JP2017035436A - Stereoscopic observation apparatus for operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stereoscopic observation apparatus for operation capable of easily obtaining an electronic image in directivity of an assistant facing a different direction by 90 degrees from an operator.SOLUTION: In addition to a right/left pair of main optical paths A, a right/left pair of sub optical paths B facing a different direction by 90 degrees are arranged. A right/left pair of imaging elements D1, D2 are installed for each optical path. Accordingly, an electric image can be obtained not only in directivity of a main operator and a person facing the main operator but also in directivity of an assistant positioned on both right/left sides. Therefore, the operator and assistant can cooperate and perform an operation easily.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a surgical stereoscopic observation apparatus.

  The camera is movably supported by a stand device, and a pair of electronic images having binocular parallax that can be stereoscopically viewed by the camera is captured and displayed on a monitor, and is stereoscopically observed through 3D dedicated glasses. A surgical stereoscopic observation apparatus is known. Instead of displaying on a monitor, there is also a method of displaying on a pair of left and right display panels built in a 3D viewer, and viewing them with the left and right eyelids from the limit part of the 3D viewer (for example, Patent Document 1). reference).

JP 11-318936 A

  However, in such a related technique, since only a pair of left and right imaging elements are provided, only a stereoscopic electronic image in the direction of the main operator can be obtained. Although the front, back, left and right of the obtained electronic image can be electronically reversed, even in that case, only a stereoscopic electronic image in the direction of the assistant at the position facing the main operator can be obtained. The assistants located on the left and right of the main surgeon are 90 degrees different from the surgeon, but it was not possible to obtain a stereoscopic electronic image in the orientation of the assistants on both the left and right sides.

  The tree invention is made by paying attention to such a related technique, and surgical stereoscopic observation that can easily obtain a stereoscopic electronic image in the direction of an assistant whose direction is 90 degrees different from the surgeon. A device is provided.

  According to the technical aspect of the present invention, the surgical microscope apparatus guides a pair of light east through the variable magnification optical system to the pair of imaging elements within the range of the light beam that has passed through one objective optical system. Two main optical paths, and two sub optical paths that guide a pair of light beams through another variable power optical system to the other pair of imaging elements in a state that is 90 degrees different from the main optical path. And an electronic video display device capable of displaying each of the electronic videos captured by the camera with 90 degrees of difference in directionality.

  According to another technical aspect of the present invention, the camera further includes illumination means.

  According to another technical aspect of the present invention, the camera is provided with light beam irradiation means capable of irradiating the objective optical system with two light beams parallel to the optical axis of the objective optical system, and the two light beams are provided. Converges to one point at the focal length of the objective optical system.

  According to another technical aspect of the present invention, the light beam is irradiated at a position different from the light beam passing through the two variable magnification optical systems in the objective optical system.

  According to the technical aspect of the present invention, in addition to the pair of left and right main optical paths, a pair of left and right sub optical paths whose directions are different by 90 degrees are provided, and a pair of left and right imaging elements are installed in each optical path. It is possible to obtain an electronic image not only with the directionality of the surgeon and the opponent but also with the directionality of the assistants located on the left and right sides (90-degree difference). Therefore, it is easy to perform surgery in cooperation with the surgeon and assistant.

  According to another technical aspect of the present invention, since the illumination means is provided in the camera, it is not necessary to connect an optical cable for introducing illumination to the camera, and the movement of the camera is not limited by the optical cable.

  According to another technical aspect of the present invention, since the objective optical system is irradiated with two light beams parallel to the optical axis, the two light beams are a single spot when focused on the surgical field. Converge as. And when it is out of focus, it appears as two spots. Since it is possible to instantly determine whether the spot is in focus with the naked eye or on the monitor device, it is easy to focus by moving the camera up and down until the spot becomes one while checking the state of the two spots. Can be done.

  According to another technical aspect of the present invention, since the light beam is irradiated to a position different from the light beam passing through the variable magnification optical system in the objective optical system, the irradiation position of the light beam interferes with the variable magnification optical system. It can be secured without.

The front view which shows the stereoscopic observation apparatus for surgery. The side view which shows the stereoscopic observation apparatus for surgery. The perspective view which shows a camera. The perspective view which shows the internal structure of a camera. The internal structure front view of the camera which shows a main optical path. The internal structure side view of the camera which shows a sub optical path. The figure which shows the installation position of a light beam irradiation means. Explanatory drawing which shows the relationship between an image pick-up element and an observation direction.

  1 to 8 are views showing a preferred embodiment of the present invention.

  The stand device 1 has a support arm 2 extending in the lateral direction. This support arm 2 has a structure using a parallel link, and even if the support arm 2 is moved up and down, the tip link 3 is maintained vertical. That is, the tip link 3 has a virtual vertical axis passing through the vertical link side (tip portion) of the parallel link formed by the support arm 2, and the tip member 4 constituting the lower end of the tip link 4 has a vertical axis V with respect to the vertical link side. It can be rotated around. A camera 5 is supported on the tip member 4 by an auxiliary arm 6. Furthermore, the direction of the camera 5 can be freely changed by the two rotation axes of the horizontal axis H and the oblique axis S of the auxiliary arm 6. The camera 5 can capture a three-dimensional image of the operative field G having binocular parallax.

  Handles 8 are provided on the left and right sides of the camera 5. By holding the handle 8 and moving the camera 5 together with the stand device 1, the aerial position of the camera 5 itself can be changed. When the aerial position is determined, the direction of the camera 5 can be changed at that position.

  An electronic video display device 9 is supported on the main body of the stand device 1 via a folding arm 10. The electronic image display device 9 is a liquid crystal panel and can receive a signal output from the camera 5 and display a pair of electronic images having binocular parallax in real time. The surgeon, assistant, and the like can wear the dedicated glasses 11 to observe the electronic image displayed on the electronic image display device 9 in a three-dimensional manner.

  Next, the internal structure of the camera 5 will be described.

  The camera 5 has a structure that allows stereoscopic observation, and therefore, two right and left main optical paths A are formed therein. A set of objective optical system 12 is provided below the camera 5.

  The illumination means 14 is provided behind the objective optical system 12 through the light shielding plate 13 in the camera 5 so that the operative field G can be irradiated with the illumination light E. Since the illumination means 14 is built in the camera 5, there is no need to connect an optical cable for introducing illumination light from the outside. Although the optical cable bends but is rigid and has a weight that is heavier than that of the electric wire, the camera 5 is made heavy by connecting it. However, according to this embodiment, there is no such concern.

  A pair of variable power optical systems 15 are provided in the upper portion of the objective optical system 12 within the range. The arrangement direction of the two optical axes of the variable magnification optical system 15 corresponds to the directionality R or L of the operator. A light beam passing through the two variable magnification optical systems 15 via the objective optical system 12 is the main optical path A. The main optical path A is guided to the image sensor D1 through the imaging lens 16. The image sensor D1 is typically a CCD area image sensor.

  Another two variable power optical systems 17 are provided in the same range within the upper portion of the objective optical system 12. The self-alignment direction of the two optical axes of the variable magnification optical system 17 corresponds to the operator's direction F or C, and is orthogonal to the arrangement direction of the optical axes of the variable magnification optical system 15. A light beam passing through the two variable magnification optical systems 17 is a sub optical path B. The sub optical path B is guided to the image sensor D2 through the imaging lens 18. The main optical path A and the sub optical path B are 90 degrees different in direction.

  In addition, a pair of light beam irradiation means 7 is provided at a position where the variable magnification optical systems 15 and 17 do not exist above the objective optical system 12 in the camera 5. Since the light beam irradiation means 7 is provided at a position different from that of the variable magnification optical systems 15 and 17, there is no fear of interfering with the variable magnification optical systems 15 and 17.

  The light beam irradiation means 7 is a small semiconductor laser irradiation apparatus and can irradiate a semiconductor laser as a light beam T in a state along the optical axis K. In the present embodiment, the optical axis K coincides with the optical axis of the objective optical system 12. That is, the main optical path A, the sub optical path B, and the optical paths of the two light beams T are defined in one objective optical system 12 so as to be parallel to the optical axis K and not interfere with each other. All of the light beams constituting the optical path of the main optical path A, the sub optical path B, and the two light beams T parallel to the optical axis K pass through the focal point F via one objective optical system 12. Therefore, the light beam T passes through the objective optical system 12 and converges to one point at the focal length of the objective optical system 12. Even if the focal length of the objective optical system 12 is changed, it converges to a single point with the focal point F linked thereto.

  The light beam irradiation means 7 is interlocked with the operation buttons of the handle 8 via a controller (not shown), and the light beam T is emitted from the light beam irradiation means 7 only while they are pressed. The operation button of the handle 8 is pressed when releasing the electromagnetic clutch of the movable part of the stand device or changing the focal length of the objective optical system 12.

  According to the present embodiment, a pair of main optical path A and sub optical path B, which are 90 different in direction, are provided so as to pass through one objective optical system 12, and each light beam can be imaged by the imaging elements D1 and D2. it can. Therefore, as shown in FIG. 8, when an electronic image is obtained by the image pickup device D1 in the main optical path A and is displayed on the electronic image display device 9, if the image is displayed as it is, a stereoscopic image in the direction F of the main surgeon is obtained. can get. The symbol N in FIG. 8 shows a special shape to indicate the direction. The black triangle indicates the surgical instrument M that the operator has entered into the field of view from the right front. If the direction of the electronic image in the operator's direction F is rotated 180 ° (upside down and horizontally reversed), a stereoscopic image in the direction C of the opponent can be obtained. At this time, the electronic image for the right eye of the surgeon in the direction F corresponds to the electronic image for the left eye of the surgeon in the direction C, and the electronic image for the left eye in the direction F is the right in the direction C. Corresponds to an electronic image for the eye.

  Next, among the electronic images obtained by the imaging device D2 in the sub optical path B, if an electronic image of an assistant who is 90 degrees on the right side of the surgeon is displayed, a stereoscopic image in the direction R of the assistant is obtained. It is done. If the front, back, left and right of the image are reversed, a stereoscopic image with the directionality L of the assistant at the left 90 ° position can be obtained. Thus, since images for not only the surgeon and the opponent but also the left and right assistants can be displayed, it is easy to perform the operation in cooperation between the surgeon and the assistant. That is, it is possible to view the video so that all surgeons and assistants directly observe the target of the surgical field G from their respective positions.

  When the operation button of the handle 8 is pushed to move the camera 5, the light beam T is emitted from the light beam irradiating means 7 while being pushed. Therefore, when the camera 5 is moved and moved to a desired position, In the surgical field G, a spot P of the light beam T appears. The spot P can be confirmed with the naked eye or on the electronic image display device 9.

  As shown in FIG. 7, there is one spot P when the focal point F is in focus, but two spots P appear when the focal point F is shifted. Further, when two spots P appear, the amount of deviation from the focal point F can be known from the interval. When the distance between the two spots P is large, the shift amount is large, and when it is small, the shift amount is small.

  Even when the operation device of the handle 8 is pushed to move the stand device 1 and the camera 5 is moved or the focal length of the objective optical system 12 is changed, whether or not the focus F is in focus with the naked eye ( Since it can be determined instantaneously (even on the electronic video display device 9), the observation work is easy.

  In the above embodiment, an example of observing a monitor (liquid crystal panel) with the dedicated glasses 11 as the electronic image display device 9 has been shown, but instead of or in addition, a pair of left and right displays built in a so-called 3D viewer It may be displayed on a panel and viewed stereoscopically by viewing with the left and right pupils from the eyepiece of the 3D viewer.

5 Camera 9 Electronic image display device 12 Objective optical system 14 Illumination means 15 Variable magnification optical system (main optical path)
17 Variable magnification optical system (sub optical path)
D1 Image sensor (main optical path)
D2 Image sensor (sub optical path)
A Main optical path B Sub optical path E Illuminating light M Surgical instrument F Direction of the operator C Direction of the opponent R Direction of the right auxiliary L Direction of the left auxiliary K Optical axis G Surgical field T Light beam

Claims (4)

Within the range of the light beam that has passed through one objective optical system, the two main optical paths that guide the pair of light beams through the variable magnification optical system to the pair of image sensors, and the arrangement direction of the main optical path differ by 90 degrees A camera having two sub optical paths that guide the pair of light beams to another pair of image pickup devices through the other variable magnification optical systems,
A surgical stereoscopic observation apparatus, comprising: an electronic image display device capable of displaying electronic images photographed by the camera and having different directivity of 90 degrees.   The stereoscopic observation apparatus for surgery according to claim 1, further comprising illumination means in the camera.   Provided in the camera is a light beam irradiation means capable of irradiating the objective optical system with two light beams parallel to the optical axis of the objective optical system, and the two light beams converge at one point at the focal length of the objective optical system. The stereoscopic observation apparatus for surgery according to claim 1 or claim 2, wherein   4. The surgical stereoscopic observation apparatus according to claim 3, wherein the light beam is applied to a position different from the light beam passing through the two variable magnification optical systems in the objective optical system.

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