JP4578628B2 - Surgical microscope - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a surgical microscope used for surgery on a fine part, particularly in neurosurgery and the like.
[0002]
[Prior art]
Conventionally, in the field of neurosurgery, a surgical microscope for observing a surgical part in a three-dimensional manner has been widely used in order to reliably perform finer surgery. Furthermore, in recent years, in order to perform surgery reliably, endoscopic observation is used in combination with conventional surgery that has been performed only under surgical microscope observation. It is desired to be able to observe at the same time within the field of view of the microscope. In addition to endoscopic imaging, simultaneous observation of information such as preoperative CT and MR images and intraoperative nerve monitors is also desired.
[0003]
For example, Japanese Patent Application No. 10-255557 is known as a prior art. In this configuration, a light guide unit that guides an image from another image display unit to a part of a microscope field of view is configured to be movable by a moving unit. Even if a part that needs to be observed under the microscope's field of view is blocked by the image of another image display means, the image by the other image display means can be moved to a place that does not interfere with the observation by moving the light guide means by the moving means. By doing so, both the microscope visual field and the image by another image display means can be observed well.
[0004]
Japanese Patent Application No. 12-291383 discloses a stereoscopic microscope capable of simultaneously observing a microscope observation image and an image displayed on the image display means, by using the microscope observation image and the image displayed on the image display means. Two types of eyepiece optical systems are provided that lead separately.
[0005]
In Japanese Patent Application No. 11-288328, at least part of the observation image of the second observation means is displayed in the field of the microscope observation image as the first observation means for observing the surgical site. The blind spots that cannot be observed and the internal state of the tissue can be recognized.
[0006]
[Problems to be solved by the invention]
However, according to Japanese Patent Application No. 10-255557, the position of the auxiliary image can be changed, so that both the microscope field of view and the image by another image display means can be observed well. However, if a moving means having a driving mechanism such as a motor is provided in the vicinity of the eyepiece, the vicinity of the eyepiece is inevitably increased in size. Usually, a surgical microscope is used with a sterilization cover called a drape, but when the eyepiece is enlarged, the nose and head are accidentally made dirty when the eye is brought close to the eyepiece during observation. There was a problem.
[0007]
In addition, when the light guiding unit is moved by the moving unit, there is a problem that a part of the moving unit enters the microscope field of view and causes vignetting (so-called surgical microscope image).
[0008]
Japanese Patent Application No. 12-291383 has a problem that the eyepiece optical system is complicated and large in size because the microscope observation image and the image displayed on the image display means are separately guided to the eyes of the observer.
[0009]
Also, in Japanese Patent Application No. 11-288328, during the orientation operation for endoscopic observation, the image display itself becomes an obstacle and cannot be observed as a large image.
[0010]
This invention has been made by paying attention to the above circumstances, and its purpose is to be able to observe an endoscopic image when using an endoscope for blind spot observation of a microscope, At the time of orientation operation, the endoscope image is made small and movable, and when performing the position operation of the endoscope under microscope observation, the entire image can be observed and the operability is improved. An object of the present invention is to provide a surgical microscope that can reduce the burden on the operator.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a stereoscopic observation of the surgical site. With observation optics Mirror body, Monitor image can be captured and observed in the optical path of the observation optical system Monitor to display Projecting the monitor image by the monitor into the optical path Projection optical system, the monitor and the projection optical system Move the display position of the monitor image relative to the observation image by moving at least a part of Driving means for moving; Selects the display position of the monitor image with respect to the observation image and drives the drive means to command control to move the display position of the monitor image with respect to the observation image Operation input means; Input of the operation input means Based on the results, The display position of the monitor image with respect to the observation image and the size of the monitor image corresponding to the display position are calculated, the drive means is controlled to display the monitor image at the calculated display position, and the monitor When the center of the display position of the image is moved to the periphery of the observation image, it is displayed on the observation image as a small screen in which the magnification of the monitor image is reduced as compared with the case of the monitor image on the center side of the observation image. Control the projection optical system And a display control means for operating the surgical microscope.
[0012]
Claim 2 The surgical microscope according to claim 1, The display control means sets the screen size of the monitor image and the magnification of the monitor image according to the movement of the display position in the observation image. Automatic It is characterized by controlling so that it may change.
[0013]
According to the configuration described above, an endoscope image can be observed when an endoscope is used in combination with blind spot observation of microscope observation. In the endoscopic observation, during the orientation operation, the endoscopic image is made small and movable, and when performing the position operation of the endoscope under the microscopic observation, the endoscopic image is initially made small. Therefore, the entire image can be observed. Further, when paying attention to endoscopic observation, by making the endoscopic image large and easy to see, the blind spot in the microscope observation visual field can be eliminated, and sufficient confirmation can be performed.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0015]
1 to 7 show a first embodiment. 1 and 2 show the configuration of the optical system of the eyepiece tube 3 of the surgical microscope, FIG. 1 is a diagram showing the internal configuration of the binocular eyepiece tube unit 3, and FIG. 2 is a side view of FIG. The left side observation optical system is shown in the figure.
[0016]
As shown in FIG. 1, the mirror body 1 is provided with a fixed housing 6 that is integrally attached via a connecting portion 2. Inside the fixed housing 6, a pair of left and right imaging lenses 8a and 8b are arranged. Optically connected to the observation optical system.
[0017]
Reference numerals 9a and 9b denote mirrors that respectively reflect the light beams passing through the imaging lenses 8a and 8b by 90 ° outward, and image rotator prisms 10a and 10b are disposed on the outgoing optical axes. Behind the image rotator prisms 10a and 10b are arranged prisms 11a and 11b for reversing both observation light beams by 180 °, respectively, and behind them the outgoing optical axes from the prisms 11a and 11b will be described later. Triangular prisms 12a and 12b that reflect in the direction parallel to the observation optical axes OL and OR by the eyepiece optical system are arranged and fixed. Behind the triangular prisms 12a and 12b are first intermediate imaging points 13a and 13b formed by the imaging lenses 8a and 8b.
[0018]
Here, in the vicinity of the first intermediate image formation point 13a, an upper surface of a prism 14a as a light guide means to be described later is provided so as to substantially coincide, and behind the first intermediate image formation points 13a and 13b. The relay lenses 15a and 15b for relaying the image are fixedly installed. Here, the prisms 11 a and 11 b, the triangular prisms 12 a and 12 b, and the relay lenses 15 a and 15 b are built in the movable housing 16.
[0019]
The movable housing 16 is rotatable around the axis O, that is, the incident optical axis of the prisms 11a and 11b via the connecting portions 17a and 17b. The rotator prisms 10a and 10b can be rotated about the axis O by a half angle with respect to the rotation of the movable housing 16 relative to the fixed housing 7 by a cam mechanism or the like (not shown).
[0020]
Reference numerals 18a and 18b are incident prisms 19a and 19b and exit reflectors 20a and 20b, and are parallel prisms as reflecting members built in the eye width adjustment housings 4a and 4b. The images transmitted from the first intermediate imaging points 13a and 13b by the relay lenses 15a and 15b are respectively output from the outgoing anti-inclined surfaces 20a and 20b of the parallel prisms 18a and 18b to the second intermediate imaging points 21a and 21b. Is imaged. Then, the light is guided to a pair of eyepiece optical systems 22a and 22b built in the eyepiece housings 5a and 5b, and constitutes observation optical axes OR and OL as microscope optical observation images.
[0021]
Here, the eye width adjustment housings 4a and 4b are rotatable around an axis substantially coincident with the optical axis (vertical direction in the drawing) from the triangular prisms 12a and 12b with respect to the movable housing 16, and in FIG. As shown in the figure, it is supported immovably in the axial direction by the retaining portions villages 23a, 23b (only 23a in the figure). This structure and the parallel prisms 18a and 18b constitute a so-called Giten top eye width adjustment mechanism.
[0022]
FIG. 3 is a perspective view of an LCD optical system incorporated in the left and right observation optical systems shown in FIG. Reference numerals 24a and 24b are small LCD monitors that display an image of an endoscope or the like as an electronic image under the control of a controller (not shown). Reference numeral 25a denotes an imaging lens as a projection optical system arranged on the outgoing optical axis of the LCD monitor 24a, and is fixedly arranged so that an image of the LCD monitor 24a is formed on the upper surface of the prism 14a. The LCD monitor 24a, the imaging lens 25a, and the prism 14a constitute an LCD optical system 26a. The LCD optical system 26a is incorporated in the left observation optical system.
[0023]
An LCD optical system 26a including the LCD monitor 24a, the imaging lens 25a, and the prism 14a is fixed to a fixed plate 27a of the LCD optical system 26a. The fixing plate 27a is provided with a hole 27a ′ for avoiding a light beam. The fixed plate 27a is fixed on an X table 29a of an XY table 28a as driving means, and the X table 29a is provided so as to be movable in the XY direction on a plane orthogonal to the optical axis. The LCD optical system 26b is to be incorporated in the right observation optical system, and the description thereof is omitted because it is similar.
[0024]
FIG. 4 is a perspective view showing the internal structure of the XY table 28a and a block diagram of the control system. The X table 29a includes a rack portion 29a ′ and a bearing portion 29a ″.
A pinion gear 31a fixed to the rotation shaft of the motor 30a is engaged with the rack portion 29a ′. Further, the guide shaft 32a passes through the bearing portion 29a ″.
The motor 30a and the guide shaft 32a are fixed to a Y table 33a described later.
[0025]
The Y table 33a includes a rack portion 33a ′ and a bearing portion 33a ″.
A pinion gear 35a fixed to the rotating shaft of the motor 34a is engaged with the rack portion 33a ′. Further, the guide shaft 36a passes through the bearing portion 33a ″.
[0026]
The motor 30a and the motor 34a incorporate an encoder and are electrically connected to a control system described later. That is, the motor 30 a is connected to the motor drive circuit 41, and the encoder is connected to the X table position detection circuit 42. The motor 34 a is connected to the motor drive circuit 43, and the encoder is connected to the X table position detection circuit 44. The motor drive circuit 41, the X table position detection circuit 42, the motor drive circuit 43, and the X table position detection circuit 44 are connected to the XY table control unit 45.
[0027]
On the other hand, 51 is an operation unit as an operation input means operated by an operator. This operation unit 51 includes an XY four-way switch 52 for operating the XY table 28a, a display position movement mode switch 53, and an image selection switch 54. Is provided.
[0028]
The operation unit 51 is connected to a display control unit 55, and the display control unit 55 is connected to the XY table control unit 45. The display control unit 55 is connected to the video conversion circuit unit 56 and the video selector 57, and the video selector 57 is connected to the endoscope TV camera 58 and the navigation device 59. The video conversion circuit unit 56 is connected to the LCD monitor 24a of the left observation optical system via the display drive circuit 61 and to the LCD monitor 24b of the right observation optical system via the display drive circuit 62.
[0029]
Next, the operation of the first embodiment will be described.
[0030]
The operator operates a gantry arm (not shown) to place and fix the mirror body 1 at a desired position, and further rotates the movable housing 16 around the axis O to place the eyepiece optical systems 22a and 22b at the eye position of the operator. To do. At this time, the image rotator prisms 10a and 10b in the fixed housing 6 are rotated by 1/2 with respect to the rotation around the axis O of the movable housing 16.
[0031]
The light emitted from the surgical site is incident on the imaging lenses 8a and 8b via a magnifying optical system (not shown) in the mirror body 1. The left and right light beams pass through the image rotator prisms 10a and 10b, thereby correcting the image rotation due to the rotation of the movable housing 16 around the axis O. Thereafter, the light is reflected by the prisms 11a and 11b and the triangular prisms 12a and 12b, and forms an image at the first intermediate image forming points 13a and 13b.
[0032]
Then, after being transmitted by the relay lenses 15a and 15b and reflected by the parallel prisms 18a and 18b, the image is formed again at the second intermediate image forming point. Then, it is guided to the eyepiece optical systems 22a and 22b, and the operator performs stereoscopic observation at a desired magnification. When the distance between the left and right observation optical axes OL to OR is shifted from the surgeon's eye width and stereoscopic observation is impossible, the left and right observation optical axes OL and OR and the surgeon are rotated by rotating the eyepiece tubes 4a and 4b. So-called eye width adjustment is performed to match the eye width.
[0033]
On the other hand, when it is desired to observe an endoscopic observation image or an image such as CT or MR simultaneously with a microscopic image, the operator operates the operation unit 51 to display the image on the LCD monitor 24a.
At this time, the light emitted from the LCD monitor 24a is imaged on the upper surface of the prism 14a by the imaging lens 25a. Since the upper surface of the prism 14a is in the vicinity of the first image formation point, an endoscopic image is displayed on the microscope image as shown in FIG. In FIG. 5, reference numeral 37 is a microscope image, and reference numeral 38 is an endoscopic image. The light beam of the microscope from the triangular prism 12a to the first intermediate imaging point 13a passes through the hole 27a ′ of the fixing plate 27a that supports the prism 14a and is not blocked.
[0034]
Next, the case where the endoscopic image 38 is displayed on the microscope image 37 will be described. By selecting the endoscope TV camera 58 (endoscopic image) and the navigation device (navigation image) by the image selection switch 54 of the control unit 51, a signal is input from the video selector 57 to the video conversion circuit unit 56.
[0035]
In addition, when the display position movement mode selection switch 53 of the control unit 51 is turned on while the endoscope TV camera 58 (endoscopic image) is selected by the image selection switch 54, the four-way switch 52 becomes the step mode and is turned off. Then, it becomes free mode. The four-way switch 52 is selectively turned on to drive the XY table 28a. When the motor 30a is driven through the motor drive circuit 41 by operating the four-way switch 52, the pinion gear 31a rotates. The X table 29a has a bearing portion 29a "supported by a guide shaft 32a fixed to the Y table 33a, and the rack portion 29a 'receives the rotational force of the pinion gear 31a so that the X direction along the guide shaft 32a As a result, the fixed plate 27a fixed on the X table 29a also moves, the prism 14a moves on the first intermediate imaging point 13a, and as a result, the endoscopic image 38 moves in the X direction.
[0036]
When the motor 34a is driven through the motor drive circuit 43 by operating the four-way switch 52, the pinion gear 35a rotates. The Y table 33a has a bearing portion 33a ″ supported by a guide shaft 36a fixed to the X table 33a, and the rack portion 33a ′ receives the rotational force of the pinion gear 35a so that the Y direction along the guide shaft 36a. As a result, the fixed plate 27a fixed on the Y table 33a also moves, and the prism 14a moves on the first intermediate imaging point 13a. As a result, the endoscopic image 38 moves in the Y direction.
[0037]
Therefore, as shown in FIG. 5, for example, the display position movement mode selection switch 53 is turned on to set the step mode, and the four-way switch 52 is operated to display the endoscope image 38 with respect to the microscope image 37 by A, B, It can be moved in the XY directions in the C, D, E, and F directions (A is outside the field of view of the microscope image 37). The solid line connecting the points a, b, c, d, e, and f of the endoscopic image 38 indicates the movement locus of the image center of the endoscopic image 38, and the endoscopic image 38 is selected by the operator. Can be changed. The display position movement mode selection switch 53 is turned off to set the free mode, and the four-way switch 52 is selected and kept pressed to continuously move in that direction.
[0038]
FIG. 6 shows a case where a navigation device (navigation image) is selected by the image selection switch 54 of the control unit 51, and the horizontal and vertical relationship is displayed at 4: 3.
The navigation image 39 shown in FIG. 6A is a display at the position C in FIG. 5. In the case of the large screen L, the majority is outside the field of view of the microscope image 37, but is reduced to the small screen S. Thus, vignetting can be reduced, and as shown by the oblique lines, the entire screen S1 can be put in the field of view by moving to the lower right and displaying.
[0039]
The navigation image 39 shown in FIG. 6 (b) is a display at the position E in FIG. 5. In the case of the large screen L, the majority is outside the field of view of the microscopic image 37, but is reduced and shown by diagonal lines. By moving to the lower left and displaying, the full screen S1 can be put in the field of view.
[0040]
FIG. 6C shows a case where the endoscope TV camera 58 (endoscopic image) is selected by the image selection switch 54 of the control unit 51, and the horizontal and vertical relationship is displayed at 3: 3.
The endoscopic image is displayed at the position C in FIG. 5, and in the case of the large screen L, the majority is outside the field of view of the microscope image 37, but by reducing the size to the small screen S, vignetting is reduced. The entire screen can be brought into view by moving and displaying.
[0041]
In FIG. 7, the display position movement mode selection switch 53 is turned OFF to set the free mode, and the four-way switch 52 is operated to move the endoscope image 38 from the position C to the position D on the left side of the microscope image 37. The endoscope image 38 is a small image at first, but shows a state in which the endoscope image 38 is automatically enlarged to a large screen as it moves from the position C to the position D. The right side is a case where the endoscopic image 38 is moved from the position C to the position D direction, and the endoscopic image 38 is initially a small image, but the endoscopic image 38 is moved from the position C to the position D direction. Is a case where the endoscope image 38 is moved from the position F in the direction E to the position E, and the endoscope image 38 of the large image is moved from the position F. Shows how it automatically shrinks to a small screen as it moves in position E
[0042]
FIG. 8 shows a case of a navigation image. The navigation image 39 is initially a small image S, but the state in which the navigation image 39 is automatically enlarged to the large screen L as it moves from position C to position D is shown. On the contrary, when moving from the position D to the position C, the large screen L is automatically reduced to the small screen S.
[0043]
Therefore, in endoscopic observation, during an orientation operation, the endoscopic image is made smaller and movable, and when the position operation of the endoscope is performed under microscopic observation, the endoscopic image is initially made smaller. Therefore, the entire image can be observed.
Further, when paying attention to endoscopic observation, by making the endoscopic image large and easy to see, the blind spot in the microscope observation visual field can be eliminated, and sufficient confirmation can be performed.
[0044]
In the first embodiment, the entire LCD optical system 26a, 26b including the LCD monitors 24a, 24b is configured to move. However, the present invention is not limited to this, and an afocal beam portion is configured in the LCD optical system. 24b may be fixed and the prisms 14a and 14b may be moved by the afocal beam section.
[0045]
9 to 13 show a second embodiment, and FIG. 9 is a perspective view showing the overall system configuration of the surgical microscope apparatus. As shown in FIG. 9, the surgical microscope apparatus includes a surgical microscope 101 having a stereomicroscope, an endoscope 121 including a rigid mirror that obtains an observation image different from the observation image of the surgical microscope 101, and a surgical microscope. 101 and a display monitor 141 as display means for displaying observation images of the endoscope 121 are provided.
[0046]
The surgical microscope 101 includes a gantry 102, a balance arm 103 disposed on the gantry 102, and a mirror body 104 supported by the balance arm 103.
[0047]
Here, the balance arm 103 is provided with a plurality of movable arms and six rotation shafts 105a to 105f. Further, each of the rotation shafts 105a to 105f is an electromagnetic lock (not shown) that switches between a locked state in which the rotation position of each rotation arm of the balance arm 103 is fixed and a lock release state in which the rotation position is unlocked. Is provided. Then, with the operation of switching the lock / unlock of the electromagnetic lock of the mirror body 104, the position of the balance arm 103 is supported so as to be spatially movable about the six rotation shafts 105a to 105f of the rotation arms. .
[0048]
As shown in FIG. 10, the mirror body 104 includes an objective optical system 155, a variable magnification optical system 154, and an eyepiece optical system, and a pair of left and right optical paths are provided. Here, the objective optical system 155 is provided with a variable focus mechanism and a focal length detection sensor. Further, the zoom optical system 154 is provided with a zoom mechanism and a zoom detection sensor.
[0049]
The mirror body 104 is provided with an optical path insertion unit 153 formed of a half mirror and an image insertion optical system 152. The image insertion optical system 152 converts the light beam emitted from the image superimposing monitor 151 into an afocal light beam to the optical path insertion unit 153. It is made to enter. Reference numeral 151a denotes a cable for sending an image signal to the image superimposing monitor 151.
[0050]
Further, as shown in FIG. 9, the mirror body 104 is provided with a sensor arm 106 and a grip 107 for position operation of the mirror body 104. The grip 107 is provided with operation switches for focus adjustment, zooming operation, and arm operation.
[0051]
In addition, the microscope for operation 101 includes a mirror control unit 111 and an arm control unit 112. Each switch of the grip 107 is connected to the mirror control unit 111 and the arm control unit 112. Further, the lens body control unit 111 and the arm control unit 112 are provided with a foot switch 113 having respective switches for focus adjustment and zooming operation as well as the switches of the grip 107.
[0052]
The endoscope 121 is supported by a scope holder 122 attached to an operating table (not shown). The scope holder 122 is constituted by a multi-joint arm including a plurality of movable arms 123, and joint portions between the movable arms 123 are connected to each other so as to be rotatable. The endoscope 121 is movably supported by the scope holder 122.
[0053]
Furthermore, each rotary part of the scope holder 122 is provided with an electromagnetic lock that switches between a locked state in which the rotational position of each movable arm 123 of the scope holder 122 is fixed and an unlocked state in which the rotational position is unlocked. It has been. The endoscope 121 is supported so as to be movable in accordance with the switching operation of locking / unlocking the electromagnetic lock of the scope holder 122.
[0054]
In addition, the electromagnetic locks of the rotating units are connected to the scope holder drive control unit 124, respectively. Furthermore, a switch 122A for electromagnetic locking operation is provided at the distal end portion of the scope holder 122. The switch 122A is connected to the scope holder drive control unit 124. Furthermore, a TV camera 125 and a substantially V-shaped endoscope sensor arm 126 are attached to the endoscope 121.
[0055]
In addition, a digitizer 134 is provided as an imaging device that detects the observation positions of the surgical microscope 101 and the endoscope 121. The digitizer 134 detects the observation position of the surgical microscope 101 and the endoscope 121 by detecting the sensor arm 106 in the mirror body 104 of the surgical microscope 1 and the sensor arm 126 in the endoscope 121. ing.
[0056]
The digitizer 134 is connected to a navigation device 135. The navigation device 135 has a built-in diagnostic image memory device and also includes a correlation processing means with the diagnostic image. Furthermore, a display monitor 141 and an interface unit 136 are connected to the navigation device 135. The image information from the digitizer 134 is input to the navigation device 135, and the navigation device 135 calculates the correlation with the reference index attached to the patient's head.
[0057]
As shown in FIG. 11, the navigation device 135 is connected to the display drive circuit 156 via the display position calculation unit 66, and the display drive circuit 156 is connected to the image superimposing monitor 151. The navigation device 135 detects the endoscopic observation site in the microscope observation field, and sets the display position of the endoscopic image according to the position.
[0058]
12A and 12B show a microscope observation field of view O, and in this field of view O, an endoscope image M and a navigation image P indicating the observation direction of the endoscope 121 are superimposed and displayed.
[0059]
FIG. 13 shows a correlation position calculation flow according to the observation position detection of the endoscope. In step S1, it is determined whether or not the distal end portion of the endoscope 121 is in the microscope observation visual field O. If YES, step S2 is performed. Then, the endoscope observation direction P is displayed in the visual field O. If NO in step S1, the process returns to start.
[0060]
After the endoscopic observation direction P is displayed in the visual field O, the process proceeds to step S3, and when the distal end position of the endoscope 121 is on the right side (R), the process proceeds to step S4, as shown in FIG. In the case of the left side (L), the process moves to step S5 and is displayed as shown in FIG. Thus, since the image display position of the endoscope 121 can be moved according to the insertion position of the distal end portion of the endoscope 121, the operator can concentrate on the endoscope device, improve operability, Since the perspective direction of the mirror 121 can be easily recognized, it is easy to attach an orientation.
[0061]
14 to 18 show a third embodiment, and FIG. 14 describes the configuration of the optical system of the eyepiece tube. Inside the fixed housing 16, a pair of left and right imaging lenses 8a are arranged. The imaging lens 8a is optically connected to an observation optical system (not shown) of the mirror so as to make the left and right observation light beams emitted from the mirror enter.
[0062]
Reference numeral 10a denotes a mirror that reflects the light flux through the imaging lens 8a outward by 90 °, and an image rotator prism 11a is disposed on the outgoing optical axis. Behind the image rotator prism 11a is a prism 12a that inverts both observation light beams by 180 °. Further, a triangular prism (not shown) for reflecting the optical axis emitted from the prism 12a in the direction parallel to the observation optical axes OL and OR by a first eyepiece optical system to be described later is optically arranged and fixed behind the prism 12a. The prism 12a and the triangular prism are built in the movable housing.
[0063]
Reference numeral 18a denotes an incident reflecting surface 19a and an exit reflecting surface 20a, which is a parallel prism built in the eye width adjustment housing 4a. Light beams from the exit reflecting surface 20a are paired on the left and right sides respectively built in the eyepiece housing. 1 is guided to the eyepiece optical system 25a, and constitutes an observation optical axis OL as a microscope observation image.
[0064]
On the other hand, reference numeral 177 denotes a second eyepiece housing that houses the second observation optical system, and the second observation optical system is configured as follows. Although only the left side optical path in the figure, the right side has the same configuration. Reference numeral 171 denotes a small LCD monitor that displays an image of an endoscope or the like as an electronic image under the control of a controller (not shown), and is arranged and fixed between the movable housing below the eye width adjustment housing 4a.
[0065]
A relay optical system 174 is disposed on the optical axis O2L emitted from the LCD monitor 171 and prisms 172 and 173 for reflecting the optical axis O2L by approximately 90 ° are disposed therein.
[0066]
Reference numeral 175 denotes a prism that deflects the optical axis reflected by the prisms 172 and 173 toward the observation optical axis OL. A second eyepiece optical system 176 is optically disposed on the outgoing optical axis O2L. The observation optical axes OL and O2L intersect each other in the vicinity of the exit pupil position.
[0067]
Reference numeral 178 denotes an eyepiece housing that integrally houses the second observation optical system including the second eyepiece optical system 176. A field stop plate 180 is provided in the first eyepiece optical system and the second eyepiece optical system 176 in the eyepiece housing 178, and a field stop knob 181 is provided in the field stop plate 180. As shown in FIGS. 15 and 16, the field stop plate 180 has a disc shape and is divided into four equal parts by 90 degrees in the circumferential direction, and (a), (c), and (c) (B) and (d) are provided with microscopic image apertures 182a and 182b and monitor image apertures 182c and 182d of different sizes. An imaging lens 183 is provided in the aperture holes 182a to 182d.
[0068]
With this configuration, the field stop plate 180 can be rotated by the field stop knob 181 to select the aperture holes 182a to 182d. FIG. 17 shows a microscope image A by the aperture 182b and a monitor image B by the aperture 182c close to each other in the vertical direction, and FIG. 18 shows the microscope image A by the aperture 182b and the monitor image B by the aperture 182c. It is close to the direction. Therefore, in observing the microscope image A and the monitor image B, the size of each can be changed, and by bringing the two observation images close to each other, the microscope image A can be easily observed during the image observation. The optical image of the surgical site can be easily observed, and the image information can be obtained without worrying about keeping an eye on the surgical site.
[0069]
According to each embodiment mentioned above, the following composition is obtained.
[0070]
(Supplementary note 1) Surgical device comprising a mirror for stereoscopic observation of an operation part, a monitor for displaying on each optical path, a projection optical system for displaying the image, and a driving means for moving the monitor and the projection optical system In the microscope, an operation input means for operating an image display position by the projection optical system and drivingly controlling the driving means is provided.
[0071]
(Supplementary note 2) Surgical apparatus including a body for stereoscopic observation of an operation part, a monitor displayed on each optical path, a projection optical system for displaying the image, and a driving means for moving the monitor and the projection optical system In the microscope, based on the result of the position detection means for detecting the position by the projection optical system, the operation input means for driving the drive means while operating the image display position by the projection optical system, and the position detection means A surgical microscope comprising: display control means for calculating the size of an image to be displayed on the monitor and converting the position and size of the image.
[0072]
(Supplementary note 3) The surgical microscope according to supplementary note 2, wherein the display control means is an image reduction processing circuit based on a position detection means.
[0073]
(Supplementary Note 4) The image reduction processing circuit includes means for calculating a display range and position in the microscope visual field by position detection means, means for reducing the image based on the result, and conversion means for shifting the display position. The surgical microscope as set forth in appendix 2, wherein:
[0074]
(Supplementary note 5) The surgical microscope according to supplementary note 2, wherein the position detecting means is a position sensor provided in the driving means and an arithmetic circuit.
[0075]
(Appendix 6) Mirrors for stereoscopic observation of the surgical site, monitors for displaying on each optical path, projection optical systems for displaying the images, driving means for moving the monitors and projection optical systems, An image display position by the projection optical system in a surgical microscope comprising: an image superimposing unit for superimposing an image on an optical observation image; and a position detection unit for detecting an observation position by the mirror and an observation position by an endoscope And a means for calculating the correlation between the mirror and the observation position of the endoscope by the operation input means, and displaying the endoscope observation direction on the superposition monitor by the image superimposing device. Features a surgical microscope.
[0076]
(Supplementary note 7) The surgical microscope according to supplementary note 6, wherein the endoscope observation position display is an observation direction of the endoscope.
[0077]
(Additional remark 8) Additional remark 6 characterized by having a display position calculation means to move an endoscope image display position by means for calculating a correlation between the mirror of the position detection means and the observation position of the endoscope. Surgical microscope.
[0078]
(Supplementary note 9) In a surgical microscope having a body for stereoscopic observation of a surgical part and a monitor image observation unit for performing different image observations on an eyepiece part of the body, a field stop means is provided on the body, A surgical microscope characterized in that a mechanism for interlocking with a field stop means provided in a monitor image observation means is provided.
[0079]
(Supplementary note 10) The surgical field stop device according to supplementary note 9, wherein the field stop means is provided on an intermediate imaging surface provided in an eyepiece optical system constituting the mirror body and the monitor image observation means. microscope.
[0080]
(Supplementary Note 11) The mirror includes a first imaging optical system and a first eyepiece optical system, and the image observation unit includes a second imaging optical system and a second eyepiece optical system. The field stop means includes a lens that is part of the first imaging optical system, a field stop, and a mechanism that works in conjunction with a part of the lens of the second imaging optical system. Surgical microscope.
[0081]
【The invention's effect】
As described above, according to the present invention, an endoscope image can be observed when an endoscope is used for blind spot observation of a microscope, and an endoscope image can be observed during an orientation operation in the endoscope observation. It is possible to reduce the burden on the surgeon by reducing the burden on the surgeon and making it movable, so that when operating the position of the endoscope under a microscope, the entire image can be observed without interruption. effective.
[Brief description of the drawings]
FIG. 1 is a diagram showing an optical configuration of a binocular eyepiece tube portion of a surgical microscope according to a first embodiment of the present invention.
2 is a side view showing the left-side observation optical system in FIG. 1 according to the embodiment.
FIG. 3 is a perspective view of an LCD optical system according to the embodiment.
FIG. 4 is a perspective view of an XY table and a block diagram of a control system according to the embodiment.
FIG. 5 is a diagram showing a microscope observation field according to the embodiment.
6A and 6B show the embodiment, and FIGS. 6A and 6B are navigation images, and FIG.
FIG. 7 is a diagram illustrating the operation of an endoscopic image according to the embodiment.
FIG. 8 is a diagram illustrating the operation of the navigation image according to the embodiment.
FIG. 9 is an overall configuration diagram of a surgical microscope system showing a second embodiment of the present invention.
FIG. 10 is a longitudinal side view of a mirror body showing the embodiment.
FIG. 11 is a perspective view of an XY table and a block diagram of a control system according to the embodiment.
FIGS. 12A and 12B are diagrams illustrating the same embodiment, and FIGS.
FIG. 13 is a flowchart showing the embodiment.
FIG. 14 is a side view showing a left observation optical system showing a third embodiment of the invention.
FIG. 15 is a plan view of a field stop plate according to the embodiment.
FIG. 16 is a cross-sectional view of the field stop plate according to the embodiment.
FIG. 17 is a diagram showing an observation field of view of the embodiment.
FIG. 18 is a diagram showing an observation field of view of the embodiment.
[Explanation of symbols]
1 ... Mirror body
3 ... Eyepiece tube
26 ... LSD optical system (projection optical system)
28 ... XY table (drive means)
51 .. operation unit (operation input means)

Claims (2)

A mirror having an observation optical system for stereoscopic observation of the surgical site ;
A projection optical system that includes a monitor that captures and displays a monitor image in the optical path of the observation optical system, and projects the monitor image by the monitor into the optical path ;
Drive means for moving at least a part of the monitor and the projection optical system to move the display position of the monitor image with respect to the observation image ;
An operation input unit that selects a display position of the monitor image with respect to the observation image and drives the driving unit to instruct a control to move the display position of the monitor image with respect to the observation image ;
Based on the input result of the operation input means, the display position of the monitor image with respect to the observation image and the size of the monitor image corresponding to the display position are calculated, and the monitor image is displayed at the calculated display position. Controlling the driving means and reducing the magnification of the monitor image compared to the monitor image on the center side of the observation image when the display position center of the monitor image is moved to the periphery of the observation image Display control means for controlling the projection optical system to display the observation image as a screen ;
A surgical microscope characterized by comprising: Wherein the display control unit, according to claim 1, wherein the controller controls so as automatically changing the magnification of the size and the monitor image of the screen of the monitor image according to the movement of the display position of the observation image Surgical microscope.

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