JP2001275931A - Medical treatment system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical treatment system wherein labor of an operator can be reduced in the setting prior to an operation, and at the same time, a period of time required for the setting can be drastically shortened, and a visual field of an imaging means of an endoscope or the like can be easily and quickly moved without sacrificing a normal operation work, and also, without being affected by an individual difference of the operator. SOLUTION: This medical treatment system is equipped with a trocar 47, the imaging means 3, a imaging means-supporting device 4, a supporting device- driving means, relative localization-measuring means 27 and 31, and a control means. In this case, the trocar 47 is pierced into an abdominal cavity through an abdominal parietis. The imaging means 3 images the inside of the abdominal cavity. The means-supporting device 4 supports the imaging means 3. The supporting device-driving means moves the imaging means 3 by driving the imaging means-supporting device 4. The relative localization-measuring means 27 and 31 detect the relative locations of the trocar 47 and the imaging means- supporting device 4. The control means controls the supporting device-driving means based on the information from the relative localization-measuring means 27 and 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical system represented by an endoscopic surgical system for performing a surgical operation under an endoscope, for example.

[0002]

2. Description of the Related Art In recent years, so-called endoscopic surgery, which has less invasiveness to patients than surgical operations such as laparotomy and thoracotomy, has been actively performed. In particular, laparoscopic surgery is widely performed.

In this endoscopic surgical operation, an observation field of view obtained by the endoscope is displayed on a TV monitor, and a treatment tool is operated while looking at this screen to remove an affected part. At this time, the endoscope is fixedly supported by a dedicated support device.

An endoscope supporting device for supporting an endoscope is used by being attached to a stay provided on a side of an operating table as disclosed in, for example, US Pat. No. 5,574,741 and JP-A-7-289563. You.

In addition, the visual field of the endoscope is moved by moving the endoscope support device to move the entire endoscope. Such movement of the endoscope support device is performed, for example, by electric power. For example, JP-A-10-1180
Japanese Patent Publication No. 15 discloses an endoscopic surgical apparatus in which an operation switch for instructing an operation of changing a field of view of an endoscope is connected to a treatment tool. Also, in US Pat. No. 5,574,741,
An apparatus for moving an endoscope by a foot switch is disclosed. Further, Japanese Patent Application Laid-Open No. 62-166312 discloses a device for moving a surgical microscope by a voice recognition device for recognizing a voice uttered by an operator.

[0006]

By the way, the endoscope supporting device is heavy in its function of supporting the endoscope, and requires a large amount of labor to connect the bed to the side stay. In addition, if the endoscope is to be moved more than the movable range of the endoscope support device during the operation, it is necessary to move the entire endoscope support device with respect to the stay. Incurs a loss of surgery time.

Further, without connecting the endoscope support device to the side stay of the bed, the endoscope support device can be installed on the ceiling of the operating room or on a support table movable with respect to the floor of the operating room. It is also conceivable to install an endoscope support device. However, in this case, the operation of moving the endoscope to the insertion position of the patient's abdomen to insert the endoscope into the abdominal cavity becomes troublesome. In particular, in a support device of the type that moves the endoscope by electric power as disclosed in US Pat. No. 5,574,741, it takes a long time to move the endoscope to a target position, which causes a prolongation of the entire operation time. Has also become.

Further, if the operation switch is connected to the treatment tool as in the endoscopic surgical operation apparatus disclosed in Japanese Patent Application Laid-Open No. Hei 10-118015, the size and weight of the treatment tool are increased and the operation is increased. Not only is the operability impaired, but operability satisfactory to all doctors cannot be obtained due to individual differences such as the dominant hand of the operator and the size of the hand.

Further, in a device for moving an endoscope by a foot switch as in US Pat. No. 5,574,741, the number of foot switches at the time of surgery is increased. That is, in general, a large number of foot switches such as energy treatment tools are placed on the floor of the operating room during the operation, and further increasing the number of foot switches results in deterioration of work efficiency and operation. There is a possibility that quickness cannot be ensured. In addition, since the operation is performed with the foot, it is difficult to finely adjust the visual field.

Further, in a device for moving an operating microscope by an operator's voice as disclosed in Japanese Patent Application Laid-Open No. 62-166212, the voice is accurately recognized by a voice recognition device due to the sound of the operator or the influence of a mask worn by the operator. Otherwise, the operation intended by the operator cannot be performed. In addition, the responsiveness is poor and it is difficult to move the field of view delicately, and the time from vocalization to movement is long, so that the field of view cannot be moved quickly.

The present invention has been made in view of the above circumstances, and the first object of the present invention is to reduce the labor of the operator in setting before operation and greatly reduce the time required for setting. To provide a medical system. Further, a second object is to provide a medical system capable of easily and quickly moving the field of view of an imaging means such as an endoscope without sacrificing a normal surgical operation and without being affected by individual differences among operators. It is to provide a system.

[0012]

According to a first aspect of the present invention, there is provided a medical system comprising: a trocar inserted into an abdominal cavity through an abdominal wall; An imaging means support device for supporting the imaging means, a support device driving means for moving the imaging means by driving the imaging means support device, and detecting a relative position between the trocar and the imaging means support device. And a control means for controlling the support device driving means based on information from the relative position measurement means.

According to the medical system of the first aspect, the relative position between the trocar and the imaging device supporting device is measured by the relative position measuring device, and the supporting device driving device is controlled by the control device based on the information. Drive control is performed to move the imaging means support device to a predetermined position with respect to the trocar. Therefore, the imaging means can be automatically moved above the trocar.

[0014] The medical system according to the second aspect of the present invention includes an imaging unit that is inserted into the abdominal cavity to image the inside of the abdominal cavity;
An imaging device supporting device that supports the imaging device, a supporting device driving device that moves the imaging device by driving the imaging device supporting device, and a distance from the imaging device to an operating part of a living body to be treated And a control means for controlling the support device driving means based on information from the interoperative distance measuring means.

According to the medical system of the second aspect, the distance between the imaging means and the operative part (living tissue) is measured by the interoperative part distance measuring means, and the control means performs the control based on the information. The driving of the supporting device driving unit is controlled, and the imaging unit supporting device is moved until, for example, the distance between the imaging unit and the operative site becomes a predetermined distance. Therefore, the movement of the imaging unit can be automatically stopped before the imaging unit comes into contact with the operative site in the abdominal cavity.

According to a third aspect of the present invention, there is provided a medical system, comprising: an image pickup device for photographing an operation portion in a body cavity; a display device for displaying an image picked up by the image pickup device; Display device supporting device, image capturing device supporting device movably supporting the image capturing device, display position measuring device for detecting a spatial position of the display device, and supporting device driving for driving the image capturing device supporting device Means, and control means for controlling the support device driving means based on information from the display position measuring means.

According to the medical system of the third aspect, the position of the display means is detected by the display position detection means, and the driving of the support device driving means is controlled by the control means in accordance with the movement of the display means. Thereby, the imaging unit supported by the imaging unit support device is moved. That is,
The imaging means is moved in conjunction with the movement of the display means, and the field of view is changed.

[0018]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 to FIG. 5 show a first embodiment of the present invention. As shown in FIG. 1, an endoscopic surgery system as a medical system according to the present embodiment includes an operating table 1 that supports a patient 2 and an imaging unit (an imaging unit that is inserted into an abdominal cavity and that captures an image of an operation site). An endoscope) 3 and a support unit 4 as an imaging means support device disposed near the operating table 1 and supporting the imaging unit 3 so as to be movable three-dimensionally.
And a switch unit (input device) 5 connected to the support unit 4 via an electric circuit described later.

C described later provided in the image pickup unit 3
A TV control unit 7 is connected to the CD via a TV cable 10. The TV monitor 6 is connected to the TV control unit 7. In order to supply illumination light to the imaging unit 3, a light source device 8 is connected to the imaging unit 3 via a light guide 9. In the figure, reference numeral 47 denotes a trocar punctured into the abdominal cavity of the patient 2 through the abdominal wall.
LED 31 is fixed as an index. This LE
D31 is connected to an LED control device 32 (see FIG. 4) described later.

The details of the imaging unit 3 are shown in FIG. As illustrated, the imaging unit 3 includes a support unit 4
Has a cylindrical support tube 11 connected to a connection tube 12 described later. An objective lens 13 is provided at the tip of the support tube 11.
And an illumination lens 15 are provided. On the optical axis formed by the objective lens 13, the CCD 1 connected to the TV cable 10
4 are provided. A light guide 9 is provided on an optical axis formed by the illumination lens 15. An ultrasonic sensor 49 for detecting the distance to the object is provided at the tip of the support cylinder 11. This ultrasonic sensor 49
Is provided with an ultrasonic oscillation unit and a receiving unit, and is connected to an ultrasonic driving and measuring device 50 described later. And
The ultrasonic sensor 49 and the ultrasonic driving / measuring device 50 constitute an interoperative distance measuring unit 42 (FIG. 4).
reference).

Details of the support unit 4 are shown in FIG. As shown, the support unit 4 has a base 16. The base 16 can be moved with respect to the floor surface by a caster 17 and can be fixed to the floor surface by a stopper device 18. A support 19 is fixed to the base 16. An upper and lower arm 22 is connected to the upper end of the column 10 so as to extend and contract along the axis Oa.
A swing arm 23 is connected to the upper ends of the upper and lower arms 22 so as to be rotatable about an axis Oa. A block 24 is integrally connected to the upper end of the turning arm 23. Also,
An extendable arm 25 is connected to the block 24 so as to be extendable and contractable along an axis Ob perpendicular to the axis Oa.

In the figure, reference numerals 20a to 20c denote motors constituting actuators for driving the upper and lower arms 22, the turning arm 23 and the telescopic arm 25, respectively. These motors 20a to 20c are connected to drive circuits 42a to
42c (see FIG. 4). In the figure, 2
1a to 21c are encoders for detecting the amount of movement of the upper and lower arms 22 and the telescopic arm 25 and the rotation angle of the turning arm 23 around the axis Oa.

The distal end of the telescopic arm 25 is bent in an L-shape, and a connecting plate 26 is connected to the lower end of the bent portion. On the connection plate 26, a TV camera 27 as an index detecting means for photographing the lower part at a wide angle is attached and fixed. The TV camera 27 includes a CCD (not shown) and an optical system (not shown), and is connected to a TV control unit 33 (see FIG. 4) described later. Also,
A hanging arm 28 is integrally fixed to the connection plate 26. The connection cylinder 12 is connected to a lower end of the hanging arm 28 via a spherical slide bearing 30. The connection tube 12 can be tilted about a center point P of the slide bearing 30. Note that a TV cable 10 and a light guide 9 are built in the support unit 4.

FIG. 4 shows the details of the configuration of the electric circuit and the switch unit 5. In the figure, 35 is a relative position measuring means. This relative position measuring means 35 is an LED
LED control device 32 connected to TV camera 2
7, a TV control unit 33 connected to the
A measuring device (second measuring device) 34 is connected to both the D control device 32 and the TV control unit 33.

The measuring device 34 is connected to an A / D converter 37, and the A / D converter 37 is connected to an arithmetic device 38. The arithmetic unit 38 is connected to a data conversion circuit 39 constituting the control unit 36 together with the arithmetic unit 38, an ultrasonic drive measuring device 50 of the inter-operative-distance measuring unit 42, and an input control device 40 described later. Have been.

In the drawing, reference numeral 41 denotes a support device driving means. The support device driving means 41 includes motors 20a to 20c,
Drive circuits 42a to 42c are connected to these motors 20a to 20c, respectively. The drive circuits 42a to 42c are connected to the data conversion circuit 39.

The switch unit 5 includes a horizontal setting switch 64e, a vertical setting switch 64f, and the input control device 4 connected to these switches 64e and 64f, respectively.
0 and a joystick switch 64.
The joystick switch 64 is connected to the drive circuit 42.
a, 42b.

Next, the operation of the endoscopic operation system according to the present embodiment will be described.

First, when performing an operation, the trocar 47 is punctured into the cavity through the abdominal wall of the patient 2 with the patient 2 mounted on the operating table 1 as shown in FIG. To insufflate the gas in the abdominal cavity. Subsequently, the support unit 4 is moved to the vicinity of the operating table 1, and the support unit 4 is fixed to the floor by the stopper device 18.

Next, the image pickup unit 3 is placed in the trocar 47.
Is automatically moved above the trocar 47 in order to insert the image. Hereinafter, this automatic operation will be described.

First, before starting the operation, the operator presses the horizontal setting switch 64e of the switch unit 5. As a result, a signal is output from the horizontal setting switch 64e to the computing device 38 via the input control device 40, and the measuring device 34 receives the signal from the computing device 38 and
The imaging by the camera 27 is started, and the LED 31 emits light by the output from the LED control device 32.

The signal from the TV camera 27 is processed by the measuring device 34 and the A / D converter 37 via the TV control unit 33,
Is calculated with respect to the TV camera 37 in a horizontal plane (in a plane orthogonal to the shooting optical axis of the TV camera 27). The arithmetic unit 38 stores the positional information of the point P with respect to the TV camera 27 in advance, calculates the positional relationship between the point P and the LED 31 based on the information, and outputs a signal to move the point P vertically above the LED 31. The data is output to the data conversion circuit 39. This signal is converted into a predetermined signal by the data conversion circuit 39, and then is transmitted through the drive circuits 42b and 42c to the motors 20b and 2c.
0c is rotated in a predetermined direction by a predetermined amount. Thereby, the turning arm 23 and the telescopic arm 25 of the support unit 4 move, and the point P of the slide bearing 30 is automatically positioned vertically on the LED 31.

Next, the upper and lower arms 22 are moved up and down to insert the imaging unit 3 into the trocar 47. In the present embodiment, this operation is also partially performed automatically.
Hereinafter, this operation will be described.

When the operator presses the up / down setting switch 64 f of the switch unit 5, ultrasonic waves are emitted from the ultrasonic sensor 49 toward the operation section 52. The ultrasonic wave reflected from the operation section 52 is received by the ultrasonic sensor 49, and a signal accompanying this reception is output to the ultrasonic drive measurement device 50. The ultrasonic drive measurement device 50 calculates the distance between the distal end of the imaging unit 3 and the operation section 52 based on the signal, and outputs the calculation result (distance information) to the arithmetic device 38. The arithmetic unit 38 compares the distance information with a threshold value set in a memory (not shown), outputs a signal to the data conversion circuit 39 until the threshold value and the distance information become the same, and outputs the signal to the motor conversion circuit 42b via the drive circuit 42b. 20a is rotated. Thereby, the imaging unit 3
The upper and lower arms 23 descend until the distance between the distal end of the target and the operation part 52 reaches a predetermined value set in advance. Upper and lower arm 2
While descending, the surgeon tilts the imaging unit 3 around the point P of the slide bearing 30 while holding the imaging unit 3 and the trocar 47 with the left and right hands, respectively, so that the tip of the imaging unit 3 is trocared. Insert into 47. The lowering of the upper and lower arms 23 is stopped when the distance between the distal end of the imaging unit 3 and the operation section 52 reaches a predetermined value.

When the operation of inserting the imaging unit 3 into the trocar 47 is completed, the operation is performed while moving the visual field of the imaging unit 3. During the operation, the operation section 52 is illuminated by illumination light supplied from the light source device 8 via the light guide 9 and the illumination lens 15. The image of the operation section 52 is captured by the CCD 14 via the objective lens 13, image-processed by the TV control unit 7, and displayed on the TV monitor 6. The surgeon views the image on the TV monitor 6 and switches the switch unit 5 as necessary so that the surgical site is displayed at the center of the TV monitor 6.
The joystick switch 46 is operated. Hereinafter, this operation will be described with reference to FIG.

While the joystick switch 46 is being operated, a signal from the joystick switch 46 is output to the drive circuits 42b and 42c, and the corresponding motors 20b and 20c are rotated. As a result, the turning arm 23 and the telescopic arm 25 move, and the point P of the slide bearing 30 moves in the horizontal plane in the direction in which the joystick switch 46 is tilted. At this time, the imaging unit 3
Tilt of the trocar 47 around the abdominal wall puncture point Q, point P
And the joystick switch 46 is tilted in the same direction as the joystick switch 46 in accordance with the movement of the point P (see the broken line in FIG. 5). The direction of the tip (viewing direction) is changed. That is, the tilting of the joystick switch 46 produces the same effect as if the imaging unit 3 was tilted.
The field of view can be changed in a direction corresponding to the operation direction. Note that, at this time, the operation section 5 is
The distance to 2 is calculated by the ultrasonic sensor 49, and when the distance between the distal end of the imaging unit 3 and the operation section 52 falls below a predetermined value, for example, the movement of the visual field is stopped.

As described above, according to the endoscopic operation system of this embodiment, the relative position between the trocar 47 and the support unit 4 is measured by the relative position measuring means 35, and the control means is controlled based on the information. The drive of the support device driving means 41 is controlled by the control unit 36, the support unit 4 is moved to a predetermined position with respect to the trocar 47, and the imaging unit 3 is automatically moved above the insertion opening of the trocar 47. Therefore, in the setting before the operation, the fatigue of the operator can be reduced, and the time required for the setting can be significantly reduced, so that the efficiency of the operation can be improved. Further, since the operation is not performed by the foot switch or the voice of the operator and the operation switch is not provided on the treatment tool or the like, the above-described conventional problems hardly occur.

Further, since the relative position measuring means 35 is configured to detect the LED 31 of the trocar 47 by the TV camera 27 provided in the support unit 4, no separate position detecting means is required outside, and the operating room You don't have to sacrifice space. Further, the configuration of the interoperative distance measuring means 42 is simple because the ultrasonic sensor 49 is used.

FIGS. 6 to 10 show a second embodiment of the present invention. Note that, in the present embodiment, the same components as those in the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 6, the endoscopic surgery system according to the present embodiment comprises an operating table 1 for supporting a patient 2 and an imaging unit 60 as an imaging means inserted into the abdominal cavity to image an operation site. A support unit 61 disposed near the operating table 1 and supporting the imaging unit 60 so that the imaging unit 60 can move three-dimensionally; and a display for displaying an image of the operative site captured by the imaging unit 60 The liquid crystal monitor 62 includes a liquid crystal monitor 62, a display means supporting device 63 that can freely move and fix the liquid crystal monitor 62, and a switch unit (input device) 64 connected to the liquid crystal monitor 62.

The liquid crystal monitor 62 is connected to the imaging unit 6 via the TV control unit 7 and the TV cable 10.
0 is connected to a CCD described later. The display means support device 63 is provided with a monitor position measuring means 9 described later as a display position measuring means for detecting the position of the liquid crystal monitor 62.
8 (see FIG. 10). In the drawing, 8 is a light source device, 9 is a light guide, 47 is a trocar, and 31 is an LED as a third index.

As shown in detail in FIG. 7, an image pickup unit 60 is connected to a connection arm 99 of the support unit 61, which will be described later, via an image pickup unit tilting means 77.
The imaging unit tilting means 77 has a base arm 78 integrally connected to the connection arm 99. Proximal arm 78
A first inclined arm 79 is rotatably supported on the axis Og. Further, a second inclined arm 80 that is rotatable around an axis Oh orthogonal to the axis Og is connected to a lower end of the first inclined arm 79. The lower end of the second inclined arm 80 is connected to the imaging unit 60 that is rotatable around an axis Oi orthogonal to the axes Og and Oh.

In the figure, reference numerals 75g to 75i denote motors for rotating the first inclined arm 79, the second inclined arm 80, and the image pickup unit 60 around the axes Og to Oi, respectively.
g to 76i are the first inclined arm 79 and the second inclined arm 8
0, an encoder that detects a rotation angle of each of the imaging units 60 around the axes Og to Oi. Motor 75g ~
75i are the corresponding driving circuits 100g to 100i, respectively.
(See FIG. 10). Encoder 76g ~
76i is a pulse converter 93 (FIG. 10)
See). Note that the encoders 76g to 7g
5i and the pulse converter 93 constitute a support unit position detecting means.

The imaging unit 60 has an objective lens 65 at its tip. Between the objective lens 65 and the CCD 14, a zoom lens 66 and an imaging lens 67 constituting a magnification changing means are arranged. The zoom lens 66 is driven by a lens driving unit 68 having a motor (not shown) built therein, and thereby the CCD 1 is driven by the imaging lens 67.
The magnification of the image of the surgical site formed on the image No. 4 is changed. The lens drive unit 68 is provided with a zoom encoder 92 for detecting magnification. The zoom encoder 92 is connected to a later-described pulse converter 105 (see FIG. 10), and the lens drive unit 68 is connected to a later-described data conversion circuit 84 via a later-described lens drive circuit 99. Support tube 1
An ultrasonic sensor (not shown) similar to that of the first embodiment is provided at the front end of the unit 1. The center point of the focal plane of the imaging unit 60 is indicated by R in FIG. Other configurations are the same as those of the imaging unit 3 of the first embodiment.

The details of the support unit 61 are shown in FIG. As shown, the support unit 61 has a base 70. The base 70 can be moved with respect to the floor by the casters 17 and can be fixed to the floor by the stopper device 18. Post 7 on base 70
1 is fixed. A first arm 72 is connected to the upper end of the column 71 so as to be rotatable around the axis Od. A second arm 73 is connected to an upper end of the first arm 72 so as to be rotatable around an axis Oe orthogonal to the axis Od. Second arm 7
A third arm 74 is connected to the upper end of 3 so as to be rotatable around an axis Of parallel to the axis Oe.

In the drawing, reference numerals 75d to 75f denote motors constituting actuators for driving the first arm 72, the second arm 73, and the third arm 74, respectively.
76d to 76f are encoders serving as angle detecting means for detecting the rotation angles of the first arm 72, the second arm 73, and the third arm 74 around the axes Od to Of, respectively. Each of the motors 75d to 75f has a corresponding drive circuit 100
d to 100f (see FIG. 10). Also,
Each of the encoders 76d to 76f is connected to a pulse converter 93 (see FIG. 10) described later.

The distal end of the third arm 74 is bent in an L-shape, and the connecting plate 26 is connected to the lower end of the bent portion. In the connection plate 26, as in the first embodiment,
The TV camera 27 and the hanging arm 28 are fixed. A slide bearing 30 provided on the hanging arm 28
The image pickup unit tilting means 7 is provided below the
7 are provided. The support unit 61 has a TV set.
The cable 10 and the light guide 9 are built in. The LED 31 fixed to the trocar 47 is an LED described later.
It is connected to the control device 32 (see FIG. 10).

FIG. 9 shows the structures of the liquid crystal monitor 62, the display means support device 63, and the input unit 64 in detail. As shown, the input unit 6 is connected to the liquid crystal monitor 62.
4 are integrally connected. The input unit 64 includes a reset switch 64a, a movement switch 64b, a zoom switch 64c, an observation angle tilt switch 64d,
A horizontal setting switch 64e and a vertical setting switch 64f are provided. The electrical connection of these switches 64a to 64f will be described later.

A fixing member 80 is fixed to the stay 81 of the means base 1. A rotating arm 82 is supported at the upper end of the fixed member 80 so as to be rotatable around the axis Ok. A first arm 83 is supported at the upper end of the rotating arm 82 so as to be rotatable around an axis Ol orthogonal to the axis Ok. At the upper end of the first arm 83, a second arm 84 is provided with an axis O parallel to the axis Ol.
It is supported rotatably around m.

The distal end side of the second arm 84 is bent in an L-shape, and a first inclined arm 85 is connected to the lower end of the bent portion so as to be rotatable around an axis On orthogonal to the axis Om. I have. A second inclined arm 86 is connected to a lower end of the first inclined arm 85 so as to be rotatable around an axis Oo orthogonal to the axis On. A slide cylinder 87 is connected to the lower end of the second inclined arm 86 so as to be rotatable around an axis Op orthogonal to the axis Oo.

In the figure, reference numerals 88k to 88p fix the rotating positions of the rotating arm 82, the first arm 83, the second arm 84, the first inclined arm 85, the second inclined arm 86, and the slide cylinder 87, respectively. Electromagnetic brakes that can be released from being fixed.
2. An encoder as a detecting means for detecting the rotation angle of the first arm 83, the second arm 84, the first inclined arm 85, the second inclined arm 86, and the slide cylinder 87. The electromagnetic brakes 88k to 88m are respectively connected to a brake drive circuit 103a (see FIG. 10) described later, and the electromagnetic brakes 88n to 88p are respectively connected to a brake drive circuit 1 described later.
03b (see FIG. 10).
9k to 89p are pulse conversion circuits 102 to be described later.
(See FIG. 10).

A guide cylinder 90 is slidably fitted to the cylindrical lower end of the slide cylinder 87 along the vertical axis Op. A liquid crystal monitor 62 is integrally connected to the lower end of the guide cylinder 90 so as to form a right angle with the vertical axis Op.

In the figure, reference numeral 91 denotes an electromagnetic brake capable of fixing and releasing the slide of the guide cylinder 90 with respect to the slide cylinder 87, and is connected to a brake drive circuit 103c (see FIG. 10) described later. In the figure, reference numeral 109 denotes a slide cylinder 87
Is an encoder as a position detecting means for detecting the position of the guide cylinder 90 with respect to the pulse conversion circuit 11 described later.
9 (see FIG. 10). Further, the zoom input means 55 is constituted by the encoder 109 and a pulse conversion circuit 119 described later.

Next, the configuration of the electric circuit and the switch unit 64 will be described with reference to FIG.

Reference numerals 35 and 37 denote relative position detecting means and A / D converters similar to those of the first embodiment, and a description thereof will be omitted. Reference numeral 42 denotes an inter-operative-distance measuring unit similar to that of the first embodiment, and the description is omitted. Reference numeral 95 denotes the ultrasonic drive measurement device 50, the A / D converter 37, and the data conversion circuit 8.
4. Pulse converters 93, 102, 105, 11 to be described later
9, an arithmetic unit connected to an input unit 64 described later and a display device locking means 101 described later. The data conversion circuit 84 includes the arithmetic unit 95 and the brake drive circuits 103a to 103a to
3c, drive circuits 100d to 100i, lens drive circuit 9
9 is connected. The arithmetic unit 95 and the data conversion circuit 84 constitute control means 96. Reference numeral 97 denotes a support device driving unit, which includes motors 75d to 75i and driving circuits 100d to 100i connected to the motors. These drive circuits 100d to 100i are connected to a data conversion circuit 84.

Reference numeral 101 denotes a display device locking means, and the electromagnetic brakes 88k to 88m serve as brake driving circuits 103a.
And the electromagnetic brakes 88n to 88p
03b, the electromagnetic brake 91 is connected to the brake drive circuit 103.
c. Brake drive circuit 103
a to 103c are connected to the arithmetic unit 9 via the data conversion circuit 84.
5 is connected.

Reference numeral 64 denotes a switch unit, and a reset switch 64a is connected to the arithmetic unit 95 and a movement switch 64b.
Indicates to the drive circuits 103a and 103b and the arithmetic unit 95,
The zoom switch 64c is connected to the drive circuit 102c and the arithmetic unit 95, and the tilt switch 64d is connected to the drive circuit 103b and the arithmetic unit 95. Horizontal setting switch 6
4e, the up / down setting switch 64f is connected to the arithmetic unit 95 via the input control device 40 as in the first embodiment.

Reference numeral 98 denotes a monitor position measuring means which is a display position measuring means, and is constituted by a pulse converter 102 to which encoders 89k to 89p are connected. Reference numeral 107 denotes a zoom magnification detecting means, which includes the zoom encoder 92 and the pulse converter 105 to which the zoom encoder 92 is connected.

Reference numeral 99 denotes a lens drive circuit which is connected to the data converter 84 and outputs a signal to the lens drive unit 68. The lens driving unit 68 and the lens driving circuit 99 constitute a zoom driving unit 108.

Next, the operation of the present embodiment will be described.

As in the first embodiment, the physician performs puncture of the trocar 47 and insufflation before surgery. Subsequently, the support unit 61 is moved near the operating table 1 and fixed to the floor surface by the stopper device 18.

Next, the image pickup unit 6 is placed in the trocar 47.
0 to insert the imaging unit 60 into the trocar 47.
Move it up. Hereinafter, this operation will be described.

When the doctor presses the horizontal setting switch 64e of the switch unit 64, the trocar position detecting means 35 and the arithmetic unit 95, which are the same as in the first embodiment, cause the LE to be set.
The position of D31 in the horizontal plane (XY plane) with respect to the TV camera 37 is calculated, and the signal calculated by the arithmetic unit 95 is converted into a predetermined signal by the data conversion circuit 84.
Driving circuits 100d, 100e, 100f of the driving means 97
, The motors 75d, 75e and 75f are rotated by a predetermined amount in a predetermined direction. As a result, the first arm 72, the second arm 73, and the third arm 74 of the support unit 61 rotate, and are positioned so that the point P of the slide bearing 30 is vertically above the LED 31.

Next, the operation of moving the imaging unit 60 in the vertical direction and inserting it into the trocar 47 will be described.

When the doctor presses the up / down setting switch 64f of the switch unit 64, the distance between the distal end of the imaging unit 60 and the operative part 52 is calculated by the operation of the interoperative part distance measuring means 48 as in the first embodiment. Based on this, the arithmetic unit 95 compares the distance with a threshold set in a memory (not shown), and calculates the motor 75d via the data conversion circuit 84 and the driving circuits 100d to 100f until the threshold becomes equal to the distance. Rotate ~ 75f. This allows
The first arm 72, the second arm 73, and the third arm 74 are driven until the distance between the distal end of the imaging unit 60 and the operation section 52 reaches a predetermined value, and the slide bearing 30 is lowered. During this operation, the tip of the imaging unit 60 is inserted into the trocar 47 as in the first embodiment.

The operation section 52 is illuminated as in the first embodiment. The image of the operative part 52 includes an objective lens 65 and a zoom lens 6.
The liquid crystal monitor 62 is imaged by the CCD 14 through the imaging control lens 6 and the imaging lens 67 via the TV control unit
Is displayed in. The surgeon performs a surgical operation while viewing the image on the liquid crystal monitor 62.

Next, the operation when the visual field is moved will be described.

When the reset switch 64a of the switch unit 64 is pressed at the start of the operation, the signals from the encoders 76d to 76i of the support unit 61, the encoders 89k to 89p of the display means support device 63, the zoom encoder 92, and the encoder 109 are pulse-converted. Circuit 93, 1
02, 105, and 119 are input to the arithmetic unit 95. The arithmetic unit 95 calculates the reference position coordinates of the spatial coordinate system and stores them in a memory circuit (not shown). Next, when the movement switch 64b is pressed, the electromagnetic brake 8 of the display means support device 63 is pressed.
8k to 88p are released, and the LCD monitor 62
Three-dimensional movement and tilting around three axes in the YZ directions are possible. At the same time, the encoders 89k to 89p output pulses corresponding to the rotation angles around the axes Ok to Op, and the arithmetic unit 95 outputs the pulses through the pulse conversion device 102.
The position and the tilt angle of the liquid crystal monitor 62 in the space coordinate system are calculated.

The arithmetic unit 95 performs a comparison operation with the stored reference position coordinates, calculates the amount of movement of the monitor necessary for the tip of the image pickup unit 60 to move in the same manner as the liquid crystal monitor 62, and executes a data conversion circuit. A control signal is output to the drive circuits 100d to 100i via the control circuit 84. As a result, the motors 75d to 75i rotate, the support unit 61 is driven, and the tip of the imaging unit 60 moves in the same manner as the liquid crystal monitor.

When the moving switch 62b is released, the electromagnetic brakes 88k to 88p are fixed by the reverse operation, so that the position of the liquid crystal monitor 62 is fixed via the display means support device 63 and the driving of the support unit 61 is performed. Also stop. With this operation, the image of the operative site corresponding to the direction in which the operator moves and tilts the liquid crystal monitor 62 is displayed on the liquid crystal monitor 62.
Displayed above.

Next, the operation of changing the imaging magnification of the imaging unit 61 will be described. In the present embodiment, zooming is possible when the liquid crystal monitor is moved in the direction of the axis Op, and its operation will be described.

When the zoom switch 64 c is pressed, the fixation of the electromagnetic brake 91 of the monitor support unit 63 is released, and the guide cylinder 90 can move in the axis Op direction with respect to the slide cylinder 87. That is, the liquid crystal monitor 62 can slide in the axis Op direction, and at the same time, the encoder 109 outputs a pulse corresponding to the interval between the slide cylinder 87 and the guide cylinder 90 and is input to the arithmetic unit 95 via the pulse converter 119. . At the same time, a signal from the encoder 92 of the zoom magnification detecting means 107 is input to the arithmetic unit 95 via the pulse conversion circuit 105. The arithmetic unit 95 performs an arithmetic operation in accordance with the two input signals, and sends the slide cylinder 87 and the guide cylinder 9 to the lens driving circuit 99 via the data conversion circuit 84.
The control signal corresponding to the interval of 0 is output. As a result, a motor (not shown) of the lens drive unit 68 rotates,
The zoom magnification is changed by moving the zoom lens 66. In the present embodiment, when the liquid crystal monitor 62 is moved in a direction approaching the surgical site, the electromagnetic brake 91 is fixed by the opposite operation, so that the position of the liquid crystal monitor 62 is fixed and zooming is also stopped.

In the present embodiment, by tilting the liquid crystal monitor 62, the shooting direction can be freely changed around the center point (view center point) R of the focal plane of the imaging unit 60. Hereinafter, this operation will be described. explain.

When the observation angle tilt switch 64d is pressed, the fixing of the electromagnetic brakes 88n to 88p of the display means support device 63 is released, and the liquid crystal monitor 62 can be tilted around the On to Op3 axes. At the same time, encoders 89n-8
9p outputs a pulse corresponding to the rotation angle around each axis On to Op, and calculates the inclination angle of the liquid crystal monitor 62 in the space coordinate system by the arithmetic unit 95 via the pulse conversion device 102.

The arithmetic unit 95 performs a comparison operation with the reference position coordinates stored in the memory, calculates the amount of tilt of the liquid crystal monitor 62, and moves the image pickup unit 60 to the liquid crystal monitor with the focal position R of the image pickup unit 60 fixed. A control signal is output to the drive circuits 100 d to 100 i via the data conversion circuit 84 in order to incline in the same direction as the tilt direction of 62. As a result, the motors 75d to 75i rotate,
The support unit 61 is driven, and the imaging unit 60 is tilted about the R in the same angle and the same direction as the liquid crystal monitor 62.

When the observation angle tilt switch 64d is released, the electromagnetic brakes 88n to 88p are fixed by the opposite operation, so that the position of the liquid crystal monitor 62 is fixed via the display means support device 63 and the imaging unit 60 is fixed. Is also stopped.

As described above, according to the present embodiment, the same functions and effects as those of the first embodiment can be obtained. Further, in the present embodiment, the position of the monitor 62 is detected by the monitor position measuring means 98, and the driving of the supporting device driving means 97 is controlled by the control means 96 in accordance with the movement of the monitor 62. The supported imaging unit 60 is moved. That is, the imaging unit 60 is moved in conjunction with the movement of the monitor 62, and the field of view is changed. Therefore, the field of view of the imaging unit 60 can be freely moved without sacrificing the normal operation and regardless of individual differences of doctors, thereby shortening operation time and reducing operator fatigue. Can be.

FIGS. 11 to 14 show a third embodiment of the present invention.

As shown in FIG. 11, the endoscopic operation system according to the present embodiment includes an operation table 1 for supporting a patient 2. Reference numeral 110 denotes an imaging unit that is inserted into the abdominal cavity and images an operation site. 111 denotes a support unit that is an imaging unit support device that is disposed near the operating table 1 and supports the imaging unit 110 so as to be movable three-dimensionally. Is the imaging unit 11
TV cables 113a, 1
TV control unit 11 connected by 13b
A 3D monitor 116 which is connected to the 3D converter 115 via the 4a and 114b, and is a display means for displaying an image of the surgical site taken by the imaging unit 110 in a three-dimensional manner;
Is a display means support device which includes a monitor position measuring means 106 which is a display position measuring means for detecting the position of the 3D monitor 112 and which can move and fix the 3D monitor 112 freely. Reference numeral 117 denotes a switch (input device) unit described later connected to the 3D monitor 112.
Reference numeral 130 denotes a digitizer (optical position detection device) described later, and reference numerals 8 and 9 denote a light source device and a light guide similar to those of the first embodiment. Reference numeral 118 denotes a trocar on which a plurality of LEDs described later are arranged.

Next, based on FIG.
0 will be described in detail.

The imaging unit 110 of this embodiment has a pair of left and right optical systems, and is configured to be able to three-dimensionally image the operation section 52. Reference numeral 120 denotes one objective lens, and the two photographing optical axes 121a and 121b are positioned at the focal position at a predetermined angle α.
Are configured to intersect. The imaging optical axis 121a,
Reference numeral 121b denotes a similar configuration, and the configuration on the photographic optical axis 121a side will be described. The photographic optical axis 121b side will be denoted by reference numeral b in the figure and will not be described. On the photographing optical axis 121a, the zoom lens 12 capable of zooming is arranged in order from the objective lens 120 side.
2a, first reflection mirror 123a, second reflection mirror 124
a, an imaging lens 125a, and a CCD 126a. CCD 126a, 126b is TV cable 113
a and 113b are connected to the TV control units 114a and 114b described above. The zoom lenses 122a and 122b are connected to the same lens drive unit 68 as in the second embodiment. The description of the lens drive unit 68 is omitted. The operating section 52 is illuminated by an illumination optical system including an illumination lens and a light guide similar to the second embodiment (not shown).

Next, returning to FIG.
1 and the digitizer will be described in detail.

The support unit 111 of the present embodiment is
Only the difference is that the support unit of the embodiment is installed on the ceiling of the operating room and the configuration of the support unit position detecting means for detecting the position of the support unit is different. Only this part will be described.

Reference numeral 127 denotes a ceiling, which is fixed in such a manner that the front side of the support unit 71 of the second embodiment is turned upside down by 180 degrees. In the second embodiment, the axis O
An encoder for detecting rotation around d to Of is not connected.

The LED 12 which is a second index, which is a component of the support device position measuring means described later, is provided beside the connection plate 26.
A signal plate 129 including 8a, 128b, and 128c is integrally connected. LEDs 128a, 128b, 12
8c is connected to an LED control device 32 described later.

A signal plate 138 having LEDs 137a to 137c as first indicators is integrally connected to the trocar 47 similar to that of the first embodiment. LED13
7a to 137c are connected to an LED control device 32 described later.

The digitizer 130 includes two CCD cameras 131a and 131b, a camera support member 132 for fixing the positions of the CCD cameras 131a and 131b, and a stand 133 as receiving members.
7.

Next, the display means support device 116 will be described.

The display means support device 116 of the present embodiment comprises:
The display device support device of the second embodiment is connected to the operating room ceiling 127.
And the configuration of a monitor position measuring means which is a display position detecting means for detecting the position of the display means supporting device is different. Only this part will be described.

Reference numeral 127 denotes a ceiling, which is fixed with its front side turned upside down by 180 degrees from the fixing member 80 of the display means support device of the second embodiment. The fixing member 13 in which the shape of the fixing member 80 of the first embodiment is changed is provided on the ceiling 127.
4 are connected. In the second embodiment, the axis O
An encoder for detecting rotation around k to Op is not connected.

On the other hand, the LED 135a, which is the fourth index constituting the monitor position measuring means, is provided on the 3D monitor 112.
A signal plate 136 having 135b and 135c is integrally connected. LEDs 135a to 135c are LEs described later.
It is connected to the D control device 32.

Next, the configuration of the electric circuit and the switch unit 117 will be described with reference to FIG.

Each of the LEDs 128a-128c, 135a-
135c, 137a to 137c are connected to the LED control device 32. The CCD cameras 131 a and 131 b and the LED control device 32 provided on the digitizer 30 are connected to a measuring device 139. The measuring device 139 is A
It is connected to the arithmetic unit 140 via the / D converter 37. CCDs 126a and 126b in the imaging unit 110
Are the TV control units 114a and 114, respectively.
b is connected to the measuring device 141. The measuring device 141 is connected to an arithmetic device 140 described later. Furthermore, the TV control units 114a to 114b are 3D
Connected to converter 115. Encoder 76g
76i are connected to the measuring device 93 and the arithmetic device 140 via the pulse conversion circuit 93.

Reference numeral 140 denotes an A / D converter 37, a data conversion circuit 84, a pulse converter 93, 105, 119, an input control device 40 described later, a reset switch 64a, a movement switch 64b, a zoom switch 64c, an observation angle tilt switch 64d, Object distance setting switch 64g, measuring device 14
1 is an arithmetic unit connected to 1. The data conversion circuit 84 is connected to the lens driving circuit 99, the driving circuits 100d to 100i, and the brake driving circuits 103a to 103c.
The arithmetic unit 140 and the data conversion circuit 39 constitute a control means 144. Reference numeral 97 denotes a support device driving unit, which is the same as in the second embodiment, and a description thereof will be omitted.

Reference numeral 101 denotes a display device fixing means, which is the same as in the second embodiment, and a description thereof will be omitted. Here, the trocar position detecting means 142 uses the LED 13 as the first index.
7a to 137c, digitizer 130, LED control circuit 3
2. The support unit position detecting means 143 which is constituted by the measuring device 139 and is the supporting device position measuring means
28a to 128c digitizer 130, LED control circuit 3
2. It is constituted by the measuring device 139, and the first measuring means is constituted by the measuring device 139. The relative position measuring means includes a trocar position measuring means 142, a support unit position detecting means 143 which is a supporting device position measuring means, and a measuring device 139 which is a first measuring means.
The inter-operative distance measuring means is a CCD 1 of the imaging unit 110.
26a, 126b, TV control unit 114
a, 114b and a measuring device 141.
The display position detecting means 106 includes LEDs 135a to 135
c, a digitizer 130, an LED control circuit 32, and a measuring device 139.

The zoom magnification detecting means 107, the zoom driving means 108, and the zoom input means 55 are the same as in the second embodiment, and a description thereof will be omitted.

Reference numeral 117 denotes a switch unit, and a reset switch 64a is connected to the arithmetic
4b denotes drive circuits 103a and 103b and arithmetic unit 14
0, the zoom switch 64c is connected to the drive circuit 102c and the arithmetic unit 140, and the tilt switch 64d is connected to the drive circuit 10c.
3b and the arithmetic unit 140. The horizontal setting switch 64e and the vertical setting switch 64f are connected to the arithmetic unit 140 via the input control device 40 in the same manner as in the second embodiment.
It is connected to the. The interoperative distance setting switch 64g is a switch composed of a dial-type trimmer, and is connected to the arithmetic unit 140. The arithmetic unit 140 is provided with a memory circuit for storing a signal from the inter-operative-section distance setting switch 64g. Reference numeral 104 denotes a lens driving unit similar to the second embodiment, and a description thereof will be omitted.

Next, the operation of the present embodiment will be described.

As in the second embodiment, the physician performs puncture of the trocar 47 and insufflation before surgery. Next, the imaging unit 110 is moved above the trocar 118 to insert the imaging unit 110 into the trocar 118. Hereinafter, this operation will be described.

When the doctor pushes the horizontal setting switch 64e of the switch unit 117, the digitizer 130
The LEDs 137 a to 137 c fixed by 38 are detected, subjected to signal processing by the measuring device 139 and the A / D converter 137, and the arithmetic device 140 calculates the position and orientation of the signal plate 138 in the spatial coordinate system. Signal board 1
Since 38 is integrally connected to the trocar 118, the position and orientation of the trocar 118 are calculated by calculation.

At the same time, the digitizer 130 detects the LEDs 128 a to 128 c fixed by the signal plate 129, performs signal processing by the measuring device 139 and the A / D converter 137, and calculates the space of the signal plate 129 by the arithmetic device 140. The position and orientation in the coordinate system are calculated. Since the signal plate 129 is integrally connected to the connection plate 29, the coordinates of the center point P of the slide bearing 30 are calculated by calculation, including the positional relationship between the signal plate 129 and the slide bearing 30 stored in advance. You.

The arithmetic unit 140 further includes a trocar 11
The relative positional relationship between 8 and the center point P of the slide bearing 30 is calculated. This signal is converted into a predetermined signal by the data conversion circuit 84, and the driving circuit 100d, 1
00e, 100f, motors 75d, 75e,
75f is rotated in a predetermined direction by a predetermined amount. Thus, the first arm 72, the second arm 73,
The third arm 74 rotates, and the point P of the slide bearing 30 becomes L
It is positioned so as to be vertically above the ED 31.

Next, the imaging unit 110 is moved up and down and inserted into the trocar 47. In the present embodiment, this operation can also be partially performed automatically. Hereinafter, the operation will be described.

When the doctor presses the up / down setting switch 64f of the switch unit 64, the inter-operative distance measuring means 14 to be described later is used.
The distance between the distal end of the imaging unit 110 and the operation section 52 is calculated by the operation of 6, and based on this, the arithmetic device 140
A threshold value set in a memory (not shown) is compared with this distance, and the motor 7 is connected via the data conversion circuit 84 and the driving circuits 100d to 100f until the threshold value becomes equal to the distance.
Rotate 5d to 75f. As a result, the first arm 72, the second arm 73, and the third arm 73 until the distance between the distal end of the imaging unit 110 and the operation section 52 reaches a predetermined value.
The arm 74 is driven, and the slide bearing 30 is lowered. During this operation, the doctor inserts the tip of the imaging unit 60 into the trocar 47 as in the second embodiment.

The operation of the imaging unit 110 by the imaging unit 110, the display of the 3D monitor 112, and the operation of the interoperative unit distance measuring means 146 for measuring the distance between the distal end of the imaging unit 110 and the operation unit 52 will be described.

The image of the operation section 52 is transmitted through the objective lens 120 to the zoom lens 122 on the photographing optical axes 121a and 121b.
a, 122b, the first reflecting mirrors 123a, 123b, and the second reflecting mirrors 124a, 124b, and are transmitted by the imaging lenses 125a, 125b.
6b. Since the imaging optical axes 121a and 121b are configured to be inclined at an angle α with each other, the operation section 52 is formed as an image viewed from different angles.

The signals from the CCDs 126a and 126b are converted into video signals by the TV controllers 114a and 114b, input to the measuring device 139, and
It is input to the D converter 115. 3D converter is T
The video signals from the V controllers 114a and 114b are alternately output in a time-division manner.

A liquid crystal polarizing plate connected to a liquid crystal shutter driving device (not shown) is provided on the front of the 3D monitor 112, and the operator wears polarized glasses and images taken by the CCDs 126a and 126b displayed on the 3D monitor 112. Are observed with the left and right eyes, respectively. Thereby, the operation part 52 is observed three-dimensionally.

As shown in FIG. 14, the imaging unit 1
At the focal position of 10, the photographing optical axes 121a and 121b intersect. However, the imaging optical axes 121a and 121b do not intersect with each other on a plane shifted in the distance direction from the focal position. Therefore, even if the object images picked up by the CCDs 126a and 126b are on the same plane, they are displaced by a distance S corresponding to the amount of deviation from the focal position in the perspective direction as shown in FIG. In the figure, solid and broken lines indicate CCDs 126a and 126, respectively.
b shows an image captured on the 3D monitor.

The measuring device 141 is provided with the TV controller 11
Edge detection is performed from the video signals from 4a and 114b to calculate the shift amount S between both images, and the distance from the focal position to the operative section 52 is calculated based on this. Since the distance from the tip of the imaging unit to the focal position is determined in advance, the distance from the tip of the imaging unit 110 to the operation section 52 is uniquely calculated for the shift amount S and output to the arithmetic unit 140.

Next, the operation when the field of view is moved will be described.

When the reset switch 64a of the switch unit 64 is pressed at the start of the operation, the digitizer 130
The LEDs 135a to 135c fixed to the signal plate 136 provided on the monitor 112 are detected, subjected to signal processing by the measuring device 139 and the A / D converter, and the position of the signal plate 136 in the spatial coordinate system is calculated by the arithmetic device 140. And the attitude are calculated. Since the signal plate 136 is integrally connected to the 3D monitor 112, the position and orientation of the 3D monitor 112 are calculated by calculation. Further, a signal from the zoom encoder 92 of the display means support device 116 is input to the arithmetic device 140 via the pulse conversion circuit 102. The arithmetic unit 140 calculates the reference position coordinates of the spatial coordinate system and stores them in a memory circuit (not shown).

Next, when the moving switch 64b is pressed, the 3D monitor 112 operates in the same manner as in the second embodiment.
Three-dimensional movement in the Z direction and tilting around three axes are possible. The position due to the movement of the 3D monitor is similarly calculated by the arithmetic unit 140 by the digitizer 130.

The arithmetic unit 140 performs a comparison operation with the stored reference position coordinates, and thereafter the operation unit 111 is driven and the imaging unit 110 is operated in the same manner as in the second embodiment.
Makes the same movement as the 3D monitor. With this operation, an image of the operative site corresponding to the direction in which the operator tilts the 3D monitor 112 is displayed on the 3D monitor 112. The change of the photographing magnification and the change of the observation angle centered on the observation point are the same as in the second embodiment, and the description is omitted.

As described above, according to this embodiment, the same operation and effect as those of the first and second embodiments can be obtained, and the display means support device and the operation unit are connected to the ceiling. Therefore, a large floor space in the operating room can be secured. In addition, since the imaging unit includes a stereoscopic optical system, stereoscopic observation is possible, and the efficiency of surgical operation can be improved. Further, since the inter-operative-distance measuring means uses the constituent means of the three-dimensional optical system, the measuring means is unnecessary in the imaging unit, and the size can be reduced. Further, since the relative position measuring means detects the LEDs mounted on each of the support unit and the trocar with one digitizer (optical position measuring device), the support unit can be configured simply. In addition, since the display position measuring means also shares the digitizer of the LED and the relative position measuring means, the 3D monitor is simply provided with the LEDs, and can be configured simply.

The inter-operative-distance measuring means of the third embodiment can be realized by another configuration, and the configuration will be described with reference to FIGS.

The third embodiment is different from the third embodiment in that dichroic mirrors 161a and 161b that transmit only a specific wavelength range and reflect other wavelength ranges are arranged at the position of the second reflection mirror, and that the dichroic mirror on the photographic optical axis 121a side. A line sensor 163 serving as an index photographing means is disposed on the optical axis transmitted through the dichroic mirror 161a on the photographing optical axis 121b side on the optical axis transmitted through the optical axis 161a.
LED as index projection means connected to a power supply (not shown)
162 is provided, and a measuring device 164 that measures the distance from the objective lens 120 to the operation site based on a signal from the line sensor 163 is provided. The LED 162, the line sensor 163, and the measuring device 164 constitute a distance measuring unit.

The operation is as follows. Light emitted from the LED passes through the dichroic mirror 161b, is reflected by the first reflecting mirror 123b, passes through the zoom lens 122b and the objective lens 120, and reaches the operation section 52. Conversely, the light reflected by the operation section 52 passes through the objective lens 120 and the zoom lens 121a, is reflected by the first reflection mirror 123a, passes through the dichroic mirror 161a, and is captured by the line sensor 163. The measurement device 164 calculates the distance from the distal end of the objective lens 120, and eventually the imaging unit 110, to the operation site based on the position information at which the light of the LED 162 reflected from the operation site is received by the line sensor 163, and calculates The output is performed to the device 140.

The effect of the third embodiment is that, unlike the third embodiment, the position shift of the images picked up by the CCDs 113a and 113b is not used. A wide range of distance measurement is possible.

According to the technical contents described above, various configurations as described below can be obtained.

1. A trocar punctured into the abdominal cavity through the abdominal wall, an imaging unit for imaging the inside of the abdominal cavity, an imaging unit support device for supporting the imaging unit, and a support device for moving the imaging unit by driving the imaging unit support device A driving unit, a relative position measuring unit that detects a relative position between the trocar and the imaging unit supporting device, and a control unit that controls the supporting device driving unit based on information from the relative position measuring unit. An endoscopic surgery system, characterized in that:

2. The relative position measuring unit includes a trocar position measuring unit that measures a spatial position of the trocar, a supporting device position measuring unit that measures a spatial position of a predetermined portion of the imaging device supporting device, the trocar position measuring unit, and a supporting device position. 2. The endoscopic surgery system according to claim 1, further comprising a first measuring device that performs an arithmetic process based on information of the measuring means.

[0124] 3. The trocar position measuring means includes: a first index fixed to the trocar; a plurality of TV cameras for imaging the first index; and spatial coordinates of the first index based on information from the plurality of TV cameras. 3. The endoscopic surgery system according to claim 2, comprising an optical position detecting means for calculating the following.

[0125] 4. The support device position measurement unit is configured to: a second index fixed to the imaging unit support device, a plurality of TV cameras that image the second index, and the second index based on information from the plurality of TV cameras. 3. The endoscopic surgery system according to claim 2, comprising an optical position detecting means for calculating a spatial coordinate of the index.

5. The relative position measuring means is based on a third index fixed to the trocar, an index detecting means mounted on the imaging means supporting device and detecting the third index, and information from the index detecting means. A second measuring device for performing arithmetic processing by means of
An endoscopic surgical system according to any one of the preceding claims.

6. The image pickup means supporting device comprises a plurality of arms for rotating around a first axis, expanding and contracting in a first direction, and expanding and contracting in a second axis direction orthogonal to the first axis. An endoscopic surgery system according to claim 5.

7. The endoscopic surgery system according to any one of claims 1 to 5, wherein the imaging means supporting device is configured by connecting a plurality of arms to be rotatable around at least three axes.

8. 8. The endoscopic surgery system according to claim 6, wherein said support device position measuring means comprises angle detecting means for detecting angles of said plurality of arms.

9. 9. The endoscopic surgery system according to claim 1, wherein the support device driving unit includes a motor connected to an imaging unit support device, and a drive circuit for driving the motor. .

10. The endoscopic surgery system according to any one of claims 1 to 9, wherein the imaging means support device is installed movably with respect to a floor of an operating room.

11. The endoscopic surgery system according to any one of claims 1 to 9, wherein the imaging means support device is installed on a ceiling of an operating room.

12. An imaging unit that is inserted into the abdominal cavity to image the inside of the abdominal cavity; an imaging unit supporting device that supports the imaging unit; a supporting device driving unit that moves the imaging unit by driving the imaging unit supporting device; Inter-operative distance measuring means for measuring the distance from the imaging means to the operating part of the living body to be treated, and control means for controlling the support device driving means based on information from the inter-operative distance measuring means An endoscopic surgery system comprising:

13. The inter-operative distance measuring means is composed of an ultrasonic distance measuring means, the ultrasonic distance measuring means is an ultrasonic oscillating means for oscillating ultrasonic waves, and is emitted from the ultrasonic oscillating means and reflected at the operative part. 13. The endoscopic surgery system according to claim 12, further comprising a detection unit that receives an ultrasonic wave.

14. 13. The endoscopic surgery system according to claim 12, wherein the imaging unit comprises a stereoscopic imaging unit having two optical systems.

15. 15. The endoscopic surgery system according to claim 14, wherein the inter-operative-part distance measuring unit is an image distance measuring unit that measures based on two pieces of image information captured by the three-dimensional imaging unit.

16. The inter-operative-distance measuring means includes an index projecting means for projecting an index on the operative part, an index imaging means for imaging the index projected on the operative part, and a distance measurement for calculating a distance based on information from the index imaging means. 13. The endoscopic surgery system according to claim 12, comprising means.

17. Imaging means for photographing an operation part in a body cavity, display means for displaying an image taken by the imaging means,
A display means support device for movably and tiltably supporting the display means, an imaging means support device for movably supporting the imaging means, a display position measuring means for detecting a spatial position of the display means, and an imaging means An endoscopic surgery system comprising: a support device driving unit that drives a support device; and a control unit that controls the support device drive unit based on information from the display position measuring unit.

18. The endoscopic surgery system according to claim 17, wherein the display means is a liquid crystal display device.

19. The endoscopic surgery system according to claim 17, wherein the display means is a stereoscopic display device.

20. The display means support device includes an arm mechanism having a plurality of arms connected rotatably around at least three axes, and a braking means capable of fixing and releasing rotation of the plurality of arms. Characteristic 1st
Item 20. An endoscopic surgical system according to any one of Items 7 to 19.

21. 21. The endoscopic surgery system according to claim 20, wherein said display position measuring means comprises angle detecting means for detecting angles of said plurality of arms.

22. The display position measuring means, a fourth index fixed to the display means or the display means support device, a plurality of TV cameras for imaging the fourth index,
21. An endoscopic surgery system according to any one of claims 17 to 20, comprising: optical position detection means for calculating spatial coordinates of the fourth index based on information from the plurality of TV cameras. .

23. The endoscopic surgery system according to any one of claims 17 to 22, wherein the imaging means support device is configured by connecting a plurality of arms so as to be rotatable around at least three axes.

24. The endoscopic surgery system according to any one of claims 17 to 23, wherein the support device driving unit includes a motor connected to an imaging unit support device, and a drive circuit for driving the motor. .

25. The endoscopic surgery system according to any one of claims 17 to 24, wherein the display means support device is installed movably with respect to a floor of an operating room.

26. 17. The display device support device according to claim 17, wherein the display means support device is installed on a ceiling of an operating room.
Item 5. The endoscopic surgery system according to Item 4.

27. 27. The endoscopic surgery system according to any one of claims 17 to 26, wherein the imaging means support device is installed movably with respect to a floor of an operating room.

28. 17. The image pickup means supporting device is installed on a ceiling of an operating room.
Item 7. The endoscopic surgery system according to Item 6.

[0150]

According to the medical system according to the first and second aspects, in setting before operation,
Since the imaging means can be automatically guided to a predetermined position, the fatigue of the operator can be reduced, and the time required for setting can be significantly shortened, thereby improving the efficiency of the operation.

According to the medical system of the third aspect, since the field of view can be moved by the image pickup means in accordance with the operation of moving the display means, a normal operation can be performed without sacrificing the doctor's operation. Regardless of the individual difference, the field of view of the imaging means can be moved at will, and the operation time can be reduced and the operator's fatigue can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a medical system according to a first embodiment of the present invention.

FIG. 2 is a side view having a partial cross section of an imaging unit constituting the medical system of FIG. 1;

FIG. 3 is a configuration diagram of a support unit configuring the medical system of FIG. 1;

FIG. 4 is an electric circuit diagram of the medical system of FIG. 1;

FIG. 5 is a diagram illustrating an example of an operation mode of the imaging unit in FIG. 2;

FIG. 6 is a schematic configuration diagram of a medical system according to a second embodiment of the present invention.

FIG. 7 is a side view having a partial cross section of an imaging unit constituting the medical system of FIG. 6;

FIG. 8 is a configuration diagram of a support unit configuring the medical system of FIG. 6;

FIG. 9 is a configuration diagram of a display means support device constituting the medical system of FIG. 6;

FIG. 10 is an electric circuit diagram of the medical system of FIG. 6;

FIG. 11 is a schematic configuration diagram of a medical system according to a third embodiment of the present invention.

FIG. 12 is a sectional view of an imaging unit constituting the medical system of FIG. 11;

FIG. 13 is an electric circuit diagram of the medical system in FIG. 11;

14 is a diagram illustrating an image captured by a CCD of the imaging unit in FIG. 12 and displayed on a 3D monitor.

FIG. 15 is a cross-sectional view showing another configuration example of the inter-operative-distance measuring means.

FIG. 16 is a plan view showing another configuration example of the inter-operative-distance measuring means.

[Explanation of symbols]

 3 ... imaging unit (imaging means) 4 ... support unit (imaging means support device) 27, 31 ... relative position measuring means 47 ... trocar

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G02B 23/24 G02B 23/24 C 23/26 23/26 D (72) Inventor Masakazu Mizoguchi Shibuya-ku, Tokyo 2-43-2 Hatagaya Olympus Optical Co., Ltd. (72) Inventor Takashi Fukaya 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. F-term (reference) 2H040 BA03 BA15 DA17 DA51 GA02 4C060 FF26 FF31 4C061 AA24 GG27 HH52 HH56 JJ11 JJ17

Claims (3)

[Claims] 1. A trocar punctured into an abdominal cavity through an abdominal wall, imaging means for imaging the inside of the abdominal cavity, an imaging means supporting device for supporting the imaging means, and the imaging means by driving the imaging means supporting device. , A relative position measuring means for detecting a relative position between the trocar and the imaging means supporting device, and controlling the supporting device driving means based on information from the relative position measuring means. A medical system comprising control means. 2. An imaging unit which is inserted into an abdominal cavity to image the inside of the abdominal cavity, an imaging unit supporting device which supports the imaging unit, and a supporting device which moves the imaging unit by driving the imaging unit supporting device. Driving means, an inter-operative distance measuring means for measuring a distance from the imaging means to an operating part of a living body to be treated, and the support device driving means based on information from the inter-operative distance measuring means A medical system comprising control means for controlling. 3. An image pickup means for taking an image of a surgical site in a body cavity, a display means for displaying an image taken by the image pickup means, a display means support device for supporting the display means so as to be movable and tiltable, and An imaging means supporting device for movably supporting the means, a display position measuring means for detecting a spatial position of the display means, a supporting device driving means for driving the imaging means supporting device, and information from the display position measuring means. And a control means for controlling the support device driving means based on the medical system.