JP2005137770A - Endoscope holding device and endoscope holding system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope holding device and an endoscope holding system with enhanced operability. <P>SOLUTION: The endoscope holding device 4 has a supporting portion 32 for supporting an endoscope 50 for observing a subject. The supporting portion 32 is moved and held at a desired position by holding portions 20, 22. The supporting portion 32 is equipped with a driving means 44 for two-dimensionally driving the endoscope 50 relative to the holding portions 20, 22. The driving means 44 is operated by an operating portion. Further, the supporting portion 32 is equipped with arrangement adjust means 46, 48 adjusting the arrangement of the endoscope 50 relative to the supporting portion 32 and capable of arranging the observing optical axis E of the endoscope 50 substantially vertically to the two-dimensional driving direction of the endoscope 50. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an endoscope holding apparatus and an endoscope holding system for moving and holding an endoscope at a desired position with respect to an operation part.

  2. Description of the Related Art Conventionally, in the field of endoscopic surgery, a method has been adopted in which treatment is performed on an operation site while the endoscope is moved and held at a desired position with respect to the operation site. In such a procedure, an endoscope holding device is used. This endoscope holding device moves and holds the support portion that supports the endoscope and places the endoscope in an appropriate position, and then drives the endoscope with respect to the support portion to arrange the endoscope. It is configured to make fine adjustments.

  A surgical microscope having the same configuration as such an endoscope holding apparatus is disclosed in Patent Document 1. This surgical microscope moves and holds the body of the surgical microscope at a desired position with respect to the surgical site. This surgical microscope has a gantry installed on a floor or the like. An arm is disposed on the top of the gantry. This arm can move and hold the mirror moving device disposed at the tip in the vertical and horizontal directions.

  The mirror hanging part is suspended from the mirror moving device at the tip of the arm. A foot-operated control unit is connected to the lens body moving device, and the lens body moving device is operated by the foot-operating control unit to electrically drive the lens body hanging unit in a horizontal plane. The mirror moving device is provided with a reset button for naturally returning the lens hanging portion to the center position of the mirror moving device. And a mirror is hold | maintained at the front-end | tip part of a mirror hanging part.

When using this surgical microscope, the arm is operated to place the lens body above the surgical site. Thereafter, the mirror suspension unit is electrically driven by the mirror moving device to accurately adjust the position of the mirror relative to the surgical site. In this state, the surgical site is observed with a mirror. As the surgery progresses, the surgical operation and observation are performed while appropriately moving the mirror by the mirror moving device. If necessary, the reset button is operated to naturally return the lens hanging portion together with the mirror to the center position of the mirror moving device.
Japanese Patent Publication No. 3-21887

  In the surgical microscope of Patent Document 1, the observation optical axis of the mirror is perpendicular to the two-dimensional driving direction of the mirror of the mirror moving device. And the arrangement | positioning with respect to the mirror body hanging part of a mirror body cannot be changed. For this reason, when this surgical microscope is applied to an endoscope holding apparatus, the following problems occur.

  That is, in the surgical operation, endoscopes having different perspective angles may be used interchangeably. In this case, a situation occurs in which the observation optical axis of the endoscope is not perpendicular to the two-dimensional driving direction of the endoscope. In such a situation, the driving direction of the endoscope and the moving direction of the observation field of view of the endoscope are different. For this reason, when driving an endoscope based on an observation image of the endoscope, it cannot be operated intuitively, resulting in poor usability.

  The present invention has been made paying attention to the above problems, and an object of the present invention is to provide an endoscope holding device and an endoscope holding system with improved operability.

The invention according to claim 1 is a support part for supporting an endoscope for observing an object to be rubbed;
A holding part for moving and holding the support part at a desired position;
A driving means provided in the support portion and driving the endoscope in two dimensions with respect to the holding portion;
Arrangement adjustment provided on the support unit and capable of arranging the observation optical axis of the endoscope substantially perpendicular to the two-dimensional driving direction of the endoscope by adjusting the arrangement of the endoscope with respect to the support unit. Means,
An operation unit for operating the driving means;
An endoscope holding apparatus including the endoscope holding apparatus.

  In the first aspect of the present invention, the endoscope is supported by the support portion, and the observation optical axis of the endoscope is arranged substantially perpendicular to the two-dimensional driving direction of the endoscope by the arrangement adjusting means. The position of the endoscope with respect to the support portion is adjusted, the support portion is moved to and held at a desired position by the holding portion, and the driving means is operated by the operation portion, so that the endoscope is two-dimensional with respect to the holding portion. And the observation visual field of the endoscope is moved in the same direction as the driving direction of the endoscope.

  According to a second aspect of the present invention, the arrangement adjusting means selectively adjusts the arrangement of the endoscope with respect to the support portion to any one of a plurality of predetermined arrangements according to a perspective angle of the endoscope. The endoscope holding apparatus according to claim 1, wherein

  In the second aspect of the invention, the endoscope is observed by selectively adjusting the arrangement of the endoscope with respect to the support portion to any one of a plurality of predetermined arrangements according to the perspective angle of the endoscope. The optical axis is arranged substantially perpendicular to the two-dimensional driving direction of the endoscope.

  The invention according to claim 3 is characterized in that the support part has a second arrangement adjusting means for adjusting the arrangement of the endoscope with respect to the holding part in addition to the first arrangement adjusting means. The endoscope holding device according to claim 1.

  In the third aspect of the invention, the second arrangement adjusting means adjusts the arrangement of the endoscope with respect to the holding portion, regardless of the adjustment of the arrangement of the endoscope with respect to the endoscope support section. The posture of the endoscope with respect to the holding portion is kept substantially constant.

The invention of claim 4 is an endoscope observation apparatus having an endoscope for observing an object to be rubbed and a display unit for displaying an observation image from the endoscope,
A support unit that supports the endoscope; a holding unit that is connected to the support unit and moves and holds the support unit to a desired position; and the support unit is provided, and the endoscope is attached to the holding unit. Driving means for driving in a two-dimensional manner, and provided in the support portion, and adjusting the arrangement of the endoscope with respect to the support portion to change the observation optical axis of the endoscope in a two-dimensional manner of the endoscope An endoscope holding device having an arrangement adjusting means that can be arranged substantially perpendicular to the driving direction, and an operation unit for operating the driving means.
An endoscope holding system including the endoscope holding system.

  In the invention of claim 4, the endoscope is supported by the support part, and the observation optical axis of the endoscope is arranged substantially perpendicular to the two-dimensional driving direction of the endoscope by the arrangement adjusting means. The position of the endoscope with respect to the support part is adjusted, the support part is moved to and held at a desired position by the holding part, and the driving means is operated by the operation part, so that the endoscope is two-dimensional The observation image of the endoscope is observed by the display unit while moving the observation field of view of the endoscope in the same direction as the driving direction of the endoscope.

According to a fifth aspect of the present invention, the endoscope observation apparatus includes a rotation unit that rotates the observation image displayed on the display unit,
The endoscope holding device controls the driving means so that the moving direction of the observation image of the endoscope in the display unit is the same for the same input to the operation unit regardless of the rotation of the observation image. The endoscope holding system according to claim 4, further comprising: a drive control unit configured to perform driving control.

  In the fifth aspect of the invention, the observation image is rotated by the rotating unit, and the observation image of the endoscope on the display unit for the same input to the operation unit is rotated by the drive control unit regardless of the rotation of the observation image. The endoscope is driven with respect to the holding unit by controlling the driving means so that the moving directions are the same.

The invention according to claim 6 is an endoscope for observing an object to be rubbed,
A support unit that supports the endoscope; a holding unit that is connected to the support unit and moves and holds the support unit to a desired position; and the support unit is provided, and the endoscope is attached to the holding unit. Driving means for driving two-dimensionally with a predetermined reference position as a reference, and provided in the support portion, and adjusting the arrangement of the endoscope with respect to the support portion to adjust the observation optical axis of the endoscope An endoscope holding apparatus having an arrangement adjusting means that can be arranged substantially perpendicular to a two-dimensional driving direction of the endoscope, and an operation unit for operating the driving means;
Detection means for detecting the position of the endoscope with respect to the object to be rubbed, and the endoscope provided in the driving means, and the endoscope according to the position of the endoscope with respect to the object to be detected detected by the detection means. An endoscope return apparatus having return means for returning the reference position to the reference position;
An endoscope holding system including the endoscope holding system.

  In the invention of claim 6, the endoscope is supported by the support part, and the observation optical axis of the endoscope is arranged substantially perpendicular to the two-dimensional driving direction of the endoscope by the arrangement adjusting means. The position of the endoscope with respect to the support portion is adjusted, and the support portion is moved and held to a desired position by the holding portion, and the driving means is operated by the operation portion, so that the endoscope is in a reference position with respect to the holding portion. Is used as a reference to move the viewing field of the endoscope in the same direction as the driving direction of the endoscope, and the position of the endoscope relative to the object is detected by the detecting means. The return means returns the endoscope to the reference position in accordance with the position of the endoscope with respect to the object to be rubbed.

  According to the present invention, the operability of the endoscope holding device and the endoscope holding system is improved.

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 shows a schematic configuration of an endoscope holding system 2 according to the first embodiment of the present invention. The endoscope holding system 2 includes an endoscope holding device 4 that moves and holds the endoscope 50 at a desired position.

  The endoscope holding device 4 has a stand 6 extending in the vertical direction. A base 8 that is movable with respect to the floor surface or the like is disposed at the base end of the stand 6. On the other hand, the first arm 10 is extended from the tip of the stand 6 in the direction of extending the stand 6. As indicated by an arrow G1, the first arm 10 is rotatable about its own central axis (hereinafter referred to as the first rotation axis O1) with respect to the stand 6 in the direction around the axis. In addition, a first air brake 12 that fixes the first arm 10 to the stand 6 is disposed at a connection portion between the stand 6 and the first arm 10.

  The distal end portion of the first arm 10 is connected to the intermediate portion of the second arm 14. The second arm 14 passes through the connecting portion between the first arm 10 and the second arm 14 with respect to the first arm 10 and is perpendicular to the first rotation axis O1 with respect to the first arm 10, as indicated by an arrow G2. It can be rotated about the second rotation axis O2. In addition, a second air brake 16 that fixes the second arm 14 to the first arm 10 is disposed at a connection portion between the first arm 10 and the second arm 14.

  The end of the second arm 14 is connected to one end of the third arm 18. As indicated by an arrow G3, the third arm 18 passes through a connecting portion between the second arm 14 and the third arm 18 and is parallel to the second rotation axis O2 with respect to the second arm 14. It can be rotated around the third rotation axis O3. Further, a third air brake 20 that stops the third arm 18 with respect to the second arm 14 is disposed at a connection portion between the second arm 14 and the third arm 18.

  A fourth arm 22 extends from the other end of the third arm 18 in the direction in which the third arm 18 extends. As indicated by an arrow G4, the fourth arm 22 is rotatable about its own central axis (hereinafter referred to as a fourth rotation axis O4) with respect to the third arm 18 in the direction around the axis. . In addition, a fourth air brake 24 that fixes the fourth arm 22 to the third arm 18 is disposed at a connection portion between the third arm 18 and the fourth arm 22.

  A ball 26 having a ball joint function is embedded in the end portion of the fourth arm 22. As indicated by an arrow G5, the ball 26 passes through its center with respect to the fourth arm 22, and is based on a fifth rotation axis O5 perpendicular to the third and fourth rotation axes O3 and O4. Tilt freely. Further, a fifth air brake 28 for fixing the ball 26 to the fourth arm 22 is disposed at a connection portion between the fourth arm 22 and the ball 26. The ball 26 has a protruding portion 30 protruding along the fifth rotation axis O5. A support portion 32 for supporting the endoscope 50 is disposed at the distal end portion of the protruding portion 30. Here, the stand 6, the first to fourth arms 10, 14, 18, 22, and the ball 26 form a holding portion that moves and holds the support portion 32 at a desired position.

  The support portion 32 is provided with a switch 34 for fixing and releasing the first to fifth air brakes 12, 16, 20, 24 and 28. An air hose 36 for supplying air to the first to fifth air brakes 12, 16, 20, 24, 28 extends from the stand 6. As shown in FIG. 2, the switch 34 is connected to an air brake control circuit 37. The air brake control circuit 37 is connected to the electromagnetic valve 38 and controls the electromagnetic valve 38. The air brake control circuit 37 and the electromagnetic valve 38 are built in the stand 6 (see FIG. 1). The air hose 36 is configured to supply air to the first to fifth air brakes 12, 16, 20, 24, and 28 via an electromagnetic valve 38.

  With reference to FIG. 3, the detailed structure of the said support part 32 is demonstrated. A support base end portion 40 is disposed at the base end portion of the support portion 32. The switch 34 is disposed substantially at the center of the upper surface of the support base end portion 40. A support distal end portion 42 is connected to the distal end side of the support base end portion 40. A substantially disc-shaped XY stage portion 44 is disposed on the proximal end side of the support distal end portion 42.

  The XY stage portion 44 is moved two-dimensionally along the upper surface of the support base end portion 40 with respect to the support base end portion 40. Here, for the sake of convenience, the moving direction of the XY stage unit 44 is assumed to be the X axis direction and the Y axis direction as shown in the coordinate system A of FIG. The Y-axis direction is a direction toward the distal end side along the longitudinal direction of the support base end portion 40, and the X-axis direction is a direction perpendicular to the Y-axis direction and along the upper surface of the support base end portion 40. A plane defined by the X-axis direction and the Y-axis direction is referred to as an XY plane.

  The support base end portion 40 is internally provided with a drive mechanism 52 shown in FIG. 4A for driving the XY stage portion 44 relative to the support base end portion 40. The drive mechanism 52 and the XY stage unit 44 form a drive unit (drive unit) that drives the endoscope 50 two-dimensionally.

  The drive mechanism 52 has an X-axis housing 54 that extends in the X-axis direction. An X-axis slit 56 extends in the longitudinal direction on one surface extending in the longitudinal direction of the X-axis housing 54. An X-axis rack gear 58 is disposed in the X-axis slit 56 so as to be slidable in the longitudinal direction with respect to the X-axis housing 54. The X-axis rack gear 58 extends in the X-axis direction.

  An X-axis motor 60 is fixed to the X-axis housing 54. The rotation axis of the X-axis motor 60 extends from the X-axis housing 54 to the X-axis rack gear 58 perpendicular to the longitudinal direction of the X-axis housing 54. An X-axis pinion gear 62 is fixed to the rotation shaft of the X-axis motor 60, and the X-axis pinion gear 62 is engaged with the X-axis rack gear 58. That is, the rotation axis of the X-axis motor 60 is rotated clockwise as viewed from the direction from the X-axis pinion gear 62 toward the X-axis motor 60 (hereinafter referred to as a reference for the rotation direction of the rotation axis of the X-axis motor 60). Then, the X-axis rack gear 58 is configured to move in the X-axis direction with respect to the X-axis housing 54.

  One end of the Y-axis housing 64 is fixed to one surface of the X-axis rack gear 58 facing the X-axis housing 54. The Y-axis housing 64 extends in the Y-axis direction. Further, the Y-axis housing 64 includes an X-axis slit 56, an X-axis rack gear 58, an X-axis motor 60, and an X-axis pinion gear 62 having the same configuration as the Y-axis slit 66, Y-axis rack gear 68, Y-axis motor 70, and Y-axis. A pinion gear 72 is provided. That is, the rotation axis of the Y-axis motor 70 is rotated clockwise as viewed from the direction from the Y-axis pinion gear 68 to the Y-axis motor 70 (hereinafter referred to as a reference for the rotation direction of the rotation axis of the Y-axis motor 70). Then, the Y-axis rack gear 68 is configured to move in the Y-axis direction with respect to the Y-axis housing 64.

  The base end portion of the XY connection portion 74 is connected to one surface of the Y-axis rack gear 68 facing the Y-axis rack gear 64. The XY connection portion 74 extends perpendicular to the XY plane. The tip end portion of the XY connection portion 74 is connected to the approximate center of the XY stage portion 44.

  A configuration for operating the drive mechanism 52 will be described with reference to FIG. The foot switch 76 for operating the drive mechanism 52 is provided with a joystick 78 that can be operated in four directions. These four directions are referred to as an upward direction, a downward direction, a right direction, and a left direction as indicated by arrows in the drawing.

  The foot switch 76 is connected to the X-axis motor 60 and the Y-axis motor 70 via the motor drive control unit 80 and the motor drive unit 82. Here, when the joystick 78 is operated upward, the rotational axis of the Y-axis motor 70 is rotated clockwise, and when operated downward, the rotational axis of the Y-axis motor 70 is rotated counterclockwise. ing. Further, when the joystick 78 is operated in the right direction, the rotation axis of the X-axis motor 60 is rotated clockwise, and when it is operated in the left direction, the rotation axis of the X-axis motor 60 is rotated counterclockwise. Yes. That is, the upward, downward, rightward, and leftward directions of the joystick 78 correspond to the movement of the XY stage unit 44 in the Y-axis direction, reverse Y-axis direction, X-axis direction, and reverse X-axis direction.

  Referring to FIG. 3 again, a semicircular scale plate 46 is disposed on the distal end side of the support distal end portion 42. A camera head 48 is detachably attached to the scale plate 46. A base end portion of the endoscope 50 is detachably attached to the camera head 48. The arrangement of the endoscope 50 with respect to the support portion 32 is adjusted by the scale plate 46 and the camera head 48 so that the observation optical axis of the endoscope 50 indicated by the arrow E in FIG. An angle adjusting portion (arrangement adjusting means) that can be substantially vertical is formed.

  The angle adjusting unit will be described in detail with reference to FIGS. As shown in FIG. 5, the scale plate 46 is perpendicular to the XY plane of the XY stage unit 44 and extends in the Y-axis direction. An insertion hole (not shown) is penetrated in the center of the substantially semicircular disk-shaped scale plate 46 in the X-axis direction, and a cross section perpendicular to the X-axis direction of the insertion hole is circular. A substantially cylindrical fixing knob 84 is fitted into the insertion hole.

  The fixed knob 84 is rotatable around the axis about a first pivot shaft P1 that passes through the center of the scale plate 46 and is perpendicular to the scale plate 46. A lever 86 for rotating the fixed knob 84 is provided on the outer peripheral surface of the fixed knob 84 in the radial direction of the fixed knob 84. On the other hand, a female screw is formed in the inner hole of the scale plate 46, and a fixing screw 88 is screwed into this female screw. The end of the fixing screw 88 protrudes from the fixing knob 84.

  In addition, the scale plate 46 is formed with an index window 90 in the circumferential direction around the first pivot shaft P1. A surface on the reverse X-axis direction side (hereinafter referred to as a surface) of the scale plate 46 is along the index window 90 with the direction perpendicular to the XY plane and passing through the first pivot axis P1 as a reference (0 °). An angle scale is displayed. In the present embodiment, angle scales are displayed at intervals of 10 °, and ± 30 ° and ± 70 ° are displayed. The tip side has a positive angle.

  As shown in FIG. 6, the camera head 48 is formed with a screw hole 92 into which a distal end portion of a fixing screw 88 is screwed. An index 94 extends in the longitudinal direction of the camera head 48 at the base end of the camera head 48. The index 94 is aligned with the screw hole 92 in the longitudinal direction of the camera head 48, and is arranged so that it can be observed through the index window 90 when the camera head 48 is attached to the scale plate 46. Yes.

  The endoscope 50 is connected to the distal end portion of the camera head 48 via a connecting portion disposed at the proximal end portion 96 of the endoscope 50. An elongated insertion portion 98 that is inserted into the body cavity is disposed on the distal end side of the endoscope 50. The central axis of the camera head 48 coincides with the central axis of the endoscope 50. Further, the endoscope 50 is positioned on the camera head 48 so that the observation optical axis of the endoscope 50 is arranged in a plane that is perpendicular to the central axis direction of the screw hole 92 and includes the central axis of the camera head 48. Positioning means (not shown) is provided.

  Here, although the camera head 48 is a part of the endoscope holding device 4, it is also a part of the endoscope observation device for obtaining an observation image of the subject. That is, a camera control unit (CCU) 100 is connected to the camera head 48 to which the endoscope 50 is attached. The CCU 100 is connected to a TV monitor (display unit) that displays an observation image obtained by the endoscope 50.

  A triangular index C in the figure indicates the direction of the up index 104 displayed on the observation image of the endoscope 50 of the TV monitor 102. As shown in FIG. 7, the up index 104 indicates the upper side in the observation image of the endoscope 50. That is, as shown in the coordinate system A, the upward direction, the downward direction, the right direction, and the left direction of the observation image of the endoscope 50 correspond to the Y direction, the reverse Y direction, the X direction, and the reverse X direction, respectively. Yes.

  Next, the operation of the endoscope holding system 2 of the present embodiment having the above configuration will be described. When observing a surgical site or the like using the endoscope holding system 2, first, the base 8 of the endoscope holding device 4 is placed at an appropriate position such as a floor. Then, the endoscope 50 is attached to the camera head 48 at the distal end portion of the endoscope holding device 4. Then, the angle adjustment unit is adjusted to arrange the observation optical axis of the endoscope 50 perpendicular to the XY plane.

  For example, when the endoscope 50a that is directly viewed (angled at 0 °) is attached to the camera head 48, as shown in FIG. 8A, the index 94 of the camera head 48 is aligned to 0 ° on the angle scale. The fixed knob 84 is operated as described above. As a result, the central axis of the insertion portion 98 of the endoscope 50 a is arranged perpendicular to the XY stage portion 44. An observation optical axis indicated by an arrow E in FIG. 8A and extending in the central axis direction of the insertion portion 98 is arranged perpendicular to the XY stage portion 44.

  Further, when a perspective type endoscope 50b in which the insertion portion 98 is shortened on the triangular index C side at a perspective angle of 30 ° is attached to the camera head 48, as shown in FIG. The operation knob is operated so that the index 94 of the head 48 is aligned to + 30 ° of the angle scale. As a result, the central axis of the insertion portion 98 is perpendicular to the X-axis direction and forms an angle of 150 ° with the Y-axis direction. An observation optical axis indicated by an arrow E ′ in FIG. 8B and forming an angle of 30 ° with the central axis direction of the insertion portion 98 is arranged perpendicular to the XY stage portion 44.

  Similarly, in the case where a perspective type endoscope 50c in which the insertion portion 98 is long on the triangular index C side at a perspective angle of 70 ° is attached to the camera head 48, as shown in FIG. The operation knob is operated so that the index 94 of the camera head 48 is aligned to −70 ° of the angle scale. As a result, the central axis of the insertion portion 98 is perpendicular to the X-axis direction and forms an angle of 20 ° with the Y-axis direction. An observation optical axis indicated by an arrow E ″ in FIG. 8C and forming an angle of 70 ° with the central axis direction of the insertion portion 98 is disposed perpendicular to the XY stage portion 44.

  After mounting the endoscope 50, the support portion 32 is held by hand, and the switch 34 is turned on. As a result, the electromagnetic valve 38 is operated by the air brake control circuit 37, and air is supplied from the air hose 36 to the first to fifth air brakes 12, 16, 20, 24, 28, and the first to fifth air brakes 12. , 16, 20, 24, 28 are shifted from the fixed state to the released state.

  Thereafter, the support portion 32 is manually moved, and the endoscope 50 is moved to a position suitable for observation. At this time, the first arm 10 is rotated around the first rotation axis O1 with respect to the stand 6 in the direction around the axis. The second arm 14 is rotated with respect to the first arm 10 about the second rotation axis O2. The third arm 18 is rotated with respect to the second arm 14 about the third rotation axis O3. Further, the fourth arm 22 is rotated in the direction around the axis about the fourth rotation axis O4 with respect to the third arm 18. Further, the ball 26 is inclined with respect to the fourth arm 22 with reference to the fifth rotation axis O5.

  After the endoscope 50 is moved to a position suitable for observation in the body cavity or the like, the switch 34 is turned off. As a result, the first to fifth air brakes 12, 16, 20, 24, 28 are shifted from the released state to the fixed state, and the first to fourth arms 10, 14, 18, 22, and the ball 26 are fixed to each other. The endoscope 50 is held at that position.

  An observation image captured by the endoscope 50 is captured by the camera head 48, subjected to signal processing by the CCU 100, and displayed on the TV monitor 102. When it is desired to move an image observed by the endoscope 50, the joystick 78 is operated to move the endoscope 50 two-dimensionally by the drive mechanism 52, thereby finely adjusting the position of the endoscope 50.

  Here, in order to move the observation image on the TV monitor 102 upward, the joystick 78 is operated upward. As a result, the rotation shaft of the Y-axis motor 70 rotates clockwise through the motor control drive unit 80 and the motor control unit 82. The rotation shaft rotates the Y-axis pinion gear 72 clockwise, and the Y-axis pinion gear 72 moves the Y-axis rack gear 68 with respect to the Y-axis housing 64 in the Y-axis direction. By the movement of the Y-axis rack gear 68 in the Y-axis direction, the XY stage unit 44 is moved in the Y-axis direction via the XY connection unit 74. As described above, since the observation optical axis of the endoscope 50 is perpendicular to the XY stage unit 44 regardless of the perspective angle of the endoscope 50, the observation optical axis of the endoscope 50 is moved by the movement of the XY stage unit 44. Is moved in the Y-axis direction while maintaining a state perpendicular to the XY stage unit 44. As a result, the observation visual field of the endoscope 50 is moved in the Y-axis direction, and the observation image on the TV monitor 102 is moved upward.

  On the other hand, to move the observation image on the TV monitor 102 downward, the joystick 78 is operated downward. As a result, an operation opposite to the above-described upward operation occurs, and the observation image on the TV monitor 102 is moved downward.

  If the observation image on the TV monitor 102 is to be moved to the right, the joystick 78 is operated to the right. As a result, the rotation shaft of the X-axis motor 60 is rotated clockwise via the motor drive control unit 80 and the motor control unit. The rotation shaft rotates the X-axis pinion gear 62 clockwise, and the X-axis pinion gear 62 moves the X-axis rack gear 58 in the X-axis direction with respect to the X-axis housing 54. Due to the movement of the X-axis rack gear 58 in the X-axis direction, the XY stage unit 44 is moved in the X-axis direction via the Y-axis housing 64, the Y-axis rack gear 68 and the XY connection part 74. As a result, the observation visual field of the endoscope 50 is moved in the X-axis direction, and the observation image on the TV monitor 102 is moved in the right direction.

  On the other hand, when it is desired to move the observation image on the TV monitor 102 leftward, the joystick 78 is operated leftward. As a result, an operation opposite to the operation in the right direction described above occurs, and the observation image on the TV monitor 102 is moved in the left direction.

  Therefore, the above configuration has the following effects. The XY stage unit 44 is driven in the X-axis direction or the Y-axis direction with respect to the holding unit by the drive mechanism 52. In addition, the arrangement of the endoscope 50 with respect to the support portion 32 is adjusted by the angle adjustment unit, and the observation optical axis of the endoscope 50 is perpendicular to the X-axis direction and the Y-axis direction regardless of the perspective angle of the endoscope 50. It is arranged. Therefore, the driving direction of the endoscope 50 and the moving direction of the observation visual field of the endoscope 50 coincide with each other, and an intuitive operation is performed when driving the endoscope 50 based on the observation image of the endoscope 50. It is possible. Therefore, the operator can concentrate on the operation, and the efficiency of the operation can be improved.

  In addition, an angle adjustment unit that adjusts the arrangement of the endoscope 50 with respect to the support unit 32 is formed by a scale plate 46 and a camera head 48 that is pivotally supported by the scale plate 46. That is, the angle adjusting unit has a compact and simple configuration. Since the angle adjusting unit has a compact configuration, the surgeon is not bothered in the operation, and the progress of the operation is promoted, and the operation time can be shortened. As a result, the operator's fatigue can be reduced. On the other hand, since the angle adjusting portion has a simple configuration, it is easy to assemble and can be manufactured at low cost.

  9 to 14 show a second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 9, the endoscope holding system 108 of the present embodiment is different from the endoscope holding system 108 of the first embodiment in the configuration of the support portion 112 of the endoscope holding device 110.

  As shown in FIG. 10, a support tip portion 114 is disposed on the tip side of the support portion 112. A first angle adjusting unit (first arrangement adjusting means) having the same function as that of the angle adjusting unit of the first embodiment is disposed on the distal end side of the support leading end portion 114. The first angle adjusting unit has a semicircular plate-shaped fixing plate 116 instead of the scale plate 46. The fixing plate 116 extends in the Y-axis direction perpendicular to the XY plane. A camera head 118 is detachably attached to the fixed plate 116.

  A detailed configuration of the first angle adjustment unit will be described with reference to FIG. As shown in FIG. 11A, a prismatic rotating member 122 is pivotally supported at the center of the surface of the fixed plate 116 via a first fixed knob 120. The rotating member 122 is rotatable about a first pivot shaft Q1 that extends in the X-axis direction through the center portion of the fixed plate 116. Further, the lower portion of the rotating member 122 protrudes beyond the lower end portion of the fixed plate 116.

  A plurality of hemispherical indentations 124a,..., 124e are formed on the surface of the fixing plate 116, and these indentations 124a,..., 124e are separated from each other along the circumferential direction of the first pivot shaft Q1. Are arranged. In the present embodiment, a recess portion 124c of 0 ° is disposed at the position of the axis XIB-XIB that is perpendicular to the XY plane and passes through the first pivot shaft Q1. Furthermore, ± 30 ° indentations 124b and 124c and ± 70 ° indentation 124a are moved to positions where the 0 ° indentation 124c is rotated ± 30 ° and ± 70 ° about the first pivot axis Q1. , 124e are arranged. The tip side is a positive angle.

  In addition, semicircular cutout portions 126a and 126b into which a portion on the back surface side of a second fixing knob 130 described later is inserted when the rotating member 122 is rotated are formed at the lower end portion of the fixing plate 116. Has been.

  As shown in FIG. 11B, an insertion hole passes through the center of the fixing plate 116, and a cross section perpendicular to the X-axis direction of the insertion hole is circular. Further, the rotating member 122 is formed with a first through hole, and the cross section of the first through hole perpendicular to the X-axis direction is substantially the same shape as the cross section of the insertion hole. A substantially cylindrical first fixing knob 120 is fitted into the insertion hole and the first through hole. Here, the fixed plate 116 side of the first fixed knob 120 is rotatable about the first pivot shaft Q1 with respect to the insertion hole of the fixed plate 116 around the axis. The rotating member 122 side of the first fixing knob 120 is fixed to the inner surface of the first through hole of the rotating member 122. A female screw is formed in the inner cavity of the first fixing knob 120. A first fixing screw 128 is screwed to the female screw. The end portion of the first fixing screw 128 protrudes from the first fixing knob 120.

  A second through hole having a configuration similar to that of the first through hole, the first fixing knob 120, and the first fixing screw 128 is provided below the rotating member 122 protruding beyond the lower end portion of the fixing plate 116. A second fixing knob 130 and a second fixing screw 132 are provided.

  The first and second fixing screws 128 and 132 are screwed into first and second screw holes 134 and 136 formed in the camera head 118. That is, the rotating member 122 and the camera head 118 are integrally rotated with respect to the fixed plate 116 about the first pivot shaft Q1.

  On the other hand, a locking hole 138 extends in the reverse X-axis direction on the back surface of the upper portion of the rotating member 122, and the cross section of the locking hole 138 perpendicular to the X-axis direction is circular. One end of the coil spring 140 is connected to the bottom surface of the locking hole 138, and a hard sphere 142 is connected to the other end of the coil spring 140. The locking hole 138 is aligned with the recessed portions 124a,..., 124e of the fixing plate 116 by rotating the rotating member 122 with respect to the fixing plate 116 via the first pivot shaft Q1. It has become. When the locking holes 138 and the recessed portions 124a,..., 124e are aligned, the rigid ball 142 is pressed by the recessed portions 124a,. It is supposed to be kept against. That is, a plunger is formed by the locking hole 138, the coil spring 140, the rigid ball 142, and the recessed portions 124a,.

  Referring to FIG. 10 again, a support base end portion 144 is disposed on the base end side of the support portion 112. The support proximal end portion 144 includes a first portion 146 on the proximal end side and a second portion 148 on the distal end side. Here, the switch 34 is disposed on the upper surface of the first portion 146. The first portion 146 and the second portion 148 are connected via a second angle adjustment unit (second arrangement adjustment means) for adjusting the arrangement of the endoscope 50 with respect to the holding unit. Yes.

  Hereinafter, the second angle adjusting unit will be described. A convex portion projecting in the longitudinal direction of the first portion 146 is formed at the distal end portion of the first portion 146, and the distal end portion of the first portion 146 is formed on the upper surface side of the first portion 146 (or It has a convex shape when viewed from the lower surface side.

  A concave portion into which the convex portion of the first portion 146 is inserted is formed at the proximal end portion of the second portion 148. The convex portion of the first portion 146 and the concave portion of the second portion 148 are connected via a shaft 150 extending in the X-axis direction. The second portion 148 is rotatable with respect to the first portion 146 about a central axis of the shaft 150 (hereinafter referred to as a second pivot shaft Q2).

  As shown in FIG. 12A, on the side surface of the convex portion of the first portion 146, the concave portions 152a,..., 152e are the same as the concave portions 124a,. Are spaced apart from each other along the circumferential direction of the second pivot shaft Q2. In the present embodiment, a 0 ° depression 152c is disposed at a position of an axis XIIB-XIIB extending in the longitudinal direction of the first portion 146 and passing through the second pivot shaft Q2. Further, the ± 30 ° indentations 152b and 152d and the ± 70 ° indentations 152a are moved to positions where the 0 ° indentation 152c is rotated ± 30 ° and ± 70 ° about the second pivot axis Q2. , 152e are arranged. The lower side is a positive angle.

  Further, as shown in FIG. 12B, a locking hole 154 similar to that of the first angle adjusting portion described above is provided on the one surface of the concave portion of the second portion 148 for the second pivot. It extends in the direction of the axis Q2. The second locking hole 154 is provided with a coil spring 156 and a rigid ball 158 similarly to the locking hole 138 of the first angle adjusting unit. The locking hole 154 of the second portion 148 rotates the second portion 148 with respect to the first portion 146 about the second pivot axis Q2, so that the recess portion of the first portion 146 is provided. Aligned with 152a, ..., 152e. When the locking hole 154 and the recessed portions 152a,..., 152e are aligned, the second portion 148 is fastened to the first portion 146. That is, a plunger is formed by the locking hole 154, the coil spring 156, the hard ball 158, and the recessed portions 152a,.

  Next, the operation of the endoscope holding system 108 of the present embodiment having the above configuration will be described. The operation of the endoscope holding system 108 of the present embodiment is basically the same as that of the first embodiment. Hereinafter, a case where the endoscope 50 is attached to the camera head 118 at the distal end portion of the endoscope holding apparatus 110 will be described. When the endoscope 50 is mounted, the first and second fixing screws 128 and 132 of the rotating member 122 are screwed into the first and second screw holes 134 and 136 of the endoscope 50, respectively. And the 1st angle adjustment part is adjusted and the observation optical axis of the endoscope 50 is arrange | positioned perpendicularly to XY plane. Further, the second angle adjustment unit is adjusted so that the central axis of the insertion unit 98 of the endoscope 50 is arranged in parallel with the fifth rotation axis O5 of the ball 26.

  For example, when the endoscope 50 is an endoscope 50a that is directly viewed (a perspective angle of 0 °), as shown in FIG. 13A, the locking hole 138 of the rotating member 122 is inserted into the fixing plate 116. Align to the 0 ° indentation 124c. As a result, the rigid sphere 142 is pressed against the recessed portion 124 c by the coil spring 140, and the rotating member 122 is fastened to the fixed plate 116. As in the first embodiment, the observation optical axis extending in the central axis direction of the insertion portion 98 is arranged perpendicular to the XY plane.

  Further, the locking hole 154 of the second portion 148 of the support base end portion 144 is aligned with the 0 ° depression portion 152 c of the first portion 146. As a result, the second portion 148 is fastened to the first portion 146. The central axis of the insertion portion 98 is arranged in parallel with the fifth rotation axis O5 of the ball 26 of the holding portion of the endoscope holding device 110.

  In addition, when the endoscope is a perspective type endoscope 50b in which the insertion portion 98 is shortened on the triangular index C side at a perspective angle of 30 °, as shown in FIG. The locking hole 138 of the member 122 is aligned with the + 30 ° indented portion 124 b of the fixing plate 116. At this time, the rigid sphere 142 is pressed by the fixing plate 116 and accommodated at one end in the locking hole 138 by contraction of the coil spring 140, and is then pressed and held by the + 30 ° indented portion 124b again. As a result, as in the first embodiment, the observation optical axis that forms an angle of 30 ° with the central axis direction of the insertion portion 98 is arranged perpendicular to the XY plane. Further, the locking hole 154 of the second portion 148 of the support base end portion 144 is aligned with the + 30 ° indentation portion 152 b of the first portion 146. As a result, the central axis of the insertion portion 98 is arranged in parallel with the fifth rotation axis O5 of the ball 26.

  Similarly, when the endoscope 50 is a perspective type endoscope 50c in which the insertion portion 98 is elongated on the triangular index C side at a perspective angle of 70 °, as shown in FIG. The locking hole 138 of the rotating member 122 is aligned with the −70 ° indented portion 124e of the fixed plate 116. As a result, as in the first embodiment, the observation optical axis that forms an angle of 70 ° with the central axis direction of the insertion portion 98 is arranged perpendicular to the XY plane. Further, the locking hole 154 of the second portion 148 of the support base end portion 144 is aligned with the −70 ° depression 152 e of the first portion 146. As a result, the central axis of the insertion portion 98 is arranged in parallel with the fifth rotation axis O5 of the ball 26.

  Thus, the above configuration has the following effects in addition to the effects of the first embodiment. A plurality of indentations 124 a,..., 124 e corresponding to the perspective angle of the endoscope 50 are formed in the fixed plate 116. Then, the rotation member 122 is rotated according to the perspective angle of the endoscope 50 to be used, and the locking hole 138 is aligned with any one of the recessed portions 124a,. By fastening 122 to the fixed plate 116, the observation optical axis of the endoscope 50 can be arranged perpendicular to the XY plane. That is, the observation optical axis of the endoscope 50 can be arranged perpendicularly to the XY plane easily and reliably by simply arranging the rotating member 122 at any of a plurality of preset positions. It has become. Therefore, the operation time can be shortened and the operator's fatigue can be reduced.

  Further, by adjusting the angle of the second angle adjusting unit according to the angle adjustment of the first angle adjusting unit, the central axis of the insertion unit 98 of the endoscope 50 is set to the fifth rotation axis O5 of the ball 26. It is possible to always arrange them in parallel. With this arrangement, the operability during the all-free operation in which the switch 34 of the support portion 112 is turned on and the support portion 112 is moved by the first to fourth arms 10, 14, 18 and 22 is the first. It is made not to be influenced by the angle adjustment of the angle adjustment part. Therefore, the operator can concentrate on the operation, and the efficiency of the operation can be improved.

  14 and 15 show a third embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. The endoscope holding system of the present embodiment is different from the endoscope holding system of the first embodiment in the configuration of a camera head and a motor drive control unit for driving the XY stage unit 44.

  As shown in FIG. 14, an eyepiece 162 is disposed along the observation optical axis R <b> 1 inside the proximal end portion of the endoscope 50. Inside the camera head 164, a triangular prism 166, an imaging lens 168, and a CCD 170 are disposed along the observation optical axis R1 behind the eyepiece 162 of the endoscope 50 attached to the camera head 164. . The light beam emitted from the triangular prism 166 enters the imaging lens 168 and is imaged by the CCD 170.

  The triangular prism 166 is accommodated in the housing 172 and is integrally fixed to the housing 172. The housing 172 is supported by the camera head 164 so as to be rotatable around the observation optical axis R1 with respect to the camera head 164. That is, the triangular prism 166 and the housing 172 form an image rotator for rotating the observation image of the endoscope 50.

  A gear (not shown) extends on the outer peripheral wall of the housing 172 along the circumferential direction of rotation of the housing 172. This gear meshes with a gear (not shown) that is integrally fixed to the shaft 176 of the encoder 174. The encoder 174 can detect the rotation angle of the image rotator.

  As shown in FIG. 15, the encoder 174 inputs the rotation angle of the image rotator to the motor drive control unit 178. The motor drive control unit 178 starts from the encoder 174 so that the observation image on the TV monitor 102 is moved vertically and horizontally in response to the operation of the joystick 78 in the vertical and horizontal directions regardless of the rotation of the observation image by the image rotator. Based on the input rotation angle of the image rotator, a control signal is output to the motor drive unit 82.

  That is, assuming that the rotation angle of the image rotator is θ (hereinafter, the rotation in the counterclockwise direction is positive), when the joystick 78 is operated upward, the motor drive control unit 178 causes the X-axis motor 60 to move. A control signal is output to the motor drive unit 82 so that the rotation shaft of the motor and the rotation shaft of the Y-axis motor 70 are rotated clockwise at a ratio of + sin θ and + cos θ. Similarly, when the joystick 78 is operated in the downward direction, the right direction, and the left direction, the motor drive control unit 178 causes the rotation axis of the X-axis motor 60 and the rotation axis of the Y-axis motor 70 to rotate clockwise. A control signal is output to the motor drive unit 82 so as to be rotated at a ratio of −sin θ and −cos θ, a ratio of + cos θ and −sin θ, and a ratio of −cos θ and + sin θ.

  Next, the operation of the endoscope holding system of the present embodiment having the above configuration will be described. The operation of the endoscope holding system of the present embodiment is basically the same as that of the endoscope holding system of the first embodiment.

  When performing observation with the endoscope 50, the joystick 78 is operated in the upward direction, the downward direction, the right direction, and the left direction as shown in FIG. As a result, the endoscope 50 is moved in the Y-axis direction, reverse Y-axis direction, X-axis direction, and reverse X-axis direction shown in the coordinate system A in FIG. In addition, the observation image is moved in the upward direction, the downward direction, the right direction, and the left direction shown in FIG.

  Here, as shown in FIG. 16B, when the operator actually observes the endoscope 50, the upward direction, the downward direction, the right direction, and the left direction are the β axis direction, the reverse β axis direction, α Axial direction, reverse α-axis direction. A coordinate system formed by the α axis and the β axis is a coordinate system B. Normally, coordinate system A and coordinate system B do not match. For example, as shown in FIG. 16B, the Y axis forms an angle of 90 ° with respect to the β axis.

  In this case, the image rotator is rotated with respect to the camera head 164 by a rotation angle of 90 °. When the image rotator is rotated, the triangular prism 166 is integrally rotated. As a result, the optical image is rotated in the triangular prism 166, and the image captured by the CCD 170 is rotated. Then, as shown in FIG. 16F, the observation image on the TV monitor 102 is rotated by a rotation angle of 90 °. The rotation angle 90 ° of the image rotator is detected by the encoder 174. The encoder 174 inputs the detected rotation angle of 90 ° to the motor drive control unit 178.

  When the joystick 78 is operated in the upward direction, the motor drive unit 82 causes the rotation axis of the X-axis motor 60 and the rotation axis of the Y-axis motor 70 to rotate clockwise by a control signal from the motor drive control unit 178. Rotate at a ratio of 1 (= + sin (90 °)): 0 (= + cos (90 °)). That is, the rotation shaft of the X-axis motor 60 is rotated in the clockwise direction. As a result, the endoscope 50 is moved in the Y′-axis direction of the coordinate system A ′ obtained by rotating the coordinate system A by the rotation angle −90 ° as shown in FIG. Then, the observation image on the TV monitor is moved in the Y′-axis direction shown in FIG.

  Similarly, when the joystick 78 is operated in the downward direction, the right direction, or the left direction, the motor drive unit 82 causes the rotation axis of the X-axis motor 60 and the Y-axis motor 70 to be controlled by a control signal from the motor drive control unit 178. -1 (= −sin (90 °)): 0 (= −cos (90 °)), 0 (= + cos (90 °)): −1 (= −sin) (90 °)), 0 (= −cos (90 °)): 1 (= + sin (90 °)). That is, the rotation axis of the X-axis motor 60 is rotated counterclockwise, the rotation axis of the Y-axis motor 70 is rotated counterclockwise, and the rotation axis of the Y-axis motor 70 is rotated clockwise. As a result, the endoscope 50 is moved in the reverse Y′-axis direction, the X′-axis direction, and the reverse X′-axis direction. Then, the observation image on the TV monitor is moved in the reverse Y′-axis direction, the X′-axis direction, and the reverse X′-axis direction shown in FIG.

  Here, the coordinate system B when the surgeon actually observes the endoscope 50 coincides with the coordinate system A ′. In this way, when the joystick 78 is operated in the vertical and horizontal directions, the endoscope 50 is moved in the vertical and horizontal directions when the operator actually observes the endoscope 50, and the observation on the TV monitor 102 is performed. The image is moved vertically and horizontally. That is, the operation direction of the foot switch 76, the movement direction of the endoscope 50 that the operator actually observes, and the movement direction of the observation image on the TV monitor 102 match.

  When confirming the change in the driving direction of the endoscope 50 due to the rotation of the image rotator, the foot switch 76 is operated, and the endoscope 50 is moved slowly at the initial movement, and the operation to the foot switch 76 is performed for a certain period of time. By continuing, the endoscope 50 is moved at a predetermined moving speed. In this way, the driving direction of the endoscope 50 is confirmed, and the endoscope 50 is prevented from interfering with other surgical instruments.

  Thus, the above configuration has the following effects in addition to the effects of the first embodiment. When the operator actually observes the endoscope 50, the up / down / left / right direction may be different from the operation direction of the foot switch 76 and the moving direction of the observation image on the TV monitor 102. In this case, the image rotator is rotated and the operation direction of the foot switch 76, the moving direction of the endoscope 50 actually observed by the surgeon, and the TV monitor 102 are controlled by the function of the motor drive control unit 178. It is possible to match the moving direction of the observation image. For this reason, it is not necessary for the surgeon to consider the driving direction of the endoscope 50 and to concentrate on the operation.

  17 and 18 show a fourth embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. The endoscope holding system 180 according to the present embodiment includes an endoscope return device that returns the XY stage unit 44 to a reference position to be described later according to the position of the endoscope 50 with respect to the object. As shown in FIG. 17A, the endoscope return device includes an optical three-dimensional position detection device 182 (position detection means) for detecting the position of the endoscope 50.

  The position detection device 182 has a marker 184 fixed to a camera head 48 to which the endoscope 50 is attached. In addition, the position detection device 182 includes a digitizer 186. Two digitizers 188 a and 188 a for imaging a signal from the marker 184 are fixed to the digitizer 186 at a predetermined distance.

  The digitizer 186 is connected to the navigation control unit 190. An image processing apparatus and a workstation (not shown) of the navigation control unit 190 detect the position of the marker 184 by performing signal processing on the signal of the marker 184 captured by the CCDs 188a and 188b. A preoperative image is recorded in a recording device (not shown) of the navigation control unit 190. The position of the marker 184 is displayed on the monitor 192 together with the preoperative image.

  Further, the relative positional relationship between the marker 184 and the endoscope 50 is recorded in advance in the recording device. Further, the position and range of the surgical site are recorded in advance in the recording device. The navigation control unit 190 calculates the position of the endoscope 50 from the detected position of the marker 184, and determines whether or not the endoscope 50 is in the surgical site.

  Referring to FIG. 17B, the navigation control unit 190 outputs to the motor drive control unit 194 a determination as to whether or not the endoscope 50 is in the surgical site. The ON / OFF operation state of the switch 34 is output to the motor drive control unit 194. The motor drive control unit 194 calculates the position of the XY stage unit 44 via the motor drive unit 196. The motor drive control unit 194 moves the XY stage unit 44 to the reference position when the endoscope 50 is not in the surgical site, the switch 34 is ON, and the XY stage unit 44 is not at the reference position. In addition, a control signal is output to the motor drive unit 196.

  Here, the reference position of the XY stage unit 44 is the center position of the XY stage unit 44, the X-axis rack gear 58 is in the center of the X-axis housing 54, and the Y-axis rack gear 68 is in the Y-axis housing 64. This is the position of the XY stage 44 when it is in the center (see FIG. 4).

  Return for returning the endoscope 50 to the reference position according to the position of the endoscope 50 relative to the object to be detected detected by the position detection device 182 by the navigation control unit 190, the motor drive control unit 194, and the motor drive unit 196. Means are formed.

Next, the operation of the endoscope holding system 180 of the present embodiment having the above configuration will be described. When performing observation with the endoscope 50, the switch 34 is turned on and the endoscope 50 is inserted into the surgical site. For example, the endoscope may have an intraoperative site 200 on the patient's head 198 as shown in FIG.
(Indicated by diagonal lines in FIG. 19). The effect | action in this insertion operation is demonstrated using the flowchart of FIG.

  In step S <b> 1, the motor drive control unit 194 determines whether the switch 34 is ON based on an output signal from the switch 34. If it is determined in step S1 that the switch 34 is not ON, step S1 is repeated again. On the other hand, if it is determined in step S1 that the switch 34 is ON, the process proceeds to step S2.

  In step S <b> 2, the motor drive control unit 194 determines whether the endoscope 50 is in the surgical site based on the output signal from the navigation control unit 190. If it is determined in step S2 that the endoscope 50 is in the surgical site, the process returns to step S1. On the other hand, if it is determined in step S2 that the endoscope 50 is not in the surgical site, the process proceeds to step S3.

  In step S3, the motor drive control unit 194 determines whether or not the XY stage unit 44 is at the center position. If it is determined in step S3 that the XY stage unit 44 is at the center position, the process returns to step S1. On the other hand, if it is determined in step S3 that the XY stage unit 44 is not at the center position, the process proceeds to step S4.

  In step S4, the motor drive control unit 194 drives the XY stage unit 44 to the center position. Then, it returns to step S1 again.

  Thus, the above configuration has the following effects in addition to the effects of the first embodiment. When the endoscope 50 is inserted into the surgical site, the XY stage unit 44 is returned to the center position when the endoscope 50 is outside the surgical site. For this reason, when the XY stage unit 44 is operated by the foot switch 76 with the endoscope 50 inserted into the surgical site, the XY stage unit 44 is less likely to hit the limit position of movement. In addition, in a state where the endoscope 50 is inserted into the surgical site, the endoscope 50 is not returned to the center position. For this reason, when the surgical site is being observed, the XY stage unit 44 is not inadvertently moved, and the surgical site is easily observed. From the above, it is possible for the surgeon to concentrate fully on the operation.

  Hereinafter, a fifth embodiment of the present invention will be described. In the present embodiment, a preoperative image of the surgical site and a history image corresponding to the progress of the operation are recorded, and together with these images, a surgical navigation system for displaying in real time where the surgical instrument is in the inside of the injured body Technology is being used. Such a technique is called a surgical track, and is well known to those skilled in the art as disclosed in, for example, Japanese Patent Laid-Open No. 8-140992, and therefore detailed description thereof is omitted.

  In the navigation control unit 190 of this embodiment, the surgical track can be processed. And the navigation control part 190 calculates the positional relationship of a to-be-tested body and the endoscope 50. FIG. On the other hand, the motor drive control unit 194 (see FIG. 17B) calculates the amount of movement necessary to move the XY stage unit 44 to its center position, and outputs it to the navigation control unit 190. .

  The navigation control unit 190 calculates the post-movement position of the endoscope 50 when the XY stage unit 44 is moved to the center position based on the necessary movement amount input from the motor drive control unit 194. It has become. In addition, the navigation control unit 190 determines whether or not the endoscope 50 interferes with the subject when the endoscope 50 is moved based on the calculated position of the endoscope 50 after the movement. .

  Next, the operation of the endoscope holding system of the present embodiment having the above configuration will be described with reference to the flowchart of FIG. Steps S1, S2, and S3 are the same as steps S1, S2, and S3 of the fourth embodiment.

  If it is determined in step S3 that the XY stage is not at the center position, the process proceeds to step S4. In step S <b> 4, the motor drive control unit 194 calculates a movement amount necessary to move the XY stage unit 44 to the center position, and outputs this movement amount to the navigation control unit 190.

  In step S5, the navigation control unit 190 calculates the post-movement position of the endoscope 50 when the XY stage unit 44 is moved to the center position based on the movement amount, and the endoscope 50 is moved. If it does, it will be determined whether or not it will interfere with the object. If it is determined in step S5 that the endoscope 50 interferes with the object to be hardened, the process returns to step S1. On the other hand, if it is determined that the endoscope 50 does not interfere with the subject, the process proceeds to step S6. Step S6 is the same as step S4 of the fourth embodiment. After step S6, the process returns to step S1 again.

  Thus, the above configuration has the following effects in addition to the effects of the first embodiment. The navigation control unit 190 determines whether or not the endoscope 50 interferes with the object to be injured when the XY stage unit 44 is moved to the center position during the all-free operation. If it is determined that the endoscope 50 does not interfere with the object, the XY stage unit 44 is returned to the center position even when the endoscope 50 is disposed in the surgical site. It has become. For this reason, it is possible to prevent the endoscope 50 from interfering with the object to be hardened and to move the XY stage unit 44 when the endoscope 50 is driven by operating the XY stage unit 44 with the foot switch 76. There is very little hitting the limit position. Therefore, the surgeon can concentrate on the operation.

  21 and 22 show a sixth embodiment of the present invention. The same components as those in the second embodiment are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 21, the endoscope holding system of the present embodiment is different from the second embodiment in the configuration of the support unit 204.

  A columnar connecting portion 206 extends from the XY stage portion 44. A central axis of the connecting portion 206 (hereinafter referred to as a sixth rotation axis O6) extends in the Y-axis direction. The connecting portion 206 includes a first portion 208 on the proximal end side and a second portion 210 on the distal end side. The second portion 210 is rotatable with respect to the first portion 208 in the direction around the axis about the sixth rotation axis O6. Further, the second portion 210 can be rotated and fixed around the sixth rotation axis O6 around the axis by a weighting mechanism (not shown) disposed in the first and second portions 210. ing.

  An angular scale 212 is displayed at the proximal end portion of the outer peripheral surface of the second portion 210 along the circumferential direction of the sixth rotation axis O6. In the present embodiment, the angle scale 212 is displayed at intervals of 10 °, and although not shown, ± 30 ° and ± 70 ° are displayed. The clockwise direction when viewed from the base end side is a positive angle. An indication mark 214 for indicating the angle scale 212 of the second portion 210 is displayed at the tip of the outer peripheral surface of the first portion 208. In this way, the first angle adjustment portion is formed between the first portion 208 and the second portion 210.

  The distal end portion of the connecting portion 206 is detachably connected to the camera head 216, and the sixth rotation axis O 6 is perpendicular to the center axis of the camera head 216. An endoscope 50 is connected to the camera head 216, and the central axis of the camera head 216 coincides with the central axis of the endoscope 50. The camera head 216 is provided with positioning means (not shown) for positioning the endoscope 50 so that the observation optical axis of the endoscope 50 is arranged in a plane that passes through the central axis of the endoscope and is perpendicular to the Y axis. It is installed.

  On the other hand, the support base end portion 218 has a first portion 220 on the base end side and a second portion 222 on the front end side. The proximal end side of the first portion 220 and the second portion 222 has an integral cylindrical shape. The configuration of the connection portion between the first portion 220 and the second portion 222 is the same as the configuration of the connection portion between the first portion 208 and the second portion 210 of the support tip 206, and the second angle. An adjustment portion is formed. However, regarding the angle scale 224, the counterclockwise direction when viewed from the base end side is a positive angle. Further, the rotation axis of the second portion 210 is referred to as a seventh rotation axis O7.

  Next, the operation of the endoscope holding system of the present embodiment having the above configuration will be described. The operation of the endoscope holding system of the present embodiment is basically the same as the operation of the endoscope holding system of the second embodiment. Hereinafter, a case where the endoscope 50 is attached to the camera head 216 at the distal end portion of the endoscope holding device will be described.

  The endoscope 50 is attached to the camera head 216 at the distal end portion of the endoscope holding device. And the 1st angle adjustment part is adjusted and the observation optical axis of the endoscope 50 is arrange | positioned perpendicularly to XY plane. Further, the second angle adjustment unit is adjusted so that the central axis of the insertion unit 98 of the endoscope 50 is arranged in parallel with the fifth rotation axis of the ball 26.

  For example, a case where the endoscope 50 is a perspective type endoscope 50 having a perspective angle of 30 ° will be described. When the endoscope 50 is attached to the camera head 216 such that the side on which the insertion portion 98 is shortened is disposed on the X-axis direction side, as shown by an arrow H1 in FIG. The second portion 210 of the portion 206 is rotated around the sixth rotation axis O6 with respect to the first portion 208 in the direction around the axis, and the angle is adjusted to −30 °. Further, as indicated by an arrow H2 in FIG. 22B, the second portion 222 of the support base end portion 218 rotates about the seventh rotation axis O7 with respect to the first portion 220 in the direction around the axis. And adjust the angle to -30 °. As a result, as shown in FIG. 22C, the observation optical axis indicated by the arrow E ′ of the endoscope 50 is arranged perpendicular to the XY plane, and the central axis of the insertion portion 98 of the endoscope 50 is the ball. 26 parallel to the fifth rotation axis O5.

  Therefore, the above configuration has the following effects. By adjusting the first angle adjustment unit, the observation optical axis of the endoscope 50 can be arranged perpendicular to the XY plane regardless of the perspective angle of the endoscope 50. In addition, the first angle adjusting unit performs the sixth rotation which is the columnar central axis with respect to the second portion 210 on the distal end side of the columnar connecting portion 206 with respect to the first portion 208 on the proximal end side. It is formed by being rotatable and fixed around the axis O6 around the axis, and has a compact and simple configuration. As described above, this embodiment has the same effects as those of the first embodiment.

  Then, by adjusting the angle of the second angle adjusting unit according to the angle adjustment of the first angle adjusting unit, the central axis of the insertion unit 98 of the endoscope 50 is set to the fifth rotation axis O5 of the ball 26. It is possible to always arrange them in parallel. As described above, this embodiment has the same effects as those of the second embodiment.

  In addition, by combining this embodiment and 2nd Embodiment, a freedom degree arises in the mounting direction of the endoscope 50, and it becomes possible to respond | correspond to various surgical techniques.

Next, other characteristic technical matters of the present application are appended as follows.
Record
(Additional item 1)
The endoscope holding system according to claim 6, wherein the return means returns the endoscope to the reference position when the endoscope is outside the subject.

(Appendix 2)
The endoscope according to claim 6, wherein the return means returns the endoscope to the reference position when the endoscope does not interfere with the subject to be injured even if the endoscope returns to the reference position. Retention system.

(Additional Item 3)
An endoscope for observing the subject;
A support member for supporting the endoscope;
In an endoscope holding device connected to the support member and having an endoscope holding means for holding the endoscope in a three-dimensional manner so as to be movable and fixed,
Drive means for driving the endoscope so as to be movable in two axial directions perpendicular to each other;
The endoscope includes an angle changing unit capable of changing a relative angle with respect to the driving unit in association with an observation angle of the endoscope.

(Appendix 4)
A gripping portion having input means for operating the endoscope holding means so as to be movable and fixed;
The endoscope holding apparatus according to claim 3, wherein second angle changing means is provided between the grip portion and the endoscope corresponding to the operating angle of the angle changing means.

(Appendix 5)
Input means for operating the endoscope holding means to be movable and fixed; and
Three-dimensional position detection means for detecting the relative position of the subject and the endoscope distal end;
In the endoscope holding device according to Supplementary Item 3 or Supplementary Item 4, comprising:
An endoscope holding apparatus, wherein the drive means is driven and controlled around a movement center based on an operation signal from the input means and a signal from the three-dimensional position detection means.

(Appendix 6)
Image rotating means for rotating an observation image by the endoscope;
Rotation detection means for detecting a rotation amount of the image rotation means;
The endoscope holding apparatus according to any one of claims 3 to 5, further comprising a drive correction unit that corrects a drive direction of the drive unit based on a detection result of the rotation detection unit.

(Appendix 7)
7. The endoscope holding apparatus according to any one of claims 3 to 6, wherein the angle changing means rotates and fixes the endoscope around an axis parallel to one driving direction of the driving means.

(Appendix 8)
The endoscope holding apparatus according to any one of items 3 to 6, wherein the angle changing means has an angle scale associated with an observation angle of the endoscope.

(Appendix 9)
The endoscope holding apparatus according to claim 8, wherein an index indicating a predetermined value of an angle scale of the fixing means is provided on the endoscope.

(Appendix 10)
The endoscope holding apparatus according to claim 4, wherein the second angle changing means is rotatable and fixed about an axis parallel to one driving direction of the driving means.

(Appendix 11)
The endoscope holding apparatus according to claim 4, wherein the second angle changing means has an angle scale associated with an observation angle of the endoscope.

(Appendix 12)
The endoscope holding apparatus according to any one of items 3 to 6, wherein the angle changing means is configured by a plunger that can be positioned in advance at a predetermined angle.

(Additional Item 13)
The endoscope holding apparatus according to claim 5, wherein the signal of the three-dimensional position detection means is based on a record of a site where surgery has been performed.

  The present invention provides an endoscope holding apparatus that moves and holds an endoscope with improved operability to a desired position with respect to an operation part.

Explanatory drawing which shows schematic structure of the endoscope holding system of 1st Embodiment of this invention. Explanatory drawing which shows the structure which operates the 1st thru | or 5 air brakes of the endoscope holding system of 1st Embodiment of this invention. The perspective view which shows the support part periphery of the endoscope holding system of 1st Embodiment of this invention. (A) is a perspective view which shows the drive mechanism of the endoscope holding system of 1st Embodiment of this invention, (B) is explanatory drawing which shows the structure which operates the drive mechanism of the same endoscope holding system. The side view which shows the support front-end | tip part of the endoscope holding system of 1st Embodiment of this invention. The side view which shows the endoscope and camera head of the endoscope holding system of 1st Embodiment of this invention. Explanatory drawing which shows an example of the observation image displayed on TV monitor of the endoscope holding system of 1st Embodiment of this invention. (A) is a side view showing the periphery of a support portion of the endoscope holding system according to the first embodiment of the present invention in a state where a direct-viewing endoscope is attached, and (B) is a support of the endoscope holding system. FIG. 4C is a side view showing the periphery of the endoscope in a state where an endoscope having a perspective angle of 30 ° is attached, and FIG. Perspective view. Explanatory drawing which shows schematic structure of the endoscope holding system of 2nd Embodiment of this invention. The perspective view which shows the support part periphery of the endoscope holding system of 2nd Embodiment of this invention. (A) is a side view showing a support tip of an endoscope holding system according to a second embodiment of the present invention, and (B) shows a support tip and an endoscope of the endoscope holding system (A). Sectional drawing cut | disconnected and shown along the XIB-XIB line | wire of FIG. (A) is a side view showing a second angle adjustment portion of the support tip portion of the endoscope holding system according to the second embodiment of the present invention, and (B) is a view of the support tip portion of the endoscope holding system. Sectional drawing which cuts and shows a 2nd angle adjustment part along the XIIB-XIIB line of (A). (A) is a side view showing the periphery of the support portion of the endoscope holding system according to the second embodiment of the present invention in a state where a direct-viewing endoscope is mounted, and (B) is a support of the endoscope holding system. FIG. 4C is a side view showing the periphery of the endoscope in a state where an endoscope with a perspective angle of 30 ° is mounted, and FIG. 8C shows the periphery of the support portion of the endoscope holding system with the endoscope having a perspective angle of 70 ° attached. Perspective view. Sectional drawing which cut | disconnects and shows the camera head and endoscope of the endoscope holding system of 3rd Embodiment of this invention by the plane which passes along a central axis. Explanatory drawing which shows the structure which act | operates the drive mechanism of the endoscope holding system of 3rd Embodiment of this invention. (A) And (D) is a schematic diagram for demonstrating the operation direction of the foot switch of the endoscope holding system of 3rd Embodiment of this invention, (B) and (E) are the endoscope holding | maintenance. The schematic diagram for demonstrating the drive direction of the endoscope of a system, (C) And (F) is a schematic diagram for demonstrating the moving direction of the observation image on TV monitor of the endoscope holding system. (A) is explanatory drawing which shows schematic structure of the endoscope holding system of 4th Embodiment of this invention, (B) operates the drive mechanism of the endoscope holding system of 4th Embodiment of this invention. Explanatory drawing which shows a structure. Explanatory drawing which shows the relationship between the endoscope and operation part of the endoscope holding system of 4th Embodiment of this invention. The flowchart which shows the effect | action of the endoscope holding system of 4th Embodiment of this invention. The flowchart which shows the effect | action of the endoscope holding system of 5th Embodiment of this invention. The perspective view which shows the support part periphery of the endoscope holding system of 6th Embodiment of this invention. (A) is explanatory drawing which shows the effect | action of the 1st angle adjustment part of the endoscope holding system of 6th Embodiment of this invention, (B) is the endoscope holding system of 6th Embodiment of this invention. Explanatory drawing which shows the effect | action of the 2nd angle adjustment part of this, (C) is the state which mounted | wore the support part of the endoscope holding system of 1st Embodiment of this invention with the endoscope with a perspective angle of 30 degrees. FIG.

Explanation of symbols

  4 ... Endoscope holding device, 6, 10, 14, 18, 22, 26 ... Holding part, 32 ... Supporting part, 44, 52 ... Driving means, 46, 48 ... Arrangement adjusting means, 50 ... Endoscope, 76 ... operation part.

Claims (6)

A support part for supporting an endoscope for observing the object,
A holding part for moving and holding the support part at a desired position;
A driving means provided in the support portion and driving the endoscope in two dimensions with respect to the holding portion;
Arrangement adjustment provided on the support unit and capable of arranging the observation optical axis of the endoscope substantially perpendicular to the two-dimensional driving direction of the endoscope by adjusting the arrangement of the endoscope with respect to the support unit. Means,
An operation unit for operating the driving means;
An endoscope holding apparatus comprising the endoscope.   The said arrangement | positioning adjustment means selectively adjusts the arrangement | positioning with respect to the said support part of the said endoscope in any of the some predetermined | prescribed arrangement | positioning according to the perspective angle of the said endoscope. Endoscope holding device.   2. The endoscope according to claim 1, wherein the support portion includes, in addition to the first arrangement adjustment unit, a second arrangement adjustment unit for adjusting an arrangement of the endoscope with respect to the holding unit. Mirror holding device. An endoscope observation apparatus having an endoscope for observing an object to be rubbed, and a display unit for displaying an observation image from the endoscope;
A support unit that supports the endoscope; a holding unit that is connected to the support unit and moves and holds the support unit to a desired position; and the support unit is provided, and the endoscope is attached to the holding unit. Driving means for driving in a two-dimensional manner, and provided in the support portion, and adjusting the arrangement of the endoscope with respect to the support portion to change the observation optical axis of the endoscope in a two-dimensional manner of the endoscope An endoscope holding device having an arrangement adjusting means that can be arranged substantially perpendicular to the driving direction, and an operation unit for operating the driving means.
An endoscope holding system comprising the endoscope holding system. The endoscope observation apparatus includes a rotating unit that rotates the observation image displayed on the display unit,
The endoscope holding device controls the driving means so that the moving direction of the observation image of the endoscope in the display unit is the same for the same input to the operation unit regardless of the rotation of the observation image. The endoscope holding system according to claim 4, further comprising: a drive control unit configured to perform driving control. An endoscope for observing the object,
A support unit that supports the endoscope; a holding unit that is connected to the support unit and moves and holds the support unit to a desired position; and the support unit is provided, and the endoscope is attached to the holding unit. Driving means for driving two-dimensionally with a predetermined reference position as a reference, and provided in the support unit, and adjusting the arrangement of the endoscope with respect to the support unit to adjust the observation optical axis of the endoscope An endoscope holding apparatus having an arrangement adjusting means that can be arranged substantially perpendicularly to a two-dimensional drive direction of the endoscope, and an operation unit for operating the drive means;
Detection means for detecting the position of the endoscope with respect to the object to be inspected, and the endoscope connected to the driving means and in accordance with the position of the endoscope with respect to the object to be detected detected by the detection means. An endoscope return device having return means for returning the reference position to the reference position,
An endoscope holding system comprising the endoscope holding system.

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