JP2020032168A - Stereoscopic observation apparatus for surgical operation - Google Patents

Abstract

To provide a stereoscopic observation apparatus for surgical operation that enables an assistant to operate, according to a verbal instruction from a doctor, a camera as desired by the doctor.SOLUTION: On the basis of an instruction from a doctor 5, an assistant 31 moves a camera corresponding unit 33 of a small-sized operation device 32 in a direction instructed by the doctor 5. Then, its rotation amount is detected by rotation detection units AE, BE, C2E, C6E, C7E, C8E of the small-sized operation device 32 and detected rotation amounts are transmitted to rotation drive units AD, BD, C2D, C6D, C7D, C8D of a stand device 1. Each of respective rotation shafts A, B and exemplary joints C2, C6, C7, C8 of the stand device 1 rotates with the same rotation amount as that of the small-sized operation device 32. Accordingly, the doctor 5 can change a position and orientation of a camera 19 as desired only by verbally instructing the assistant 31 without touching the camera 19.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a stereoscopic observation device for surgery.

  When a doctor performs surgery while enlarging and observing an operation part in neurosurgery, etc., recently, instead of an operation microscope, the operation part is photographed three-dimensionally by a camera, the stereoscopic image is displayed on a monitor, and special 3D glasses are used. A stereoscopic observation device for surgery for observation is used. According to this device, the doctor does not need to look at the eyepiece like a surgical microscope, so there is no burden on the neck, and not only the doctor but also the assistant can see the same monitor and share the operation situation .

  The stand device includes a base installed on the floor, a stand body that can be horizontally rotated with respect to the base, and a tilting unit that is attached to the stand body so as to be tiltable about a rotation axis that is horizontal with respect to the stand body, and has a plurality of joints. Having a supporting arm. The camera is mounted on the tip of the support arm, and the monitor is mounted on the stand body (sometimes on the floor separately).

  The doctor can change the position and the direction of the camera by holding the handle of the camera during the operation, and change the display of the operation part displayed on the monitor to a state optimal for the operation (for example, see Patent Document 1). ).

JP 2017-93773 A

  However, the doctor wants to maintain his posture during the operation, keeping his hands as close as possible. Therefore, we do not want to change the position and orientation of the camera by ourselves, but rather by an assistant if possible. However, if the assistant directly operates the camera near the doctor, it will hinder the doctor, so it is preferable to remotely operate the camera from a position away from the camera. Therefore, there is a need for a surgical stereoscopic observation device that allows an assistant to remotely change the position and orientation of a camera as desired by a doctor in response to a verbal instruction from the doctor.

  The present invention has been made in response to such a request, and it is an object of the present invention to provide a surgical stereoscopic observation apparatus that allows an assistant to operate a camera as desired by a doctor in response to a verbal instruction from the doctor. .

  According to a first technical aspect of the present invention, a base mounted on a floor, a stand body supported horizontally rotatable about a vertical rotation axis with respect to the base, and a horizontal rotation axis with respect to the stand body And a support arm having a plurality of rotatable joints which are attached to be tiltable about the center, and each of the joints (hereinafter, representative joints) representing a vertical / horizontal rotation axis and each rotation direction of the support arm. A stand device provided with a rotation drive unit for rotating the other in the forward / reverse direction with respect to one, a camera attached to the tip of the support arm, and a stereoscopic image of the operation site taken by the camera. A stereoscopic view for a doctor that outputs a signal, inputs a stereoscopic video signal output from a camera to a monitor provided integrally with or separately from the stand body, and displays a stereoscopic video based on the stereoscopic video signal The main body of the apparatus has the same vertical and horizontal rotation axes and each joint mechanically as the stand apparatus, and has a size that can be installed on a table.A camera-equivalent part is supported at the tip, and the rotation axis and each representative joint have the same. A surgical operation stereoscopic observation device comprising: a small operation device for an assistant provided with a rotation detection unit for detecting a rotation amount, wherein each rotation detection unit of the small operation device and each rotation drive of a stand device. The unit is connected via a control unit for each corresponding rotation axis and each representative joint, and when the assistant moves the camera equivalent part by hand in response to an instruction from the doctor, the small operation unit Each rotation drive unit of the stand device rotates by an amount corresponding to the rotation amount detected by each rotation detection unit.

  According to a second technical aspect of the present invention, the small operation device has a sub monitor for assistant displaying the same stereoscopic image as the monitor.

  According to a third technical aspect of the present invention, the small operation device has an operation unit capable of adjusting the focus and zoom of the camera.

  According to the first technical aspect of the present invention, the assistant changes the position and orientation of the camera-equivalent portion of the small-sized operation device as instructed by the doctor based on the verbal instruction from the doctor. Then, the rotation amount is transmitted to the stand device, and each rotation axis of the stand device rotates by the same rotation amount as the rotation axis of the small operation device, and the position and orientation of the camera are equivalent to the camera of the small operation device. It becomes the same state as. Since the stand device and the small operation device are mechanically the same, the doctor can easily and intuitively issue an instruction regarding a change in directionality or direction observed by the camera. Also, the assistant can easily understand the instruction and perform the operation as instructed. Therefore, the doctor can change the position and orientation of the camera as desired simply by giving a verbal instruction to the assistant without touching the camera.

  According to the second technical aspect of the present invention, since the small operation device has a sub-monitor displaying the same stereoscopic image as the monitor, the assistant can display the same stereoscopic image as the doctor is watching on a nearby sub-monitor. It can be shared, making it easier to understand doctor's instructions more accurately and to follow doctor's instructions.

  According to the third technical aspect of the present invention, since the small operation device has the operation unit for adjusting the focus and zoom of the camera, the doctor can also instruct the assistant to optically adjust the camera. .

The perspective view showing the stereoscopic observation device for surgery. The side view which shows the relationship between a stand apparatus and a small operation device. The side view which shows a small operation device. The front view which shows a suspension arm and a camera. The side view which shows a suspension arm and a camera.

  1 to 5 are views showing a preferred embodiment of the present invention. In the following description, the front-rear direction is as shown in FIG.

  The stand device 1 is installed on a floor of an operating room by a base 2. The stand device 1 is installed near the operating table 3, and a patient 4 is lying on the operating table 3. The doctor 5 can perform an operation on the operation part 6 of the patient 4 using the stand device 1.

  A stand body 7 that is rotatable in a horizontal direction about a vertical rotation axis A is attached to the base 2. A support arm 8 that can be tilted about a horizontal rotation axis B is attached to a side surface of the stand body 7. The support arm 8 basically includes a vertical arm 9, a horizontal arm 10, a lower arm 11, a rear arm 12, and a suspension arm 13, and is rotatably connected by a plurality of joints C1 to C8. ing. The horizontal rotation axis B is provided in the middle of the vertical arm 9, and the support arm 8 is attached to the stand body 7 at this portion.

  The horizontal arm 10 is supported at the upper end of the vertical arm 9 by a joint C4 at a position slightly away from the rear end, and extends forward therefrom. At the lower end of the vertical arm 9, the front end of the lower arm 11 is pivotally supported by another joint C2. At the rear end of the lower arm 11, a counter weight 14 is provided. The rear end of the horizontal arm 10 and the lower arm 11 are connected to a rear arm 12 parallel to the vertical arm 9 by joints C1 and C3.

  The suspension arm 13 is formed of a tip arm 15, a box 16, and two auxiliary arms 17, 18. The lower end of the distal arm 15 is supported at the front end of the horizontal arm 10 by a joint C5. A box 16 is attached to a lower end of the tip arm 15 by a joint C6 that is rotatable in the horizontal direction.

  The upper end of the auxiliary arm 17 is fixed to the box 16, the other auxiliary arm 18 is bent into an L-shape, and the upper end is attached to the lower end of the auxiliary arm 17 by a joint C <b> 7 that is rotatable in an oblique direction. A camera 19 is supported at the lower end of the L-shaped auxiliary arm 18 by a horizontally rotatable joint C8. The weight of the camera 19 is offset by the counter weight 14 described above.

  Handles 20 are provided on both left and right sides of the camera 19 for grasping when changing the position and the direction of the camera 19. A focus switch 21 and a zoom switch 22 are provided on the front side of the handle 20, and the focus and magnification of the camera 19 can be arbitrarily changed by operating the doctor 5.

  A crank member 23 bent at a right angle is supported on a joint C4 at the upper end of the vertical arm 9. The rear end of the crank member 23 and the stand body 7 are connected by a vertical sub-arm 24 parallel to the vertical arm 9. The upper end of the crank member 23 and the upper end of the tip arm 15 are connected by a horizontal sub-arm 25 that is mechanically parallel to the horizontal arm 10.

  Thereby, a parallel link mechanism is configured, and even if the vertical arm 9 is tilted back and forth around the horizontal rotation axis B to move the position of the camera 19 in the front-back direction, the position of the camera 19 is also moved in the up-down direction. Therefore, even if the horizontal arm 10 is moved up and down around the joint C4, the distal arm 15 is always maintained in a vertical state, and the camera 19 can change its position in the air while maintaining a fixed orientation. If the entire stand body 7 is rotated in the horizontal direction about the vertical rotation axis A of the base 2, the position of the camera 19 together with the stand body 7 can also be moved in the left-right direction.

  The rotation axes of the three joints C6, C7, and C8 of the mechanism that supports the camera 19 below the distal arm 15 intersect at one point that matches the center of gravity of the camera 19, and the camera 19 is supported by a so-called gimbal mechanism. State. Therefore, when the direction of the camera 19 is changed by holding the handles 20 provided on the left and right sides of the camera 19 at that position, the change can be easily made centering on the center of gravity. The doctor 5 can change the position and the direction of the camera 19 by holding the handle 20 before the operation, but does not touch the handle 20 after the operation.

  In the stand apparatus 1 having the above structure, the vertical rotation axis A involved in the horizontal movement of the camera 19, the horizontal rotation axis B involved in the movement in the tilt direction, the vertical movement and the orientation of the camera 19 The typical joints C2, C6, C7, C8 involved in are provided with rotation drive units AD, BD, C2D, C6D, C7D, C8D, respectively. Each of the rotation driving units AD, BD, C2D, C6D, C7D, and C8D includes a rotation actuator such as a servomotor. For example, the joint C2 connects the lower arm 11 and the vertical arm 9 rotatably, and the rotation drive unit C2D determines the angle between the lower arm 11 (one part) and the vertical arm 9 (the other part) by a signal. The rotation actuator is operated so as to rotate to the angle of. The same applies to the other joints and the rotation drive unit. In addition, the rotation drive units AD, BD, C2D, C6D, C7D, and C8D can lock the rotation on the vertical rotation axis A, the horizontal rotation axis B, and the joints C2, C6, C7, and C8 at the time of no signal or power failure. At the same time, when a signal is received, the lock is released in response to the signal, and the other can be electrically rotated in the forward / reverse direction by the number of rotations received by the signal with respect to the other.

  A foldable holding arm 26 is provided on the upper part of the stand body 7, and a panel-type monitor 27 is supported at the tip of the holding arm 26. On the monitor 27, a stereoscopic image of the operation section 6 captured by the camera 19 is displayed. The doctor 5 can observe the stereoscopic video displayed on the monitor 27 in three dimensions by wearing the special glasses 28.

  The monitor 27 may be attached to the stand body 7 as in the present embodiment, or may be installed on the floor separately from the stand body 7. In this embodiment, the stand device 1, the camera 19, and the monitor 27 form a stereoscopic observation device main body 29.

  A desk 30 is installed in the immediate vicinity of the doctor 5, and an assistant 31 is seated there. A small operation device 32 is installed on the desk 30. A camera-equivalent part 33 corresponding to the camera 19 is attached to the small operation device 32, and a pin 34 for the assistant 31 to hold and operate with the hand protrudes from the camera-equivalent part 33.

  The small operation device 32 has a vertical rotation axis As, a horizontal rotation axis Bs, and each of the joints C1s to C8s mechanically identical to the stand device 1. However, the small operation device 32 does not need to completely match the shape of the stand device 1, but may be the same mechanically. Parts corresponding to the stand device 1 of the small operation device 32 are denoted by 2s, 7s, 8s,. An appropriate amount of friction is provided between the components of the small operation device 32 so that the small operation device 32 stops at the moved position. Therefore, the portion corresponding to the counterweight 14 is omitted from the small operation device 32.

  The vertical rotation axis As, the horizontal rotation axis Bs, and the representative joints C2s, C6s, C7s, and C8s of the small operation device 32 correspond to the rotation driving units AD, BD, C2D, C6D, C7D, and C8D of the stand device 1, respectively. The rotation detection units AE, BE, C2E, C6E, C7E, and C8E are provided.

  A notebook computer 35 is provided on the desk 30. The keyboard portion of the notebook computer 35 functions as the operation unit 36, and the display unit functions as the sub monitor 37. The CPU inside the operation unit 36 functions as the control unit 38.

  The rotation drive units AD, BD, C2D, C6D, C7D, C8D of the stand device 1 and the rotation detection units AE, BE, C2E, C6E, C7E, C8E of the small operation device 32 are connected via the control unit 38. When the assistant 31 changes the position and orientation of the camera-equivalent portion 33 of the small operation device 32, the rotation detection portions AE, BE, C2E, C6E, C7E, and C8E of the small operation device 32 detect the change. The corresponding rotation drive units AD, BD, C2D, C6D, C7D, and C8D of the stand device 1 rotate so as to match the rotation position.

  The rotation drive units AD, BD, C2D, C6D, C7D, C8D of the stand device 1, the rotation detection units AE, BE, C2E, C6E, C7E, C8E of the small operation device 32, and the control unit 38 are one. It may be configured to be connected by a network.

  The same three-dimensional image as the monitor 27 of the stand device 1 is displayed on the sub-monitor 37 of the notebook computer 35 so that the assistant 31 can view it three-dimensionally by wearing special glasses 28 for 3D. Has become.

  The focus switch 21 and the zoom switch 22 provided on the handle 20 of the camera 19 are connected to the operation unit 36 of the notebook computer 35 so that the assistant 31 can adjust the focus and magnification of the camera 19 using the keyboard of the operation unit 36. Has become.

  When the operation starts, the doctor 5 verbally notifies the assistant 31 of the orientation and position of the camera 19. The assistant 31 holds the camera-equivalent part 33 of the small operation device 32 based on an instruction from the doctor 5 and moves it in the direction specified by the doctor 5.

  Then, each of the rotation axes As and Bs of the small operation device 32 and the joints C1s to C8s rotate, and the rotation amount is detected by the rotation detection units AE, BE, C2E, C6E, C7E, and C8E, and the stand device 1 is rotated. To the rotation drive units AD, BD, C2D, C6D, C7D, and C8D. Since the rotation drive units AD, BD, C2D, C6D, C7D, and C8D rotate by the transmitted rotation amount, the stand device 1 is in the same state as the small operation device 32, and the position and orientation of the camera 19 are the same as those of the small operation device 32. The state is the same as that of the camera equivalent unit 33. Accordingly, a stereoscopic video image captured by the camera 19 in that state is displayed on both the monitor 27 and the sub-monitor 37. If the display is different from that desired by the doctor 5, the doctor 5 can issue an additional instruction to the assistant 31 to display the desired state.

  Since the instruction regarding the focus and magnification of the display can be handled by operating the operation unit 36 of the notebook computer 35, the focus and magnification can also be changed as desired by the doctor 5.

  Since the stand device 1 and the small operation device 32 are mechanically the same, the doctor 5 can easily and intuitively give an instruction regarding the range to be observed by the camera 19 and the direction of observation. In addition, the assistant 31 can easily understand the instruction and can perform the operation according to the instruction. Therefore, the doctor 5 can change the position and the orientation of the camera 19 as desired without touching the camera 19.

DESCRIPTION OF SYMBOLS 1 Stand apparatus 2 Base 5 Doctor 7 Stand main body 8 Support arm 19 Camera 27 Monitor 29 Stereoscopic observation apparatus main body 31 Assistant 32 Small operation device 33 Camera equivalent part 36 Operation part 37 Sub monitor 38 Control part A Vertical rotation axis B Horizontal rotation axis C1 -C8 joint AD, BD, C2D, C6D, C7D, C8D rotation drive unit AE, BE, C2E, C6E, C7E, C8E rotation detection unit

Claims (3)

A base installed on the floor, a stand body supported to be horizontally rotatable about a vertical rotation axis with respect to the base, and a plurality of freely rotatably mounted on the stand body so as to be tiltable about the horizontal rotation axis. And a support arm having various joints. Further, each of the joints (hereinafter, representative joints) representing the vertical / horizontal rotation axis and the rotation direction of the support arm is rotated in one direction with respect to the other. A stand device provided with a rotation drive unit,
A camera is attached to the tip of the support arm, the camera captures a stereoscopic optical image of the surgical site, outputs a stereoscopic video signal, and outputs the stereoscopic video signal from the camera to a monitor provided integrally with or separately from the stand body. A stereoscopic observation device body for a doctor that inputs a
It has the same vertical and horizontal rotation axes and each joint mechanically as the stand device, and has a size that can be installed on a table. A camera equivalent part is supported at the tip, and the rotation amount of each rotation axis and each representative joint is detected. A small operating device for assistants provided with a rotation detection unit that performs
A surgical stereoscopic observation device composed of:
Each rotation detection unit of the small operation device and each rotation drive unit of the stand device are connected via a control unit for each corresponding rotation axis and each representative joint, and an assistant receives an instruction from a doctor. When the camera-equivalent part is held and moved by hand, the corresponding rotation drive part of the stand device rotates by an amount corresponding to the amount of rotation detected by each rotation detection part of the small operation device. Surgical stereoscopic observation device.   2. The stereoscopic observation apparatus for surgery according to claim 1, wherein the small operation device has a sub monitor for assistant displaying the same stereoscopic image as the monitor.   The surgical stereoscopic observation apparatus according to claim 1, wherein the small operation device has an operation unit capable of adjusting a focus and a zoom of the camera.

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