JP3650140B2 - Surgical microscope - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to an imaging microscope for imaging an observed portion such as a surgical site and a surgical microscope provided with a display unit for displaying an image obtained by the imaging unit.
[0002]
[Prior art]
In recent years, with the development of surgical methods and surgical tools, fine surgery, so-called microsurgery, has been frequently performed. For microsurgery, a surgical microscope equipped with a mirror having an observation optical system for magnifying and observing a surgical part is used as seen in examples in ophthalmology and neurosurgery.
[0003]
In general, a surgical microscope is composed of a mirror body composed of a microscope for magnifying and observing a surgical site, and a microscope support device for moving and holding the mirror body at a desired position and angle.
[0004]
A surgical microscope having an observation optical system having an objective optical system and an imaging means is also known, for example, in Japanese Patent Laid-Open No. 3-39711. This has an image pickup means having a light receiving surface at the imaging position of the object to be observed by the objective optical system, and 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 can be observed.
[0005]
Further, in German 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 reflector to make the right eye and left eye, respectively. The monitor image can be observed.
[0006]
[Problems to be solved by the invention]
However, when the imaging means and the display means are arranged on the eyepiece of the surgical microscope, the mirror becomes large and the mirror interferes with the operation. In addition, the adoption of a monitor or the like causes a problem that the length of the mirror body becomes long and the work space becomes narrow.
[0007]
Therefore, it is conceivable that the imaging unit and the display unit are separated, the imaging unit is provided near the surgical site, and the display unit is disposed near the surgeon's eyes. Since the field of view was changed by moving the heads of the two at the same time, there was a problem that it was difficult to find the necessary field of view.
[0008]
The present invention has been made paying attention to the above circumstances, and the object of the present invention is to reduce the size of the structure provided in the mirror body for observing the observed portion, compared to the conventional case. It is another object of the present invention to provide a surgical microscope that can secure a working space.
[0009]
[Means for Solving the Problems]
In order to solve the above-described problem, claim 1 includes an objective lens into which observation light from an observation part is incident, an imaging unit that captures an optical image based on the observation light incident on the objective lens, and an eyepiece optical system. a mirror body having, provided on the structure of the operating room apart from the mirror body, and a display means for displaying the optical image captured by the imaging means, one end fixed to the structure The other end portion has a connecting portion with the mirror body, and the mirror body support means for movably supporting the mirror body, and the optical device disposed on the mirror body support means and displayed on the display means reflects the image to the lens side, characterized in that it comprises a guiding means that may come optically conductive to the eyepiece optical system.
[0010]
[Action]
According to the configuration of the first aspect, the optical image based on the observation light incident on the objective lens is picked up by the image pickup means, and the optical image picked up by the image pickup means is provided on the structure of the operating room apart from the mirror body. Displayed on the displayed display means. Further, the optical image displayed on the display means is reflected to the mirror side by the light guide means disposed on the mirror support means and optically guided to the eyepiece optical system. Thus, by providing the display means in the operating room structure apart from the mirror, the mirror is small and lightweight, the amount of operation force to move the mirror is light, operability can be improved, and work Wide space can be used.
[0011]
【Example】
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a first embodiment. Reference numeral 1 denotes an arm attached to a floor-standing base (not shown), and a mirror body 2 that can rotate around an axis O is provided at the tip of the arm 1.
[0012]
Inside the mirror body 2, there is one objective lens 3, a pair of variable magnification optical systems 4 L and 4 R, a pair of imaging lenses 5 L and 5 R, and imaging devices 6 L and 6 R as imaging means, and an operating part 7 as an observation part. Sequentially arranged from the side.
[0013]
A projection 8 that projects laterally at a right angle to the axis of the mirror 2 is integrally provided at the tip of the mirror 2, and an optical path refracting member that serves as an observation light incident portion is provided inside the projection 8. The first reflecting mirror 9 is inclined at about 45 °, and the first reflecting mirror 9 faces the second reflecting mirror 10 installed below the objective lens 3.
[0014]
That is, the optical path of the image of the surgical site 7 is refracted by the second reflecting mirror 9 and incident on the first reflecting mirror 10, and the optical path is further refracted and incident on the objective lens 3. The optical path transmitted through the objective lens 3 enters the imaging devices 6L and 6R via the pair of variable magnification optical systems 4L and 4R and the pair of imaging lenses 5L and 5R.
[0015]
The imaging devices 6L and 6R are composed of a color separation prism, an R imaging element, a G imaging element, and a B imaging element, and the RGB image information signal is converted into an image signal by an image generation circuit and becomes an observation light emitting unit. The image is displayed on the monitor 11 as a display means. The monitor 11 is installed on the extension of the observation light incident optical path inside the protrusion 8 of the mirror body 2, and the monitor 11 is provided so as to cover a nematic liquid crystal plate 12.
[0016]
Therefore, the surgeon can perform the operation of the operation part 7 while observing the stereoscopic image displayed on the monitor 11 through the nematic liquid crystal plate 12, and the observation direction coincides with the observation light incident part. Excellent operability of the microscope. In addition, the observation light incident part and the observation light emission part can be integrated into the interior of the mirror body 2, so that the work space can be widely used.
[0017]
FIG. 2 shows a second embodiment, and the same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted. Reference numeral 13 denotes a ceiling plate as a structure of the operating room 14, and an arm 15 as a mirror support means is attached to a part of the ceiling plate 13. The arm 15 includes a fixed portion 16 that is fixed to the ceiling plate 13 and a rotating portion 17 that is rotatable with respect to the fixed portion 16 about the axis P. The arm 15 is vertically downward from the ceiling plate 13. Protruding.
[0018]
The lower end portion of the rotating portion 17 of the arm 15 is provided with a protruding portion 18 that protrudes in the lateral direction at right angles to the axis of the rotating portion 17, and the protruding portion 18 can be expanded and contracted in an arrow X direction. A mirror body 20 is provided via the. The arm 15 , the fixed portion 16 , the rotating portion 17 , the protruding portion 18, and the telescopic portion 19 constitute second holding means.
[0019]
Inside the mirror body 20, one objective lens 3, a pair of variable magnification optical systems 4L and 4R, a pair of imaging lenses 5L and 5R, and image pickup devices 6L and 6R as image pickup means, an operation part 7 as an observation part. A nematic liquid crystal plate 12 is provided via an eyepiece 21 at the upper end of the mirror body 20 that is arranged sequentially from the side and is positioned on the reflection light path of the first reflecting mirror 9. An eyepiece optical system is formed by the eyepiece lens 21 and the nematic liquid crystal plate 12.
[0020]
A monitor 22 as a display means is built in the ceiling plate 13, and a monitor objective lens 23 built in the fixing portion 16 of the arm 15 is provided opposite to the monitor 22. The monitor objective lens 23 is adapted to transmit an image to the monitor imaging lens 26 built in the expansion / contraction unit 19 via the image rotator 24 and the third reflecting mirror 25 built in the rotation unit 17. Yes. The monitor imaging lens 26 is configured with a focus system so that the image does not deteriorate even if the expansion / contraction part 19 is expanded or contracted. The monitoring objective lens 23, the image rotator 24, the third reflecting mirror 25, the monitoring imaging lens 26, the second reflecting mirror 10, and the first reflecting mirror 9 form a light guide means. ing.
[0021]
Therefore, RGB image information signals from the imaging devices 6L and 6R are converted into image signals by the image generation circuit and displayed on the monitor 22 as images. Image of the monitor 22 is transmitted to the monitor imaging lens 26 via the monitor objective lens 23, an image row Te over data 24 and the third reflecting mirror 25, the light path is refracted by the second reflecting mirror 10 The optical path is further refracted by the first reflecting mirror 9 to form an image on the eyepiece lens 21.
[0022]
By configuring in this way, in addition to the effects described in the first embodiment, the monitor 22 is built in the ceiling plate 13, so that the mirror body 20 is small and light, and the operating force that moves the mirror body 20 is reduced. Is lighter and the operability can be improved.
[0023]
3 and 4 show a third embodiment, and the same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. An imaging device box 28 is accommodated in the upper part of the ceiling plate 13. The imaging device box 28 is supported by a roller 29 that rolls on the upper surface of the ceiling plate 13 and a slide plate 30 that slides on the lower surface of the ceiling plate 13, and the imaging device box 28 has the upper surface of the ceiling plate 13 in the horizontal direction. It is supported movably.
[0024]
An arm 32 is provided below the image pickup device box 28 so as to penetrate the opening 31 provided in the ceiling plate 13 and vertically protrude downward. The arm 32 is provided with a rotating portion 35 via a fixed portion 33 formed integrally with the imaging device box 28 and an extendable portion 34 that can be expanded and contracted in the vertical direction with respect to the fixed portion 33. It is configured to be rotatable about the axis P.
[0025]
The rotating part 35 of the arm 32 is bent in an inverted L shape, and is provided with a horizontal part 35a and a vertical part 35b. A projecting portion 36 is provided at the lower end of the vertical portion 35b so as to project laterally at a right angle to the axis, and a mirror body 37 is provided on the projecting portion 36.
[0026]
Therefore, the image pickup device box 28 and the arm 32 are formed as a light guide path, and a first polarizing beam splitter 38 is provided at the lower end of the arm 32 located inside the light guide path, and the inside of the image pickup apparatus box 28. Is provided with a second polarizing beam splitter 39.
[0027]
Further, a second reflecting mirror 40 is provided at the bent portion of the rotating portion 35 of the arm 32, and a third reflecting mirror 41 is provided at the lower end portion of the telescopic portion 34. This second third reflecting mirror is provided. image low Te over data 42 is installed in the horizontal portion located between 40 and 41. The observation light from the objective lens 3 is refracted along a light guide path that bends and is transmitted to the second polarization beam splitter 39 in the imaging device box 28.
[0028]
The light transmitted through the second polarization beam splitter 39 forms an image on the image pickup devices 6L and 6R via a pair of variable magnification optical systems 4L and 4R and a pair of image forming lenses 5L and 5R provided inside the image pickup device box 28. It has come to be. Therefore, RGB image information signals from the imaging devices 6L and 6R are converted into image signals by the image generation circuit and displayed on the monitor 22 as images.
[0029]
Image of the monitor 22 is reflected by the second polarization beam splitter 39 via the monitor objective lens 23, refracted by the third reflecting mirror 41, an image row Te over data 42 and second reflector 40 Then, the light is reflected by the first polarizing beam splitter 38 and imaged by the monitor imaging lens 26 on the eyepiece lens 21 through the first reflecting mirror 9.
[0030]
With this configuration, in addition to the effects described in the first embodiment, since the imaging unit is built in the ceiling plate 13, the mirror body 37 becomes smaller and lighter, and the operation for moving the mirror body 37 is performed. The ability is reduced and the operability can be improved. Furthermore, by making the polarization components different between the first and second polarization beam splitters 38 and 39, the optical system of the observation incident light and the observation emission light can be shared, the configuration is further simplified, and the weight can be reduced. it can.
[0031]
5 and 6 show a first disclosed example, FIG. 5 is a configuration diagram of a mirror body, and FIG. 6 is a block diagram of an electric system. Inside the lens body 50, one objective lens 51, a pair of variable magnification optical systems 52L and 52R, a pair of imaging lenses 53L and 53R, and eyepiece lenses 54L and 54R are sequentially arranged from the side of the surgical part 55 as an observation part. The left and right optical systems 56L and 56R are configured.
[0032]
A half mirror 57 that divides observation light is provided in the optical path of the left optical system 56L, and an imaging lens 58 and an imaging element 59 are provided on the reflected optical path. A quick return mirror 60 is provided in the optical path of the right optical system 56R, and a relay lens 61 and a monitor 62 are provided on the reflected optical path of the quick return mirror 60, thereby constituting a second observation optical system.
[0033]
The quick return mirror 60 is configured to be switched between a solid line position and a broken line position by the action of a rotary solenoid 71 described later, and the monitor 62 is configured to project an image captured by the image sensor 59. Reference numeral 63 denotes an ND filter that is installed on the optical path of the right optical system 56R to match the left and right light amounts.
[0034]
A receiving portion 65 of the ultrasonic position sensor 64 is provided on the outer wall of the mirror body 50, and a transmitter 68 is attached to the operator's hand 66 by a band 67. The ultrasonic position sensor 64 is electrically connected to a comparison circuit 70 connected to a memory 69 to which distance information has been input in advance, and is connected via a driver (not shown) to operate the rotary solenoid 71 according to the result. ing.
[0035]
Therefore, when the surgeon performs an operation while observing the surgical part 55 with the surgical microscope, and the operator moves the hand 66 away from the visual field 72 of the surgical microscope in order to change the surgical instrument, the ultrasonic position sensor 64 is moved. This is detected. That is, the comparison circuit 70 compares the distance information previously input to the memory 69 (for example, if it is determined that the surgical operation is not performed after 50 cm away from the mirror 50), and if the value becomes equal to or greater than that value. The rotary solenoid 71 is operated. As a result, the quick return mirror 60 moves to the broken line position. Therefore, the observation light reflected by the half mirror 57 is imaged on the imaging element 59 by the imaging lens 58, and the image captured by the imaging element 59 is projected by the monitor 62. The quick return mirror 60, the imaging lens 53R, It is observed by the operator through the eyepiece lens 54R.
[0036]
The visual field 73 of the second observation optical system is wider than the visual field 72 of the surgical microscope, and the one-side visual field of the surgical microscope becomes large when no operation is performed. When grasped, the correct surgical tool can be confirmed, and when the operation is started, the normal operation is resumed by the reverse action.
[0037]
In this way, except for changing the surgical instrument, it is easy to use as in the conventional surgical microscope, and by adding the second observation optical system and the ultrasonic position sensor 64 as a unit to the conventional surgical microscope, Can be provided.
[0038]
7 and 8 show a second disclosed example, FIG. 7 is a configuration diagram of a surgical microscope, and FIG. 8 is a block diagram of an electric system. First to third flexible arms 77a to 77c which are three-dimensionally bendable are suspended from a ceiling 76 of the operating room 75. A mirror body 78 of a surgical microscope is attached to the first free arm 77a, and an observation optical system 81 including an objective lens 79 and an image sensor 80 is configured on the mirror body 78.
[0039]
A monitor 82 is attached to the second free arm 77b, and an imaging device 83 such as a general television camera is attached to the third free arm 77c. Reference numeral 84 denotes a tray on which a plurality of types of surgical tools 85 are placed, and the imaging device 83 images the tray 84.
[0040]
Similarly to the first disclosed example, the receiving portion 65 of the ultrasonic position sensor 64 is provided on the outer wall of the mirror body 78, and the transmitting portion 68 is attached to the surgeon's hand 66 by a band 67. The ultrasonic position sensor 64 is electrically connected to a comparison circuit 70 connected to a memory 69 to which distance information has been input in advance, and is connected to operate the selector 86 according to the result.
[0041]
Therefore, when the surgeon performs an operation while observing the surgical section 55 with the surgical microscope, and the surgeon moves the hand 66 toward the tray 84 in order to change the surgical instrument 85, the ultrasonic position sensor 64 is moved. This is detected. That is, the comparison circuit 70 compares the distance information input in advance to the memory 69 and activates the selector 86 when the value exceeds the distance information. As a result, the monitor 82 displays an image of the imaging device 83, that is, the position of the hand 66 and the surgical instrument 85 on the monitor 82, and can confirm whether or not the surgical instrument 85 is correct.
[0042]
Therefore, the surgical instrument 85 can be exchanged without changing the posture of the surgeon himself, and the switching of the observation image is electrically simple. By imaging a preoperative CT image, MRI image, etc. for diagnosis with the imaging device 83 The surgeon can also move the hand 66 and view it in the observation state .
[0043]
9 and 10 show a third disclosed example, FIG. 9 is a configuration diagram of a surgical microscope, and FIG. A mirror body 90 of a surgical microscope is attached to a ceiling 88 of the operating room 87 via a support shaft 89, and an observation optical system (not shown) is built in the mirror body 90.
[0044]
A head mounted display 92 is attached to the operator's head 91, and a monitor 94 and a quick return mirror 95 for displaying an image obtained by an imaging device (not shown) in the mirror body 90 are provided on the display main body 93. ing. The quick return mirror 95 can be switched between a solid line position and a broken line position. The image of the monitor 94 can be observed at the solid line position, and the operator can directly observe the surroundings through the window 96 at the broken line position.
[0045]
Further, two transmitting portions 98 a and 98 b of the ultrasonic position sensor 97 are attached to the head mounted display 92, and a receiving portion 99 is attached to the ceiling 88 directly above the mirror body 90.
[0046]
The arrangement of the transmitters 98a and 98b and the receiver 99 of the ultrasonic position sensor 97 is as shown in FIG. 10 in a plan view, and the operator's distance and the operator are facing the mirror body 90. The angle α can be detected. These two pieces of information can be input to the memory as in the first and second disclosure examples. That is, it is possible to automatically move the quick return mirror 95 to the position of the broken line by detecting that the operator has moved away from the mirror body 90 by a certain distance or facing the direction of the surgical site. Accordingly, since the field of view is automatically switched when looking at a part other than the surgical site, the hand can be kept clean without touching the head-mounted display 92 during the operation.
[0047]
【The invention's effect】
As described above, according to the surgical microscope of the present invention, it is possible to reduce the size of the structure provided in the microscope body to observe the observation target portion, to secure the working space compared to the conventional And the necessary observation field of view can be easily secured.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a surgical microscope according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram of a surgical microscope according to a second embodiment of the present invention.
FIG. 3 is a block diagram of a surgical microscope according to a third embodiment of the present invention.
4 is a side view seen from the direction of arrow A in FIG. 3;
FIG. 5 is a configuration diagram showing a disclosure example 1 of a surgical microscope.
FIG. 6 is a block diagram of an electric system according to the disclosed example.
FIG. 7 is a configuration diagram showing a second disclosed example of a surgical microscope.
FIG. 8 is a block diagram of an electric system according to the disclosed example.
FIG. 9 is a configuration diagram showing a third disclosure example of a surgical microscope.
FIG. 10 is an operation explanatory diagram of the disclosed example.
[Explanation of symbols]
2 ... Mirror body
3 ... Objective lenses 4L, 4R ... Variable magnification lenses 6L, 6R ... Image sensor 11 ... Monitor

Claims (1)

An objective lens into which the observation light from the observed part is incident, an imaging means for capturing an optical image based on the observation light incident on the objective lens, and a mirror having an eyepiece optical system ;
Display means for displaying the optical image that is provided in the operating room structure apart from the mirror and is imaged by the imaging means;
One end portion is fixed to the structure, and the other end portion has a connecting portion with the mirror body, and a mirror body supporting means for movably supporting the mirror body,
Disposed in the mirror body support means, the optical image displayed on the display means is reflected to the mirror side, and the light guide means may come optically conductive to the eyepiece optical system,
A surgical microscope comprising:

Images