JP2007117291A - Stereoscopic observation apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image observation apparatus having integrated image projection means and a reflection means which does not obstruct a surgery and the other devices in a surgical room by making the moving track of the whole device small even if a surgical person moves during a surgery. <P>SOLUTION: The image observation apparatus is provided with: a holding means IV holding the image projection means PJ and the reflection means P integrally; an installation part I which can be installed on the floor or the ceiling of the surgical room; a rotation means III which is arranged between the holding means IV and the installation means I and rotatable around a vertical axis relative to the holding means IV and the installation means I; and a moving supporting means II which can move the rotation means III three-dimensionally relative to the installation part I. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an image projection unit that projects an image picked up by an image pickup unit, and a stereoscopic observation apparatus that performs observation using a reflection unit that reflects projection light from the image projection unit and forms an image at a pupil position, and in particular, image projection unit And a support device for supporting the reflecting means.

  Conventionally, in order to enable stereoscopic observation without wearing dedicated glasses for stereoscopic observation, image projection means for projecting an image captured by the imaging means, and projection light from the image projection means is reflected and imaged at the pupil position A method of observing using a reflecting means is proposed (for example, see Patent Document 1).

It is also possible to rotate the image display unit around the observer while keeping the distance between the observer and the image display unit constant, and adjust the height of the image display unit according to the height of the observer In addition, the image display unit is supported so as to be rotatable about the vertical axis on the cervical vertebra of the observer, and support means configured to be able to move three-dimensionally is provided. An image observation apparatus has also been proposed.
Japanese Patent Laid-Open No. 2003-233031

  When performing surgical operations such as neurosurgery, ophthalmology, and orthopedic surgery using these devices, the surgeon as an observer takes a position where the surgical operation can be performed easily and reliably at the surgical site. Surgery is performed while rotating to the center. At this time, it is desirable that the image display unit is basically in front of the operator.

  In this case, in the former method, the image projecting unit and the reflecting unit are separated from each other while maintaining a certain positional relationship, so that the occupied space in the operating room is large. Further, when the operator moves during the operation, the operator's position shifts with respect to the reflecting means, and observation becomes impossible. For this reason, the reflecting means and the entire image projecting means must be moved and tilted so that the reflected light from the reflecting means reaches the eye of the operator. At this time, since the image projection unit and the reflection unit are separated from each other, even when the reflection unit is slightly tilted, the image projection unit moves with a large trajectory. Interfere with surgical staff.

  In addition, since the movement of the surgeon during the operation is not a rotation around the body axis of the surgeon itself, but is a movement around the patient around the surgical section, in the latter method, When the surgeon rotates around the surgical site, the entire image observation device must be moved with respect to the surgical site, and the operation is interrupted and the entire device is moved. The problem of interfering with other equipment and surgical staff is not solved. Furthermore, since the entire apparatus is moved, there arises a problem that the operation is interrupted.

  The present invention has been made in view of such problems of the conventional apparatus, and the object of the present invention is that even if the operator moves during the operation, the movement trajectory of the entire apparatus is small, and the operation and operation are performed. An object of the present invention is to provide an image observation device integrated with image projection means and reflection means that does not interfere with other equipment in the room.

  In order to achieve the above object, an image observation apparatus according to the present invention includes an image projection unit that irradiates a projection optical system capable of forming an image, and reflects the projection light from the image projection unit by applying a positive lens action. An image observation apparatus for observing an image picked up by an image pickup means having a reflection means capable of being installed on a floor or a ceiling of an operating room, a holding means for holding the image projection means and the reflection means integrally A possible installation part, a turning means arranged between the holding means and the installation part and capable of turning about a vertical axis with respect to the holding means and the installation part, and the turning means tertiary with respect to the installation part It is characterized by comprising movement support means which can be moved originally.

  According to the present invention, the vertical axis is preferably arranged between the image projection means and the reflection means.

  According to the present invention, the movement support means preferably includes a position detection means for detecting the position of the imaging means, and a movement control means for moving the vertical axis based on information from the position detection means. It is characterized by having.

  Further, according to the present invention, preferably, the turning means and the movement instructing means are respectively a fixing and fixing releasing means, and a control means capable of controlling the operation of the fixing and fixing releasing means by operating the input means. It is characterized by having.

  According to the invention, it is preferable that the swiveling means is configured to support the holding means so as to be linearly movable in a direction of a line segment connecting the image projecting means and the reflecting means. And

  Further, according to the present invention, the turning means preferably includes a tilting means capable of tilting the holding means around a horizontal axis.

  In addition, according to the present invention, the installation unit holds the imaging unit.

  According to the present invention, even if an operator moves during an operation with a simple configuration, the movement trajectory of the entire apparatus is small, and does not interfere with other devices in the operation and the operation room, and is easy to use, and is easy to use. An apparatus can be provided.

Hereinafter, embodiments of the present invention will be described based on illustrated examples.
First Embodiment FIG. 1 is an external configuration diagram when an image observation apparatus according to a first embodiment of the present invention is used in ophthalmic surgery, and FIG. 2 is a block diagram of a control system of the image observation apparatus shown in FIG. 3 is an enlarged perspective view of an operation grip of the image observation apparatus shown in FIG.
In the figure, I is an installation part installed on the floor of the operating room, II is a movement support means mounted on the upper end of the installation part I so as to be able to rotate around a vertical axis and a horizontal axis, and III is a movement support. Rotating means mounted on the front end of the means II so as to be rotatable around a vertical axis, and IV is attached to the turning means III so as to be rotatable around a horizontal axis, and integrally holds the image projecting means PJ and the reflecting means P. These holding means constitute an image observation apparatus. V is an imaging means installed on the floor of the operating room independently of the image observation apparatus, VI is an operation part of the patient, and VII is an operator.

Moving support means II includes an installation portion arm 2 mounted rotatably around the upper end to the one end the vertical axis 0 ₁ of the post 1 of the I, is constituted by the other end of the arm 2, for example linkage vertical axis 0 freely central horizontal axis 0 ₃ rotates about a ₂ up and down movement operably linked arm 3 is configured.

Pivot means III comprises a support shaft 4 to the upper end to the distal end of the arm 3 is rotatably mounted about a vertical axis 0 _4, a support member 5 attached to the lower end of the support shaft 4 are configured.

Holding means IV are central portion swingably coupled about a horizontal axis 0 ₅ to the support member 5, the image projection means PJ at one end, a reflection means P at the other end, appropriate position easily manipulated by the surgeon And holding arms 7 each having a grip 6 attached thereto. Incidentally, the horizontal axis 0 ₅ and the support member 5 functions as tilting means capable of inclining the holding means IV with respect to the horizontal axis.

The shafts 0 _{1 to} 0 ₅ incorporate movement fixing means BL _{1 to} BL ₅ made of an electric brake with a lock-free mechanism having a well-known structure in order to fix / cancel the rotation around the shaft. . This movement fixing means may have a known structure in which a mechanical part and an electromagnetic brake are combined.

  Further, the image projecting means PJ and the reflecting means P are configured as disclosed in, for example, Patent Document 1, and a stereoscopic image of the operative part VI photographed by the photographing means V can be transferred to the operator's eyes in real time. It can be provided.

  In FIG. 2, 6a, 6b, 6c and 6d are an all-free switch, an XYZ free switch, a turning switch and a tilt switch respectively disposed on the grip 6 as shown in FIG. 8 is a control circuit connected to the various switches 6a to 6d, 9 is an XYZ brake drive circuit which is connected to the control circuit 8 and can energize the electric brakes BLa, BLb and BLc of the movement fixing means, and 10 is a control circuit 8 , A turning brake drive circuit that can energize the electric brake BLd, and 11 is an inclination brake drive circuit that is connected to the control circuit 8 and can energize the electric brake BLe.

Next, the operation of the image observation apparatus configured as described above will be described.
During the operation, in order to change the observation field of view, when the surgeon VII moves in the direction of the arrow around the surgical section VI from the illustrated state, for example, the surgeon grasps the grip 6 and presses the turning switch 6c to turn off. Then, the electric brake BLd is released via the control circuit 8 and the turning brake drive circuit 10. Thereby, the fixing of the support shaft 4 is released, the holding means IV can freely rotate around the vertical axis, and the operator moves the holding arm 7 through the grip 6 to a desired position along with the movement of the operator. It can be moved. After moving in this way, when the turning switch 6c is opened and turned on, the electric brake BLd is actuated again and the support shaft 4 is fixed. Therefore, the surgeon can easily move to a desired position while viewing the image of the surgical site.

  When the image observation apparatus is set in the state shown in the drawing, that is, in a state where the central portion of the operation region and the central axis of the support shaft 4 are on the same vertical line, the all-free switch 6a is pressed to turn off. Then, all electric brakes are released via the control circuit 8, the XYZ brake drive circuit 9, the turning brake drive circuit 10, and the tilt brake drive circuit 11. As a result, the operator grasps the grip 6 and moves the support shaft 4 and the holding arm 7 through the arms 2 and 3 in a three-dimensional manner, so that the central portion of the surgical region and the support shaft 4 are moved. It is possible to set so that the central axis of the two is on the same vertical line. Further, if necessary, the tilt switch 6d is operated to move the holding arm 7 via the tilting means so that the operator's field of view matches the image area displayed on the reflecting means P according to the height of the surgeon. be able to. In this way, when the all-free switch 6c is opened and turned on after the setting is completed, all the electric brakes are actuated again, and the image observation apparatus is fixed in the state shown in the figure.

  Similarly, if the XYZ free switch 6b is operated, it is possible to move these three-dimensionally via the moving means II while keeping the turning means III and the holding means IV fixed.

Thus, according to the first embodiment, by moving the pivot means III, it is possible to move the vertical axis 0 _4, when intraoperatively surgeon VII moves around the operative site VI, image Even if the projection means PJ and the reflection means P are moved, they do not interfere with the surgeon. In addition, with respect to the movement of the surgeon, the position change of the image projection means PJ and reflecting means P, since it is only necessary to rotate the holding means IV in the vertical axis 0 ₄ around it is easy.
Further, since the support shaft 4 can be installed vertically above the surgical site, there is an advantage that the distance between the surgeon VII and the reflecting means P can be kept substantially constant. Furthermore, the operator can rotate the image projection means PJ and the reflection means P separately and rotate about the vertical axis by operating the input means provided on the grip 6, so that the surgeon can rotate around the surgical site. In this case, it can be easily set by rotating the image projecting means PJ and the reflecting means P.
Further, since the holding means IV can be tilted around the horizontal axis and the reflecting means P can be tilted in the vertical direction, the surgeon can perform an operation in a comfortable posture.

Second Embodiment FIG. 4 is an external configuration diagram when the image observation apparatus according to the second embodiment of the present invention is used in ophthalmic surgery, and FIG. 5 is a block diagram of a control system of the image observation apparatus shown in FIG. 6 is an enlarged perspective view of an operation grip of the image observation apparatus shown in FIG. As is apparent from FIG. 4, this embodiment is different from the first embodiment in that the image observation apparatus is configured to be suspended from the ceiling of the operating room. In the figure, the same reference numerals are used for members that are substantially the same as those in the first embodiment, and descriptions thereof are omitted.

  The moving means II is suspended from the installation section I attached to the ceiling via the support column 1 and is attached to the XY driving device 12 having a well-known structure including the X motor 12a and the Y motor 12b. The up-and-down driving device 13 having a well-known structure provided with a Z motor is configured.

Pivot means III comprises a rotary device 14 of the motor organs attached to the vertical drive unit 13, a support shaft 15 which is rotated in the vertical axis 0 ₄ around this rotating device 14, the support member attached to the support shaft 15 16 It is comprised by.

The support member 16 includes an electric slide mechanism 17 which includes a slide motor 17a, and the electric slide mechanism 17 tilt motor 16a capable allowed rotated in the horizontal axis 0 ₅ around provided with a TV camera 18, they tilt means Is configured.

  The electric slide mechanism 17 is configured so that the holding arm 7 constituting the holding means IV that holds the image projection means PJ and the reflection means P integrally can be slid in the direction of arrow S in the figure by the slide motor 17a. Yes.

  The mirror of the photographing means V is provided with a light emitting device 19, and this light emitting device 19 cooperates with the TV camera 18 and a position calculation circuit which will be described later, on the vertical line coinciding with the center line of the support shaft 15. The position detection means for aligning is constituted.

  In FIG. 5, 6e, 6f, 6g, 6h, 6i and 6j are an X motor switch, a Y motor switch, a Z motor switch, a swing motor switch, a slide motor switch, This is a tilt motor switch. 20 is an input circuit connected to the various switches 6e to 6j, 21 is an arithmetic circuit connected to the input circuit 20, 22 is a motor drive circuit that is connected to the arithmetic circuit 21 and can energize various motors, and 23 is a TV camera 18. And a position calculation circuit that is connected to the calculation circuit 21 and operates when the auto position switch 6k is operated. The various motors, the motor drive circuit, and the position calculation circuit constitute movement control means.

  As shown in FIG. 6, the X motor switch 6e and the Y motor switch 6f are configured in a rotary manner so that the X motor 12a and the Y motor 12b can be rotated forward or backward by pressing and rotating the operation knob. It can be done. The Z motor switch 6g, the swing motor switch 6h, the slide motor switch 6i, and the tilt motor switch 6j are all configured in a seesaw-type button type, and are operated by pressing one of the two ends of the button. Each motor can be rotated forward or backward. Note that each motor is configured as a servo motor or a step motor.

Next, the operation of the image observation apparatus of the second embodiment will be described.
During the operation, when the surgeon VII moves around the surgical section VI in order to change the observation visual field, the surgeon holds the grip 6 and presses the turning switch 6h for a predetermined time in accordance with the movement of the surgeon. Then, the motor drive circuit 22 operates via the input circuit 20 and the arithmetic circuit 21, and the turning motor 14 a rotates in a predetermined direction, thereby rotating the holding unit IV together with the support shaft 15 by a predetermined angle. Therefore, the surgeon can easily move to a desired position while viewing the image of the surgical site.

When the image observation apparatus is set in a state where the position shown in FIG. 4, that is, the center of the surgical region and the center axis of the support shaft 15 are on the same vertical line, the auto position switch 6k is pressed. Then, the TV camera 18 tracks the light from the light emitting device 19 of the mirror of the imaging means V set in advance immediately above the surgical section VI, and passes through the position calculation circuit 23, the calculation circuit 21 and the motor drive circuit 22. The X motor 10a and / or the Y motor 10b are appropriately rotated forward and backward to move the support shaft 15 via the XY drive device 12 so that the center of the surgical site VI and the center axis of the support shaft 15 are aligned on the same vertical line. .
Further, when the surgeon moves away from or approaches the surgical site, the slide motor switch 6i is operated in the intended direction for a predetermined time. Then, the motor drive circuit 22 operates via the input circuit 20 and the arithmetic circuit 21, and the slide motor 17a rotates in a predetermined direction to slide the holding means IV in the arrow S direction. Therefore, the surgeon can perform a surgical operation with an easy posture.

  In this state, if necessary, the Z motor switch 6g, the swing motor switch 6h, the slide motor switch 6i, and the tilt motor switch 6j are appropriately selected and operated so that the operator can observe the projection on the reflecting means P. The holding means IV is adjusted so that the image is at a position where it can be most easily observed.

  As is clear from the above description, according to the second embodiment, in addition to the advantages described in the first embodiment, the turning means III can adjust the distance between the image projecting means PJ and the reflecting means P. Even when the surgeon is operating near the surgical site or when the surgeon has to operate away from the surgical site, the optimal distance between the surgeon VII and the reflecting means P can always be secured. That is, in order to ensure a constant distance between the surgeon and the reflecting means, it is not necessary for the surgeon to bend forward or take a back-facing posture, and the surgery can be performed easily.

Third Embodiment FIG. 7 is an external configuration diagram of a third embodiment of the image observation apparatus according to the present invention.
This embodiment is different from the first embodiment in that the imaging means V is attached to the support column 1 of the installation section I in a three-dimensional manner. Accordingly, members and portions that are substantially the same as those in the first embodiment are designated by the same reference numerals, and descriptions of their operational effects are omitted.

  The third embodiment not only has the same advantages as the first embodiment, but also the imaging means V is attached to the support column 1 of the installation section I in a three-dimensionally movable manner, so that the entire apparatus can be handled and set. There is an advantage that it is simpler. Further, since the imaging means V is supported by the same support device, it is possible to save space in the operating room.

  As in the third embodiment, in the second embodiment, the imaging means V can be attached to the installation portion I or its support column 1 in a three-dimensional manner so as to be movable in that case. The same effect can be obtained.

It is an external appearance block diagram at the time of using 1st Example of the image observation apparatus which concerns on this invention for ophthalmic surgery. It is a block diagram of the control system of the image observation apparatus shown in FIG. It is an expansion perspective view of the operation grip of the image observation apparatus shown in FIG. It is an external appearance block diagram at the time of using 2nd Example of the image observation apparatus which concerns on this invention for ophthalmic surgery. It is a block diagram of the control system of the image observation apparatus shown in FIG. It is an expansion perspective view of the operation grip of the image observation apparatus shown in FIG. It is an external appearance block diagram of 3rd Example of the image observation apparatus which concerns on this invention.

Explanation of symbols

I Installation section
II Moving support means
III Turning means
IV Holding means
V Shooting method
VI
VII Surgeon PJ Image projection means P Reflection means BLa to BLe Electric brake 0 ₁ , 0 ₂ , 0 ₄ Vertical axis 0 ₃ , 0 ₅ Horizontal axis 1 Strut 2, 3 Arm 4, 15 Support shaft 5, 16 Support member 6 Grip 6a-6k switch 7 holding arm 8 control circuit 9-11, 22 drive circuit 12 XY drive device 12a, 12b, 13a, 16a, 17a motor 13 vertical drive device 14 rotation device 17 electric slide mechanism 18 TV camera 19 light emitting device 20 input Circuit 21 Calculation circuit 23 Position calculation circuit

Claims (7)

  An image projecting unit that irradiates a projection optical system capable of forming an image, and a reflecting unit that can reflect the projection light from the image projecting unit by applying a positive lens action to the projected light. In the image observation apparatus to be observed, a holding unit that integrally holds the image projecting unit and the reflecting unit, an installation unit that can be installed on a floor or a ceiling of an operating room, and an arrangement between the holding unit and the installation unit The holding means can be swiveled around a vertical axis with respect to the installation section, and the swiveling means can be moved three-dimensionally relative to the installation section between the swiveling means and the installation section. An image observation apparatus comprising: a movable support means.   The image observation apparatus according to claim 1, wherein the vertical axis is disposed between the image projection unit and the reflection unit.   The said movement support means is provided with the position detection means to detect the position of the said imaging means, and the movement control means to which the said vertical axis is moved based on the information from the said position detection means. Image observation device.   The swiveling means and the movement instructing means each include a fixing and fixing releasing means, and a control means capable of controlling operations of the fixing and fixing releasing means by operating an input means. The image observation apparatus according to 1.   The image observation apparatus according to claim 1, wherein the turning unit is configured to support the holding unit so as to be linearly movable in a direction of a line segment connecting the image projecting unit and the reflecting unit. .   The image observing apparatus according to claim 1, wherein the swiveling unit includes a tilting unit capable of tilting the holding unit around a horizontal axis.   The image observation apparatus according to claim 1, wherein the installation unit holds the imaging unit.

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