JP2013180185A - Medical observation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical observation system reducing a burden on an operator by allowing the setting of a point lock point to a position suitable for observation according to the shape of an operation region independently of the setting of a focal position.SOLUTION: A medical observation system including an observation device 1 observing an observed part from different directions with a point lock point as the center includes: a measurement means 9 measuring a three-dimensional shape of the observed part; and a setting means 7 setting the point lock point at a prescribed depth position on a nearly visual field central axis of the observation device 1. The measurement means 9 has a distance calculation means 9a setting a point on the visual field central axis of the observation device 1 on the surface of the observed part and two or more points on the periphery of the visual field central axis as ranging points, and calculating distances in a Z-axis direction in the respective ranging points. The setting means 7 sets the point lock point based on the distances in the Z-axis direction in the ranging point on the visual field central axis and at least two ranging points on the periphery of the visual field central axis which are calculated by the distance calculation means 9a.

Description

  The present invention relates to a medical observation system such as a surgical microscope and an endoscope provided with a mechanism for observing a three-dimensional image of an observed part from different observation directions around a point lock point.

  Conventionally, as this type of medical observation system, for example, there is a surgical microscope described in Patent Document 1 below.

JP 10-14938 A

For example, as shown in FIG. 16, the surgical microscope described in Patent Document 1 includes a mirror body 50 having a focusing mechanism (such as an objective lens driving unit 62, a rack 64, and a pinion 65), and the mirror body 50 in a three-dimensional space. The mirror 50 is set to be tiltable around an arbitrary point (point lock point S1) on the observation optical axis, and the point lock point S1 is set to be an approximate observation light of the mirror 50. A microscope support arm mechanism (not shown in FIG. 16) that can be moved on an axis, an inclined rod drive unit 71 as a drive means for moving the point lock point S1, and a point lock that detects the position of the point lock point S1 Inclined rod position detection unit 72 as point detection means, objective lens position detection means 67 as focusing detection means for detecting the focusing position P of the mirror body 50, and focusing position detection counter Actual focusing position data input from the path 81, focusing detection means (objective lens position detection means 67 and focusing position detection counter circuit 81), and point lock point detection means (tilt rod position detection unit 72) A control unit 82 as a first calculation means for comparing and calculating the difference between the actual point lock point data output from A, a data input means 83 for presetting the difference Δf between the focusing position P and the point lock point S1, The EEPROM 84 that stores the difference data Δf set by the data input means, and the difference data Δf between the focusing position P and the point lock point S1 stored in the EEPROM 84 is calculated by the first calculation means (control unit 82). The driving means (tilting rod driving unit 71) is driven to compare with the result and automatically correct the point lock point S1 based on the calculation result. And a control unit 82 as a second calculation means for determining the drive amount, and a control means for driving and controlling the drive means (tilt rod drive unit 71) based on the calculation result of the second calculation means (control unit 82). The second driver circuit 85 is provided. In FIG. 16, 60 is an objective lens, 61R is an optical axis for the right eye passing through the objective lens 60, 61L is an optical axis for the left eye passing through the objective lens 60, 63 is a moving frame of the objective lens 60, and 66 is an objective lens. A photo interrupter for detecting that 60 is located at the end, 86 is a first driver circuit for giving a driving command to the lens driving unit 62, and 87 stores a program for causing the control unit 82 to execute the above-described series of processing. The ROM 88 is a watchdog timer circuit that forcibly interrupts when the control unit 82 runs away.
In the surgical microscope described in Patent Document 1, the operator uses the data input means 83 to input the focus designation position, the difference data Δf between the focus position P and the point lock point S1, and thereby the point lock. The point S1 is configured to be moved to an arbitrary position on the observation optical axis.

By the way, in conventional endoscopic observation for surgery, a scopist who is different from the operator manually changes the position of the endoscope in order to obtain information on the back side of the observation target. However, there are many cases where the intention of the operator and the intention of the scopist who operates the endoscope do not mesh with each other, resulting in a decrease in surgical efficiency.
In addition, there is a need for the surgeon to change the visual field direction around the desired point lock point electrically or manually. However, no means for setting the point lock point by the surgeon has been proposed and has not been realized. Further, in endoscopic observation with a deep focal depth, it is almost impossible for the operator to set or confirm at the intended depth position while recognizing the point lock point.

In addition, there is a similar need for a surgical microscope. In a surgical microscope, as in the surgical microscope described in Patent Document 1 described above, a three-dimensional image of a portion to be observed from different observation directions centering on a point lock point. A point lock mechanism that can observe the above has been proposed.
However, in the conventional point lock mechanism, the point lock point is determined in conjunction with the focal position. For this reason, in the case of observation with a deep focal depth such as during low-magnification observation, the focal position that matches the position where the point lock point is desired is not specified, and the point lock point that is actually determined as the desired position of the point lock point May be displaced. In this case, it is difficult for the operator to recognize the point lock point, and it cannot be said that the operability is good.
In addition, when the shape of the surgical site is relatively flat and the field of view from the center of the visual field of the surgical site to the peripheral part is open, observation of the surgical site is possible even if the focus position and the point lock point coincide. If the shape of the surgical site is like a hole or a mountain and part of the field of view from the center of the field of view to the periphery is obstructed, the focal position and the point lock point If they match, the observation of the surgical site is likely to be hindered.

  Moreover, in the surgical microscope described in Patent Document 1, the point lock point S1 is observed by inputting the focus designation position, the difference position data Δf between the focus position P and the point lock point S1 using the data input means 83. Although it is configured to move to an arbitrary position on the optical axis, it is not easy for the surgeon to grasp the difference data Δf for moving the point lock point to a desired position as a numerical value. The setting value of the data Δf is likely to shift back and forth in the depth direction, and the operation may be complicated, for example, requiring multiple data input operations.

  The present invention was made in view of such conventional problems, and independently of the setting of the focal position, it is possible to set a point lock point at a position suitable for observation according to the shape of the surgical site, An object of the present invention is to provide a medical observation system that can reduce the burden on the operator.

  In order to achieve the above object, a medical observation system according to the present invention is a medical observation system including an observation device that observes an observed part from different directions around a point lock point, and includes a three-dimensional view of the observed part. Based on the three-dimensional shape measuring means for measuring the shape, and the three-dimensional shape measurement data of the observed part measured by the three-dimensional shape measuring means, the point lock point is set to a predetermined center on the visual field center axis of the observation device. It has a point lock point setting means for setting the depth position.

  In the medical observation system according to the present invention, the three-dimensional shape measurement unit measures a point on the surface center axis of the observation device and two or more points around the field center axis on the surface of the observed portion. A distance calculation means for calculating a distance in the Z-axis direction at each distance measurement point, and the point lock point setting means is a distance measurement point on the visual field center axis calculated by the distance calculation means. The point lock point is preferably set based on the distance in the Z-axis direction and the distance in the Z-axis direction at at least two distance measuring points around the visual field center axis.

  Further, in the medical observation system of the present invention, the point lock point setting means calculates the distance in the Z-axis direction at the distance measuring point on the visual field center axis and the periphery of the visual field center axis calculated by the distance calculation means. When the three-dimensional shape of the observed portion is estimated on the basis of the distance in the Z-axis direction at at least two ranging points, and the three-dimensional shape of the observed portion is estimated as a hole shape, the point lock point Is preferably set at the entrance of the hole.

  In the medical observation system according to the present invention, the point lock point setting unit may calculate the distance in the Z-axis direction at at least two ranging points around the visual field center axis calculated by the distance calculation unit. If the distance in the Z-axis direction on the side shallower than the distance measuring point on the visual field center axis is shallower than a predetermined reference position, the point lock point is set to be smaller than the distance measuring point on the visual field center axis. It is preferable to set it at a predetermined position on the central axis.

  Further, in the medical observation system of the present invention, the point lock point setting means calculates the distance in the Z-axis direction at the distance measuring point on the visual field center axis and the periphery of the visual field center axis calculated by the distance calculation means. When the three-dimensional shape of the observed portion is estimated based on the distance in the Z-axis direction at at least two distance measuring points, and the three-dimensional shape of the observed portion is estimated as a mountain shape, the point lock point Is preferably set at the foot of the mountain.

  In the medical observation system according to the present invention, the point lock point setting unit may calculate the distance in the Z-axis direction at at least two ranging points around the visual field center axis calculated by the distance calculation unit. If the distance in the Z-axis direction on the deeper side than the distance measuring point on the visual field center axis is deeper than a predetermined reference position, the point lock point is set to be deeper than the distance measuring point on the visual field center axis. It is preferable to set it at a predetermined position on the central axis.

  Further, in the medical observation system of the present invention, the three-dimensional shape measuring means uses a point on the visual field center axis on the surface of the observed portion and two or more points around the visual field center axis as a distance measuring point, An angle calculating means for calculating an angle between each line segment connecting each distance measuring point around the visual field center axis and the distance measuring point on the visual field center axis and the visual field center axis; The point setting means includes 2 line segments formed by the angle calculation means and formed by two line segments connecting at least two distance measurement points around the visual field center axis and the distance measurement points on the visual field center axis, and the visual field center axis. The point lock point is preferably set based on two angles.

  In the medical observation system of the present invention, the point lock point setting means includes at least two distance measurement points around the visual field center axis and the distance measurement points on the visual field center axis calculated by the angle calculation means. If the three-dimensional shape of the observed part is estimated based on two angles formed by two line segments connecting the line and the visual field center axis, and the three-dimensional shape of the observed part is estimated as a hole shape, the point The lock point is preferably set at the entrance of the hole.

  In the medical observation system of the present invention, the point lock point setting means includes at least two distance measurement points around the visual field center axis and the distance measurement points on the visual field center axis calculated by the angle calculation means. When the two angles formed by the two line segments connecting the two and the visual field center axis are both acute angles and smaller than a predetermined threshold, the point lock point is measured on the visual field center axis. It is preferable to set it at a predetermined position on the visual field center axis that is shallower than the distance point.

  In the medical observation system of the present invention, the point lock point setting means includes at least two distance measurement points around the visual field center axis and the distance measurement points on the visual field center axis calculated by the angle calculation means. If the three-dimensional shape of the observed portion is estimated based on two angles formed by two line segments connecting the two and the central axis of the visual field, and the three-dimensional shape of the observed portion is estimated as a mountain shape, the point The lock point is preferably set at the foot of the mountain.

  In the medical observation system of the present invention, the point lock point setting means includes at least two distance measurement points around the visual field center axis and the distance measurement points on the visual field center axis calculated by the angle calculation means. When the two angles formed by the two line segments connecting the two and the visual field center axis are both obtuse and larger than a predetermined threshold value, the point lock point is measured on the visual field central axis. It is preferable to set at a predetermined position on the visual field center axis deeper than the distance point.

  According to the present invention, a medical observation system capable of setting a point lock point at a position suitable for observation according to the shape of the surgical site independently of the setting of the focal position and reducing the burden on the operator can be obtained. .

1 is a block diagram conceptually showing the overall configuration of a medical observation system according to a first embodiment of the present invention. FIG. 2 is an explanatory diagram showing the configuration of the main part of the medical observation system of FIG. 1 and the arrangement of point lock points corresponding to the shape of the observed part, where (a) is a schematic diagram of the main part, and (b) is the shape of the observed part. (D) is a diagram showing another example of the arrangement of point lock points corresponding to the shape of the observed part, (e) is corresponding to the shape of the observed part It is a figure which shows the further another example of arrangement | positioning of the made point lock point. It is explanatory drawing which shows an observation apparatus and a surgical instrument when operating an operation part using the medical observation system of FIG. It is explanatory drawing which shows notionally the example of 1 arrangement of the ranging point which the distance calculation means in the medical observation system of 1st embodiment calculates. When the distance measuring points are arranged as shown in FIG. 4, the point lock point setting position by the point lock point setting means is determined according to the distance relationship with the observation device at each distance measuring point calculated by the distance calculating means. (A) is a diagram showing an example, (b) is a diagram showing another example, (c) is a diagram showing another example, and (d) is a diagram showing another example. (E) is a figure which shows another example, (f) is a figure which shows another example. It is explanatory drawing which shows the example which has arrange | positioned five ranging points as a point on the visual field central axis of the observation apparatus on the surface of a to-be-observed part, and two or more points around a visual field central axis, (a) shows the example FIG. 2B is a diagram showing another example. It is explanatory drawing which shows notionally another example of arrangement | positioning of the ranging point which the distance calculation means in the medical observation system of 1st embodiment calculates. In the case where the distance measuring points are arranged as shown in FIG. 7, the point lock point setting position by the point lock point setting means according to the distance relationship with the observation device at each distance measuring point calculated by the distance calculating means is (A) is a diagram showing an example, (b) is a diagram showing another example, (c) is a diagram showing another example, and (d) is a diagram showing another example. It is. It is a block diagram which shows schematic structure of the medical observation system concerning 2nd embodiment of this invention. Is a distance measurement point and a field center around the field center axis calculated by the angle calculation means when the distance measurement points in the medical observation system of the second embodiment have the same layout as in the layout example shown in FIG. (A) is an explanatory diagram illustrating the setting position of the point lock point by the point lock point setting means according to each angle formed by each line segment connecting the distance measuring point on the axis and the visual field center axis. (B) is a diagram showing another example, (c) is a diagram showing another example, (d) is a diagram showing another example, (e) is another example. (F) is a diagram showing still another example. When the distance measurement points are arranged in the same manner as the arrangement example shown in FIG. 7, each distance measurement point around the visual field center axis calculated by the angle calculation means and each distance measurement point on the visual field center axis are connected. It is explanatory drawing which illustrates the setting position of the point lock point by the point lock point setting means according to each angle which a line segment and a visual field central axis make, (a) is the figure which shows the example, (b) is others FIG. 4C is a diagram showing still another example, and FIG. 4D is a diagram showing still another example. It is a block diagram which shows notionally the whole structure of the medical observation system concerning 3rd embodiment of this invention. In the medical observation system of the third embodiment is an explanatory diagram showing an example of setting the depth position of the point lock point, (a) is a diagram showing an example of automatically setting the depth position of the point lock point, (b) It is a figure which shows the example which sets the depth position of a point lock point manually. It is a block diagram which shows notionally the whole structure of the medical observation system concerning the modification of 3rd embodiment of this invention. It is explanatory drawing which shows the structure of the principal part in each setting procedure of the point lock point in the medical observation system of the modification of 3rd embodiment, (a) is the three-dimensional image of the to-be-observed part which a three-dimensional display device displays The figure which shows the principal part structure for superimposing an index on the top, (b) is the index displayed by operating the depth position adjustment means, and two points indicating the left and right parallax corresponding to the depth of the index (a) Conceptual diagram viewed from the Y direction, (c) is a coordinate position detection that calculates a coordinate position in a two-dimensional coordinate system from two image centers indicating parallax adjusted through the depth position adjusting means. Two-dimensional direction for calculating the movement distance of the holding member in the real space for positioning the index on the central axis of the image display area of the three-dimensional image display device based on the coordinate position detected by the means and the coordinate position detection means The figure which shows the calculating part of a movement control means, (d) is a two-dimensional direction movement control hand FIG. 4B is a diagram showing a configuration of a main part related to the control of the movement of the observation apparatus by the two-dimensional direction moving unit based on the calculation result of the calculation unit, and (e) shows the parallax adjusted through the depth position adjusting unit. FIG. 5F is a diagram illustrating a movement restriction radius calculation unit that calculates a predetermined radius based on two points. FIG. 5F is a diagram illustrating a predetermined point on a substantially visual field center axis of the observation device based on the predetermined radius calculated by the movement restriction radius calculation unit. It is a figure which shows the point lock point setting means set to a depth position. It is explanatory drawing which shows the structure and electric circuit vicinity of the mirror body in the surgical microscope as a conventional medical observation system.

First Embodiment FIG. 1 is a block diagram showing a schematic configuration of a medical observation system according to a first embodiment of the present invention. 2 is an explanatory diagram showing the configuration of the main part of the medical observation system of FIG. 1 and the arrangement of point lock points corresponding to the shape of the part to be observed. (A) is a schematic diagram of the main part, and (b) is the object to be observed. The figure which shows an example of arrangement of the point lock point corresponding to the shape of a part, (d) is a figure showing other examples of arrangement of the point lock point corresponding to the shape of the observed part, (e) is the figure of the observed part It is a figure which shows the further another example of arrangement | positioning of the point lock point corresponding to a shape. FIG. 3 is an explanatory view showing an observation apparatus and a surgical instrument when operating a surgical site using the medical observation system of FIG. FIG. 4 is an explanatory diagram conceptually showing an example of the arrangement of distance measuring points calculated by the distance calculating means in the medical observation system of the first embodiment. FIG. 5 shows a case where the point lock points are set by the point lock point setting means according to the distance relationship with the observation device at each distance measurement point calculated by the distance calculation means when the distance measurement points are arranged as shown in FIG. It is explanatory drawing which illustrates a setting position, (a) is a figure which shows the example, (b) is a figure which shows another example, (c) is a figure which shows another example, (d) is still another example (E) is a diagram showing still another example, and (f) is a diagram showing still another example. FIG. 6 is an explanatory view showing an example in which five distance measuring points are arranged as a point on the central axis of the field of view of the observation device on the surface of the observed part and two or more points around the central axis of the visual field. The figure which shows an example, (b) is a figure which shows another example. FIG. 7 is an explanatory diagram conceptually showing another arrangement example of the distance measuring points calculated by the distance calculating means in the medical observation system of the first embodiment. FIG. 8 shows the arrangement of the point lock points by the point lock point setting means according to the distance relationship with the observation device at each distance measurement point calculated by the distance calculation means when the distance measurement points are arranged as shown in FIG. It is explanatory drawing which illustrates a setting position, (a) is a figure which shows the example, (b) is a figure which shows another example, (c) is a figure which shows another example, (d) is still another example FIG.

As shown in FIG. 1, the medical observation system according to the first embodiment includes an observation apparatus 1, a holding mechanism 2, a movement restriction control unit 3, a three-dimensional shape measurement unit 9, and a point lock point setting unit 7. Have. In FIG. 1, 20 is an object to be observed.
The observation apparatus 1 includes, for example, an endoscope including an imaging optical system corresponding to the left-eye and right-eye observation optical systems and imaging areas corresponding to the left-eye and right-eye observation optical systems. An image of the observed portion can be acquired.
The holding mechanism 2 is set so that, for example, at least a mirror body can be tilted about an arbitrary point on the observation optical axis as shown in FIG. 1 of Patent Document 1 and Japanese Patent Application Laid-Open No. 2007-152129, respectively. And a microscope support arm mechanism capable of moving the point lock point substantially on the observation optical axis of the mirror body, and holds the observation apparatus 1 or other surgical instrument movably in the three-dimensional direction. . For convenience, the description of the basic configuration of the holding mechanism 2 is omitted.
The movement restriction control means 3 includes, for example, an electromagnetic brake for restricting movement of the holding mechanism 2 in a predetermined direction, a predetermined processing circuit provided in a central processing unit such as a personal computer connected to the electromagnetic brake, and the like. The holding mechanism 2 is controlled so that the movement trajectory of the apparatus 1 or other surgical instrument is restricted to a spherical shape with a predetermined radius centered on a point lock point set by a point lock point setting means 7 described later. It is configured. The predetermined radius in the present application can be defined by, for example, the length from the point lock point to the distal end surface of the objective lens of the observation optical system provided in the observation apparatus 1. In addition, the length of the predetermined radius can be changed according to the observation application.
The three-dimensional shape measuring means 9 is composed of, for example, a predetermined processing circuit provided in a central processing unit such as a personal computer, and uses, for example, an image (not shown) using the image of the observed portion having parallax acquired by the observation device 1. The three-dimensional shape of the observed part is measured based on the three-dimensional image of the observed part synthesized through the processing means.

The point lock point setting means 7 is composed of a predetermined processing circuit provided in a central processing unit such as a personal computer, for example, and measurement data (for example, three-dimensional shape of the observed portion measured by the three-dimensional shape measurement means 9 (for example, The point lock point is configured to be set at a predetermined depth position on the substantially visual field center axis of the observation device 1 based on the presence or absence of the unevenness and the size of the unevenness on the visual field center axis. For example, as shown in FIG. 2B, when the visual field center region has a convex shape, the tip of the convex portion is set to the point lock point P _L. Further, for example, as shown in FIG. 2C, when the visual field center region is flat and there is a convex part at a position off the visual field center, the flat part is set as the point lock point P _L. For example, as shown in FIG. 2 (d), when the central region of the visual field is concave, the bottom surface of the concave is set to the point lock point P _L. Depending on the size of the opening of the recess and the size of the projection, for example, when the opening of the recess is narrow, the surface of the opening is used as a point lock point. The point lock point may be provided at a position different from the above.

The electric drive means 10 is composed of, for example, a motor and is configured to electrically drive the holding mechanism 2.
The electric drive amount limiting means 11 includes, for example, an electromagnetic brake and a predetermined processing circuit provided in a central processing unit such as a personal computer connected to the electromagnetic brake, and the observed portion measured by the three-dimensional shape measuring means 9 The electric driving amount of the holding mechanism 2 in the direction of the observed part by the electric driving means 10 is limited according to the three-dimensional shape. For example, according to the presence / absence of unevenness on the central axis of the visual field of the observation apparatus 1 and the size of the unevenness in the observed portion measured by the three-dimensional shape measuring means 9, as shown in FIG. The holding mechanism 2 that holds the surgical instrument when it is positioned at the nearest predetermined position is electrically controlled to stop driving, and the holding mechanism 2 is manually operated to bring the surgical instrument closer to the surgical site than the stop position. It is configured to be movable only with.
The holding mechanism 2 has a balance arm that can be manually moved so that the movement trajectory of the observation apparatus 1 is restricted to a spherical shape with a predetermined radius centered on the point lock point set by the point lock point setting means 7. Configured. Alternatively, the holding mechanism 2 is a robot arm that can be electrically moved so that the movement trajectory of the observation apparatus 1 is restricted to a spherical shape with a predetermined radius centered on the point lock point set by the point lock point setting means 7. And may be configured.

Here, the configuration of the three-dimensional shape measuring means 9 and the point lock point setting means 7 will be described in more detail.
The three-dimensional shape measuring means 9 has a distance calculating means 9a. The distance calculation means 9a uses the image of the observed part having the parallax acquired by the observation apparatus 1 and uses two or more points on the surface center axis of the observation apparatus 1 on the surface of the observation part and around the visual field center axis. The point is a distance measuring point, and the distance in the Z-axis direction from the observation apparatus 1 is calculated.
The point lock point setting means 7 is calculated by the distance calculation means 9a at the distance measurement point on the visual field center axis in the Z-axis direction from the observation device 1 and at least two distance measurement points around the visual field center axis. The point lock point is set at a predetermined depth position substantially on the central axis of the visual field of the observation device 1 based on the distance in the Z-axis direction from the observation device 1.

  For example, when the objective is to observe an object to be observed having a protrusion-like tissue such as a polyp, the distance calculation means 9a is configured to display the observed part having the parallax acquired by the observation apparatus 1, as shown in FIG. Using the image, the point B on the central axis of the field of view of the observation apparatus 1 on the surface of the observed part and two or more points A and C around the central axis of the visual field are used as distance measuring points, respectively. The distances in the directions are calculated.

Here, for example, as shown in FIG. 5A, the distances l _A and l _{C in} the Z-axis direction between the distance measuring points A and C around the central axis of the field of view calculated by the distance calculating means 9a and the observation apparatus 1 are as follows. In both cases, the shape of the observed portion of the observation target 20 is the visual field when deeper than the position of the predetermined threshold value l _B + δ provided at a position deeper than the distance measuring point B (distance: l _B ) on the visual field center axis. It can be estimated as a convex shape with a raised central part (this shape is defined as “mountain shape” here).
In this case, the point lock point setting means 7 is, for example, an intermediate depth position between the distance measuring point A and the distance measuring point C around the central axis of the visual field (this position is defined as “the foot of the mountain” here). The point lock point P _L is set at a predetermined position deeper than the distance measuring point B on the visual field center axis regardless of the focal position of the observation apparatus 1.

Further, for example, as shown in FIG. 5B, distances l _A and l _{C in} the Z-axis direction between the distance measuring points A and C around the visual field center axis calculated by the distance calculating unit 9a and the observation apparatus 1 are When both are shallower than the position of the predetermined threshold value l _B -δ provided at a position shallower than the distance measuring point B (distance: l _B ) on the visual field center axis, the shape of the observed portion in the observation target 20 is It can be estimated as a concave shape in which the center of the visual field is concave (this shape is defined as “hole shape” here).
In this case, the point lock point setting means 7 is, for example, an intermediate depth position between the distance measuring point A and the distance measuring point C around the central axis of the visual field (this position is defined as “hole entrance” here). The point lock point P _L is set at a position shallower than the distance measuring point B on the central axis of the visual field regardless of the focal position of the observation apparatus 1.

Further, for example, as shown in FIG. 5C, distances l _A and l _{C in} the Z-axis direction between the distance measuring points A and C around the visual field center axis calculated by the distance calculating unit 9a and the observation apparatus 1 are When both are within the range of a predetermined threshold value l _B ± δ with reference to the distance measuring point B (distance: l _B ) on the visual field center axis, the shape of the observed part in the observation target 20 is the central part of the visual field. And it can be estimated that it is substantially flat around the central axis of the visual field.
In that case, the point lock point setting means 7 sets the point lock point P _L to the focus position of the observation apparatus 1 at the position of the distance measuring point B on the visual field center axis.

Further, for example, as shown in FIGS. 5D and 5E, the distance in the Z-axis direction from the observation device 1 of the distance measuring point A around the visual field central axis calculated by the distance calculating means 9a. l _A is in a range of a predetermined threshold value l _B ± δ with reference to a distance measuring point B (distance: l _B ) on the visual field center axis, and ranging around at least one other visual field central axis When the distance l _{C in} the Z-axis direction between the point C and the observation apparatus 1 is outside the predetermined threshold value l _B ± δ based on the distance measuring point B (distance: l _B ) on the visual field center axis The shape of the part to be observed in the object 20 to be observed can be estimated to be a shape in which one side around the central axis of the visual field centering on the central part of the visual field is flat and the other side is inclined.
In that case, the point lock point setting means 7 sets the point lock point P _L at the focal position of the observation apparatus 1.

Further, for example, as shown in FIG. 5 (f), the distance l _{C in} the Z-axis direction with respect to the observation device of the distance measuring point C around the visual field central axis calculated by the distance calculating means 9a is the visual field central axis. Observation device for distance measurement point A deeper than the position of a predetermined threshold value l _B + δ provided at a position deeper than upper distance measurement point B (distance: l _B ) and around at least one other visual field center axis When the distance l _{A in} the Z-axis direction to 1 is shallower than a predetermined threshold value l _B −δ provided at a position shallower than the distance measuring point B (distance: l _B ) on the visual field center axis, It can be estimated that the shape of the observed portion in the object 20 is a shape inclined in one direction as a whole around the center of the visual field and the visual field center axis.
In that case, the point lock point setting means 7 sets the point lock point P _L at the focal position of the observation apparatus 1.

In the example of FIGS. 4 and 5, the distance measuring points 9a to be calculated are shown as three distance measuring points. However, the points on the surface center axis of the observation apparatus 1 on the surface of the observed portion and the field center If there are two or more points around the axis, the number of distance measuring points is, for example, five as shown in FIGS. 6 (a) and 6 (b), and although not shown, there are nine or more points. May be. Even in those cases, the point lock point setting means 7 can set the point lock point by the same control as described above.
If the number of distance measuring points increases, the three-dimensional shape of the observed portion can be estimated more clearly, and the point lock point can be set at a more suitable depth position. Further, if a ranging point is provided for each pixel, a three-dimensional shape can be detected, and a point lock point can be set at an optimum depth position with higher accuracy.

For example, when the purpose is to observe the inside of a hole to be observed or a projection (mountain), the distance calculation means 9a determines the size of the area of the opening of the hole or the tip of the projection (mountain). You may comprise so that a point lock point may be set to the position according to.
A preferred example is shown in FIG. In the example of FIG. 7, the distance calculation unit 9 a uses the image of the observed part having the parallax acquired by the observation apparatus 1, the point B on the surface center axis of the observation apparatus 1 and the center of the visual field on the surface of the observed part. A field farther from the field center axis than two or more points A ′, C ′ around the field center axis adjacent to the axis and two points A ′, C ′ around the field center axis adjacent to the field center axis The distance in the Z-axis direction from the observation apparatus 1 is calculated using two or more points A and C around the center as distance measuring points.

Here, for example, as shown in FIG. 8A, the distance measurement points A ′ and C ′ around the visual field center axis adjacent to the visual field center axis calculated by the distance calculation unit 9a and the observation apparatus 1 When the distances l _{A ′} and l _{C ′ in the} Z-axis direction are both within a predetermined threshold value l _B −δ based on the distance measuring point B (distance: l _B ) on the visual field center axis, It can be estimated that the area of the hole opening of the observed portion in the observation object 20 is wide.
In that case, the point lock point setting means 7 sets the point lock point P _L to the focus position of the observation apparatus 1 at the position of the distance measuring point B on the visual field center axis.

Further, for example, as shown in FIG. 8B, Z between the distance measuring points A ′ and C ′ around the visual field center axis adjacent to the visual field center axis calculated by the distance calculation unit 9 a and the observation apparatus 1. If the axial distances l _{A ′} and l _{C ′} are both within a predetermined threshold value l _B + δ based on the distance measuring point B (distance: l _B ) on the visual field center axis, the object to be observed It can be estimated that the area of the tip of the projection (mountain) of the observed portion at 20 is wide.
In that case, the point lock point setting means 7 sets the point lock point P _L to the focus position of the observation apparatus 1 at the position of the distance measuring point B on the visual field center axis.

Further, for example, as shown in FIG. 8C, the distance between the distance measuring points A ′ and C ′ around at least two visual field center axes adjacent to the visual field center axis calculated by the distance calculation means 9a and the observation apparatus 1. When l _{A ′} and l _{C ′} are shallower than a predetermined threshold value l _B −δ provided at a position shallower than the distance measuring point B (distance: l _B ) on the visual field center axis, It can be estimated that the area of the opening of the hole in the observed portion is narrow.
In this case, the point lock point setting means 7 is, for example, a distance between the distance measuring points A and C that are farther from the field center axis than the distance measuring points A ′ and C ′ around the field center axis. The point lock point P _L is set at a position shallower than the distance measuring point B on the visual field center axis, such as a depth position (hole entrance), irrespective of the focal position of the observation apparatus 1.

Further, for example, as shown in FIG. 8 (d), Z between the distance measuring points A ′ and C ′ around at least two visual field center axes adjacent to the visual field center axis calculated by the distance calculation means 9a and the observation apparatus 1 When the axial distances l _{A ′} and l _{C ′} are deeper than a predetermined threshold value l _B + δ provided at a position deeper than the distance measuring point B (distance: l _B ) on the visual field center axis, It can be estimated that the area of the diameter of the projection (mountain) of the observed portion in the object 20 is narrow.
In this case, the point lock point setting means 7 is, for example, a distance between the distance measuring points A and C that are farther from the field center axis than the distance measuring points A ′ and C ′ around the field center axis. The point lock point P _L is set at a position deeper than the distance measuring point B on the visual field center axis, such as a depth position (the base of a mountain), regardless of the focal position of the observation apparatus 1.
As is clear from the examples of FIGS. 5 and 8, the point lock point setting means 7 calculates the distance in the Z-axis direction from the observation device 1 at the distance measuring point on the visual field center axis calculated by the distance calculation means 9a. Based on the distance in the Z-axis direction from the observation device 1 at at least two distance measuring points around the visual field center axis, the point lock point is set to a predetermined depth position on the approximate visual field central axis of the observation device 1. With this configuration, the point lock point can be set at either a position different from the focal position or the focal position according to the three-dimensional shape of the surgical site. That is, the setting of the point lock point is independent from the setting of the focal position.

  According to the medical observation system of the first embodiment, the three-dimensional shape measurement unit 9 and the point lock point setting unit 7 are used to control the three-dimensional shape of the surgical site independently of the focus position setting. Since the point lock point is automatically set at an appropriate depth position, the burden on the operator can be reduced. In addition, since the electric drive amount of the holding mechanism 2 in the direction of the observed part is controlled via the electric drive amount limiting means 11, the collision of the surgical instrument with the surgical site can be avoided and the safety of the operation is improved.

Second Embodiment FIG. 9 is a block diagram showing a schematic configuration of a medical observation system according to a second embodiment of the present invention. FIG. 10 shows the distance measurement points around the central axis of the field of view calculated by the angle calculation means when the distance measurement points in the medical observation system of the second embodiment are the same as the arrangement example shown in FIG. FIG. 6 is an explanatory diagram illustrating a point lock point setting position by a point lock point setting unit according to each angle formed by each line segment connecting a distance measuring point on the field center axis and the field center axis; ) Is a diagram showing an example, (b) is a diagram showing another example, (c) is a diagram showing another example, (d) is a diagram showing another example, and (e) is another diagram. The figure which shows an example, (f) is a figure which shows another example. FIG. 11 shows the distance measurement points around the visual field center axis calculated by the angle calculation means and the distance measurement points on the visual field center axis when the distance measurement points are arranged in the same manner as the arrangement example shown in FIG. FIG. 4 is an explanatory diagram illustrating a point lock point setting position by the point lock point setting means according to each angle formed between each line segment to be connected and the visual field center axis, (a) is a diagram illustrating an example thereof; ) Is a diagram illustrating another example, (c) is a diagram illustrating yet another example, and (d) is a diagram illustrating yet another example.

As shown in FIG. 9, the medical observation system of the second embodiment includes an observation apparatus 1, a holding mechanism 2, a movement restriction control unit 3, a three-dimensional shape measurement unit 9 ′, and a point lock point setting unit 7. 'have.
The observation device 1, the holding mechanism 2, and the movement restriction control means 3 are substantially the same as the medical observation system of the first embodiment.
The three-dimensional shape measuring means 9 ′ has an angle calculating means 9b. The angle calculation means 9b uses the image of the observed part having the parallax acquired by the observation device 1 and uses two or more points on the surface center axis of the observation device 1 on the surface of the observation part and around the visual field center axis. Each point is a distance measuring point, and the angle between each line segment connecting each distance measuring point around the visual field center axis and the distance measuring point on the visual field center axis and the visual field center axis is calculated. Has been.
The point lock point setting means 7 ′ is composed of, for example, a predetermined processing circuit provided in a central processing unit such as a personal computer, and the measurement data of the three-dimensional shape of the observed portion (measured by the three-dimensional shape measurement means 9 ′) ( For example, the point lock point is configured to be set to a predetermined depth position substantially on the central axis of the visual field of the observation apparatus 1 based on the presence / absence of the concave / convex on the central axis of the visual field and the size of the concave / convex. Specifically, based on two angles formed by the angle calculation means 9b and formed by two line segments connecting at least two distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis and the visual field center axis. The point lock point is set at a predetermined depth position substantially on the central axis of the visual field of the observation apparatus 1.

  For example, when the objective is to observe an observation target having a protruding tissue such as a polyp, the angle calculation means 9b is similar to the arrangement example shown in FIG. Using the image of the observation unit, the point B on the surface center axis of the observation apparatus 1 on the surface of the observation unit and two or more points A and C around the field center axis are used as ranging points, respectively. The angle formed by each line segment connecting each distance measuring point and the distance measuring point on the visual field center axis and the visual field center axis is calculated.

Here, for example, as shown in FIG. 10A, each line segment connecting distance measuring points A and C around the visual field center axis calculated by angle calculation means 9b and distance measuring point B on the visual field center axis. a field central axis angle alpha _ABZ1 of, alpha _Z1BC are both obtuse and the predetermined threshold value alpha _MAX1, if angle than alpha _MAX2 is large, the shape of the observation area in the observation target 20 is viewing It can be estimated as a convex shape with a raised central part (this shape is defined as “mountain shape” here).
In this case, the point lock point setting means 7 ′, for example, a depth position intermediate between the distance measuring point A and the distance measuring point C around the visual field center axis (this position is defined as “the foot of the mountain” here). For example, the point lock point P _L is set at a predetermined position deeper than the distance measuring point B on the visual field center axis regardless of the focal position of the observation apparatus 1.

Also, for example, as shown in FIG. 10B, each line segment connecting distance measuring points A and C around the visual field center axis calculated by angle calculation means 9b and distance measuring point B on the visual field center axis, When the angles α _ABZ1 and α _Z1BC formed with the central axis of the visual field are both acute angles and smaller than the predetermined threshold values α _MIN1 and α _MIN2 , the shape of the portion to be observed in the observation target 20 is the visual field. It can be presumed to be a concave shape with a concave central portion (this shape is defined as a “hole shape” here).
In this case, the point lock point setting means 7 'is, for example, an intermediate depth position between the distance measuring point A and the distance measuring point C around the central axis of the visual field (this position is herein defined as "hole entrance"). For example, the point lock point P _L is set at a position shallower than the distance measuring point B on the visual field center axis regardless of the focal position of the observation apparatus 1.

For example, as shown in FIG. 10 (c), each line segment connecting distance measuring points A and C around the visual field center axis calculated by angle calculating means 9b and distance measuring point B on the visual field center axis, angle alpha _ABZ1 the field center axis, alpha _Z1BC are both obtuse and acute threshold _{α MAX1, α MIN1, α MAX2} , when within the range of alpha _MIN2, the shape of the observation area in the observation target 20 It can be estimated that the image is substantially flat around the center of the visual field and the central axis of the visual field.
In that case, the point lock point setting means 7 ′ sets the point lock point P _L as the focal position of the observation apparatus 1 at the position of the distance measuring point B on the central axis of the visual field.

Further, for example, as shown in FIGS. 10 (d) and 10 (e), at least one distance measuring point A around the field center axis calculated by the angle calculating means 9b and a distance measuring point B on the field center axis are calculated. The angle α _ABZ1 formed between each line segment connecting the two and the visual field center axis is within the range of the threshold _values α _MAX1 and α _MIN1 of the obtuse angle and the acute angle, and the distance measurement point C around at least one other visual field central axis If the angle alpha _Z1BC the distance measuring point B and the line segment and the field center axis of each connecting on field center axis, obtuse and acute threshold alpha _MAX2, are out of range of alpha _MIN2, the observed object The shape of the observed portion at 20 can be estimated as a shape in which one side around the visual field center axis centering on the visual field center is flat and the other side is inclined.
In that case, the point lock point setting means 7 ′ sets the point lock point P _L at the focal position of the observation apparatus 1.

Further, for example, as shown in FIG. 10 (f), each line segment connecting the distance measuring point A around the visual field center axis calculated by the angle calculating means 9b and the distance measuring point B on the visual field center axis. the angle alpha _ABZ1 the field center axis, an acute angle, and a smaller angle than the predetermined threshold value alpha _MIN1, and at least one other field center axis near distance measuring point C and the field central axis on the angle alpha _Z1BC the distance measuring point B and the line segment and the field center axis of the respective connecting is obtuse, and, if the angle is greater than a predetermined threshold value alpha _MAX2, the observation area of the observation target 20 It can be estimated that the shape is inclined in one direction as a whole around the center of the visual field and the central axis of the visual field.
In that case, the point lock point setting means 7 ′ sets the point lock point P _L at the focal position of the observation apparatus 1.

In the example of FIG. 10, the distance measuring points to be calculated by the angle calculating unit 9 b are shown as three points. However, the points on the visual field center axis of the observation apparatus 1 on the surface of the observed part and the surroundings of the visual field center axis. If there are two or more points, for example, as shown in FIGS. 6 (a) and 6 (b), the distance measuring points are 5 points, and although not shown, there may be 9 or more points. Good. Even in these cases, the point lock point setting means 7 'can set the point lock point by the same control as described above.
Similar to the distance calculation means 9a in the medical observation system of the first embodiment, if the number of distance measuring points of the angle calculation means 9b in the medical observation system of the second embodiment increases, the three-dimensional shape of the observed part becomes clearer. As a result, the point lock point can be set at a more suitable depth position. Further, if a ranging point is provided for each pixel, a three-dimensional shape can be detected, and a point lock point can be set at an optimum depth position with higher accuracy.

Further, for example, when the purpose is to observe the inside of a hole to be observed or a protrusion (mountain), the angle calculation means 9b can set the area of the opening of the hole or the tip of the protrusion (mountain). You may comprise so that a point lock point may be set to the position according to.
A preferred example will be described as an arrangement similar to the arrangement example shown in FIG. Similar to the arrangement example shown in FIG. 7, the angle calculation unit 9 b uses the image of the observed part having the parallax acquired by the observation apparatus 1, and points on the central axis of the visual field of the observation apparatus 1 on the surface of the observed part. B and two or more points A ′ and C ′ around the visual field center axis adjacent to the visual field center axis and two or more points A ′ and C ′ around the visual field center axis adjacent to the visual field center axis Two or more points A and C around the center of the field of view away from the center of the field of view, and each line segment connecting the distance measuring point around the center of the field of view and the distance measuring point on the center of the field of view and the field of view Each angle formed with the central axis is calculated.

Here, for example, as shown in FIG. 11 (a), at least two distance measuring points A and C around the field center axis far from the field center axis calculated by the angle calculation means 9b and distance measurement on the field center axis. Even if the angles α _ABZ1 and α _Z1BC formed by the line segments connecting the point B and the central axis of the visual field are both acute angles and the angles are smaller than the predetermined threshold values α _{MIN1 and} α _MIN2 Each line segment connecting the distance measuring points A ′ and C ′ around the field center axis adjacent to the field center axis calculated by the angle calculating means 9b and the distance measuring point B on the field center axis and the field center. angle alpha _A'BZ1 the shaft, the α _{Z1BC ',} both obtuse and acute threshold _{α MAX1, α MIN1, α MAX2} , if in the range of alpha _MIN2 is the observation area in the observation target 20 The area of the opening of the hole can be estimated to be wide.
In that case, the point lock point setting means 7 ′ sets the point lock point P _L as the focal position of the observation apparatus 1 at the position of the distance measuring point B on the central axis of the visual field.

Further, for example, as shown in FIG. 11 (b), at least two distance measuring points A and C around the field center axis far from the field center axis calculated by the angle calculating means 9b and the distance measuring points on the field center axis. angle alpha _ABZ1 between the line segment and the field central axis of each connecting the B, α _Z1BC are both obtuse and the predetermined threshold value alpha _MAX1, even when angle than alpha _MAX2 is large, Each line segment connecting the distance measuring points A ′ and C ′ around the field center axis adjacent to the field center axis calculated by the angle calculating means 9b and the distance measuring point B on the field center axis and the field center axis. angle alpha _A'BZ1 with, α _{Z1BC 'are} both obtuse and acute threshold _{α MAX1, α MIN1, α MAX2} , if in the range of alpha _MIN2 is of the observed portion of the observation target 20 It can be estimated that the area of the tip of the protrusion (mountain) is wide.
In that case, the point lock point setting means 7 ′ sets the point lock point P _L as the focal position of the observation apparatus 1 at the position of the distance measuring point B on the central axis of the visual field.

Further, for example, as shown in FIG. 11 (c), at least two distance measuring points A and C around the field center axis far from the field center axis calculated by the angle calculating means 9b and the distance measuring points on the field center axis. Angles α _ABZ1 and α _Z1BC formed by the respective line segments connecting to B and the visual field center axis are both acute angles and smaller than the predetermined threshold _values α _{MIN1 and} α _MIN2 , and angle calculation means 9b is formed by each line segment connecting the distance measuring points A ′ and C ′ around the field center axis adjacent to the field center axis calculated and the distance measuring point B on the field center axis and the field center axis. When the angles α _A′BZ1 and α _{Z1BC ′} are both acute angles and the angles are smaller than the predetermined threshold values α _MIN1 and α _MIN2 , the area of the opening of the hole of the observed portion in the observed object 20 is small. Can be estimated.
In this case, the point lock point setting means 7 ′ is, for example, an intermediate between the distance measuring point A and the distance measuring point C around the field center farther from the field center axis than the distance measuring points A ′ and C ′ around the field center axis. A point lock point P _L is set at a position shallower than the distance measuring point B on the central axis of the visual field, such as a depth position (hole entrance), irrespective of the focal position of the observation apparatus 1.

Both are obtuse, and a predetermined threshold value alpha _MAX1, if angle than alpha _MAX2 is greater, the area of the diameter of the projection of the observation area in the observation target 20 (mountain) can be estimated to narrow.
In this case, the point lock point setting means 7 ′ is, for example, an intermediate between the distance measuring point A and the distance measuring point C around the field center farther from the field center axis than the distance measuring points A ′ and C ′ around the field center axis. The point lock point P _L is set at a position deeper than the distance measuring point B on the center axis of the visual field, such as the depth position (the base of the mountain), regardless of the focal position of the observation apparatus 1.
As is clear from the examples of FIGS. 10 and 11, the point lock point setting means 7 ′ calculates at least two distance measurement points around the visual field center axis and the distance measurement points on the visual field center axis calculated by the angle calculation means 9b. The point lock point is set at a predetermined depth position substantially on the central axis of the visual field of the observation apparatus 1 based on two angles formed by the two line segments connecting the two and the visual axis. According to the three-dimensional shape, the point lock point can be set at either a position different from the focal position or a focal position. That is, the setting of the point lock point is independent from the setting of the focal position.

  According to the medical observation system of the second embodiment, the three-dimensional shape measurement unit 9 ′ and the point lock point setting unit 7 ′ are used to respond to the three-dimensional shape of the surgical site independently of the focus position setting. Since the point lock point is automatically set at a more appropriate depth position, the burden on the operator can be reduced. In addition, since the electric drive amount of the holding mechanism 2 in the direction of the observed part is controlled via the electric drive amount limiting means 11, the collision of the surgical instrument with the surgical site can be avoided and the safety of the operation is improved.

Third Embodiment FIG. 12 is a block diagram showing a schematic configuration of a medical observation system according to a third embodiment of the present invention. FIG. 13 is an explanatory diagram showing an example of setting the depth position of the point lock point in the medical observation system of the third embodiment, and (a) is a diagram showing an example of automatically setting the depth position of the point lock point; b) is a diagram showing an example of manually setting the depth position of the point lock point.

The medical observation system of the third embodiment relates to the three-dimensional shape measuring means and the point lock point setting means, and has the configuration of the first embodiment and the second embodiment, and is automatically created through screen input The point lock point can be manually corrected.
Specifically, as shown in FIG. 12, the medical observation system according to the third embodiment includes an observation device 1, a holding mechanism 2, a movement restriction control unit 3, a three-dimensional image display device 4, and a depth position designation. Means 5, movement restriction radius calculation means 6, point lock point setting means 7 ″, and three-dimensional shape measurement means 9 ″ are provided.
The observation device 1, the holding mechanism 2, and the movement restriction control means 3 are substantially the same as the medical observation system of the first embodiment.
The three-dimensional image display device 4 includes, for example, a monitor screen and is synthesized using, for example, an image processing unit (not shown) using an image of the observed portion in the observation target 20 having the parallax acquired by the observation device 1. The three-dimensional image of the observed part is displayed.

The depth position designation means 5 is composed of, for example, a touch panel provided in the 3D image display device 4, and an operator (operator) places the 3D image on the observed portion displayed by the 3D image display device 4. An arbitrary point indicating the depth position of the desired point lock point can be specified.
The movement restriction radius calculation means 6 is composed of, for example, a predetermined processing circuit provided in a central processing unit such as a personal computer, and the depth position designation is performed using the image of the observed portion having the parallax acquired by the observation device 1. When an arbitrary point on the three-dimensional image of the observed part is designated via the means 5, the virtual point that includes the coordinates of the point corresponding to the arbitrary point in the observed part and is orthogonal to the visual field center axis of the observation apparatus 1 The distance between the plane and the observation device 1 is calculated as a predetermined radius.

  The three-dimensional shape measuring means 9 ″ includes a distance calculating means 9a and an angle calculating means 9b, and two or more points on the surface center axis of the surface of the observed part by the distance calculating means 9a and around the field center axis. Calculation of the distance in the Z-axis direction at each distance measurement point, using the point as a distance measurement point, and two or more points on the surface center axis of the surface of the observed portion by the angle calculation means 9b and around the field center axis Calculate each angle between each line segment connecting each distance measurement point around the visual field center axis and the distance measurement point on the visual field center axis with the point as the distance measurement point. It is configured.

  The point lock point setting means 7 ″ is composed of a predetermined processing circuit provided in a central processing unit such as a personal computer, for example. An apparatus for observing a point lock point based on the predetermined radius calculated by the radius calculating means 6 or the measurement data of the three-dimensional shape of the observed part calculated by the distance calculating means 9a and the angle calculating means 9b of the three-dimensional shape measuring means 9 ″ 1 is configured to be set at a predetermined depth position on a substantially visual field center axis. The mode selection means may be any switch, keyboard, remote controller, etc., as long as it can select the point lock point setting mode by the point lock point setting means 7 ″.

Here, an example of setting the point lock point in the medical observation system of the third embodiment will be described with reference to FIG. In FIG. 13, only the main part is shown for convenience.
In the example of FIG. 13, an image processing means 1 ′ is connected to the mirror body 1 as an observation apparatus. The image processing means 1 ′ is composed of a predetermined processing circuit provided in a central processing unit such as a personal computer, for example, and synthesizes a three-dimensional image using the image of the observed part having parallax acquired by the mirror 1 It is connected to the three-dimensional image display device 4.
The three-dimensional image display device 4 includes a touch panel mechanism as the depth position specifying unit 5.
In FIG. 13, P ′ includes a point on the observation object 20 corresponding to an arbitrary point designated by the depth position designation means 5, and P ″ includes the visual field center axis of the mirror 1 and the coordinates of the point P ′. An intersection point P _L with the virtual plane orthogonal to the visual field center axis of the observation apparatus 1 is a point lock point.

  In the medical observation system of the third embodiment, for example, a central processing unit such as a personal computer is provided with a point lock point setting mode control means (not shown), and the automatic setting mode is set during initial operation. The point lock point setting mode is switched so that the mode is switched to the manual setting mode when an arbitrary point is specified via the depth position specifying means 5. In the automatic setting mode, the Z-axis at each distance measurement point is a distance measurement point with two or more points on the surface center axis of the field of view by the distance calculation means 9a on the surface of the field of view. A point lock point automatic setting mode based on the calculated value of the distance in the direction, and a point on the surface of the portion to be observed on the surface of the observed portion by the angle calculation means 9b and two or more points around the center of the visual field Point lock points based on the calculated values of the angles between the line segments connecting the distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis. A point lock point automatic setting mode based on both the setting mode and the calculated value of the distance and the calculated value of the angle can be manually selected in advance by a mode selection means (not shown) or the like.

In the medical observation system of the example of FIG. 13, when the operator does not designate any point on the three-dimensional image display device 4, the automatic setting mode is set via the point lock point setting mode control means (not shown). Controlled. In the case of the automatic setting mode, as shown in FIG. 13A, the three-dimensional shape measuring means 9 ″ uses the distance calculation means 9a and the angle calculation using the image of the observed part having the parallax acquired by the observation apparatus 1. The Z-axis direction at each distance measuring point using the distance calculating means 9b as a distance measuring point on the surface center axis of the field of view by the distance calculating means 9a and at least two points around the field center axis. And the distance calculation around the visual field center axis by using two or more points on the visual field center axis on the surface of the observed portion and the surroundings of the visual field center axis by the angle calculation means 9b. The angle between the line segment connecting the point and the distance measuring point on the visual field center axis and the visual field central axis is calculated. The point lock point setting means 7 "is a three-dimensional shape measuring means 9". The three-dimensional shape of the observed portion calculated by the distance calculation means 9a and the angle calculation means 9b Based on the data, is set to a predetermined position in a substantially center of the visual field on-axis of the observation device 1 point lock point P _L. Thus, the point locking point P _L is automatically set, point via the movement restricting control means 3 The movement trajectory of the mirror body 1 is restricted to a spherical shape with a predetermined radius centered on the lock point P _L.

Further, when the operator designates an arbitrary point via the depth position designation means 5 on the three-dimensional image display device 4 as shown in FIG. The manual setting mode is controlled via the control means. In the manual setting mode, the movement restriction radius calculation means 6 includes the coordinates of the point P ′ corresponding to the arbitrary point in the observed portion via the depth position designation means 5 and is orthogonal to the visual field center axis of the observation apparatus 1. The distance between the virtual plane to be observed and the observation apparatus 1 is calculated as a predetermined radius l ′. Then, the point lock point setting means 7 ″ is provided with the observation optical device provided in the observation device 1 with the point lock point P _L substantially on the central axis of the visual field of the observation device 1 based on the predetermined radius l ′ calculated by the movement restriction radius calculation means 6. It is set at a position P ″ that is a predetermined radius l ′ away from the tip surface of the objective lens of the system. As a result, the point lock point P _L is set to a predetermined position P ″ away from the surface of the observed portion on the central axis of the visual field, and the predetermined position away from the surface of the observed portion via the movement restriction control means 3 is set. The movement trajectory of the mirror body 1 is restricted to a spherical shape having a predetermined radius l ′ with the point P ″ as the point lock point P _L.

  According to the medical observation system of the third embodiment, in the same way as the medical observation system of the first embodiment and the second embodiment, the focus is set via the three-dimensional shape measuring means 9 ″ and the point lock point setting means 7 ″. Independent of the setting of the position, the point lock point is automatically set at a more appropriate depth position according to the three-dimensional shape of the surgical site, so that the burden on the operator can be reduced. Furthermore, for example, after automatically setting the point lock point at a more appropriate depth position according to the three-dimensional shape of the surgical site in one mode, the mode is switched to the other mode and the surgeon can select any depth on the touch panel. By specifying the position, the depth position of the point lock point can be finely adjusted.

  Further, according to the medical observation system of the third embodiment, the operator can determine the depth position of the point lock point with respect to the observed portion on the central axis of the visual field while observing the three-dimensional image display device 4 at a desired position. Easy to set.

In the surgical microscope described in Patent Document 1 described above as a prior art capable of arbitrarily setting the depth position of the point lock point, the difference data Δf of the point lock point S1 using the data input means 83 shown in FIG. Is entered as a numerical value. However, it is very difficult for the surgeon to grasp numerically the difference data Δf necessary for moving the point lock point to a desired depth position while viewing the 3D image displayed on the 3D image display device. is there. For this reason, the input value of the difference data Δf is easily shifted back and forth with respect to the desired depth position, and the operation is likely to be complicated, for example, requiring a plurality of data input operations.
On the other hand, according to the medical observation system of the third embodiment, the surgeon does not grasp the desired depth position by a numerical value, and can arbitrarily select an arbitrary 3D image displayed on the 3D image display device 4. Since the desired depth position of the point lock point can be set simply by designating the part, the operation can be greatly simplified without resetting the depth position of the point lock point.

In the medical observation system according to the third embodiment, it is more preferable that the three-dimensional index projection unit 8 is provided as shown by a chain line in FIG.
The three-dimensional index projection means 8 is provided in a central processing unit such as a personal computer, for example, and the point lock point set by the point lock point setting means 7 on the three-dimensional image of the observed portion displayed by the three-dimensional image display device 4 A three-dimensional index image is projected on the coordinate position of.
In this way, the operator can confirm the point lock point on the display screen displayed by the three-dimensional image display device 4.
Other configurations and operational effects are substantially the same as those of the medical observation system of the first embodiment and the second embodiment.

Modification of Third Embodiment FIG. 14 is a block diagram showing a schematic configuration of a medical observation system according to a modification of the third embodiment. FIG. 15 is an explanatory diagram showing a configuration of a main part in each procedure for setting point lock points in a medical observation system according to a modified example of the third embodiment. FIG. 15 (a) is a diagram showing a part to be observed displayed by the three-dimensional display device. The figure which shows the principal part structure for superimposing the parameter | index on a three-dimensional image, (b) is the parameter | index displayed by operating the depth position adjustment means, and 2 which shows the right-and-left parallax corresponding to the depth of the parameter | index (A) conceptual view of (a) viewed from the Y direction, (c) calculates the coordinate position in the two-dimensional coordinate system from the image center of two points indicating the parallax adjusted via the depth position adjustment means Based on the coordinate position detection means and the coordinate position detected by the coordinate position detection means, the movement distance of the holding member in the real space for positioning the index on the central axis of the image display area of the three-dimensional image display device is calculated. The figure which shows the calculating part of a two-dimensional direction movement control means, (d) is a two-dimensional direction shift. FIG. 7 is a diagram showing a configuration of a main part related to control of movement of the observation apparatus by the two-dimensional direction moving unit based on the calculation result of the calculation unit, (e) is a parallax adjusted through the depth position adjusting unit The figure which shows the movement control radius calculation means which calculates a predetermined radius based on 2 points | pieces which show this, (f) is a point lock point on the approximate visual field center axis | shaft of an observation apparatus based on the predetermined radius which the movement control radius calculation means calculated. It is a figure which shows the point lock point setting means set to a predetermined depth position.

  As shown in FIG. 14, the medical observation system according to the modification of the third embodiment includes an observation device 1, a holding mechanism 2, a movement restriction control unit 3, a three-dimensional image display device 4, and a movement restriction radius calculation. Means 6 ′, point lock point setting means 7 ″, three-dimensional shape measuring means 9 ″, two-dimensional direction moving means 12, index multiple image means 13, depth position adjusting means 14, and coordinate position detecting means. 15 and two-dimensional direction movement control means 16.

The two-dimensional direction moving unit 12 includes, for example, a part of the mechanism (X direction actuator and Y direction actuator) of the holding mechanism 2, and the observation device 1 is two-dimensional coordinates perpendicular to the central axis of the visual field of the observation device 1 It can be moved in the direction.
The index multiple image means 13 is, for example, a predetermined processing circuit (illustrated) provided in a central processing unit such as a pointing device 13a such as a joystick attached to the mirror part of the observation apparatus 1 and a personal computer connected to the pointing device. The index is configured to be superimposed at a position where a point lock point is desired on the three-dimensional image of the observed portion displayed by the three-dimensional image display device 4.
The depth position adjusting means 14 is, for example, a predetermined processing circuit (provided in a central processing unit such as an operation button 14a attached to the mirror part or the joystick 13a of the observation apparatus 1 and a personal computer connected to the operation button. The depth position of the index superimposed on the three-dimensional image of the observed portion displayed by the three-dimensional image display device 4 is indicated by two points representing the parallax and between the two points representing the parallax. The depth position of the indicator can be adjusted by changing the distance.

The coordinate position detection unit 15 includes a predetermined processing circuit provided in a central processing unit such as a personal computer, for example, and a three-dimensional image of two points representing the parallax of the index provided by the depth position adjustment unit 14. A coordinate position in a two-dimensional coordinate system having the origin in the center axis of the image display area of the display device 4 is detected.
The two-dimensional direction movement control means 16 is, for example, a sensor (X direction sensor, Y direction sensor) connected to a part of the mechanism (X direction actuator and Y direction actuator) of the holding mechanism 2 and a personal computer connected to the sensor. The index is based on the coordinate position in the two-dimensional coordinate system of the two points representing the parallax of the index detected by the coordinate position detecting means 15. The movement of the observation apparatus 1 by the two-dimensional direction moving means 12 is controlled so as to be positioned on the central axis of the image display area of the three-dimensional image display apparatus 4.
The movement restriction radius calculation means 6 ′ is composed of, for example, a predetermined processing circuit provided in a central processing unit such as a personal computer, and uses the image of the observed portion having the parallax acquired by the observation device 1 to determine the depth position. When an arbitrary point on the three-dimensional image of the observed part is specified via the specifying means 5, the coordinates of the point corresponding to the arbitrary point in the observed part are included and are orthogonal to the visual field center axis of the observation apparatus 1. In addition to calculating the distance between the virtual plane and the observation apparatus 1 as a predetermined radius, adjustment is performed when the distance between the two points representing the parallax indicating the depth position of the index is adjusted by the depth position adjusting unit 14. The predetermined radius is calculated based on the distance between the two points representing the parallax.
The structure of the other observation device 1, holding mechanism 2, movement restriction control means 3, three-dimensional image display device 4, depth position designation means 5, point lock point setting means 7 ", three-dimensional shape measurement means 9" This is substantially the same as the medical observation apparatus of the third embodiment.

In the medical observation system of the third embodiment configured as described above, the setting of the point lock point in the manual mode is performed as follows.
As shown in FIG. 15 (a), the operator operates a joystick 13a attached to the mirror part of the observation apparatus 1 to point on the three-dimensional image of the observed part displayed on the three-dimensional display apparatus 4. The index is superimposed on the desired position of the lock point.

  Next, the surgeon operates the operation button 14a attached to the joystick 13a. Then, as shown in FIG. 15B, the depth position of the index superimposed on the three-dimensional image of the observed portion displayed by the three-dimensional image display device 4 is displayed as two points representing parallax. . The surgeon operates the operation button 14a to adjust the depth position of the index to a desired position by changing the distance between the two points representing the parallax. Thereby, a three-dimensional coordinate position where a point lock point is desired on the three-dimensional image of the observed portion displayed by the three-dimensional image display device 4 is determined.

When the position of the desired three-dimensional coordinates for the point lock point on the three-dimensional image of the observed portion displayed by the three-dimensional image display device 4 is determined, as shown in FIG. The coordinate position (left eye coordinate position (x _{L) in} the two-dimensional coordinate system with the origin of the central axis O of the image display area of the three-dimensional image display device 4 of the two points representing the parallax of the index provided by the operation button 14a. , Y) and the right eye coordinate position (x _R , y)) are detected.

  Next, the two-dimensional direction movement control means 16 is based on the coordinate position in the two-dimensional coordinate system of the two points representing the parallax of the index detected by the coordinate position detection means 15, and the index is the image display area of the 3D image display device 4. The movement of the observation device 1 by the two-dimensional direction moving means 12 is controlled so as to be positioned on the central axis O of the image.

Specifically, the processing circuit that constitutes the two-dimensional direction movement control means 16 first determines the coordinate position (the left-eye coordinate position (x _L , y), the right-eye coordinate) of the two points representing the parallax of the index. The observation device by the two-dimensional direction moving means 12 in the real space necessary for positioning the index point on the central axis of the image display area of the three-dimensional image display device 4 using the position (x _R , y)). The amount of movement (X, Y) in one two-dimensional direction (here, the X direction and the Y direction) is calculated.

  Next, as shown in FIG. 15 (d), the X direction sensor 16a and the Y direction sensor 16b constituting the two-dimensional direction movement control means 16 perform the two-dimensional direction of the observation apparatus 1 by the calculated two-dimensional direction movement means 12 ( Here, based on the data of the movement amount (X, Y) in the X direction and the Y direction, the observation held by the holding mechanism 2 via the two-dimensional direction moving means 12 (X direction actuator 12a, Y direction actuator 12b). The apparatus 1 is moved so that the index is positioned on the central axis O of the image display area of the three-dimensional image display apparatus. In FIG. 15D, for convenience, the X-direction actuator 12a and the X-direction sensor 16a and the Y-direction actuator 12b and the Y-direction sensor 16b are shown in the same direction. Move and move in the vertical direction.

  Further, the movement restriction radius calculation means 6 ′, as shown in FIG. 15 (e), has a predetermined radius (an index in real space) based on the distance Δx between the two points representing the parallax adjusted through the operation of the operation button 14a. The distance R) to the mirror body is calculated.

The two-dimensional direction movement control means 16 and the two-dimensional direction movement means 12 move the observation apparatus 1 so that the index is positioned on the central axis O of the image display area of the three-dimensional image display apparatus 4, and movement restriction radius calculation means After 6 ′ calculates the predetermined radius (distance R to the mirror of the index in real space), the point lock point setting means 7 ″ uses the predetermined radius (index in real space) calculated by the movement restriction radius calculating means 6 ′. The point lock point is set to a predetermined depth position on the substantially visual field center axis O of the observation apparatus 1 (depth position of the index position R in real space) based on the distance R) to the mirror body.
Thereafter, as shown in FIG. 15 (f), the movement restriction control means 3 is based on the point lock point set by the point lock point setting means 7 ″, and the movement trajectory of the observation device 1 is centered on the point lock point. The holding mechanism 2 is controlled so as to be regulated to a spherical shape with a radius.

  In recent years, surgery has become less invasive from the viewpoint of patient QOL. In neurosurgery, as in keyhole surgery, a procedure is performed in which a small hole is opened. In order to observe the interior widely with a narrow aperture (narrow field of view), it is necessary to tilt the mirror and observe the internal field of view so that the movement trajectory is a hemisphere with the center of the aperture as the point lock point. is there. However, it is difficult for the operator to accurately align the point lock point with the three-dimensional spatial position such as the opening of the surgical site, and the position where the point lock point is desired is shifted from the center axis of the visual field of the image. In this case, it is necessary to move the mirror body in the X and Y directions to align the desired position of the point lock point on the image center axis, which increases the burden on the operator.

However, according to the medical observation system of the modified example of the third embodiment, any desired desired point lock point via the index multiple image unit 13 on the three-dimensional image displayed on the three-dimensional image display device 4 can be obtained. If the index is superimposed on the point and the depth position of the index is adjusted to a desired position via the depth position adjusting means 14, the coordinate position detecting means 15, the two-dimensional direction movement control means 16, and the moving radius calculation means 6. ', The point lock point setting means 7 "calculates the coordinate position of the index in the real space and automatically sets the point lock point at the coordinate position of the index. The point lock point can be easily set at a more accurate position on the desired three-dimensional coordinate while observing the three-dimensional image of the surgical site displayed in FIG.
Other functions and effects are substantially the same as those of the medical observation system of the third embodiment shown in FIG.

  As mentioned above, although embodiment of the medical observation system of this invention was described, the medical observation system of this invention is not limited to the structure of said embodiment. For example, you may combine 1st embodiment and 2nd embodiment, and of course, you may comprise the 3D shape detection means in 3rd embodiment similarly to 1st embodiment or 2nd embodiment.

  As described above, the medical observation system of the present invention has the following features in addition to the invention described in the claims.

(1) An observation device that acquires an image of an observed part having parallax, a holding mechanism that holds the observation device so as to be movable in a three-dimensional direction, and a predetermined trajectory of the observation device centered on a tilt center point A three-dimensional image of the observed part is displayed using a movement restriction control means for controlling the holding mechanism and an image of the observed part having the parallax acquired by the observation device so as to be restricted to a spherical shape with a radius. Depth position designation capable of designating an arbitrary point indicating the desired depth position of the point lock point on the three-dimensional image of the observed portion displayed by the three-dimensional image display apparatus When the arbitrary point on the three-dimensional image of the observed part is designated via the depth position designation means using the means and the image of the observed part having the parallax acquired by the observation device Any of the above in the observed part Including a movement restriction radius calculation means for calculating a distance between a virtual plane perpendicular to the visual field center axis of the observation apparatus and the observation apparatus as the predetermined radius, and the point lock point setting means includes: The point lock point is set to a predetermined depth position on a substantially visual field center axis of the observation device based on the predetermined radius calculated by the movement restriction radius calculation means. The medical observation system according to any one of the above.

(2) Three-dimensional projection of a three-dimensional index image on the coordinate position of the point lock point set by the point lock point setting means on the three-dimensional image of the observed portion displayed by the three-dimensional image display device The medical observation system according to the above (1), comprising index projection means.

(3) Two-dimensional direction moving means for moving the observation device in a two-dimensional coordinate direction perpendicular to the visual field center axis of the observation device, and a three-dimensional image of the observed portion displayed by the three-dimensional image display device And a superimposing means for superimposing the index at a position where the point lock point is desired, and a depth of the index superimposed on the three-dimensional image of the observed portion displayed by the three-dimensional image display device. The depth position is indicated by two points representing the parallax, and the depth position adjusting means capable of adjusting the depth position of the index by changing the distance between the two points representing the parallax, and the depth position adjusting means Coordinate position detecting means for detecting a coordinate position in a two-dimensional coordinate system with a center axis of an image display area of the three-dimensional image display device as an origin for two points representing the parallax of the indicated index; Detected by the detecting means Based on the coordinate position of the two points representing the parallax of the mark in the two-dimensional coordinate system, the two-dimensional direction moving means causes the index to be located on the central axis of the image display area of the three-dimensional image display device. It further has a two-dimensional direction movement control means for controlling the movement of the observation device, and the movement restriction radius calculation means is a distance between two points representing the parallax indicating the depth position of the index by the depth position adjustment means. When the is adjusted, the predetermined radius is calculated based on a distance between the two points representing the adjusted parallax. The medical observation system according to (1) or (2), wherein

(4) The two-dimensional direction movement control means determines the movement amount of the two-dimensional direction movement means necessary for positioning the index on the central axis of the image display area of the three-dimensional image display device, as the coordinate position. (2) calculating from the coordinate position of the two points representing the parallax of the index detected by the detection means in the two-dimensional coordinate system and the display magnification of the three-dimensional image displayed by the three-dimensional image display device. The medical observation system according to 3).

(5) The medical observation system according to (3) or (4), wherein the index multiple image unit includes a pointing device attached to a mirror part of the observation apparatus.

  The medical observation apparatus of the present invention is useful in all fields in which it is required to observe the observed part from different observation directions around the point lock point.

1 Observation device (mirror body)
1 'image processing means 2 holding mechanism 3 movement restriction control means 4 3D image display device 5 depth position designation means 6, 6' movement restriction radius calculation means 7, 7 ', 7 "point lock point setting means 8 3D index Projection means 9, 9 ', 9 "Three-dimensional shape measurement means 9a Distance calculation means 9b Angle calculation means 10 Electric drive means 11 Electric drive amount control means 12 Two-dimensional direction movement means 12a X-direction actuator 12b Y-direction actuator 13 Index multiple image Means 13a Joystick (pointing device)
14 Depth position adjustment means 14a Operation button 15 Coordinate position detection means 16 Two-dimensional direction movement control means 16a X direction sensor 16b Y direction sensor 20 Observation target 50 Mirror body 60 Objective lens 61R Right eye optical axis 61L Left eye light Axis 62 Lens drive unit 63 Moving frame 64 Rack 65 Pinion 66 Photo interrupter 67 Objective lens position detection means 71 Inclined rod drive part 72 Inclined rod position detection part 81 Focus position detection counter circuit 82 Control part 83 Data input means 84 EEPROM
85 Second driver circuit 86 First driver circuit 87 ROM
88 Watchdog timer circuit

Claims (11)

A medical observation system including an observation device for observing an observed part from different directions around a point lock point,
Three-dimensional shape measuring means for measuring the three-dimensional shape of the observed part;
Point lock point setting means for setting the point lock point to a predetermined depth position on a substantially visual field center axis of the observation device based on the measurement data of the three-dimensional shape of the observed part measured by the three-dimensional shape measurement means. A medical observation system characterized by comprising: The three-dimensional shape measuring means uses a point on the field center axis of the observation device on the surface of the observed portion and two or more points around the field center axis as a distance measuring point, and the Z-axis direction at each distance measuring point A distance calculating means for calculating the distance of
The point lock point setting means calculates the distance in the Z-axis direction at the distance measuring point on the visual field center axis and the Z-axis direction at at least two distance measuring points around the visual field center axis calculated by the distance calculating means. The medical observation system according to claim 1, wherein the point lock point is set on the basis of the distance.   The point lock point setting means calculates the distance in the Z-axis direction at the distance measuring point on the visual field center axis and the Z-axis direction at at least two distance measuring points around the visual field center axis calculated by the distance calculating means. The point-lock point is set at the entrance of the hole when the three-dimensional shape of the observed portion is estimated based on the distance and the three-dimensional shape of the observed portion is estimated as a hole shape. The medical observation system according to claim 2.   In the point lock point setting means, the distance in the Z-axis direction at least two distance measuring points around the visual field center axis calculated by the distance calculating means is more than the distance measuring point on the visual field center axis. When the distance in the Z-axis direction on the shallow side is shallower than a predetermined reference position, the point lock point is set to a predetermined position on the visual field center axis that is shallower than the distance measuring point on the visual field center axis. The medical observation system according to claim 2.   The point lock point setting means calculates the distance in the Z-axis direction at the distance measuring point on the visual field center axis and the Z-axis direction at at least two distance measuring points around the visual field center axis calculated by the distance calculating means. The point lock point is set at the foot of the mountain when the three-dimensional shape of the observed portion is estimated on the basis of the distance and the three-dimensional shape of the observed portion is estimated as a mountain shape. The medical observation system according to claim 2.   In the point lock point setting means, the distance in the Z-axis direction at least two distance measuring points around the visual field center axis calculated by the distance calculating means is more than the distance measuring point on the visual field center axis. When the distance on the deep side is deeper than a predetermined reference position of the distance in the Z-axis direction, the point lock point is set to a predetermined position on the visual field central axis deeper than the distance measuring point on the visual field central axis. The medical observation system according to claim 2. The three-dimensional shape measuring means uses two or more points on the surface center axis of the surface to be observed and two or more points around the field center axis as the distance measuring points, An angle calculating means for calculating each angle formed by each line segment connecting the distance measuring point on the field center axis and the field center axis;
The point lock point setting means includes at least two line segments connecting the distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis calculated by the angle calculating means, and the visual field center axis. The medical observation system according to claim 1, wherein the point lock point is set based on two angles formed by:   The point lock point setting means includes at least two line segments connecting the distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis calculated by the angle calculating means, and the visual field center axis. When the three-dimensional shape of the observed portion is estimated based on the two angles formed by the two, and the three-dimensional shape of the observed portion is estimated as a hole shape, the point lock point is set at the entrance of the hole The medical observation system according to claim 7.   The point lock point setting means includes at least two line segments connecting the distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis calculated by the angle calculating means, and the visual field center axis. Are both acute angles, and the angle is smaller than a predetermined threshold value, the point lock point is set to a predetermined value on the visual field center axis shallower than the distance measuring point on the visual field center axis. It sets to a position, The medical observation system of Claim 7 characterized by the above-mentioned.   The point lock point setting means includes at least two line segments connecting the distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis calculated by the angle calculating means, and the visual field center axis. When the three-dimensional shape of the observed part is estimated based on the two angles formed by and the three-dimensional shape of the observed part is estimated as a mountain shape, the point lock point is set at the foot of the mountain The medical observation system according to claim 7.   The point lock point setting means includes at least two line segments connecting the distance measuring points around the visual field center axis and the distance measuring points on the visual field center axis calculated by the angle calculating means, and the visual field center axis. Are both obtuse and are larger than a predetermined threshold value, the point lock point is set to a predetermined point on the visual field center axis deeper than the distance measuring point on the visual field center axis. It sets to a position, The medical observation system of Claim 7 characterized by the above-mentioned.

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