JP3429529B2 - Surgical microscope - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical microscope provided with an image pickup means for picking up an image of an object to be observed, such as a surgical site, and a display means for displaying an image by the image pickup means. About. 2. Description of the Related Art In recent years, with the development of surgical methods and surgical tools, fine surgeries, so-called microsurgery, have been frequently performed. As in microsurgery, as in the case of ophthalmology and neurosurgery, an operating microscope having a mirror having an observation optical system for magnifying and observing an operation site is used. [0003] Generally, an operating microscope is composed of a mirror body composed of a microscope for magnifying and observing an operation site, and a microscope supporting device for moving and holding the mirror body at a desired position and angle. A surgical microscope having an observation optical system having an objective optical system and an image pickup means is also known, for example, from Japanese Patent Application Laid-Open No. Hei 3-39711. This has an image pickup means having a light receiving surface at an image forming position of the object to be observed by the objective optical system, displays an image picked up by the image pickup means on a display as a display means, and displays the image displayed on the display. It is something that can be observed. [0005] Further, in Japanese Patent No. 259265, an image obtained by an imaging means is displayed on a head-mounted display or a television monitor attached to the operator's head, and the operator uses a reflecting mirror to each of the right eye. , So that the monitor image of the left eye can be observed. [0006] However, the surgical microscope has both eyes attached to the eyepiece, and when observing the operated part as the part to be observed, the position of the operated part and the observation direction (line of sight) ) Is different, so there is a problem that if you are not used to it, you cannot grasp the feeling. [0007] Although the head-mounted display can solve the above-mentioned problems, there is an operational problem because it is not possible to obtain a sense of distance between the operator himself and the operation site. The present invention
The purpose of the surgery is to focus on the above circumstances, and the surgeon has a line of sight in the direction of the operative site, provides a sense of distance between the operative and the operative site, and allows the operator to work without discomfort. It is to provide a microscope. [0008] In order to achieve the above object, the present invention provides an imaging means for imaging a subject,
Displaying an image of the subject imaged by the imaging means;
Possible display means and the test object displayed on the display means
The observer can observe the virtual image of the subject based on the image of the body
Observation means having a simple observation unit, provided in the observation means
Observing the image of the subject displayed on the display means
A projection optical system for projecting the image onto the
Imaging position detection capable of detecting an imaging position of the subject to be detected
Means and a position of a virtual image of the subject recognized by the observer
And the projection optical system so that
Changes the position of the projected image projected on the observation unit.
And a projection changing means . Therefore, the operator can operate the operation part while observing the stereoscopic image displayed on the display means,
The surgeon perceives the distance from the observation eye to the operative site equal to the distance from the observation eye to the monitor image. Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show a first embodiment. Reference numeral 1 denotes a mirror body, in which a stereoscopic imaging optical system 2 is provided. The stereoscopic imaging optical system 2 includes a pair of objective lenses 3L and 3L.
R, a pair of variable power optical systems 4L, 4R, a pair of imaging lenses 5
L, 5R and imaging devices 6L, 6R as imaging means are arranged obliquely toward the operative part 7 as the part to be observed. The imaging devices 6L and 6R are composed of a color separation prism, an R imaging device, a G imaging device, and a B imaging device.
The RGB image information signal is converted into an image signal by an image generation circuit, and a monitor 10 described later as a display unit is used.
L and 10R are displayed as images. A lens barrel 8 is integrally provided on one side of the lens body 1. The lens barrel 8 is provided with eyepieces 9L and 9R that can be adjusted to a distance S between the left and right pupils. A monitor 10L for displaying images obtained by the imaging devices 6L and 6R,
10R are provided. In addition, mirrors 11L and 11 are provided inside the lens barrel 8 so that the inward angle of the surgeon coincides with the operation section 7 and the images displayed on the monitors 10L and 10R are guided to the eyepieces 9L and 9R.
R and projection lenses 12L and 12 that form a virtual image of the monitor image at a position equal to the distance L between the mirrors 11L and 11R and the surgical site 7
R is provided to form a pair of left and right projection optical systems 13L and 13R. According to the surgical microscope configured as described above, the operator perceives the distance P from the observation eyes 14L and 14R to the operation part 7 as equal to the distance from the observation eyes 14L and 14R to the monitor image. If the exit pupil diameter E is φ25 mm or more and the distance S between the left and right pupils is 65 mm, any operator can observe without adjusting the interpupillary distance. Therefore, since the surgeon has a line of sight in the direction of the operative site 7 and feels equal to the sense of distance when viewing the operative site 7 with the naked eye, the operation can be performed without a sense of incongruity. FIGS. 3 and 4 show a second embodiment, in which a mirror 17 of an operating microscope is mounted on a support shaft 16 supported on a ceiling or the like of an operating room 15. An optical system (not shown) is built in. A head-mounted display 19 is mounted on the operator's head 18. The display 19 has a monitor 20 for displaying an image obtained by an image pickup device (not shown) in the mirror 17 and a monitor 20. A projection lens 22 which is opposed to and is movable by a driving means 21 is provided. Further, the head mounted display 19
A mirror 23 facing the projection lens 22 and a mirror 24 facing the operator's eyes are provided at the front of the monitor 20. The operator can monitor the monitor 20 via the mirrors 23, 24 and the projection lens 22.
Can be observed. In addition, near the operation section 25, a transmitting section 26 of the ultrasonic position sensor is provided.
Is installed, and a receiving unit 27 is attached to the front of the head mounted display 19. When the surgeon mounts a head-mounted display 19 on the head 18 and performs an operation while observing the display 19, the head-mounted display 19 and the transmitting section 26 installed near the operation section 25 are provided. The distance is detected by the ultrasonic position sensor including the reception unit 27, and the distance between the operation unit 25 and the eye of the operator is calculated by the distance calculation unit. Then, the projection lens 22 is moved in the front-rear direction by the driving unit 21 according to the calculated distance,
The position where the monitor virtual image is provided to the operator can be changed. Further, even when the surgeon wears the head-mounted display 19, the surgeon feels a change in the relative distance from the operation section 25, and can obtain an actual sense of distance. 5 to 7 show examples of disclosure, and FIG. 5 shows a mirror 31 of an operating microscope. This mirror 31 has one objective lens 32, a pair of imaging lenses 34L and 34R, and imaging means. Imaging device 35
L and 35R are arranged in this order from the side of the operative part 36 as the part to be observed. The image pickup devices 35L and 35R are composed of a color separation prism, an R image pickup device, a G image pickup device and a B image pickup device, and the RGB image information signals are processed by an image processing circuit including processors 37L and 37R as image generation circuits. It is connected to the unit 33. Further, the processors 37L and 37R include an image coincidence portion detection circuit 38 comprising a recognition circuit for detecting an overlapping position (a portion where no parallax occurs) in the left and right images.
And a motion detection circuit 3 for detecting motion in left and right images
The parallax calculating circuit 40 and the stereoscopic effect variable operation circuit 41 are connected to 9L and 39R, and image signals are transmitted from the processors 37L and 37R. The parallax calculating circuit 40 further outputs the position signal output of the image matching portion detecting circuit 38 and the motion detecting circuits 39L and 39L.
It is connected so that the position signal output of 9R is input. Further, the calculation output from the parallax calculation circuit 40 and the variable data β from the memory 42 are input to the three-dimensional effect variable calculation circuit 41. FIG. 7 shows the image processing operation. The left and right images of the image 43L for the left eye and the image 43R for the right eye are synthesized by the image matching portion detection circuit 38, and the left and right images of the synthesized image 44 are obtained. The motion is detected by the motion detection circuits 39L and 39R, and the corresponding points are checked. Here, d is the distance of the shift between the left and right images, and the image 43L for the right eye is different from the image 43L for the left eye.
R is shifted as shown by the broken line. When the distance d between the corresponding points based on one image is enlarged by β times by the calculation output by the parallax calculation circuit 40 and the variable data β from the memory 42, as shown in 45, the shift amount becomes d × β. Become. Further, by separating the image 45L for the left eye and the image 45R for the right eye, a large stereoscopic effect can be obtained. That is,
Numeral 46 indicates a change in the fused image. For example, the image of a triangular pyramid becomes β times. Conventionally, to change the three-dimensional appearance, a mirror,
Although the movement or rotation of the prism and the like is necessary, the moving mechanism of the optical system is necessary. In addition, the operation space can be increased, and the operability can be improved. As described above, the surgical microscope according to the present invention uses the image of the subject imaged by the imaging means as a display device.
The image displayed on the column and the image displayed on the display means
The image is projected onto the observation unit via the projection optical system, and the operator
The image of the subject displayed on the display means by observing through
The image can be recognized as a virtual image. Also change projection
Means for imaging the subject detected by the imaging position detecting means;
Projection optical system projects onto the observation unit according to the image position
Changing the projection position and size of the projected image
Then, the position of the virtual image recognized by the operator and the imaging position of the subject
Can be substantially matched. That is, the observation direction of the operator is
Even when the subject is displaced from the imaging position, the position of the virtual image
By changing the position to approximately match the position of the subject,
The surgeon can always know the actual position of the subject
You. Therefore, the distance between the surgeon and the surgical site is obtained,
It is possible to provide a surgical microscope that can work without feeling
You.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic plan view of a surgical microscope according to a first embodiment of the present invention. FIG. 2 is a schematic side view and a front view of the surgical microscope according to the embodiment. FIG. 3 is a configuration diagram of a surgical microscope and a head mounted display according to a second embodiment of the present invention. FIG. 4 is a configuration diagram of an electric system of the embodiment. FIG. 5 is a configuration diagram showing a first disclosed example of the surgical microscope; FIG. 6 is a block diagram of an electric system according to the disclosure example. FIG. 7 is an operation explanatory diagram of the disclosure example. [Description of Signs] 1 Mirror 2 Stereoscopic imaging optical system 3L, 3R Objective lens 4L, 4R Magnifying lens 6L, 6R Imaging device 10L, 10R Monitor 13L, 13R Projection optical system

──────────────────────────────────────────────────の Continued on the front page (72) Inventor Hiroshi Fujiwara 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-Limpus Optical Industry Co., Ltd. (72) Inventor Masahiro Kanada 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-Limpus Optical Industry Co., Ltd. (72) Inventor Toyoharu Harisawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo In-Olympus Optical Industry Co., Ltd. (72) Susumu Takahashi 2-43-2, Hatagaya, Shibuya-ku, Tokyo O-Limpus Optical Co., Ltd. (72) Inventor Shinsho Yasui 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus Optical Co., Ltd. (72) Inventor Katsuyuki Saito 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. O Olympus Optical Co., Ltd. (72) Inventor Yoshinao Daiaki 2-43-2 Hatagaya, Shibuya-ku, Tokyo (56) References JP-A-4-324409 (JP, A) JP-A-63-240851 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G02B 21 / 00 A61B 19/00 506

Claims (1)

(57) Claims 1. An imaging means for imaging an object, and an image of the object imaged by the imaging means is displayed.
Possible display means and before the image based on the image of the subject displayed on the display means
A virtual image of the subject having an observing section that allows the observer to observe the virtual image
Observation means and said displayed on said display means provided on the observing means
A projection optical system that projects an image of the subject onto the observation unit, and an imaging position of the subject that is imaged by the imaging unit
Imaging position detecting means capable of detecting the position of the virtual image of the subject recognized by the observer and the position of the virtual image of the subject.
The projection optical system moves forward so as to match the imaging position.
Projection to change the position of the projected image projected on the observation section
A surgical microscope, comprising: a shadow changing unit .