed image is captured at the center of the visual field. For example, when the details of the treatment target part are observed with the narrow-angle image by the second endoscope 23 and then switched to the wide-angle image by the viewpoint change switch 40, a wide-angle image in which the treatment target part is located at the center of the visual field is displayed on the main monitor 45. Therefore, the state of the tissue around the treatment target site, the running of the blood vessel, and the like can be easily confirmed.
As an example, a surgeon performing treatment using the endoscope system 1 according to the present embodiment uses the main monitor 45 to perform treatment while viewing a wide-angle image and a narrow-angle image including a treatment target region. Can do. In addition, the scopist who operates the first endoscope 10 and the second endoscope 23 of the endoscope system 1 according to the present embodiment uses the first sub-monitor 22 and the second sub-monitor 36 to perform the treatment by the surgeon. Can adjust the position and posture of each endoscope independently or in cooperation with a surgeon's procedure.

Conventionally, when imaging a treatment target region using a plurality of endoscopes, an image in which the treatment target region is observed with one endoscope and the treatment target region is observed with the other endoscope Even if there is no correspondence between the images or the correspondence between the images, the operator needs to understand the state of the treatment target region and the surrounding tissue from each image and proceed with the treatment. It is cumbersome to perform the association operation every time a plurality of images are switched, and if the operator understands each image and proceeds with the treatment without association, the work burden on the operator is very high. As a result, conventionally, when an operation is performed by frequently switching a plurality of images, the operation pause time may be increased, and thus the operation time may be prolonged.

On the other hand, according to the endoscope system 1 according to the present embodiment, the center of the visual field of the narrow-angle image captured by the imaging unit 26 of the second endoscope 23 and the wide-angle image captured by the first endoscope 10. The center of the visual field is maintained in a state that is substantially consistent with the visual field center. According to the endoscope system 1 according to the present embodiment, the operator can easily understand the correspondence between the images before and after the operation of the viewpoint change switch 40, and when switching between a wide-angle image and a narrow-angle image for observation. Treatment downtime can be shortened. As a result, according to the endoscope system 1 according to the present embodiment, since the pause time in the operation time is short, the entire operation time can be shortened, and the burden on the patient can be reduced.

Further, according to the endoscope system 1 according to the present embodiment, a narrow-angle image and a wide-angle image are appropriately switched in a process in which an operator operating the endoscope system 1 is performing treatment on a treatment target region. By displaying on the main monitor 45, the treatment can be advanced while performing a bird's-eye view and a local observation of the treatment target region. Furthermore, in the present embodiment, when the second endoscope 23 is moved to change the treatment target site, the first endoscope 10 automatically follows the second endoscope 23 and moves. The operator does not have to perform an operation of moving the center of the field of view of the wide-angle image to a new treatment target site.
In a case where treatment is performed using a single endoscope in a conventional laparoscopic operation, during a procedure such as a peeling operation or blood vessel exposure in a close visual field (narrow angle visual field) In some cases, it is necessary to check the state of surrounding tissue or to check the running of the blood vessel currently being treated.
In this case, the endoscope that has been brought close to is pulled and observed at a position where the whole can be seen, and the operation of returning the endoscope to the original position is performed after confirming the running of surrounding tissues and blood vessels. . The first close visual field was the operative field (visual field) created by instructing the scopist to be easy to treat. However, by observing the whole, the field of view created first has been destroyed. In order to reproduce the condition (field of view) that is easy to treat after the overall observation, the surgeon must repeat the instructions to the scopist, and it takes a long time to be able to return to the treatment. Accumulate. For this reason, in order to avoid this stress and fatigue, the surgeon wants to avoid losing his field of vision with a small amount of confirmation, and may give up even if he wants to confirm the whole.
In this embodiment, it is possible to confirm the surroundings with a wide-angle visual field at the moment when the surgeon wants to confirm, and to quickly return to the visual field that has been treated after confirmation. For this reason, in this embodiment, there is little time lag until treatment return, and there is little stress and fatigue to a surgeon. In addition, in the present embodiment, the surrounding tissue can be appropriately confirmed using the wide-angle image, so there is a possibility that safer surgery can be performed.

(Second Embodiment)
A second embodiment of the present invention will be described. In the present embodiment, the same components as those described in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant descriptions are omitted. FIG. 8 is a schematic diagram of an endoscope system according to the second embodiment of the present invention.

The endoscope system 2 shown in FIG. 8 includes the first endoscope 10, the arm 16, and the main monitor 45 disclosed in the first embodiment. In addition, the endoscope system 2 is replaced with the second endoscope 23 disclosed in the first embodiment, instead of the second endoscope 23 and the control device 41 (see FIG. 1) disclosed in the first embodiment. And a second endoscope 50 and a control device 53 having different configurations from the control device 41.

Instead of the laser irradiation unit 27 (see FIG. 2) disclosed in the first embodiment, the second endoscope 50 has a light spot A2 having a circular shape or an annular shape (in FIG. 8, an annular light spot). Is schematically shown.) Has a laser irradiation unit 51 that irradiates a laser beam so as to be generated in the imaging target region. The second endoscope 50 of the present embodiment may be the same as the second endoscope 23 (see FIGS. 1 and 2) disclosed in the first embodiment with respect to the configuration other than the laser irradiation unit 51. .

The laser irradiation unit 51 includes a light emitting unit 28 as in the laser irradiation unit 27 of the first embodiment. In the present embodiment, unlike the first embodiment, the optical system 30 includes a lens (not shown) that refracts the laser light so that the laser light emitted from the laser light source 29 is irradiated in a circular shape or an annular shape. ing. For example, the laser light emitted from the laser light source 29 passes through the optical system 30 and becomes circular or annular diffused light. Further, the laser irradiation unit 51 generates a circular or annular light spot A2 having a constant size regardless of the distance to the object irradiated with the laser light (for example, a region to be imaged by the second endoscope 50). The emitting unit 52 for generating the irradiation object is provided in place of the emitting unit 31 (see FIG. 2) disclosed in the first embodiment.

The emitting unit 52 irradiates laser light toward a predetermined part within the imaging field of the imaging unit 26 of the second endoscope 50. For example, the emission unit 52 is in a parallel state in which the center of the field of view of the imaging unit 26 of the second endoscope 50 and the optical axis of the laser light are coaxial or close enough to be considered to be substantially coaxial. An optical component for guiding laser light is included. For example, the emitting unit 52 includes a collimator lens (not shown). Thereby, the laser light is incident on the emission part 52 as circular or annular diffused light from one point in the optical path from the laser light source 29 to the emission part 52, and the cross section perpendicular to the optical axis is circular or The irradiation object is irradiated from the emitting part 52 as parallel light having an annular shape. As a result, in the present embodiment, the laser light emitted from the emitting unit 52 irradiates a circular or annular light spot A2 having a constant size regardless of the distance between the emitting unit 52 and the irradiation object. It can be generated in an object.

The irradiation object to which the laser irradiation unit 51 of the present embodiment irradiates laser light is a tissue or the like included in a region to be imaged by the imaging unit 26 of the second endoscope 50 as in the first embodiment.

The control device 53 of the endoscope system 2 according to the present embodiment is similar to the control device 41 disclosed in the first embodiment, in which a laser control unit 42, an image control unit 43, and an arm control unit 44 (see FIG. 3). However, it operates according to a control procedure different from that of the control device 41 disclosed in the first embodiment.

As in the first embodiment, the control device 53 is one or both of an image captured by the imaging unit 13 of the first endoscope 10 and an image captured by the imaging unit 26 of the second endoscope 50. Are displayed on the main monitor 45 in accordance with a switching input to the viewpoint change switch 40 disposed on the operation unit 33 of the second endoscope 50.

Moreover, the control apparatus 53 controls the 1st endoscope 10 and the arm 16 based on the control procedure different from each step from step S1 to step S4 in said 1st Embodiment.
As in the first embodiment, the endoscope system 2 according to the present embodiment has the arm control unit 44 configured so that the first endoscope 10 moves following the movement of the second endoscope 50. One endoscope 10 is moved. Here, the image control unit 43 of the control device 53 of the present embodiment determines the first inner point based on the size of the light spot A2 included in the image captured by the imaging unit 13 of the first endoscope 10. The distance between the endoscope 10 and the light spot A2 is recognized, and the moving direction and the moving amount of the first endoscope 10 are calculated under the condition that this distance is constant.
An example of specific control by the control device 53 for the first endoscope 10 and the arm 16 will be described below by dividing the control procedure into steps. FIG. 9 is a flowchart for explaining a control procedure by the control device 53 of the endoscope system. FIG. 10 is a schematic diagram for explaining the operation of the endoscope system. FIG. 11 is a schematic diagram for explaining the operation of the endoscope system.

First, the image control unit 43 of the control device 53 uses the laser light emitted by the laser irradiating unit 51 of the second endoscope 50 from the image captured by the imaging unit 13 of the first endoscope 10 to the imaging target region. The resulting circular or annular light spot A2 (see, for example, FIG. 8) is recognized (recognition step, step S11, see FIG. 9). In step S11, the image control unit 43 performs light based on the shape corresponding to the shape of the light spot A2 generated by the laser irradiated by the laser irradiation unit 51 and the wavelength peculiar to the laser light or the blinking state similar to the first embodiment. Recognize point A2. In order for the image control unit 43 to identify the shape, wavelength, and blinking state of the light spot A2, the irradiation information output to the image control unit 43 by the laser control unit 42 is referred to.
In step S11, when the image control unit 43 can recognize the light spot A2, the image control unit 43 sets the center position of the light spot A2 in the image captured by the imaging unit 13 of the first endoscope 10 to a predetermined value. Is stored as two-dimensional coordinate information. Further, the image control unit 43 stores the diameter of the light spot A2 in association with the coordinate information. The coordinate system at this time is, for example, a coordinate system with the center of the field of view of the image as the origin. Even if the shape of the light spot A2 is distorted or the light spot A2 is slightly missing depending on the shape of the irradiation object irradiated with the laser light, the distortion is corrected or the missing is compensated. The image control unit 43 stores the coordinates of the center of the light spot A2 after correction or complementation, and stores the diameter of the light spot A2 after correction or complementation. Good. After the image control unit 43 stores the coordinates and diameter of the light spot A2, step S11 ends and the process proceeds to step S12.
If the image control unit 43 cannot recognize the light spot A2 in step S11, step S11 is repeated until the light spot A2 can be recognized. When the image includes an incomplete light spot A2 that has a wavelength unique to the laser light but cannot be recognized as a circle or an annulus, the second endoscope 50 is moved. The image control unit 43 may cause the main monitor 45 to display a message prompting the user. When the operator of the second endoscope 50 moves the second endoscope 50, the position of the light spot A2 in the imaging target region moves. If the movement destination of the light spot A2 is substantially planar, the light spot A2 is substantially circular or annular. As a result, a light spot A2 that can be recognized by the image control unit 43 as a circle or an annular shape is generated in the imaging field of view of the imaging unit 13 of the first endoscope 10, and the light spot A2 can be recognized in step S11. .

Step S12 is a collation step for collating the positional relationship between the position of the light spot A2 recognized in step S11 (recognition step) and a predetermined reference position on the image. The “predetermined reference position on the image” in the present embodiment is a position at the center of the visual field of the image captured by the imaging unit 13 of the first endoscope 10.
Specific control in step S12 may be the same as step S2 in the first embodiment (see FIGS. 4, 5, and 6). When the image control unit 43 determines in step S12 that the center of the light spot A2 is located within a predetermined minute range D1 including the center of the field of view of the image, the process proceeds to step S11. When the image control unit 43 determines that the center of the light spot A2 is not within the predetermined minute range D1, the process proceeds to step S13.

Step S13 shown in FIG. 9 is a distance measuring step for measuring the distance between the imaging unit 13 of the first endoscope 10 and the imaging target part.
In step S13, the image control unit 43 first calculates the distance between the first endoscope 10 and the light spot A2 based on the diameter of the light spot A2 stored in step S11. In the present embodiment, the actual size of the light spot A2 is a constant size regardless of the distance of the second endoscope 50 with respect to the imaging target site, so that the imaging unit 13 of the first endoscope 10 captures an image. The size of the light spot A2 on the obtained image is inversely proportional to the distance between the first endoscope 10 and the light spot A2. For example, when the distance between the first endoscope 10 and the light spot A2 is short as indicated by an imaginary line in FIG. 10, the ratio of the light spot A2 to the size W1 of the imaging field of the first endoscope 10 is When the distance between the first endoscope 10 and the light spot A2 is large as shown by the solid line in FIG. 10, the light spot with respect to the imaging field size W2 of the first endoscope 10 is relatively large. The proportion of A2 is relatively small.
Therefore, the image control unit 43 uses the information on the diameter of the light spot A2 stored in step S11, and the distance between the first endoscope 10 and the light spot A2, that is, the first endoscope 10 and The distance from the imaging target part can be calculated.
Step S13 is completed now and it progresses to Step S14.

Step S14 is a calculation step in which the image control unit 43 calculates the operation direction and the operation amount of the arm 16 for moving the predetermined reference position on the image to the position of the light spot A2 recognized in the above step S11. is there.
In step S14, the image control unit 43 starts from the center of the visual field based on the coordinates of the center of the light spot A2 on the image captured by the imaging unit 13 of the first endoscope 10 and the coordinates of the visual field center in this image. The direction toward the light spot A2 is calculated. Further, the image control unit 43 determines the amount of movement of the first endoscope 10 in the above direction based on the information on the distance between the first endoscope 10 and the imaging target part calculated in step S13. calculate. In step S14, for example, when moving the field of view of the first endoscope 10 by swinging the first endoscope 10 with the trocar as the swing center, the first endoscope with the trocar as the swing center is used. 10 is calculated by the image control unit 43, and the insertion amount of the shaft unit 14 with respect to the trocar is set so that the distance between the first endoscope 10 and the light spot A2 is equal before and after the movement. 43 is calculated. Thereafter, the image control unit 43 outputs information indicating the movement direction and movement amount of the arm 16 to the arm control unit 44.
Step S14 is completed now and it progresses to Step S15.

Step S15 is an instruction step for outputting, to the arm 16, an operation instruction for operating the arm 16 based on the operation direction and the operation amount calculated in step S14. Even in the present embodiment, the arm posture is controlled toward the target position and posture by a control method using inverse kinematics or the like.
In step S <b> 15, the arm control unit 44 converts the swing angle and insertion amount of the shaft portion 14 into an operation amount of each actuator 19 of the arm 16. The arm control unit 44 drives the actuator 19 of the arm 16 so that the imaging field of the imaging unit 13 of the first endoscope 10 moves in the operation direction calculated in step S14 by the above movement amount. Output a signal. Further, in step S15, the arm controller 44 refers to the information on the amount of movement output by each encoder 20 of the arm 16, recognizes the movement result of the arm 16, and adds it to each actuator 19 if necessary. The drive signal is output. In step S15, when the first endoscope 10 is moved in the movement direction by the movement amount, that is, when each actuator 19 moves the first endoscope 10 until the movement direction and the movement amount are satisfied. , And ends (see FIG. 11).
Step S15 is completed now and it progresses to Step S11.

The above steps S11 to S15 are repeatedly executed, for example, while the endoscope system 2 is operating.

The operation of the endoscope system 2 according to this embodiment will be described.
When the endoscope system 2 according to the present embodiment shown in FIG. 8 is used, the first endoscope 10 and the second endoscope 50 are guided to the treatment target site in the body as in the first embodiment. The first endoscope 10 captures a wide-angle image including the treatment target part, and the second endoscope 50 captures a narrow-angle image including the treatment target part.
Here, when the operator moves the imaging field of view of the second endoscope 50 in order to perform treatment on the treatment target region, the first endoscope 10 performs the control procedure from the above-described steps S11 to S15. In accordance with (see FIG. 9), the second endoscope 50 automatically moves following the movement of the imaging field of view.

In the present embodiment, when the first endoscope 10 moves following the imaging field of view of the second endoscope 50, the distance between the first endoscope 10 and the light spot A2 is the first endoscope. It is equal to each other before and after 10 movements.
As a result, the relationship that the second endoscope 50 captures a narrow-angle image and the first endoscope 10 captures a wide-angle image is maintained (see FIG. 11).

The endoscope system 2 according to the present embodiment also has the same effects as the endoscope system 1 according to the first embodiment.
Furthermore, according to the endoscope system 2 according to the present embodiment, when the first endoscope 10 is automatically controlled by the control device 53, before and after the movement of the first endoscope 10, the first endoscope The distance between the mirror 10 and the treatment target site is kept constant. As a result, since the size of the tissue or the like included in the wide-angle image does not change substantially before and after the movement of the first endoscope 10, the wide-angle image is changed after the field of view is switched from the wide-angle image to the narrow-angle image. The correspondence between images is easy to understand even when switching to images.

(Modification)
A modification of this embodiment will be described. FIG. 12 is a schematic diagram showing the configuration of this modification.
In this modification, as shown in FIG. 12, the second endoscope 50 has an optical system 54 having a configuration different from that of the optical system 30 disclosed in the second embodiment.
The optical system 54 irradiates laser light emitted from the laser light source 29 to the imaging target region in two straight lines parallel to each other. As a result, the light spot A3 generated by irradiating the imaging target site with the laser light is in the form of two dots separated from each other by a certain distance.
In this modification, the control devices 53 (see FIG. 8) are separated from each other by a certain distance instead of storing the coordinates of the center of the circular or annular light spot A2 in the second embodiment. The coordinates of the intermediate position between the two points constituting one point-like light spot A3 are stored as the coordinates of the center of the light spot A3. Furthermore, instead of storing the diameter of the circular or annular light spot A2 in the second embodiment, the distance between two points constituting the light spot A3 is stored.
Even with such a configuration, the same effects as those of the second embodiment can be obtained.

(Modification)
Another modification of the present embodiment will be described. FIG. 13 is a schematic diagram showing the operation of the first endoscope in the present modification.
In this modification, as shown in FIG. 13, the visual field direction of the imaging unit 26 of the second endoscope 50 and the first direction are determined based on the shape of the light spot A <b> 2 generated when the imaging target site is irradiated with laser light. The control device 53 (see FIG. 8) follows the movement of the second endoscope 50 so that the visual field direction of the imaging unit 13 of the endoscope 10 is substantially coaxial or parallel within a predetermined range. The first endoscope 10 is moved.
As a specific example, in the present modification, when the light spot A2 in the imaging target region is an ellipse or an elliptical ring, the control device 53 performs the first operation based on the length and direction of the major axis and minor axis of the ellipse. The first endoscope 10 is moved so that the light spot A2 in the image by the imaging unit 13 of the endoscope 10 is substantially circular or annular. Further, in the present modification as well as the second embodiment, the distance between the light spot A2 and the first endoscope 10 is maintained longer than the distance between the light spot A2 and the second endoscope 50. The first endoscope 10 is automatically moved by the control device 53.
According to this modification, since the imaging unit 13 of the first endoscope 10 captures a wide-angle image obtained by zooming out the narrow-angle image obtained by the imaging unit 26 of the second endoscope 50 as it is, the main monitor In 45 (see FIG. 8), the correspondence when switching between the narrow-angle image and the wide-angle image is easier to understand.
When the first endoscope 10 and the second endoscope 50 are inserted into the body through different trocars, the viewing direction of the wide-angle image by the first endoscope 10 and the second endoscope In some cases, the first endoscope 10 may follow the movement of the second endoscope 50 as much as possible.

(Third embodiment)
A third embodiment of the present invention will be described. In the present embodiment, the same components as those disclosed in the above embodiments are denoted by the same reference numerals as those in the above embodiments, and redundant description is omitted. FIG. 14 is a schematic diagram illustrating a configuration of a main part of an endoscope system according to the third embodiment of the present invention.

The endoscope system 3 shown in FIG. 14 includes a second endoscope 23 similar to that of the first embodiment. Further, the endoscope system 3 according to the present embodiment is different from the first endoscope 10 and the control device 41 (see FIG. 1) disclosed in the first embodiment, and the first endoscope 60 and the control. The device 64 is provided in place of the first endoscope 10 and the control device 41 disclosed in the first embodiment.

The first endoscope 60 is different in configuration from the first endoscope disclosed in each of the above embodiments in that it can acquire three-dimensional information of the imaging target part. As a specific example, the first endoscope 60 includes two imaging units (a left imaging unit 62 and a right imaging unit 63) instead of the distal end configuration unit 12 (see FIG. 1) disclosed in the first embodiment. It has the front-end | tip structure part 61 provided. The first endoscope 60 of the present embodiment may have the same configuration as the first endoscope 10 disclosed in the first embodiment except for the distal end configuration portion 61.

The left imaging unit 62 and the right imaging unit 63 included in the tip configuration unit 61 capture a pair of images having parallax with respect to the same imaging target region. For example, the left imaging unit 62 and the right imaging unit 63 each independently have an image sensor and an objective optical system. The image captured by the left image capturing unit 62 and the image captured by the right image capturing unit 63 are transmitted to the image control unit 66 of the control device 64 through a signal line (not shown) as in the first embodiment.
The left imaging unit 62 and the right imaging unit 63 share one image sensor, and an image from the objective optical system viewing the imaging field from the right side and an image from the objective optical system viewing the imaging field from the left side are one. The image sensor may alternately take an image.
The arm 16 (see FIG. 1) is attached to the first endoscope 60 as in the first embodiment.

The control device 64 includes a laser control unit 65, an image control unit 66, and an arm control unit 67 as in the first embodiment, but according to a control procedure that is partially different from the control device 41 of the first embodiment. Operate.

The image control unit 66 determines the distance from the first endoscope 60 to the light spot A1 based on the images acquired by the left imaging unit 62 and the right imaging unit 63 arranged in the distal end configuration unit 61 of the present embodiment. Has the function to measure. As an example, the image control unit 66 measures the distance to the light spot A1 using the parallax of the images acquired by the left imaging unit 62 and the right imaging unit 63.
That is, in the present embodiment, the image control unit 66 measures the distance between the first endoscope 60 and the light spot A2 by using the diameter of the light spot A2 in the second embodiment. Regardless of the shape of the points, the distance between the first endoscope 60 and the light spot A1 is measured based on the parallax information of the images captured in pairs.

It should be noted that the configuration for measuring the distance between the first endoscope 60 and the light spot A1 is not limited to the above configuration. For example, the distal end configuration portion 61 of the first endoscope 60 may appropriately have a configuration such as a known laser range finder or infrared range finder.

An example of specific control by the control device 64 for the first endoscope 60 and the arm 16 will be described below by dividing the control procedure into steps. FIG. 15 is a flowchart for explaining a control procedure by the control device of the endoscope system.
First, the image control unit 66 of the control device 64 is based on the control by the laser control unit 65 from a predetermined one of the images captured by the left imaging unit 62 and the right imaging unit 63 of the first endoscope 60. Then, the light spot A1 generated in the region to be imaged is recognized by the laser light emitted by the laser irradiation unit 27 of the second endoscope 23 (see the recognition step, step S21, FIG. 15). In step S <b> 21, the image control unit 66 sets a wavelength specific to the laser beam or a blinking state similar to that in the first embodiment for either the image from the left imaging unit 62 or the image from the right imaging unit 63. Based on the above, the light spot A1 is recognized.
In step S21, when the image control unit 66 can recognize the light spot A1, the image control unit 66 sets the position of the light spot A1 in the image captured by the imaging unit 13 of the first endoscope 60 to a predetermined value. Store as two-dimensional coordinate information. The coordinate system at this time is, for example, a coordinate system having the origin at the center of the visual field in the image used for recognizing the light spot A1 out of the image from the left imaging unit 62 and the image from the right imaging unit 63. In the present embodiment, the coordinate system on the image used in the steps after step S21 is all the coordinate system in the image used for the recognition of the light spot A1. After the image control unit 66 stores the coordinates of the light spot A1, step S21 ends and the process proceeds to step S22.
If the image control unit 66 cannot recognize the light spot A1 in step S21, step S21 is repeated until the light spot A1 can be recognized. Other specific control in step S21 may be the same as step S1 in the first embodiment.

Step S22 is a collation step for collating the positional relationship between the position of the light spot A1 recognized in step S21 (recognition step) and a predetermined reference position on the image. The “predetermined reference position on the image” in the present embodiment refers to the image used for recognizing the light spot A1 in step S21 out of the image captured by the left imaging unit 62 and the image captured by the right imaging unit 63. It is the position of the center of the visual field.
In step S22, the image controller 66 determines that the light spot A1 is located within the predetermined minute range D1 described in the first embodiment in the image used for recognition of the light spot A1 in step S21. Or whether the light spot A1 is located outside the predetermined minute range D1.
In the present embodiment, in step S22, the image control unit 66 determines whether or not the light spot A1 is located within the predetermined minute range D1. When the image control unit 66 determines that the light spot A1 is located within the predetermined minute range D1, the process proceeds to step S21. When the image control unit 66 determines that the light spot A1 is not located within the predetermined minute range D1, the process proceeds to step S23.

Step S23 is a calculation step for calculating the distance between the imaging unit 13 of the first endoscope 60 and the imaging target part.
In step S <b> 23, the image control unit 66 uses the parallax between the images acquired by the right imaging unit 63 and the left imaging unit 62 arranged in the distal end configuration unit 61, and performs the first endoscope 60 and the light spot A <b> 1. Measure distance.
Step S23 is ended now and it progresses to Step S24.

Step S24 is a calculation step for calculating an operation direction and an operation amount of the arm 16 for moving a predetermined reference position on the image to the position of the light spot A1 recognized in the above step S21 (recognition step). .
In step S24, the position of the light spot A1 in the coordinate system of the image used for recognizing the light spot A1 in step S21 and the distance between the first endoscope 60 and the light spot A1 are used. Similar to step S14 in the second embodiment, the operation amount of each actuator 19 (see FIG. 1) of the arm 16 is calculated.
Step S24 is completed now and it progresses to Step S25.

Step S25 is an instruction step in which the arm control unit 67 outputs a drive signal for operating the arm 16 to the arm 16 (see FIG. 1) in the same manner as Step S15 in the second embodiment.
If the movement of the arm 16 in step S25 is completed, step S25 will be complete | finished and it will progress to step S21.

Each step from step S21 to step S25 is repeatedly executed as in the first embodiment.

The operation of the endoscope system 3 according to this embodiment will be described.
In the present embodiment, as in the second embodiment, the distance between the first endoscope 60 and the light spot A1 at the imaging target site can be measured. In the present embodiment, unlike the second embodiment, the diameter of the light spot A1 is not used for measuring the distance between the first endoscope 60 and the light spot A1. That is, in the present embodiment, the image control unit 66 can measure the distance between the first endoscope 60 and the light spot A1 regardless of the shape of the light spot A1.

As described above, according to the endoscope system 3 according to the present embodiment, the distance between the first endoscope 60 and the imaging target region is set as in the endoscope system 2 according to the second embodiment. The first endoscope 60 can be automatically moved following the movement of the field of view of the second endoscope 23 while maintaining a constant state. As a result, the endoscope system 3 according to the present embodiment also has the same effects as the endoscope system 2 according to the second embodiment.

Furthermore, according to the endoscope system 3 according to the present embodiment, the left imaging unit 62 disposed on the distal end constituting unit 61 of the first endoscope 60 and the shape of the light spot A1 generated in the imaging target region, and The distance between the first endoscope 60 and the light spot A1 can be measured using a set of two images captured by the right imaging unit 63. As a result, in the present embodiment, even if the shape of the light spot A1 is distorted or missing due to the shape of the imaging target part, if the first endoscope 60 captures a part of the light spot A1, the image The control unit 66 can recognize the light spot A1 and can measure the distance between the first endoscope 60 and the light spot A1. As described above, in the endoscope system 3 according to the present embodiment, there is a possibility that the distance cannot be measured depending on the shape of the tissue or the like even when the tissue or the like having a complicated shape is used as the treatment target site. Can be kept low.

(Fourth embodiment)
A fourth embodiment of the present invention will be described. In the present embodiment, the same components as those disclosed in the above embodiments are denoted by the same reference numerals as those in the above embodiments, and redundant description is omitted. FIG. 16 is a schematic diagram of an endoscope system according to the fourth embodiment of the present invention.

The endoscope system 4 according to the present embodiment shown in FIG. 16 is greatly different from the above embodiments in that a flexible endoscope is provided instead of a rigid endoscope.
The endoscope system 4 includes a soft first endoscope 70, a soft second endoscope 80, and a control device 90 connected to the first endoscope 70 and the second endoscope 80. is doing. Further, the endoscope system 4 according to the present embodiment includes a main monitor 45 similar to that of the first embodiment.

The first endoscope 70 has an insertion portion 71, a drive portion 75, and a power transmission portion 79.

The insertion portion 71 is a flexible elongated member as a whole.
The insertion portion 71 has a distal end configuration portion 72, a bending portion 73, and a flexible tube portion 74.

The distal end configuration portion 72 may have the same configuration as the distal end configuration portion 12 (see FIG. 1) of the first endoscope 10 disclosed in the first embodiment. For example, the tip configuration unit 72 includes the imaging unit 13 including an image sensor, an objective optical system, and the like, as in the first embodiment.

The bending portion 73 is formed in a cylindrical shape as a whole by arranging a plurality of bending pieces (not shown) connected so as to be bendable in the longitudinal axis direction of the insertion portion 71. The bending portion 73 can be actively deformed into a curved shape by power generated by a driving unit 75 described later.
The tip constituting portion 72 is connected to the tip of the bending portion 73. The distal end of a flexible tube portion 74 to be described later is connected to the proximal end of the bending portion 73.
Since the distal end constituting portion 72 disposed at the distal end of the bending portion 73 is moved by the operation of deforming the bending portion 73 into the curved shape, the imaging field of view of the imaging portion 13 can be moved.

The flexible tube portion 74 is a flexible tubular member that can be freely bent. Inside the flexible tube 74, a signal line (not shown) for transmitting an image captured by the imaging unit 13 to the control device 90, an angle wire of a power transmission unit 79 described later, and the like are arranged. The angle wire of the power transmission unit 79 is provided corresponding to the active bending direction in the bending unit 73. For example, in an aspect in which the bending portion 73 bends in the four directions of up, down, left, and right, an angle wire for making a bending operation in the up and down direction and an angle wire for making a bending operation in the left and right direction are in the flexible tube portion 74 It is inserted.

The drive unit 75 is connected to the proximal end of the flexible tube unit 74. The drive unit 75 includes an actuator 76 and an encoder 77.

The actuator 76 of the drive unit 75 generates power for bending the bending unit 73 via an angle wire of the power transmission unit 79 described later. The actuator 76 of the drive unit 75 can operate according to a drive signal from the arm control unit 93 of the control device 90, for example.
The encoder 77 is disposed in the drive unit 75 in order to detect the operation amount of the actuator 76. The encoder 77 is electrically connected to the arm control unit 93 of the control device 90. That is, in the present embodiment, the operation amount of the actuator 76 can be detected by the arm control unit 93.

The configurations of the actuator 76 and the encoder 77 are not particularly limited. For example, the actuator 76 includes a motor that operates according to a drive signal from the arm control unit 93 and a pulley that rotates by power generated by the motor. In this case, the actuator 76 includes a number of motors and pulleys corresponding to the number of angle wires. In this case, the encoder 77 is provided for each motor, for example, so that the operation amount of each motor can be detected.

The power transmission part 79 has an angle wire inserted into the insertion part 71 in order to transmit the power generated by the actuator 76 to the bending part 73. The distal end of the angle wire is connected to the most distal bending piece among the plurality of bending pieces constituting the bending portion 73. The proximal end of the angle wire is connected to the actuator 76 in the drive unit 75.

The second endoscope 80 has an insertion portion 81, an operation portion 85, and a power transmission portion 88.

The insertion portion 81 is a flexible elongated member as a whole.
The insertion portion 81 includes a distal end configuration portion 82, a bending portion 83, and a flexible tube portion 84.

The distal end configuration portion 82 may have the same configuration as the distal end configuration portion 25 (see FIGS. 1 and 2) of the second endoscope 23 disclosed in the first embodiment. For example, the tip constituting unit 82 includes the imaging unit 26 including an image sensor, an objective optical system, and the like as in the first embodiment, and the laser irradiation unit 27 as in the first embodiment.

The configuration of the bending portion 83 and the flexible tube portion 84 may be the same as that of the bending portion 73 and the flexible tube portion 74 of the first endoscope 70 of the present embodiment.

The operation unit 85 is connected to the proximal end of the flexible tube unit 84 of the second endoscope 80 in order for the operator to operate the bending unit 83, the laser irradiation unit 27, and the like.
The operation unit 85 has a bending operation input unit 86. Further, the operation unit 85 is provided with the irradiation switch 39 and the viewpoint change switch 40 similar to those in the first embodiment.

The bending operation input unit 86 is disposed on the operation unit 85 in order to advance and retract an angle wire of a power transmission unit 88 described later. The configuration of the bending operation input unit 86 may be appropriately selected from configurations applicable to known flexible endoscopes. For example, the bending operation input unit 86 includes an input member (not shown) such as a knob, a dial, or a lever, and a rotating member (not shown) such as a pulley or a drum fixed to the input member and connected to an angle wire. have.

The irradiation switch 39 in the present embodiment is arranged on the operation unit 85 of the second endoscope 80 in order to switch the laser irradiation unit 27 to the on state or the off state, as in the first embodiment.

The power transmission unit 88 has an angle wire similar to that of the first endoscope 70 of the present embodiment, and is inserted into the insertion unit 81 of the second endoscope 80. The distal end of the angle wire of the second endoscope 80 is connected to a bending piece (not shown) constituting the bending portion 83 of the second endoscope 80, and the proximal end of the angle wire of the second endoscope 80 is bent. The operation input unit 86 is connected.

The control device 90 includes a laser control unit 91, an image control unit 92, and an arm control unit 93 as in the first embodiment.
The controller 90 is electrically connected to the first endoscope 70, the second endoscope 80, and the main monitor 45, and controls the first endoscope 70, the laser irradiation unit 27, and the main monitor 45. To do. In this embodiment, instead of the control device 41 controlling the arm 16 (see FIG. 1) in the first embodiment, the arm control unit 93 of the control device 90 operates the bending portion 73 of the first endoscope 70. To control. In the present embodiment, the curved portion 73 of the first endoscope 70 corresponds to the arm 16 (see FIG. 1) of the first endoscope.
In the present embodiment, the control device 90 automatically controls the imaging field of the imaging unit 13 of the first endoscope 70.

The control device 90 of the present embodiment follows the movement of the light spot A1 of the laser beam from the laser irradiation unit 27 as the operator moves the imaging unit 26 of the second endoscope 80. This is similar to the first embodiment in that the field of view of one endoscope 70 is moved. In the present embodiment, the control device 90 bends and deforms the bending portion 73 by controlling the operation of the driving portion 75 of the first endoscope 70, and as a result, moves the imaging portion 13 of the first endoscope 70. Let The control procedure in the control device 90 may be the same as that in the first embodiment except that the output destination of the operation instruction in step S4 in the first embodiment is the drive unit 75 of the first endoscope 70. .

The endoscope system 4 according to the present embodiment has the same effects as the endoscope system 1 according to the first embodiment. In the endoscope system 4 according to the present embodiment, since both the first endoscope 70 and the second endoscope 80 are flexible endoscopes, for example, the first endoscope is applied to the treatment target site through the digestive tract. The mirror 70 and the second endoscope 80 can be easily guided for observation and treatment.

In the configuration described above in the present embodiment, the control device 90 does not control the advance / retreat operation of the insertion portion 71 of the first endoscope 70. The endoscope system 4 includes an unillustrated advance / retreat mechanism for moving the insertion portion 71 of the first endoscope 70 forward and backward, for example, and the control device 90 controls the advance / retreat mechanism. With this configuration, the second endoscope 80 follows the movement of the second endoscope 80 while keeping the distance between the first endoscope 70 and the imaging target portion constant, as in the second embodiment. One endoscope 70 can be moved.
In addition, the first endoscope 70 and the second endoscope 80 in the present embodiment have the left imaging unit 62 and the right imaging unit 63 (see FIG. 14) as in the third embodiment, and have a distance. Measurement may be possible.

(Fifth embodiment)
A fifth embodiment of the present invention will be described. In the present embodiment, the same components as those disclosed in the above embodiments are denoted by the same reference numerals as those in the above embodiments, and redundant description is omitted. FIG. 17 is a schematic diagram of an endoscope system according to the fifth embodiment of the present invention.

The endoscope system 5 shown in FIG. 17 includes the first endoscope 10, the arm 16, the control device 41, and the main monitor 45 disclosed in the first embodiment. In addition, the endoscope system 5 according to the present embodiment replaces the endoscope laser irradiation apparatus 100 that can be inserted into a flexible treatment instrument channel of a known flexible endoscope with the second endoscope 23. Prepared.

In the present embodiment, the configuration of the endoscope to which the endoscope laser irradiation apparatus 100 is attached is not particularly limited. That is, the endoscope system 5 according to the present embodiment may be a system that is used together with the above-described known flexible endoscope, and does not need to include the above-described known flexible endoscope as a component. . Although details are not shown, in the following, as an example of the configuration of the above-described known flexible endoscope, a flexible insertion section, an imaging section disposed at the distal end of the insertion section, and a proximal end of the insertion section A case where a direct-viewing type flexible endoscope including a connected operation unit and a flexible treatment instrument channel extending from the operation unit to the insertion unit will be described.

The endoscope laser irradiation apparatus 100 includes an insertion part 101 and a main body part 103.

The insertion unit 101 includes a laser irradiation unit 27 similar to that in the first embodiment, and a flexible sheath 102 that can be inserted into the flexible treatment instrument channel of the flexible endoscope.

The laser irradiation unit 27 in the present embodiment has substantially the same configuration as that of the first embodiment, but has a configuration that is downsized to be smaller than the inner diameter of the flexible treatment instrument channel. Further, the laser irradiation unit 27 can be positioned by locking or coupling with the flexible treatment instrument channel so that the optical axis direction of the laser beam is parallel to the optical axis of the flexible endoscope.
In the present embodiment, the optical axis of the laser light emitted by the laser irradiation unit 27 may not be strictly coaxial with or strictly parallel to the visual field center direction of the imaging unit 26 of the flexible endoscope. . However, when the endoscope system 5 according to the present embodiment is used, the optical axis of the laser beam is substantially parallel to the visual field center of the imaging unit 26 of the flexible endoscope. In contrast, it can be considered substantially coaxial.

The sheath portion 102 is a flexible cylindrical portion through which a signal line, a power line, and the like that connect the laser irradiation portion 27 and the main body portion 103 are inserted. The outer diameter of the sheath part 102 is smaller than the inner diameter of the flexible treatment instrument channel.

The main body unit 103 is disposed outside the body together with the operation unit of the flexible endoscope during use. The main body 103 can be attached to the operation part of the flexible endoscope.
The main body 103 includes a connection mechanism (not shown) for connecting the main body 103 to a proximal end base (not shown) of the soft treatment instrument channel of the flexible endoscope, and the irradiation switch 39 disclosed in the first embodiment. And have.

The control device 41 has the same configuration as that of the first embodiment, but differs from the first embodiment in the following points.
First, the above-described known flexible endoscope can be connected to the control device 41 of the present embodiment. In addition, the control device 41 of the present embodiment displays an image captured by the imaging unit of the known flexible endoscope on the main monitor 45 as a narrow-angle image in the first embodiment.
Furthermore, the endoscope laser irradiation apparatus 100 of this embodiment can be connected to the laser control unit 42 of the control apparatus 41. In addition, the image control unit 43 of the control device 41 recognizes the light spot A <b> 1 generated by the laser light irradiated to the imaging target region by the endoscope laser irradiation device 100.
That is, in the present embodiment, the configuration in which the endoscope laser irradiation apparatus 100 is combined with the above-described known flexible endoscope is the second endoscope 23 (see FIG. 1) in the first embodiment. It has a corresponding function. In the present embodiment, a configuration in which the endoscope laser irradiation apparatus 100 is combined with the flexible endoscope is illustrated, but the endoscope to which the endoscope laser irradiation apparatus 100 is attached is rigid. It can be a mirror. In this case, the configuration in which the endoscope laser irradiation apparatus 100 and the rigid endoscope are combined is substantially the same as the second endoscope 23 of the first embodiment in terms of function.

Similarly to the endoscope system 1 according to the first embodiment, the endoscope system 5 according to the present embodiment is a flexible internal device in a state where the endoscope laser irradiation device 100 is attached to the flexible treatment instrument channel. When the endoscope (corresponding to the second endoscope 23 in the first embodiment) is moved by the operator, the position of the light spot A1 generated by the laser beam irradiated to the imaging target region by the endoscope laser irradiation device 100 On the basis of the above, the control device 41 executes each step from step S1 to step S4 in the first embodiment, so that the first endoscope 10 is a flexible endoscope as in the first embodiment. Follow the movement.
As a result, even if the endoscope system 5 according to the present embodiment uses a known endoscope instead of the second endoscope 23, the same effects as those of the first embodiment can be obtained.

(Modification)
A modification of this embodiment will be described.
The endoscope laser irradiation apparatus (not shown) of this modification is not provided with a laser light source 29 at the distal end of the insertion portion 101 of the endoscope laser irradiation apparatus 100 of the above embodiment, but outside the body. A laser beam emitted from a known laser device is transmitted to the tip of the insertion portion 101. That is, the endoscope laser irradiation apparatus according to the present embodiment includes an optical fiber disposed in the sheath portion 102, an optical connector that is connected to the optical fiber in the main body portion 103 and can be connected to the laser device, and have.
Even with such a configuration, the same effects as those of the above-described embodiment can be obtained.

(Sixth embodiment)
A sixth embodiment of the present invention will be described. In the present embodiment, the same components as those disclosed in the above embodiments are denoted by the same reference numerals as those in the above embodiments, and redundant description is omitted. FIG. 18 is a schematic diagram of an endoscope system according to the sixth embodiment of the present invention. FIG. 19 is a schematic diagram for explaining the operation of the endoscope system.

An endoscope system 6 shown in FIG. 18 includes a first endoscope 110, an arm 16 (first arm) disclosed in the first embodiment, and a second endoscope similar to the first endoscope 110. It has the endoscope 120, the second arm 130 similar to the first arm 16, and the main monitor 45 similar to the first embodiment. In addition, the endoscope system 6 according to the present embodiment replaces the control device 41 disclosed in the first embodiment with the first endoscope 110, the first arm 16, the second endoscope 120, A control device 140 for controlling the second arm 130 and the main monitor 45 is provided.

The first endoscope 110 switches the laser irradiation unit 111 similar to the laser irradiation unit 27 included in the second endoscope 23 in the first embodiment and the on / off state of the laser irradiation unit 111. Therefore, the configuration is different from that of the first embodiment. Further, the first endoscope 110 is provided with a viewpoint change switch 131 similar to the viewpoint change switch 40 (see FIG. 1) arranged in the operation unit 33 of the second endoscope 23 in the first embodiment. Has been.

The laser irradiation unit 111 of the first endoscope 110 generates a light spot A4 having a wavelength or shape that is distinguishable from the laser irradiation unit 27 of the second endoscope 120 at the imaging target site. That is, the light spot A4 generated by the laser light emitted from the laser irradiation unit 111 of the first endoscope 110 is the laser of the second endoscope 120 in the image captured by the imaging unit 26 of the second endoscope 120. It can be distinguished from the light spot A1 generated by the laser light irradiated by the irradiation unit 27.
Conversely, the light spot A1 generated by the laser light irradiated from the laser irradiation unit 27 of the second endoscope 120 is the image of the first endoscope 110 in the image captured by the imaging unit 13 of the first endoscope 110. It can be distinguished from the light spot A4 generated by the laser beam irradiated by the laser irradiation unit 111.

The first endoscope 110 is the same as the first endoscope 10 of the first embodiment except that the first endoscope 110 includes a laser irradiation unit 111 and an irradiation switch 112 and a viewpoint change switch 131 is arranged. I do not care.

As shown in FIG. 19, the first arm 16 of the present embodiment moves the first endoscope 110 of the present embodiment, similarly to the first embodiment described above.

The second endoscope 120 is connected to the second arm 130 described later and operates in accordance with the control of the control device 140, as compared with the second endoscope 23 (see FIG. 1) disclosed in the first embodiment. The difference is that it is possible.
As illustrated in FIG. 18, the second endoscope 120 includes an imaging unit 26, a laser irradiation unit 27, and an irradiation switch 39, similarly to the second endoscope 23 of the first embodiment. For example, the second endoscope 120 may be an endoscope of the same type as the first endoscope 110 as an example. The second endoscope 120 can operate independently of the first endoscope 110 and can also operate in cooperation with the first endoscope 110 under the control of the control device 140 described later. . A description of the specific configuration of the second endoscope 120 is omitted.

The second arm 130 is an arm of the same type as the first arm 16 as an example. The second arm 130 can be operated independently of the first arm 16 and can also operate in cooperation with the first arm 16 under the control of the control device 140 described later. A description of the specific configuration of the second arm 130 is omitted.

The endoscope system 6 according to this embodiment includes a first viewpoint change switch 131 that can be attached to the first endoscope 110 and a second viewpoint that can be attached to the second endoscope 120 as operation input means. And a change switch 132. The configurations and functions of the viewpoint change switches 131 and 132 may be the same as those of the viewpoint change switch 40 (see FIGS. 1 and 3) of the first embodiment. In the present embodiment, a switching input between a wide-angle image and a narrow-angle image can be performed by operating either of the two viewpoint change switches 131 and 132.

The control device 140 is electrically connected to the first endoscope 110, the first arm 16, the second endoscope 120, the second arm 130, and the main monitor 45.

The image control unit 43 of the control device 140 is electrically connected to the first endoscope 110 and the second endoscope 120. In the present embodiment, the image captured by the imaging unit 13 of the first endoscope 110 and the image captured by the imaging unit 26 of the second endoscope 120 are transmitted to the first image processing device 21 and the second image processing device 35. To the image control unit 43.

The control device 140 moves the first endoscope 110 following the movement of the second endoscope 120 as in the first embodiment. Furthermore, the control device 140 of the present embodiment can move the second endoscope 120 following the movement of the first endoscope 110.
The control procedure of the control device 140 when causing the second endoscope 120 to follow the movement of the first endoscope 110 is the first endoscope in the description of each step from step S1 to step S4 in the first embodiment. 110 and the second endoscope 120 may be replaced.

The operation of the endoscope system 6 according to this embodiment will be described.
In the present embodiment, since the first endoscope 110 and the second endoscope 120 have the same type or the same configuration, either the first endoscope 110 or the second endoscope 120 is used. Can be used for wide-angle images and the remaining one can be used for narrow-angle images. For example, as shown in FIGS. 18 and 19, the first endoscope 110 is used to capture a wide-angle image and the second endoscope 120 is used to capture a narrow-angle image, as in the first embodiment. be able to. In this case, the operator previously sets which of the two endoscopes is operated by the operator and which is automatically controlled by the control device 140.

It should be noted that the first endoscope 110 and the second endoscope 120 may be controlled by the control device 140 in a completely equal relationship. That is, the first endoscope 110 is configured so that the endoscope and the arm that are not operated by the operator follow the endoscope and the arm that are operated by the operator without prior setting by the operator. Alternatively, the control device 140 may automatically control the second endoscope 120.

As described above, according to the endoscope system 6 according to the present embodiment, the same effects as those of the first embodiment can be obtained. Furthermore, according to the endoscope system 6 according to the present embodiment, the master-slave relationship between the first endoscope 110 and the second endoscope 120 (the endoscope operated by the operator is the main, the control device 140 The automatically controlled endoscope can be easily replaced.

In the present embodiment, if the first endoscope 110 and the second endoscope 120 have a configuration in which exclusive control is performed so as not to irradiate laser light at the same time, the first endoscope 110 can be used. The light spot A4 due to the laser light and the light spot A1 due to the laser light from the second endoscope 120 need not have different wavelengths or shapes.

(Seventh embodiment)
A seventh embodiment of the present invention will be described. In the present embodiment, the same components as those disclosed in the above embodiments are denoted by the same reference numerals as those in the above embodiments, and redundant description is omitted. FIG. 20 is a schematic diagram of an endoscope system according to the seventh embodiment of the present invention.

In the endoscope system 7 according to the present embodiment shown in FIG. 20, the other follows the one of the two endoscopes similarly to the endoscope system 6 disclosed in the sixth embodiment. This system has a master-slave relationship, and this master-slave relationship can be appropriately replaced. Furthermore, the endoscope system 7 according to the present embodiment is characterized in that each of the two endoscopes can move while maintaining a certain distance with respect to the imaging target region.

As an example, the endoscope system 7 according to the present embodiment is partially different in configuration from the endoscope system 6 disclosed in the sixth embodiment.
First, the endoscope system 7 according to the present embodiment is different from the first endoscope 110 and the second endoscope 120 disclosed in the above sixth embodiment in a part of the first endoscope 150. And a second endoscope 160. That is, the first endoscope 150 and the second endoscope 160 have both the left imaging unit 62 and the right imaging unit 63 disclosed in the third embodiment. Both the first endoscope 150 and the second endoscope 160 in the present embodiment can measure the distance to the imaging target part.
As a configuration for distance measurement in the first endoscope 150 and the second endoscope 160, a configuration such as a known laser range finder or an infrared range finder is applied instead of a distance measurement based on an image. May be.

The endoscope system 7 according to the present embodiment includes the first arm 16 and the second arm 130 disclosed in the sixth embodiment in addition to the first endoscope 150 and the second endoscope 160 described above. , And a main monitor 45, and further includes a control device 170 having a configuration different from that of the control device 140 disclosed in the sixth embodiment. The endoscope system 7 according to the present embodiment further includes an attitude detection device 180 for causing the control device 170 to detect the relative positional relationship between the first arm 16 and the second arm 130.

The first arm 16 and the second arm 130 in the endoscope system 7 according to the present embodiment are placed on, for example, the floor. And a coordinate system unique to the second arm 130. Each arm 16, 130 may be movable with respect to the floor or the like.

The position of the first endoscope 150 attached to the first arm 16 can be specified using a coordinate system unique to the first arm 16. Similarly, the position of the second endoscope 160 attached to the second arm 130 can be specified using a coordinate system unique to the second arm 130. When the first arm 16 and the second arm 130 are movable with respect to the floor or the like, the coordinate system itself unique to each arm 16 and 130 moves.

The posture detection device 180 of the endoscope system 7 according to the present embodiment includes, for example, each of the first arm 16 and the second arm 130 in a space such as an operating room in which the endoscope system 7 according to the present embodiment is installed. Detect the position and posture. As an example, the posture detection device 180 includes a plurality of markers 181 disposed on each joint portion 18 of the first arm 16 and the second arm 130, and a plurality of cameras 182 that capture the plurality of markers 181 from two or more different directions. have. The plurality of cameras 182 of the posture detection device 180 are connected to the control device 170 of this embodiment.

Also, the plurality of markers 181 may be arranged only at positions that define the origin of the coordinate system of each arm 16, 130. In addition, the plurality of markers 181 may be arranged on the first endoscope 150 and the second endoscope 160. In these cases, based on the positions and postures of the plurality of markers 181 and the postures of the arms 16 and 130 based on the encoder 20 of the arms 16 and 130, the first arm 16 and the second arm 16 in a space such as an operating room. The position and posture of the arm 130 can be detected.

In the control device 170 of the endoscope system 7 according to the present embodiment, the image control unit 43 uses the first arm 16 and the first arm 16 based on the positions of the plurality of markers 181 captured by the plurality of cameras 182 of the posture detection device 180. A relative positional relationship with the two arms 130 is detected.
Further, the control device 170 controls the first arm 16 and the second arm by the arm control unit 44 while referring to the information on the movement amount detected by each encoder 20 of the first arm 16 and each encoder 20 of the second arm 130. 130 actuators 19 are operated.

Furthermore, the control device 170 measures the distance between the first endoscope 150 and the imaging target region, so that the measured distance matches before and after the movement of the first endoscope 150. 150 positions are controlled. The control device 170 also measures the distance between the second endoscope 23 and the imaging target site for the second endoscope 160 as well as the first endoscope 150, and the measured distance is the first endoscope 160. The position of the second endoscope 160 is controlled so as to match before and after the movement of the second endoscope 160.

In particular, in the present embodiment, for example, the first endoscope 150 for capturing a wide-angle image is located farther from the imaging target site than the second endoscope 160 for capturing a narrow-angle image. Thus, the control device 170 adjusts the position of each endoscope. As an example, when the first endoscope 150 is automatically controlled so that the first endoscope 150 follows the movement of the second endoscope 160, the second endoscope 160 is separated from the imaging target region. Thus, when moved by the operator, the control device 170 moves the first endoscope 150 so as to be further away from the imaging target region. Thereby, the endoscope system 7 according to the present embodiment can maintain the relationship in which the first endoscope 150 always has a wide-angle imaging field of view with respect to the imaging field of the second endoscope 160.

In the present embodiment, when the endoscope system 7 is used, the roles of the first endoscope 150 and the second endoscope 160 are shared (for example, the first endoscope 150 captures a wide-angle image, the second endoscope If the setting for changing the above-described role sharing is intentionally performed, the first endoscope 150 and the second endoscope 160 may be No matter how the operator moves, the relationship that each endoscope captures a wide-angle image and a narrow-angle image based on the above-described role sharing is maintained unchanged.
In the present embodiment, the first endoscope 150 captures a narrow-angle image and the second endoscope 160 captures a wide-angle image when the operator or the like performs the setting for changing the above-described role assignment. Operation based on the division of roles is also possible.

An example of specific control by the control device 170 in the endoscope system 7 according to the present embodiment will be described below.

In the endoscope system 7 according to the present embodiment, the master-slave relationship between the first endoscope 150 and the second endoscope 160 can be appropriately selected as in the sixth embodiment. In the following description, as an example, the second endoscope 160 is the main endoscope and the first endoscope so that the first endoscope 150 operates depending on the operation of the second endoscope 160. Assume that the mirror 150 is a slave endoscope.

First, the first endoscope 150 and the second endoscope 160 are guided to the vicinity of the treatment target site by an operator or the like. The first endoscope 150 and the second endoscope 160 each perform imaging using an area including the treatment target part as an imaging target part. For example, the first endoscope 150 captures a wide-angle image including the treatment target part, and the second endoscope 160 captures a narrow-angle image including the treatment target part.
The operator of the endoscope system 7 according to the present embodiment may mainly operate either the first endoscope 150 or the second endoscope 160, but in the following description, the operator Assume that the second endoscope 160 is operated.

When performing the treatment on the treatment target region, the operator sets the first endoscope 150 and the second endoscope 160 so that the treatment target region and its peripheral region are in an appropriate state in the image from each endoscope. Set as follows. That is, the distance between the treatment target site and the first endoscope 150 and the distance between the treatment target site and the second endoscope 160 are set to suitable distances.

The operator mainly operates the second endoscope 160 to proceed with observation and treatment of the treatment target site.
When the operator is operating the second endoscope 160, the control device 170 performs the first control based on the same control procedure as each step from step S21 to step S25 disclosed in the third embodiment. It operates following the movement of the second endoscope 160 while keeping the distance between the one endoscope 150 and the treatment target portion constant. Thereby, also in this embodiment, the state where the visual field center of the image captured by the imaging unit 26 of the second endoscope 160 and the visual field center of the image captured by the imaging unit 13 of the first endoscope 150 coincide with each other. Maintained.

In the present embodiment, the control device 170 of the endoscope system 7 follows the change in the distance between the imaging target site and the second endoscope 160 and the distance between the imaging target site and the first endoscope 150. To change. That is, the first endoscope 150 is automatically controlled so that the imaging unit 13 of the first endoscope 150 captures a wide-angle image having a constant magnification with respect to the image captured by the second endoscope 160.

As an example, the control device 170 in the present modification first measures the distance (first distance) between the imaging target region (light spot A1 in the present embodiment) and the first endoscope 150, and also the imaging target region ( In this embodiment, the distance (second distance) between the light spot A1) and the second endoscope 160 is measured (ranging step). Subsequently, the main endoscope (an endoscope operated by the operator) is subordinate to the main endoscope so that the ratio between the first distance and the second distance measured in the ranging step is always maintained. The following endoscope (an endoscope automatically controlled by the control device 170) is caused to follow (distance adjustment step).

For example, when an operator performs a treatment on a treatment target part, the operator widens the imaging field of view of the second endoscope 160 by separating the imaging unit 26 of the second endoscope 160 from the imaging target part. It is conceivable to perform treatment under a wide-angle image. At this time, by the control device 170 having the distance measurement step and the distance adjustment step, the slave first endoscope 150 follows that the imaging field of view of the second endoscope 160 is widened, The imaging field of the imaging unit 13 of the first endoscope 150 is further widened.

Similarly, the endoscope system 7 according to the present embodiment can perform the same control as described above by switching the master-slave relationship between the first endoscope 150 and the second endoscope 160.
The master-slave relationship setting may be linked with control by the viewpoint change switch (viewpoint change switch 40, viewpoint change switch 131). For example, an endoscope that captures an image displayed on the main monitor 45 by the above-described viewpoint change switch is mainly used. Thus, when the image of the main monitor 45 is switched, the displayed image (endoscope visual field) can always be manually changed, and the non-displayed endoscope is always maintained in the main monitor. The position is automatically adjusted according to 45 images.
As a result, even if the image (endoscope field of view) displayed on the main monitor is manually moved while repeating the operation of switching the image of the main monitor 45, the master-slave relationship is automatically switched, so that the field center of the image always matches. It can keep the state to do.
It is also possible to make settings mainly for narrow-angle images with the wide-angle side as the slave. In this case, it is the same as in the above-described example that the center of the visual field coincides when a treatment such as peeling is performed on the narrow-angle image on the main side and the image on the main monitor 45 is occasionally switched to the wide-angle image on the slave side. Further, the periphery can be observed here by moving the slave visual field. At this time, the endoscope that provides the narrow-angle image on the main side is maintained in a fixed state. Next, when the image on the main monitor 45 is switched to the main-side narrow-angle image, the field of view before switching the image is maintained as it is, so that the treatment can be easily restarted. Further, at this time, the secondary endoscope matches the visual field center of the primary endoscope at the timing when the main monitor 45 is switched to display the image by the primary endoscope. As described above, the position and orientation are automatically controlled by the method described so far.

As described above, in the present embodiment, by determining a suitable distance when performing the treatment on the treatment target site at the time of observation before starting treatment for the first endoscope 150 and the second endoscope 160, After the treatment is started, each endoscope is automatically controlled so as to maintain the distance determined before the treatment is started.
Further, the distance between each endoscope and the imaging target part may be changed and determined again during the treatment. In this case, each endoscope is automatically controlled while maintaining the newly determined distance.
In addition, since each of the main-side endoscope and the slave-side endoscope has the electric arms (the first arm 16 and the second arm 130), the master-slave relationship can be dynamically replaced, It is possible to automatically control the visual field without impairing the continuity of treatment while increasing the degree of freedom of visual field operation.
As a result, the surgeon can more freely observe the surroundings, can always change the field of view without stress, and can reduce the stress and fatigue associated with the change of field of view.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, the imaging unit of the first endoscope that captures a wide-angle image with respect to the imaging target part including the treatment target part is irradiated with the second endoscope that captures the narrow-angle image with respect to the imaging target part including the treatment target part. In consideration of the wavelength of the laser light to be emitted, light having a wavelength other than visible light (for example, infrared light or ultraviolet light) may be detected in addition to visible light. In this case, the laser irradiation unit of the second endoscope can also irradiate laser light other than visible light, and the treatment target site is determined by the color of the laser light emitted to the treatment target site included in the imaging target site. It is possible to prevent the detailed state of the information from being obfuscated.

Further, in each of the above embodiments, the control device is arranged so that the center of the visual field of the image captured by the imaging unit of the first endoscope and the image captured by the imaging unit of the second endoscope coincide with each other. Although an example of automatically controlling the endoscope or the second endoscope is disclosed, the correspondence between the image by the first endoscope and the image by the second endoscope is that the visual field centers coincide with each other Not limited. That is, the light spot on the image by the imaging unit of the first endoscope is set so that the field of view of the imaging unit of the first endoscope has a predetermined positional relationship with the field of view of the imaging unit of the second endoscope. The arm controller 44 may operate the arm based on the position. The predetermined positional relationship in this case is a relationship in which at least a part of the imaging field of view of the imaging unit of the second endoscope is included in the image by the imaging unit of the first endoscope. Note that when the first endoscope captures a narrow-angle image and the second endoscope acquires a wide-angle image, the above-mentioned predetermined positional relationship is the second internal relationship. This is a relationship in which at least part of the imaging field of view of the imaging unit of the first endoscope is included in the image by the imaging unit of the endoscope.

In addition, the endoscope system in each of the above embodiments may control the display of images so that the light spot is not noticeable on the main monitor 45. For example, as one aspect of controlling the image so that the light spot is not conspicuous on the main monitor 45, the image control unit 43 detects the position of the light spot, and then the illuminance of the portion where the light spot is located on the image is light. The luminance of the portion of the main monitor 45 where the light spot is displayed may be reduced so as to be substantially the same as the portion other than the point. As another aspect, the laser control unit 42 emits pulse light that repeatedly turns on and off the laser light at a predetermined cycle, and the image control unit 43 uses the laser light from the image information output from the imaging units 13 and 26. Only frames in which no dots are shown may be output to the main monitor 45.
Also, for each sub-monitor, each image processing apparatus may similarly perform control so that the light spot is not noticeable.

Further, instead of the laser irradiation unit disclosed in each of the above embodiments, an irradiation unit that irradiates light that is not laser light may be provided.

In addition, the constituent elements shown in the above-described embodiments and modifications can be combined as appropriate.
In addition, the design change etc. with respect to the said specific structure are not limited to the said matter.

When using the endoscope system, it is possible to reduce the time for temporarily suspending the treatment when observing by switching a plurality of images.

1, 2, 3, 4, 5, 6, 7 Endoscope system 10 First endoscope 11 Insertion section 12 Tip configuration section 13 Imaging section 14 Shaft section 15 Operation section 16 Arm (first arm)
DESCRIPTION OF SYMBOLS 17 Link part 18 Joint part 19 Actuator 20 Encoder 21 1st image processing apparatus 22 1st sub monitor 23 2nd endoscope 24 Insertion part 25 Tip structure part 26 Imaging part 27 Laser irradiation part 28 Light emission part 29 Laser light source 30 Optical system 31 Emitting unit 32 Shaft unit 33 Operating unit 34 Gripping unit 35 Second image processing device 36 Second sub-monitor 38 Arm input unit 39 Irradiation switch 40 View point change switch 41 Control device 42 Laser control unit 43 Image control unit 44 Arm control unit 45 Main monitor DESCRIPTION OF SYMBOLS 50 2nd endoscope 51 Laser irradiation part 52 Emitting part 53 Control apparatus 54 Optical system 60 1st endoscope 61 Tip structure part 62 Left side imaging part 63 Right side imaging part 64 Control apparatus 65 Laser control part 66 Image control part 67 Arm Control unit 70 First endoscope 71 Insertion unit 72 Configuration part 73 Bending part 74 Flexible tube part 75 Drive part 76 Actuator 77 Encoder 79 Power transmission part 80 Second endoscope 81 Insertion part 82 Tip part 83 Bending part 84 Flexible pipe part 85 Operation part 86 Bending operation input part DESCRIPTION OF SYMBOLS 88 Power transmission part 90 Control apparatus 91 Laser control part 92 Image control part 93 Arm control part 100 Endoscope laser irradiation apparatus 101 Insertion part 102 Sheath part 103 Main body part 110 First endoscope 111 Laser irradiation part 112 Irradiation switch 120 Second endoscope 130 Second arm 131 View point change switch 132 View point change switch 140 Control device 150 First endoscope 160 Second endoscope 170 Control device 180 Posture detection device 181 Marker 182 Camera

Claims (6)

1. A first endoscope having a first imaging unit;
   An arm operable to move the first imaging unit and disposed on the first endoscope;
   A second endoscope having a second imaging unit and an irradiating unit for irradiating light to an imaging target site of the second imaging unit;
   An image including a light spot generated by irradiating the imaging target site with the light in a field of view is acquired from the first imaging unit, and the field of view of the first imaging unit is predetermined with respect to the field of view of the second imaging unit. A control device for operating the arm based on the position of the light spot on the image so as to have a positional relationship;
   Endoscope system equipped with.
2. The control device, as a control procedure for operating the arm,
   A recognition step of recognizing the light spot using an image captured by the first imaging unit;
   A calculation step for calculating, after the recognition step, an amount of movement of the arm for moving a predetermined reference position on the image with reference to the light spot recognized in the recognition step;
   An instruction step for outputting an operation instruction for moving the arm based on the operation amount after the calculation step;
   The endoscope system according to claim 1, wherein the operation of the arm is controlled according to the control procedure.
3. The control device includes:
   The control procedure further includes a ranging step of measuring a first distance that is a distance between the first imaging unit and the imaging target site,
   In the calculating step, the movement amount of the arm is calculated so that the first distance when the arm reaches the movement target position based on the movement amount is equal to the first distance at the start of movement of the arm. The endoscope system according to claim 2.
4. The control device measures a first distance that is a distance between the first imaging unit and the imaging target region, and a second distance that is a distance between the second imaging unit and the imaging target site, respectively. Steps,
   A distance adjusting step of operating the arm such that the first distance is greater than the second distance;
   The endoscope system according to claim 2, further comprising:
5. The endoscope system according to claim 3 or 4, wherein the control device calculates a distance between the first imaging unit and the light spot as the first distance in the ranging step.
6. A second arm operable to move the second imaging unit and disposed on the second endoscope;
   The endoscope system according to any one of claims 1 to 5, wherein the control device controls the first endoscope, the second endoscope, and the arm.

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