JP2023149509A - Ophthalmologic system - Google Patents

Abstract

To provide an ophthalmologic system capable of efficiently executing an examination of an eye to be examined with a simple configuration.SOLUTION: A selection part 37 matches an examination axis IA of a use examination part with a reference axis RA by selectively arranging a use examination part to be used for an examination of a plurality of examination parts 2 for executing mutually different examinations at an examination execution position. A control part detects a three-dimensional position of an eye to be examined on the basis of an image of the eye to the examined captured by a plurality of eye-to-be-examined imaging parts 55A and 55B, and matches an examination reference position on an examination axis IA of the use examination part with the position of the eye to be examined. A part extending straight from an imaging target position of an imaging optical axis of each of the plurality of eye-to-be-examined imaging parts 55A and 55B is arranged inclined with respect to the reference axis IA. The plurality of eye-to-be-examined imaging parts 55A and 55B are shared in the examination by at least two examination parts 2.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to an ophthalmological system for testing a subject's eye.

The technique of detecting the position of the eye to be examined is used, for example, when adjusting the relative position of the eye to be examined and the ophthalmological apparatus to an appropriate relative position (that is, when aligning the ophthalmological apparatus with respect to the eye to be examined). For example, the ophthalmologic apparatus described in Patent Document 1 detects edges of an anterior segment image of an eye to be examined, and detects the position of the pupil of the eye to be examined based on the shape of the detected edge.

Further, a composite ophthalmological apparatus including a plurality of examination sections that perform different examinations has also been proposed. For example, the ophthalmologic apparatus described in Patent Document 2 includes an OCT examination section for photographing a tomographic image of the eye to be examined, and an examination section for a fundus camera for color photographing the fundus of the eye to be examined. In the ophthalmological apparatus described in Patent Document 2, the detection optical system that detects the position of the eye to be examined is used for both OCT and a fundus camera.

JP2019-63043A Japanese Patent Application Publication No. 2015-104581

Most examinations using an ophthalmological apparatus are performed with the eye to be examined positioned on an examination axis that extends straight from the apparatus toward the eye to be examined. As described in Patent Document 2, if the arrangement of the plurality of test sections is determined so that the test axes of the plurality of test sections always match, the detection optical system for detecting the position of the eye to be examined can be It is also possible to share it among multiple inspection units. However, when selectively switching the examination axis of one of the plurality of examination parts to match the eye to be examined, each examination part needs to be provided with a separate detection optical system. Therefore, it has been difficult with conventional techniques to efficiently test the eye to be examined with a simple configuration.

A typical object of the present invention is to provide an ophthalmologic system that can efficiently perform an eye examination with a simple configuration.

An ophthalmological system provided by a typical embodiment of the present disclosure is an ophthalmological system that tests an eye to be examined with an examination axis aligned with the eye to be examined, and is one of a plurality of examination units that perform different tests from each other. , a selection section that selectively arranges an inspection section used for inspection at the inspection execution position so that the inspection axis of the inspection section used coincides with a reference axis; a moving unit for moving the used examination unit; a plurality of eye photographing units for photographing the eye to be examined from different directions to detect the position of the eye to be examined; and a control unit; a position detection step of detecting a three-dimensional position of the eye to be examined based on images of the eye to be examined taken by the plurality of eye imaging units; and controlling the drive of the moving unit to perform a position adjustment step of matching the inspection reference position on the inspection axis of the inspection unit in use with the position of the eye to be inspected, and the plurality of eye imaging units to be inspected Of each of the photographing optical axes, a portion extending straight from the photographing target position is arranged at an angle with respect to the reference axis, and the plurality of eye photographing units are arranged so that they can be inspected by at least two examination units. shared.

According to the ophthalmologic system according to the present disclosure, an examination of a subject's eye can be performed efficiently with a simple configuration.

1 is a diagram showing a schematic configuration of an ophthalmologic system 1. FIG. FIG. 3 is a perspective view of the robot arm 3. FIG. FIG. 3 is a plan view schematically showing the positional relationship between a part of the ophthalmological system 1 and the eye E in a state where the selection unit 37 has placed the test unit 2 in use at the test execution position. It is a flowchart of the inspection process which the ophthalmology system 1 performs. FIG. 6 is an explanatory diagram for explaining a process of matching the test reference position IP of the test section 2A with the pupil reference position PP of the eye E to be examined when inspecting the fundus of the eye. FIG. 6 is an explanatory diagram for explaining a process of matching the inspection reference position IP of the inspection unit 2B with the cornea reference position CP of the eye E to be examined when inspecting the anterior segment of the eye.

<Summary>
(First aspect)
The ophthalmologic system exemplified in the present disclosure includes a selection unit, a movement unit, and a control unit. The selection section selectively switches an inspection section to be used for the inspection from among the plurality of inspection sections that perform mutually different inspections. The moving section moves the usage inspection section. The control unit executes an aim position setting step, a position detection step, and a position adjustment step. In the aiming position setting step, the control unit sets either the pupil reference position or corneal reference position of the eye to be examined, or the test reference position of the used examination unit, depending on the examination content of the used examination unit switched by the selection unit. Set the aiming position to match. In the position detection step, the control unit detects the aim position on the eye to be examined based on an image of the eye to be examined. In the position adjustment step, the control unit controls the driving of the moving unit based on the detection result of the aiming position of the eye to be examined, so that the inspection reference position of the inspection unit in use matches the aiming position of the eye to be examined.

According to the ophthalmological system according to the present disclosure, the test reference position of the used test section matches the position corresponding to the test content to be performed, among the pupil reference position and corneal reference position of the eye to be examined. Therefore, even when switching and performing tests by a plurality of test units, each test is performed with appropriate alignment performed according to the content of the test to be performed. Therefore, each test is performed with higher accuracy.

The plurality of examination units include various equipment for performing examinations of the eye to be examined (for example, photographing the eye to be examined, measuring ocular characteristics of the eye to be examined, and observing the eye to be examined (including observation for surgery or treatment, etc.). For example, as an examination unit that takes images of the eye to be examined, an OCT device, a laser scanning ophthalmoscope (SLO), a fundus camera, a goniometer, a corneal endothelial cell imaging device (CEM), etc. can be employed. At least one of them can be adopted. At least one of an eye refractive power measuring device, a corneal shape measuring device, an intraocular pressure measuring device, etc. can be adopted as an examination unit that measures the ocular characteristics of the eye to be examined. A photocoagulation device, a YAG laser surgical device, etc., which perform surgery or treatment on the tissue of the eye to be examined while observing the eye, may be used as the examination section.

Note that at least one of the aiming position and the inspection reference position may be provided with a certain width within a range where the inspection can be appropriately performed. In other words, the aiming position and the inspection reference position can also be expressed as the aiming range and the inspection reference range. The width of at least one of the aiming position and the inspection reference position (aiming range, inspection reference range) may be changed as appropriate depending on the inspection contents of each of the plurality of inspection sections. In this case, each test can be appropriately performed by matching the test reference position with an appropriate aim position according to the test content.

The control unit may set the pupil reference position as the aiming position when the examination content of the used examination unit is examination content regarding the fundus of the eye to be examined. In this case, the problem of light used for fundus examination being blocked by the pupil (occurrence of so-called "vignetting") can be easily suppressed. Therefore, the accuracy of the examination regarding the fundus of the eye can be easily improved. Further, the control unit may set the cornea reference position as the aiming position when the test content of the used test unit is test content regarding the anterior segment of the eye to be examined. In this case, since alignment is performed with reference to the cornea located on the side closest to the test section of the eye to be examined, the accuracy of the test regarding the anterior segment of the eye can be easily improved.

The details of the pupil reference position and the corneal reference position can be set as appropriate. For example, the pupil reference position may be the pupil center position of the eye to be examined. The pupil center position can be easily detected accurately by image processing of an image of the eye to be examined. Therefore, by setting the pupil center position as the aiming position, alignment accuracy is improved. Moreover, the corneal reference position may be the corneal apex position of the eye to be examined. The corneal vertex position is appropriately detected by performing image processing on the image of the eye to be examined and detecting bright spots etc. appearing at the corneal vertex.

The control unit may further execute a determination step of automatically determining which testing unit is used for the test among the plurality of testing units. In the aim position setting step, the control unit may set either the pupil reference position or the cornea reference position of the eye to be examined as the aim position, depending on the used examination unit determined in the determination step. In this case, the test reference position of the test section is adjusted to a position suitable for each of the plurality of test sections among the pupil reference position and corneal reference position. Therefore, inspection by a plurality of inspection units can be appropriately performed.

Note that a specific method for automatically determining the inspection section to be used can be selected as appropriate. For example, each test section may be provided with an identifier, an IC tag, or the like for identifying the test section. The control unit may identify the usage testing unit based on the usage testing unit's identifier read by the identifier reader or the information of the usage testing unit's IC tag read by the IC tag reader. In this case, since the testing section to be used is automatically identified, testing efficiency is further improved. Further, the control section may input an instruction signal for specifying one of the plurality of inspection sections. The instruction signal may be generated depending on, for example, the content of the test to be performed. The control unit may determine the inspection unit designated by the instruction signal as the inspection unit to be used. However, the control unit may set either the pupil reference position or the corneal reference position as the aiming position in accordance with an instruction input by the user.

An appropriate aiming position (pupil reference position or corneal reference position) may be associated with each of the plurality of examination parts in advance. For example, an examination unit that examines the fundus of the eye may be associated with a pupil reference position as an appropriate aiming position. Further, the testing section that tests the anterior segment of the eye may be associated with a corneal reference position as an appropriate aiming position. In the aiming position setting step, the control section may set the aiming position associated with the used inspection section determined in the determining step. In this case, the control section can appropriately set the aim position according to the determined inspection section.

Further, the control unit may set the aim position based on information indicating the test content together with the determination result of the used inspection unit or instead of the determination result of the used inspection unit. For example, an OCT device can image both the fundus and anterior segment of an eye to be examined. When photographing the fundus of the eye to be examined, it is often desirable to set the pupil reference position as the aiming position. On the other hand, when photographing the anterior segment of the eye to be examined, it is often desirable to set the corneal reference position as the aiming position. Therefore, the control unit may obtain information indicating which of the fundus or the anterior segment of the eye is imaged by the OCT apparatus as information indicating the content of the examination, and may set the aim position according to the obtained information. Note that various types of information can be used as information indicating the inspection content. For example, information specifying which of a plurality of test contents is to be performed may be used as information indicating the test contents.

The selection section may selectively switch the test section to be used by detachably attaching each of the plurality of test sections. In this case, the degree of freedom of the inspection section to be used is further improved compared to a system in which each of the plurality of inspection sections is fixed to the selection section. For example, it becomes even easier to add a new inspection section to a plurality of inspection sections. It also becomes easier to replace some of the plurality of inspection sections. The configuration of the selection section can also be simplified more easily than when each of the plurality of inspection sections is fixed to the selection section.

However, each of the plurality of inspection sections may be fixed to the selection section. For example, the selection section may include a rotation unit to which a plurality of inspection sections are fixed, and by rotating the rotation unit, the inspection section to be used may be selectively arranged at the inspection execution position.

The plurality of test sections may include at least two test sections that have different test reference positions that are matched with the aim position of the eye to be examined. In the position adjustment step, the control unit may match the inspection reference position of the inspection unit in use with the aiming position of the eye to be examined. In this case, the ophthalmological system can match the aim position of the eye to be examined with the appropriate test reference position of each of the plurality of test sections. Therefore, inspection by a plurality of inspection units can be appropriately performed.

Note that the test reference position changes depending on the distance (sometimes referred to as "working distance") between the test section being used and the aiming position of the eye to be examined when performing the test. Therefore, the control section may match the inspection reference position and the aim position of the eye to be examined by controlling the drive of the moving section according to the working distance of the inspection section in use.

In the position adjustment step, the control unit may match the aiming position of the eye to be examined with the inspection reference position according to the working distance of the used inspection unit attached to the selection unit among the plurality of inspection units. In this case, no matter which inspection section is attached to the selection section and used, the inspection reference position and aiming position will be matched appropriately according to the working distance of the inspection section used when attached to the selection section. . Therefore, even when a plurality of inspection sections having different working distances are used, each inspection section can appropriately perform the inspection.

For ophthalmological equipment that does not change the examination section, the working distance is the appropriate distance from the examination window of the examination section (for example, objective lens, etc.) to the eye to be examined (specifically, the aiming position), and the examination standard is set according to the working distance. It is sufficient to align the eye to be examined with the position. On the other hand, in an ophthalmological system in which the examination part is switched by the selection part, in addition to the appropriate distance from the examination window of the examination part to the eye to be examined, the distance from the selection part to which the examination part is attached to the examination window is also determined for each examination part. Subject to change. Therefore, in the position adjustment step, the control section determines the appropriate distance from the inspection window to the aiming position of the in-use inspection section attached to the selection section among the plurality of inspection sections, and the inspection of the in-use inspection section from the selection section. The inspection reference position according to the distance to the window may be matched with the aim position of the eye to be examined. In this case, for example, even if the length of the inspection section in the direction along the inspection axis differs depending on the inspection section, the inspection by each inspection section can be appropriately performed.

In order to detect the position of the eye to be examined, it may further include a plurality of eye photographing units that photograph the eye to be examined from different directions. A plurality of eye imaging units may be shared by at least two examination units. In this case, the ophthalmological system can share the subject's eye imaging unit for examinations by a plurality of examination units. Therefore, compared to the case where each of the plurality of inspection sections is provided with an eye photographing section for detecting the position of the eye to be examined, the examination of the eye to be examined can be performed efficiently with a simple configuration.

The selection section aligns the inspection axis of the inspection section to be used with the reference axis by selectively arranging the inspection section to be used for the inspection at the inspection execution position among the plurality of inspection sections that perform different inspections. It's okay. Of the imaging optical axes of each of the plurality of eye imaging units, a portion extending straight from the imaging target position may be arranged at an angle with respect to the reference axis. In this case, even if the examination section is selectively switched, the imaging optical axis of the eye imaging section is unlikely to interfere with the examination section. Therefore, the ophthalmological system can appropriately share the subject's eye photographing section for examinations by a plurality of examination sections.
The imaging optical axes of the plurality of eye imaging units may be bent by a mirror (including a half mirror or the like) or the like between the eye to be examined and the eye imaging unit. In this case, it is only necessary that the portion of each imaging optical axis that extends straight from the imaging target position (the position of the eye to be photographed) toward the eye imaging unit side is inclined with respect to the reference axis.

Each of the plurality of eye photographing units may be a two-dimensional photographing element that photographs a two-dimensional image of the eye to be examined. In this case, the three-dimensional position of the eye to be examined is appropriately detected based on the two-dimensional image of the eye to be examined photographed by each eye imaging unit. Furthermore, at least one of the plurality of eye photographing units is a one-dimensional light receiving element that photographs a one-dimensional image of the eye to be examined (for example, a line camera that photographs (receives) a bright spot reflected by the eye to be examined). It's okay. Even in this case, the three-dimensional position of the eye to be examined is appropriately detected using a plurality of images (including one-dimensional images).

The ophthalmological system may further include at least one bright spot projection unit that projects a bright spot onto the cornea of the eye to be examined. The part of the projection optical axis of the bright spot projection unit that extends straight toward the subject's eye and the part of the imaging optical axis of one of the subject's eye imaging units that extends straight from the imaging target position are on the same plane. may be located. In this case, the bright spot projected onto the cornea of the eye to be examined by the bright spot projection unit is appropriately photographed by one of the eye imaging units to be examined. Therefore, the position of the eye to be examined can be appropriately detected based on the bright spot appearing in the image.

The projection optical axis of the bright spot projection section may be bent by a mirror (including a half mirror or the like) or the like between the subject's eye and the bright spot projection section. In this case, it is sufficient that the portion of each projection optical axis that extends straight toward the subject's eye and the portion of the imaging optical axis that extends straight from the imaging target position are located on the same plane. .

(Second aspect)
The ophthalmological system exemplified in the present disclosure tests an eye to be examined with an examination axis aligned with the eye to be examined. The ophthalmologic system includes a selection section, a movement section, a plurality of eye imaging sections, and a control section. The selection section aligns the inspection axis of the inspection section to be used with the reference axis by selectively arranging the inspection section to be used for the inspection at the inspection execution position among the plurality of inspection sections that perform different inspections. . The moving section moves the inspection section to be used that has been placed at the inspection execution position by the selection section. The plurality of eye photographing units photograph the eye to be examined (for example, the anterior segment of the eye to be examined) from different directions in order to detect the position of the eye to be examined. The control unit executes a position detection step and a position adjustment step. In the position detection step, the control unit detects the three-dimensional position of the eye to be examined based on images of the eye to be examined photographed by a plurality of eye imaging units. In the position adjustment step, the controller controls the drive of the moving unit based on the detection result of the three-dimensional position of the eye to be examined, thereby matching the position of the eye to be examined with the examination reference position on the examination axis of the examination unit in use. let Of the imaging optical axes of each of the plurality of eye imaging units, a portion extending straight from the imaging target position is arranged to be inclined with respect to the reference axis. A plurality of eye photographing sections are shared by at least two examination sections.

According to the ophthalmological system according to the present disclosure, the imaging optical axis of each of the plurality of eye imaging units (specifically, the portion extending straight from the imaging target position to the eye imaging unit side) is inclined with respect to the reference axis. Therefore, even if the examination section is selectively switched, the imaging optical axis of the eye imaging section is unlikely to interfere with the examination section. Therefore, the ophthalmological system can perform the examination by selectively aligning the examination axis of any of the examination parts with the reference axis, while sharing the subject's eye photographing part in the examination by a plurality of examination parts. Therefore, compared to the case where each of the plurality of inspection sections is provided with an eye photographing section for detecting the position of the eye to be examined, the examination of the eye to be examined can be performed efficiently with a simple configuration.

Note that by employing the technology according to the present disclosure, the eye imaging section to be examined can be shared by a plurality of examinations without having to always match the examination axes of the plurality of examination sections. Therefore, for example, it is also possible to selectively use a plurality of test sections provided with different casings for testing, without fixing the plurality of test sections inside the same casing. Further, restrictions on the size, shape, etc. of the inspection section that can be used for inspection are less likely to occur. Furthermore, it becomes easy to add a new inspection section to the plurality of inspection sections. It also becomes easy to replace some of the plurality of inspection sections.

The imaging optical axes of the plurality of eye imaging units may be bent by a mirror (including a half mirror or the like) or the like between the eye to be examined and the eye imaging unit. In this case, it is only necessary that the portion of each imaging optical axis that extends straight from the imaging target position (the position of the eye to be photographed) toward the eye imaging unit side is inclined with respect to the reference axis.

The plurality of examination units include various equipment for performing examinations of the eye to be examined (for example, photographing the eye to be examined, measuring ocular characteristics of the eye to be examined, and observing the eye to be examined (including observation for surgery or treatment, etc.). For example, as an examination unit that takes images of the eye to be examined, an OCT device, a laser scanning ophthalmoscope (SLO), a fundus camera, a goniometer, a corneal endothelial cell imaging device (CEM), etc. can be employed. At least one of them can be adopted. At least one of an eye refractive power measuring device, a corneal shape measuring device, an intraocular pressure measuring device, etc. can be adopted as an examination unit that measures the ocular characteristics of the eye to be examined. A photocoagulation device, a YAG laser surgical device, etc., which perform surgery or treatment on the tissue of the eye to be examined while observing the eye, may be used as the examination section.

Note that the inspection reference position may be provided with a certain width within a range where the inspection can be appropriately performed. In other words, the inspection reference position can also be expressed as an inspection reference range. The width of the inspection reference position (width of the inspection reference range) may vary as appropriate depending on the inspection content of each of the plurality of inspection sections. In this case, each test can be appropriately performed by matching the position of the eye to be examined with an appropriate test reference position according to the test content.

Each of the plurality of eye photographing units may be a two-dimensional photographing element that photographs a two-dimensional image of the eye to be examined. In this case, the three-dimensional position of the eye to be examined is appropriately detected based on the two-dimensional image of the eye to be examined photographed by each eye imaging unit. Furthermore, at least one of the plurality of eye photographing units is a one-dimensional light receiving element that photographs a one-dimensional image of the eye to be examined (for example, a line camera that photographs (receives) a bright spot reflected by the eye to be examined). It's okay. Even in this case, the three-dimensional position of the eye to be examined is appropriately detected using a plurality of images (including one-dimensional images).

Each of the plurality of inspection sections may be detachably attached to the selection section. In this case, the degree of freedom of the inspection section to be used is further improved compared to a system in which each of the plurality of inspection sections is fixed to the selection section. For example, it becomes even easier to add a new inspection section to a plurality of inspection sections. It also becomes easier to replace some of the plurality of inspection sections. The configuration of the selection section can also be simplified more easily than when each of the plurality of inspection sections is fixed to the selection section.

However, each of the plurality of inspection sections may be fixed to the selection section. For example, the selection section may include a rotation unit to which a plurality of inspection sections are fixed, and by rotating the rotation unit, the inspection section to be used may be selectively arranged at the inspection execution position.

The plurality of test sections may include at least two test sections that have different test reference positions on the test axis in which the eye to be examined is positioned. The control unit may further execute a determination step of determining which testing unit to use is located at the test execution position among the plurality of testing units. In the position adjustment step, the control unit may match the position of the eye to be examined with the test reference position on the test axis of the used test section determined in the determination step. In this case, the ophthalmological system can make the position of the eye to be examined coincide with the appropriate examination reference position of each of the plurality of examination units while sharing the eye imaging unit. Therefore, inspection by a plurality of inspection units can be appropriately performed.

Note that a specific method for determining the testing section to be used can be selected as appropriate. For example, each test section may be provided with an identifier, an IC tag, or the like for identifying the test section. The control unit may identify the usage testing unit based on the usage testing unit's identifier read by the identifier reader or the information of the usage testing unit's IC tag read by the IC tag reader. In this case, since the testing section to be used is automatically identified, testing efficiency is further improved. Further, the control section may input an instruction signal for specifying one of the plurality of inspection sections. The instruction signal may be generated depending on the content of the test to be performed, or may be input by the user. However, the determined used inspection section may be placed at the inspection execution position by the selection section. In this case, the designated examination section is automatically placed at the examination execution position, and the position of the eye to be examined is matched to an appropriate examination reference position according to the examination section used.

For ophthalmological equipment that does not change the examination section, the working distance is the appropriate distance from the examination window of the examination section (e.g., objective lens, etc.) to the subject's eye, and the position of the subject's eye is set to the inspection reference position according to the working distance. Just make them match. On the other hand, in an ophthalmological system in which the examination part is switched by the selection part, in addition to the appropriate distance from the examination window of the examination part to the eye to be examined, the position of the examination window on the reference axis (if the examination part is removably attached to the selection part) In some cases, the distance from the selection section to the inspection window of the inspection section may also vary from one inspection section to another. Therefore, in the position adjustment step, the control unit matches the appropriate distance from the examination window of the examination unit in use to the eye to be examined, the examination reference position corresponding to the position of the examination window on the reference axis, and the position of the eye to be examined. Good too. In this case, for example, even if the length of the examination part in the direction along the examination axis differs depending on the examination part, the ophthalmological system can appropriately perform the examination by each examination part while sharing the examined eye imaging part. be able to.

The first eye photographing section and the second eye photographing section included in the plurality of eye photographing sections may photograph the eye to be examined from different directions. In the position detection step, the control unit detects the position of the eye to be examined on a two-dimensional plane intersecting the reference axis based on the image photographed by the first eye imaging unit, and detects the position of the eye to be examined by the second eye imaging unit. Based on the photographed image, the position of the eye to be examined in a direction intersecting a two-dimensional plane may be detected. In this case, the three-dimensional position of the eye to be examined is appropriately detected based on the images photographed by the first eye to be examined photographing section and the second eye photographing section to be examined.

However, it is also possible to change the method for detecting the three-dimensional position of the eye to be examined. For example, the control unit determines the three-dimensional position of the eye to be examined based on the feature positions in the images of the eye to be examined taken from different directions by the multiple eye imaging units and the position of each eye imaging unit to be examined. may be detected.

The ophthalmological system may further include at least one bright spot projection unit that projects a bright spot onto the cornea of the eye to be examined. The part of the projection optical axis of the bright spot projection unit that extends straight toward the subject's eye and the part of the imaging optical axis of one of the subject's eye imaging units that extends straight from the imaging target position are on the same plane. may be located. In this case, the bright spot projected onto the cornea of the eye to be examined by the bright spot projection unit is appropriately photographed by one of the eye imaging units to be examined. Therefore, the position of the eye to be examined can be appropriately detected based on the bright spot appearing in the image.

The projection optical axis of the bright spot projection section may be bent by a mirror (including a half mirror or the like) or the like between the subject's eye and the bright spot projection section. In this case, it is sufficient that the portion of each projection optical axis that extends straight toward the subject's eye and the portion of the imaging optical axis that extends straight from the imaging target position are located on the same plane. .

The ophthalmologic system may further include a first bright spot projection unit and a second bright spot projection unit that project bright spots onto the cornea of the subject's eye from different directions. The plurality of eye imaging units may include a first eye imaging unit and a second eye imaging unit. Of the projection optical axes of each of the first bright point projection section and the second bright point projection section, a portion extending straight toward the eye to be examined, and a portion of each of the first eye imaging section and the second eye imaging section to be examined. All of the portions of the photographing optical axis extending straight from the photographing target position may be located on the same plane. In this case, the first bright spot projection section and the second eye photographing section for photographing the bright spot projected onto the eye to be examined by the second bright point projection section can be easily installed in close positions. Further, the second bright spot projection section and the first eye photographing section for photographing the bright spot projected onto the eye to be examined by the first bright point projection section can be easily installed in close positions. Therefore, it becomes easy to simplify the system configuration. It also becomes easier to create a space for arranging the inspection section and the like.

The selection section may detachably attach each of the plurality of inspection sections by holding and releasing the holding of at least one of the plurality of inspection sections. The moving part may include an arm having a plurality of joints and a selection part. The moving section may move the use inspection section by moving the selection section of the arm via the joint. In this case, the ophthalmological system can freely arrange the three-dimensional position of the testing section and the angle of the testing section in accordance with the position and orientation of the eye to be examined.

Note that when the moving unit includes an arm, the eye imaging unit may be provided at the tip of the arm. In this case, the ophthalmologic system can appropriately photograph the subject's eye using the subject's eye photographing section at the tip of the arm while attaching the testing section to the selection section of the arm. When the ophthalmologic system includes a bright spot projection section, a pair of corresponding bright spot projection section and eye photographing section may be fixed to one side and the other side of the reference axis of the arm section. In this case, the position of the eye to be examined using the bright spot is appropriately detected by the bright spot photographing section and the eye photographing section provided in the arm section.

<Embodiment>
(System configuration)
One typical embodiment of the present disclosure will be described below with reference to the drawings. First, with reference to FIG. 1, the system configuration of the ophthalmologic system 1 of this embodiment will be described. As shown in FIG. 1, the ophthalmologic system 1 of this embodiment includes a plurality of examination units 2, a robot arm 3, and a control device 5.

Each of the plurality of inspection units 2 has a mutually different housing. The casing is placed at a predetermined storage position on a predetermined shelf. An identifier 8 for mutually identifying each inspection section 2 is provided on the rear surface of the housing. Further, on the rear surface of the casing, there is provided a connecting section 9 for holding each inspection section 2 to a selection section 37, which will be described later. In this embodiment, the plurality of inspection sections 2 include at least a first inspection section 2A and a second inspection section 2B. An identifier 8A and a connecting section 9A are provided in the casing of the first inspection section 2A. An identifier 8B and a connecting section 9B are provided in the casing of the second inspection section 2B.

Each of the plurality of inspection units 2 includes an inspection optical system for performing different inspections. For example, each inspection section 2 includes an OCT optical system, an SLO optical system, a fundus camera optical system, a goniometric imaging optical system, a corneal endothelial cell imaging optical system, an eye refractive power measurement optical system, a corneal shape measurement optical system, and an intraocular pressure measurement optical system. It includes at least one of a measurement optical system, an observation optical system for use during surgery, an observation optical system for use during treatment, and the like.

The ophthalmological system 1 performs an examination of the eye to be examined in a state in which the examination axis IA (see FIGS. 3, 5, and 6) of each of the plurality of examination units 2 is aligned with the eye to be examined. Specifically, in each of the plurality of inspection units 2, an inspection reference position (which can also be expressed as an alignment position) is set in advance for aligning the position of the eye to be examined during the inspection. The inspection reference position may be a position corresponding to the inspection optical system included in each inspection section 2. In this embodiment, the inspection reference position of each inspection section 2 is set on the inspection axis IA. Therefore, when performing an examination of the eye to be examined using the examination unit 2, the ophthalmological system 1 determines the position of the eye to be examined (more specifically, the aiming position of the eye to be examined) and the examination reference position of the examination unit 2 to be used. Must match on the original. Note that the visual axis of the eye to be examined does not necessarily have to coincide with the examination axis IA. That is, the ophthalmological system 1 can also perform an examination with the visual axis of the eye to be examined shifted from the examination axis IA using a fixation lamp or the like. Further, the inspection reference position may be provided with a certain allowable width depending on the inspection content.

Referring to FIG. 2, the robot arm 3 of this embodiment will be described. The robot arm 3 holds and moves the object. In this embodiment, the object to be moved by the robot arm 3 includes the inspection section 2. That is, the robot arm 3 (specifically, the arm section 30) functions as a moving section that moves the inspection section 2. The robot arm 3 of this embodiment includes an arm section 30. The arm portion 30 has a plurality of joints, and can change its posture by rotating each part via the joints. Specifically, the arm section 30 of the robot arm 3 of this embodiment includes a base 31, a shoulder 32, a lower arm 33, a first upper arm 34, a second upper arm 35, and a selection section 37. Note that in FIG. 2, the rotation axes X1 to X4 are shown by illustrating the directions around the rotation axes X1 to X4.

The base 31 supports the entire arm portion 30. The shoulder 32 is connected to the upper part of the base 31 via the first joint J1. The shoulder 32 rotates with respect to the base 31 around a rotation axis X1 that extends in a direction (vertical direction in this embodiment) intersecting the mounting surface on which the arm portion 30 is mounted. One end of the lower arm 33 is connected to a portion of the shoulder 32 via a second joint J2. The lower arm 33 rotates relative to the shoulder 32 around a horizontally extending rotation axis X2. The first upper arm 34 is connected to an end of the lower arm 33 opposite to the side connected to the shoulder 32 via a third joint J3. The first upper arm 34 rotates relative to the lower arm 33 about a rotation axis X3 extending in the horizontal direction. The second upper arm 35 is connected to the distal end side (the side where the selection section 37 is provided) of the first upper arm 34 via the fourth joint J4. The second upper arm 35 rotates relative to the first upper arm 34 about the rotation axis X4. The selection section 37 is connected to the distal end side of the second upper arm 35. Note that a motor (for example, a step motor, etc.) for rotating each part around each of the rotation axes X1 to X4 is built inside the arm part 30.

The selection section 37 holds and releases the object (in this embodiment, the inspection section 2). In other words, the selection section 37 selects the test section 2 to be used for testing (hereinafter referred to as "use test section") among the plurality of test sections 2 by detachably attaching each of the plurality of test sections 2. Switch selectively. In detail, the selection unit 37 of the present embodiment selectively moves the inspection unit to be used for the inspection from among the plurality of inspection units 2 to the inspection execution position (the position held (attached) to the selection unit 37). Deploy. As a result, the inspection axis IA (see FIGS. 3, 5, and 6) of the in-use inspection section coincides with the reference axis RA of the robot arm 3 (see FIGS. 3, 5, and 6). As an example, the selection unit 37 of the present embodiment holds and releases the connection portion 9 (see FIG. 1) of the inspection unit 2 by changing the distance between the pair of holding pieces using an actuator. However, it is also possible to change the method for holding and releasing the object. For example, the selection unit 37 may switch between holding and releasing the holding of the object by switching between adsorption and release of adsorption on the surface of the object.

The robot arm 3 of this embodiment is provided with position detection optical systems 38S and 38T for detecting the position of the eye to be examined. Specifically, the position detection optical systems 38S and 38T of this embodiment are fixed to the second upper arm 35 including the selection section 37. Therefore, the relative positional relationship between the selection section 37 to which the inspection section 2 is attached and the position detection optical systems 38S and 38T is fixed. Details of the position detection optical systems 38S and 38T will be described later with reference to FIG.

The robot arm 3 includes a control section 39 that performs various controls (for example, control of a motor that rotates each section, an actuator that drives the selection section 37, etc.). Further, the robot arm 3 of this embodiment (specifically, near the tip of the second upper arm 35) is provided with an identifier reader 40 that reads the identifier 8 (see FIG. 1) of each inspection section 2.

Furthermore, the robot arm 3 includes a detection section (for example, an encoder, etc.) for detecting the angle of each part of the arm section 30 (for example, the angle of the shoulder 32 with respect to the base 31, the angle of the lower arm 33 with respect to the shoulder 32, etc.). Be prepared. By detecting all the angles of each part of the arm section 30 by the detection section, the position of the selection section 37 provided at the tip of the arm section 30 is determined. Therefore, for example, even if the operator manually adjusts the angle of each part of the arm section 30 and moves the selection section 37 to a desired position, the control section 39 of the robot arm 3 will control the selected section 37 that has been moved. (for example, the position of the selection unit 37 with respect to the base 31). Note that an example of a detailed configuration of the robot arm is described in, for example, Japanese Patent Application Publication No. 2019-141970.

Returning to the explanation of FIG. The control device 5 is in charge of overall control of the ophthalmological system 1. As an example, a personal computer (hereinafter referred to as "PC") is used as the control device 5 of this embodiment. However, a device other than a PC (for example, at least one of a server, a tablet terminal, a smartphone, etc.) may be used as the control device 5. Furthermore, the control unit 39 of the robot arm 3 and the like may function as a control unit that controls the entire ophthalmologic system 1. Further, the control units of a plurality of devices may cooperate to control the entire ophthalmologic system 1.

The control device 5 includes a CPU (controller) 51 that performs various control processes, and a storage device (NVM) 52. The storage device 52 stores an ophthalmology system control program and the like for executing examination processing (see FIG. 4), which will be described later. The control device 5 is connected to the plurality of inspection units 2 and the robot arm 3 via at least one of wired communication, wireless communication, and a network.

Further, the control device 5 is connected to an operation section 6 and a display section 7. The operation unit 6 is operated by a user in order for the operator (user, etc.) to input various instructions into the ophthalmology system 1 . As the operation unit 6, for example, at least one of a keyboard, a mouse, a touch panel, etc. can be used. Note that a microphone or the like for inputting various instructions may be used together with the operation section 6 or in place of the operation section 6. The display unit 7 displays various images. It goes without saying that the operating section and display section provided in the control device 5 may be used instead of the operating section 6 and the display section 7 externally connected to the control device 5.

(Position detection optical system)
With reference to FIG. 3, the position detection optical systems 38S and 38T of this embodiment will be described. As described above, the position detection optical systems 38S and 38T are used to detect the position of the eye to be examined. FIG. 3 shows a part of the ophthalmological system 1 (near the selection section 37 of the robot arm 3 and the position detection optical systems 38S, 38T) and the eye to be examined in a state where the selection section 37 has placed the test section 2 in use at the test execution position. It is a top view which shows typically the positional relationship of E. In FIG. 3, the direction along the inspection axis IA and the reference axis RA (vertical direction in FIG. 3) is the Z direction. The horizontal direction (left-right direction in FIG. 3) in a plane perpendicular to the Z direction is defined as the X direction. The vertical direction in the plane perpendicular to the Z direction (the direction perpendicular to the paper surface in FIG. 3) is the Y direction.

As shown in FIG. 3, in this embodiment, the axis that passes through the second upper arm of the robot arm 3 and the selection section 37 is the reference axis RA. Although details will be described later, the eye photographing units 55A, 55B and the bright spot projecting units 44A, 44B are arranged with reference to the reference axis RA. Further, in the present embodiment, the test eye E is tested with the testing section 2 attached to the selection section 37. In other words, the position of the inspection section 2 attached to the selection section 37 becomes the inspection execution position of the inspection section 2.

In this embodiment, each test section 2 performs the test with the test axis IA extending straight from each test section 2 aligned with the eye E to be examined. When the in-use inspection unit 2 used for the inspection among the plurality of inspection units 2 is selectively arranged at the inspection execution position (that is, the position attached to the selection unit 37), the inspection axis IA of the in-use inspection unit 2 coincides with the reference axis RA.

The ophthalmologic system 1 includes an eye photographing unit that photographs the eye E to be examined in order to detect the position of the eye E (including the aiming position described later). The ophthalmological system 1 of this embodiment includes a plurality of eye photographing units (first eye photographing unit 55A, second eye photographing unit 55B) that photograph the eye E to be examined from different directions. As a result, the three-dimensional position of the eye E to be examined is detected based on the image of the eye E photographed by each of the plurality of eye imaging units. Note that in this embodiment, a two-dimensional imaging element that captures a two-dimensional image of the eye E to be examined is used in each of the plurality of eye imaging units. However, it is also possible to employ a one-dimensional light receiving element (for example, a line camera, etc.) that captures a one-dimensional image of the eye to be examined in at least one of the plurality of eye imaging units.

In this embodiment, among the photographing optical axes 55SA and 55SB of the plurality of eye photographing units 55A and 55B (optical axes extending from the eye E, which is the photographing target, to the respective eye photographing units 55A and 55B), the eye to be examined is A portion extending straight from the imaging target position where E is located is arranged obliquely with respect to the reference axis RA. Therefore, as shown in FIG. 3, even if the ophthalmological system 1 selectively switches the examination section 2, the photographing optical axes 55SA and 55SB of the eye photographing sections 55A and 55B are unlikely to interfere with the examination section 2 in use. Therefore, the ophthalmological system 1 of the present embodiment shares the subject eye photographing sections 55A and 55B in the examination by a plurality of examination sections 2, and selectively changes the examination axis IA of one of the examination sections 2 to the reference axis RA. A test can be performed by matching. Therefore, compared to the case where each of the plurality of inspection units 2 is provided with an eye photographing unit to be examined, the examination of the eye to be examined can be performed efficiently with a simple configuration.

In this embodiment, the imaging optical axes 55SA and 55SB of the eye imaging units 55A and 55B extend linearly from the eye E, which is the imaging target, to the eye imaging units 55A and 55B, respectively. Therefore, in this embodiment, the portion of the imaging optical axes 55SA, 55SB that extends straight from the imaging target position where the eye E is located is the entire imaging optical axis 55SA, 55SB. However, the imaging optical axes 55SA and 55SB may be bent by a mirror or the like (including a half mirror or the like) between the eye E and the eye imaging units 55A and 55B. In this case, if a portion of the entire photographing optical axis 55SA, 55SB that extends straight from the photographing target position toward the respective eye photographing sections 55A, 55B is inclined with respect to the reference axis RA, The optometry photographing sections 55A and 55B can be easily used in common by a plurality of inspection sections 2.

In this embodiment, the reference image is set based on the image photographed by the first eye photographing section 55A of the first eye photographing section 55A and the second eye photographing section 55B that photograph the eye E from different directions. The position of the eye E to be examined on a two-dimensional plane (on the XY plane in FIG. 3) intersecting the axis RA is detected. Furthermore, the position of the eye E to be examined in the direction intersecting the aforementioned XY plane (in the present embodiment, the Z direction along the reference axis RA) is detected based on the image photographed by the second eye photographing section 55B. . As a result, the three-dimensional position of the eye E to be examined is appropriately detected.

The ophthalmologic system 1 includes bright spot projection units 44A and 44B that project bright spots onto the cornea Ec of the eye E to be examined. In this embodiment, a plurality of bright spot projection sections 44A, 44B are provided corresponding to each of the plurality of eye photographing sections 55A, 55B. However, it is also possible to change the number of bright spot projection sections.

In the present embodiment, a portion of the optical axis 44PA of the projection of the bright spot by the first bright spot projection unit 44A that extends straight toward the imaging target position where the eye E is located, and a portion of the optical axis 44PA of the bright spot projected by the first bright spot projection unit 44A are photographed by the first eye imaging unit 55A. A portion of the optical axis 55SA that extends straight from the imaging target position toward the first eye imaging unit 55A is located on the same plane. As a result, the bright spot projected onto the cornea Ec of the eye E by the first bright spot projection section 44A is appropriately photographed by the first eye photographing section 55A. Also, of the projection optical axis 44PB of the bright spot by the second bright spot projection section 44B, a portion extending straight toward the photographing target position, and the photographing optical axis 55SB of the second eye photographing section 55B, which is located at the photographing target position. A portion extending straight from the side toward the second eye photographing section 55B is located on the same plane. As a result, the bright spot projected onto the cornea Ec of the eye E by the second bright spot projection section 44B is appropriately photographed by the second eye photographing section 55B.

In this embodiment, the projection optical axis 44PA of the bright spot by the first bright spot projection unit 44A is bent by the half mirror 50S, and then extends straight toward the photographing target position of the eye E to be examined. Therefore, of the entire projection optical axis 44PA of the first bright spot projection section 44A, the portion extending straight from the half mirror 50S toward the imaging target position and the imaging optical axis 55SA of the first eye imaging section 55A are The first bright spot projection section 44A and the first eye photographing section 55A are arranged so as to be located on the same plane. Further, the projection optical axis 44PB of the bright spot by the second bright spot projection unit 44B is bent by the half mirror 50T, and then extends straight toward the photographing target position of the eye E to be examined. Therefore, of the entire projection optical axis 44PB of the second bright spot projection section 44B, the portion extending straight from the half mirror 50T toward the imaging target position and the imaging optical axis 55SB of the second eye imaging section 55B are The second bright spot projection section 44B and the second eye photographing section 55B are arranged so as to be located on the same plane.

Specifically, in the present embodiment, a portion of the projection optical axes 44PA and 44PB of the first bright spot projection unit 44A and the second bright spot projection unit 44B extends straight toward the photographing target position of the eye E to be examined. Of the imaging optical axes 55SA and 55SB of the first eye imaging unit 55A and the second eye imaging unit 55B, all of the portions extending straight from the imaging target position are located on the same plane. In this case, the first bright spot projection section 44A and the second eye photographing section 55B can be easily installed at close positions. Similarly, the second bright spot projection section 44B and the first eye photographing section 55A can be easily installed at close positions. Therefore, it becomes easy to simplify the configuration of the ophthalmological system 1. It also becomes easier to secure a space for arranging the usage inspection section 2.

Furthermore, in the present embodiment, a portion of the projection optical axis 44PA of the first bright spot projection section 44A that extends straight toward the imaging target position of the eye E to be examined, and a photographing optical axis 55SB of the second eye imaging section 55B. Of these, the portion extending straight from the photographing target position is made coaxial by an optical member (half mirror 50S in this embodiment). Similarly, a portion of the projection optical axis 44PB of the second bright spot projection section 44B that extends straight toward the photographing target position of the eye E, and a portion of the photographing optical axis 55SA of the first eye photographing section 55A are photographed. A portion extending straight from the target position is made coaxial by an optical member (half mirror 50T in this embodiment). Therefore, the installation positions of the first bright spot projection section 44A and the second eye photographing section 55B can be more easily brought closer to each other, and the installation positions of the second bright point projection section 44B and the first eye photographing section 55A can be made closer to each other. It can be approached even more easily.

As shown in FIG. 3, in this embodiment, two position detection optical systems 38S and 38T are arranged on one side of the second upper arm 35 so that the second upper arm 35 on the distal end side of the robot arm 3 is sandwiched therebetween. They are provided symmetrically about the reference axis RA on one side and the other side. The first bright spot projection section 44A and the second eye photographing section 55B are both provided inside the small casing of one of the position detection optical systems 38S. Both the second bright spot projection section 44B and the first eye photographing section 55A are provided within the small casing of the other position detection optical system 38T. As a result, the configurations of the position detection optical systems 38S and 38T are simplified.

(Inspection processing)
The examination processing executed by the ophthalmologic system 1 of this embodiment will be described with reference to FIGS. 4 to 6. In the test process, one of the plurality of test sections 2 is selectively switched, and then the test section 2 is positioned with respect to the eye E to be examined (so-called "alignment"). Thereafter, the test section 2 tests the eye E to be examined. The CPU 51 of the control device 5 executes the inspection process illustrated in FIG. 4 according to the inspection process program stored in the storage device 52. However, as described above, the inspection process may be executed by a control unit other than the CPU 51 of the control device 5, or may be executed by a plurality of control units working together.

First, the CPU 51 determines whether or not an examination content to be executed by the ophthalmology system 1 has been specified among a plurality of examination contents executable by the plurality of examination units 2 (S1). For example, the user may specify the inspection content by operating the operation unit 6. Further, the CPU 51 may input an instruction signal specifying the contents of the examination from an electronic medical record system or the like. If the inspection content has not been specified (S1: NO), the system enters a standby state.

When the inspection content is specified (S1: YES), the CPU 51 automatically determines which inspection unit 2 to be used to execute the specified inspection content from among the plurality of inspection units 2 (S2). In the present embodiment, each of a plurality of inspection contents is associated in advance with an inspection unit 2 that executes the inspection contents. For example, if the content of the examination is to take a tomographic image of the fundus of the eye or a tomographic image of the anterior segment of the eye, the examination section 2 equipped with an OCT optical system is automatically determined as the examination section 2 to be used. Further, if the test content is intraocular pressure measurement, the test section 2 equipped with the intraocular pressure measurement optical system is automatically determined as the test section 2 to be used.

Next, the CPU 51 selectively places the used inspection section 2 determined in S2 among the plurality of inspection sections 2 at the inspection execution position (in this embodiment, the position attached to the selection section 37 of the robot arm 3). (S3). As a result, as shown in FIGS. 3, 5, and 6, the inspection axis IA of the in-use inspection section 2 coincides with the reference axis RA.

As an example, in the ophthalmological system 1 of this embodiment, the storage position of each of the plurality of examination sections 2 is stored in advance in the storage device 52, as shown in FIG. The CPU 51 controls the drive of the robot arm (an example of a moving unit) 3 to bring the tip portion closer to the rear surface of the casing of the inspection unit 2 determined in S2. Next, the CPU 51 identifies the testing section 2 by reading the identifier 8 on the rear surface of the housing of the testing section 2 using the identifier reader 40 provided at the tip of the robot arm 3 . If the inspection section 2 identified by the identifier 8 is the usage inspection section 2 determined in S2, the CPU 51 causes the selection section 37 of the robot arm 3 to hold the connection section 9 of the usage inspection section 2, and selects the usage inspection section 2. The use inspection section 2 is attached to the section 37. As a result, among the plurality of inspection units 2, the inspection unit 2 in use that executes the specified inspection content is placed at the inspection execution position.

Note that it is also possible to change the method of arranging the use inspection section 2 in the selection section 37. For example, the user himself/herself may select an appropriate usage inspection section 2 and attach it to the selection section 37. In this case, the CPU 51 may determine the usage inspection unit 2 by reading the identifier of the usage inspection unit 2 attached to the selection unit 37 by the user.

Next, the CPU 51 specifies the inspection reference position IP of the usage inspection section 2 (S4). The test reference position IP is a reference position for positioning the eye E during the test. Although the details will be described later, the CPU 51 matches the test reference position IP of the use test section 2 with the test eye E (more specifically, the aiming position of the test eye E), Perform the following checks. As described above, in this embodiment, the test eye E is tested with the test axis IA of the testing section 2 in use aligned with the test eye E (see FIGS. 5 and 6). Therefore, the ophthalmologic system 1 of the present embodiment performs alignment to match the inspection reference position on the inspection axis IA of the inspection unit 2 used and the position of the eye E to be examined (specifically, the aiming position of the eye E to be examined). Execute.

As shown in FIGS. 5 and 6, the plurality of inspection sections 2 include at least two inspection sections 2 having different inspection reference positions IP on the inspection axis IA. For example, the inspection reference position IP of the inspection section 2B illustrated in FIG. 6 is closer to the inspection section 2B than the inspection reference position IP of the inspection section 2A illustrated in FIG. In S4, the inspection reference position IP of the used inspection section 2 attached to the selection section 37 among the plurality of inspection sections 2 is specified.

Note that the CPU 51 specifies the inspection reference position IP of the usage inspection section 2 according to the working distance of the usage inspection section 2 that is attached to the selection section 37 among the plurality of inspection sections 2 . Therefore, even when a plurality of inspection sections 2 having different working distances are used, inspection by each inspection section 2 is appropriately performed. Further, the inspection reference position IP may be provided with a certain allowable width. The allowable width of the inspection reference position IP may change depending on the inspection section 2.

In detail, in this embodiment, as shown in FIGS. 5 and 6, each of the inspection windows 21A, 21B (for example, an objective lens, etc.) of the inspection units 2A, 2B on the inspection axis IA is In addition to the appropriate distance to the aiming position of the eye E to be examined), the distance from the selection section 37 to which the examination sections 2A and 2B are attached to the examination windows 21A and 21B (that is, the distance between the examination windows 21A and 21B on the reference axis RA) 21B position) may also change for each inspection section 2. Therefore, the CPU 51 determines the appropriate distance from the inspection windows 21A, 21B of the used inspection section 2 attached to the selection section 37 to the eye E to be examined, and the distance from the selection section 37 to the inspection windows 21A, 21B of the used inspection section 2. (That is, the positions of the inspection windows 21A and 21B on the reference axis RA), the inspection reference position IP of the inspection section 2 in use is specified. As a result, even if the length of the inspection section 2 on the inspection axis IA (reference axis RA) differs depending on the inspection section 2, the inspection by each inspection section 2 is appropriately executed.

Next, the CPU 51 selects either the pupil reference position PP or the cornea reference position CP of the eye E to be used in the use test unit 2 according to the test content of the use test unit 2 arranged at the test execution position by the selection unit 37. The target position is set to match the inspection reference position IP of (S5). As a result, in the processes of S8 and S9, which will be described later, the inspection reference position IP of the inspection unit 2 in use matches the position corresponding to the content of the examination to be performed among the pupil reference position PP and corneal reference position CP of the eye E to be examined. . Therefore, even when the inspections by a plurality of inspection units 2 are switched and executed, each inspection is executed with appropriate alignment performed according to the content of the inspection to be executed.

FIG. 5 is an explanatory diagram for explaining the process of matching the inspection reference position IP of the inspection unit 2A with the pupil reference position PP of the eye E to be examined when inspecting the fundus of the eye. As shown in FIG. 5, when the test content of the testing section 2 is related to the fundus of the eye E, the CPU 51 sets the pupil reference position PP as the aiming position. As a result, the problem of light used for fundus examination being blocked by the pupil Ep (occurrence of so-called "vignetting") can be easily suppressed.

In addition, in this embodiment, the center position of the pupil Ep of the eye E to be examined is used as the pupil reference position PP. The pupil center position can be easily detected accurately by image processing of the image of the eye E to be examined. Therefore, by setting the pupil center position as the aiming position, alignment accuracy is improved.

FIG. 6 is an explanatory diagram for explaining the process of matching the test reference position IP of the test section 2B with the corneal reference position CP of the eye E to be examined when testing the anterior segment of the eye. As shown in FIG. 6, when the test content of the testing section 2 is related to the anterior segment of the subject's eye E, the CPU 51 sets the corneal reference position CP as the aiming position. As a result, alignment is performed with reference to the cornea Ec located on the side closest to the testing section 2 in use in the eye E, so that the accuracy of the test regarding the anterior segment of the eye can be easily improved.

In addition, in this embodiment, the vertex position of the cornea Ec of the eye E to be examined is used as the corneal reference position CP. The corneal vertex position is detected with high accuracy by performing image processing on the image of the eye E to be examined and detecting a bright spot appearing at the corneal vertex. Therefore, by setting the corneal apex position as the aiming position, alignment accuracy is improved.

Here, if the examination content is determined depending on the examination part 2, an appropriate aiming position (pupil reference position PP or corneal reference position CP) is associated with each of the plurality of examination parts 2 in advance. It may be. For example, the examination unit 2 that examines the fundus of the eye may be associated with a pupil reference position PP as an appropriate aiming position. Further, the testing section 2 that tests the anterior segment of the eye may be associated with a corneal reference position CP as an appropriate aiming position. The CPU 51 may set, as the aim position, the position associated with the inspection section 2 in use that was automatically determined in S2, out of the pupil reference position PP and the cornea reference position CP. In this case, the inspection reference position IP of the inspection section 2 is aligned with the aiming position suitable for each of the plurality of inspection sections 2, out of the pupil reference position PP and the corneal reference position CP.

Further, the CPU 51 may set the aiming position based on information indicating the inspection content together with the determination result of the usage inspection section 2 or instead of the determination result of the usage inspection section 2. For example, the imaging contents that can be executed by the examination unit 2 equipped with the OCT optical system include both imaging of a tomographic image of the fundus of the eye and imaging of a tomographic image of the anterior segment of the eye. Therefore, when the inspection unit 2 in use is equipped with an OCT optical system, the CPU 51 stores information (for example, In this embodiment, information on the inspection content specified in S1) may be acquired, and the aim position may be set according to the acquired information.

Next, the CPU 51 places the use testing section 2 attached to the selection section 37 in front of the eye E to be examined, and presents a fixation target for fixating the eye E to be examined (S6). In this embodiment, a fixation target presentation optical system for presenting a fixation target is provided in each of the plurality of inspection sections 2.

Next, the CPU 51 detects the three-dimensional position of the eye E to be examined based on the images of the eye E photographed by the eye imaging units 55A and 55B (S8). As described above, in this embodiment, the position of the eye E on the two-dimensional plane intersecting the reference axis RA is detected based on the image photographed by the first eye photographing section 55A. Furthermore, the position of the eye E to be examined in the direction intersecting the aforementioned XY plane is detected based on the image photographed by the second eye photographing section 55B. As a result, the three-dimensional position of the eye E to be examined is appropriately detected. Furthermore, in this embodiment, the position of the eye E to be examined is detected with high accuracy based on the bright spots projected onto the cornea Ec of the eye E by the bright spot projection units 44A and 44B among the captured images. is also possible.

The CPU 51 controls the drive of the robot arm (moving unit) 3 based on the detection result of the position of the eye E in S8, thereby determining the inspection reference position IP on the inspection axis IA of the inspection unit 2 and the eye E to be inspected. match the positions of (S9). Specifically, by controlling the drive of the robot arm 3, the CPU 51 sets the inspection reference position IP of the used inspection unit 2 specified in S4 and the aim position (pupil reference position PP) of the eye E set in S5. or the corneal reference position CP). As described above, in this embodiment, the inspection reference position IP on the inspection axis IA of the usage inspection section 2 specified in S4 is matched with the aiming position.

For example, when matching the test reference position IP with the pupil center position, the CPU 51 detects the pupil Ep of the eye E through image processing on the image of the eye E, and determines the pupil center position based on the detection result of the pupil Ep. May be detected. The CPU 51 may control the drive of the robot arm 3 so that the detected pupil center position matches the inspection reference position IP in three dimensions. In addition, when matching the inspection reference position IP and the corneal apex position, the CPU 51 detects the position of a bright spot appearing on the cornea Ec by image processing on the image of the eye E, and determines the corneal apex position based on the detected position. May be detected.

The processes of S8 to S10 are repeated until the alignment is completed (S10: NO). When the aiming position and the inspection reference position IP match and the alignment is completed (S10: YES), the CPU 51 executes the inspection of the eye E by the inspection unit 2 (S12). In this embodiment, a fully automatic process is performed in which an inspection is automatically performed when alignment is completed. However, the CPU 51 may notify the user that the alignment has been completed, and execute the inspection upon input of an inspection start instruction from the user. When the inspection is completed, the process returns to S1.

The techniques disclosed in the above embodiments are merely examples. Therefore, it is also possible to modify the techniques exemplified in the above embodiments. It is also possible to employ only some of the techniques illustrated in the above embodiments in the ophthalmologic system 1. For example, there is a technique in which the position detection optical systems 38S and 38T including the eye imaging units 55A and 55B are shared by a plurality of inspection units 2, and a technique in which the aiming position is set to either the pupil reference position PP or the cornea reference position CP depending on the examination content. It is also possible to employ only one of the techniques for setting in the ophthalmologic system 1. For example, if a technique in which the position detection optical systems 38S and 38T are shared by a plurality of inspection sections 2 is not adopted, each of the plurality of inspection sections 2 may be provided with a position detection optical system.

The process of setting the aiming position in S5 of FIG. 4 is an example of the "aiming position setting step." The process of detecting the position of the eye E (specifically, the aim position) in S8 of FIG. 4 is an example of a "position detection step." The process of matching the inspection reference position IP and the eye to be examined E (specifically, the aim position of the eye to be examined E) in S9 of FIG. 4 is an example of a "position adjustment step." The process of determining the used inspection unit 2 in S2 of FIG. 4 is an example of a "determination step."

1 Ophthalmology system 2 (2A, 2B) Examination section 3 Robot arm 5 Control device 37 Selection section 38S, 38T Position detection optical system 44A First bright point projection section 44PA First projection optical axis 44B Second bright point projection section 44PB Second Projection optical axis 51 CPU
52 NVM
55A First eye photographing section 55SA First photographing optical axis 55B Second eye photographing section 55SB Second photographing optical axis IA Examination axis IP Examination reference position RA Reference axis E Examine eye Ep Pupil Ec Cornea PP Pupil reference position CP Corneal reference position

Claims (6)

An ophthalmological system that examines an eye to be examined with an examination axis aligned with the eye to be examined,
A selection unit that aligns the inspection axis of the used inspection unit with a reference axis by selectively arranging the used inspection unit used for the inspection at the inspection execution position among the plurality of inspection units that perform different tests from each other; ,
a moving unit that moves the in-use inspection unit that has been placed at the inspection execution position by the selection unit;
a plurality of eye photographing units that photograph the eye to be examined from mutually different directions in order to detect the position of the eye to be examined;
a control unit;
Equipped with
The control unit includes:
a position detection step of detecting a three-dimensional position of the eye to be examined based on images of the eye to be examined photographed by the plurality of eye imaging units;
a position adjustment step of aligning the position of the eye to be examined with an inspection reference position on the examination axis of the inspection unit in use by controlling the drive of the moving unit based on the detection result of the three-dimensional position of the eye to be examined; ,
Run
Of the imaging optical axes of each of the plurality of eye imaging units, a portion extending straight from the imaging target position is arranged at an angle with respect to the reference axis,
An ophthalmological system characterized in that the plurality of eye photographing units are shared by at least two examination units. The ophthalmological system according to claim 1,
The ophthalmologic system is characterized in that the selection section removably mounts each of the plurality of inspection sections. The ophthalmological system according to claim 1 or 2,
The plurality of test sections include at least two test sections in which the test reference positions on the test axis in which the eye to be examined is positioned are different from each other,
The control unit includes:
further performing a determination step of determining the used inspection unit located at the inspection execution position among the plurality of inspection units;
The ophthalmological system is characterized in that, in the position adjustment step, the position of the eye to be examined is matched with the examination reference position on the examination axis of the used examination section. The ophthalmologic system according to any one of claims 1 to 3,
The plurality of eye imaging units include a first eye imaging unit and a second eye imaging unit,
In the position detection step, the control unit includes:
Detecting the position of the eye to be examined on a two-dimensional plane intersecting the reference axis based on the image photographed by the first eye imaging unit,
An ophthalmologic system that detects a position of the eye to be examined in a direction intersecting the two-dimensional plane based on an image photographed by the second eye imaging unit. The ophthalmologic system according to any one of claims 1 to 4,
further comprising at least one bright spot projection unit that projects a bright spot onto the cornea of the eye to be examined;
A portion of the projection optical axis of the bright spot projection unit that extends straight toward the eye to be examined, and a portion of the imaging optical axis of any of the eye imaging units to be examined that extends straight from the imaging target position. , an ophthalmologic system characterized by being located on the same plane. The ophthalmologic system according to any one of claims 1 to 4,
further comprising a first bright spot projection unit and a second bright spot projection unit that project bright spots onto the cornea of the subject's eye from mutually different directions,
The plurality of eye imaging units include a first eye imaging unit and a second eye imaging unit,
Of the projection optical axes of each of the first bright spot projection unit and the second bright spot projection unit, a portion extending straight toward the eye to be examined, and the first eye imaging unit and the second eye imaging unit to be examined. An ophthalmologic system characterized in that all of the portions of the photographing optical axes of each section extending straight from the photographing target position are located on the same plane.

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