JP6654006B2 - Medical observation device - Google Patents

Description

The present invention relates to a medical observation equipment for observing a minute portion of the object to be observed.

  2. Description of the Related Art Conventionally, for example, when performing an operation on a patient, a medical observation device such as a surgical microscope that performs an operation while an operator such as a doctor observes an enlarged image of an affected part of the patient is known. Surgical microscopes use a type in which an enlarged image of the affected area is displayed on the eyepiece, and the surgeon observes the affected area via the eyepiece, and the surgeon displays an enlarged image on the monitor. Observation type is roughly divided. When the surgeon uses the surgical microscope, he or she looks at the eyepiece or the monitor to perform enlarged observation of the affected part.

  BACKGROUND ART In an operation using an operating microscope, when an operator introduces a medical instrument such as forceps (also referred to as an operating tool) into a visual field region (hereinafter, simply referred to as a visual field region) of an operating microscope, the operator uses an eyepiece. Remove the line of sight from the monitor or monitor once, aim the line of sight near the field of view of the object to be observed, move the medical instrument closer to the field of view while directly watching the object to be observed, and then turn the line of sight to the eyepiece or monitor again. The observation introduces the medical device into the field of view.

  In general, the higher the zoom magnification of the surgical microscope, the more difficult it is for the operator to visually determine the visual field area on the observation target. In such a case, the surgeon moves his / her line of sight, and repeatedly performs indirect observation of the object to be observed through the eyepiece and the monitor and direct observation of the object to be observed by visual observation many times. Had to be introduced into the field of view. This situation can occur, for example, when the surgeon first introduces a medical device into the field of view when initiating surgery, or when the operator unintentionally moves the medical device out of the field of view during surgery. Can occur. In the latter case, the surgeon must move his gaze over and over again in order to re-introduce the medical device into the field of view, even during the operation.

  As a technique for easily introducing a medical instrument into the field of view of the surgical microscope, the medical instrument is included in the field of view by changing the zoom magnification of the zoom optical system of the imaging unit when the medical instrument is detected. There is disclosed a technique for making such an arrangement (see, for example, Patent Document 1).

JP 2004-117596 A

  However, according to the technology described in Patent Literature 1, a range wider than a variable range of a zoom magnification that secures a visual observation region of a magnified observation in a normal surgical microscope for magnifying an object to be observed such as an affected part, that is, a medical instrument It is necessary to change the zoom magnification to a wide-angle viewing range in which the image can be easily introduced. Here, if the variable range of the zoom magnification on the wide-angle side is small and the viewing range on the wide-angle side is narrow, the viewing area for introducing the medical instrument becomes narrow, and it is difficult to assist the introduction of the medical instrument. In addition, if the variable range of the zoom magnification on the wide-angle side is large and the viewing range on the wide-angle side is wide, it is easy to introduce medical instruments, but the structure of the zoom optical system and the structure for driving the zoom optical system must be complicated. I can't get it.

  Furthermore, in the technology described in Patent Literature 1, when changing the zoom magnification, a time lag occurs between the operation of changing the magnification and the movement of the medical device, and the position of the medical device may not be accurately grasped. There is.

The present invention has been made in view of the above, and allows a user to easily and accurately grasp the position of a medical instrument even when the medical instrument deviates from a visual field of a medical observation device with a simple configuration. and to provide a medical observation equipment that can be.

In order to solve the above-described problems and achieve the object, a medical observation device according to the present invention includes a first imaging unit that captures a pair of first visual field regions each partially overlapping each other, A first optical system provided in the first imaging unit for guiding one of two optical images having an optical axis and having a parallax according to the pair of first visual field regions; A second optical system having an optical axis and provided in the first imaging unit for guiding the other of the two optical images, and the pair of first visual fields including the pair of first visual field regions; A second imaging unit for imaging a second visual field region wider than the region at a magnification lower than that of the first imaging unit, and a position where a part thereof coincides with at least one of the first optical axis and the second optical axis; Or a third optical axis located between the first optical axis and the second optical axis; A third optical system provided in the second imaging unit for guiding a corresponding optical image, and detecting whether a medical instrument is included in the first image captured by the first imaging unit. A detection unit, a first display control that outputs a signal of the first image to a display device and displays the first image on the display device according to a detection result of the detection unit, and at least the second imaging unit but and a display control unit for executing either one of the second display control for displaying the second image and outputs a signal of the second image captured in the display device to the display device, the third Is a stereo optical system that guides two optical images having parallax, respectively .
In the medical observation apparatus according to the present invention, in the above invention, the first optical system, the second optical system, and the third optical system share some optical systems. And
In the medical observation apparatus according to the present invention, in the above invention, the first optical system, the second optical system, and the third optical system share at least an optical system closest to an observation target. It is characterized by being .

  In the medical observation device according to the present invention, in the above invention, the display control unit executes the first display control when the detection unit detects that the medical device is included in the first image. Then, the second display control is performed when the detection unit detects that the medical device is not shown in the first image.

  In the medical observation device according to the present invention, in the above invention, the display control unit displays the second image as a main screen on the display device as the second display control, and displays the first image on the main display. The display device may display a sub-screen that is displayed in an area smaller than the screen.

  In the medical observation device according to the present invention, in the above invention, the display control unit superimposes information on the first visual field region on the second image when displaying the second image as the second display control. And displaying it on the display device.

  ADVANTAGE OF THE INVENTION According to this invention, a user can make a user grasp | ascertain the position of a medical device easily and correctly even if the medical device deviates from the visual field of a medical observation apparatus with a simple structure.

FIG. 1 is a diagram schematically illustrating an overall configuration of a surgical microscope system that is a medical observation system including a medical observation device according to an embodiment of the present invention. FIG. 2 is an enlarged perspective view illustrating a configuration of a microscope unit included in the microscope device and a periphery thereof. FIG. 3 is a block diagram showing a functional configuration of a surgical microscope system which is a medical observation system according to one embodiment of the present invention. FIG. 4 is a diagram schematically illustrating a configuration of a first imaging unit and a second imaging unit included in the microscope device. FIG. 5 is a diagram schematically showing a state of an operation using a surgical microscope system which is a medical observation system according to one embodiment of the present invention. FIG. 6 is a flowchart illustrating an outline of a process performed by the control device according to the embodiment of the present invention. FIG. 7 is a diagram schematically illustrating another display example (first example) when the display device displays a low-magnification image. FIG. 8 is a diagram schematically illustrating another display example (second example) when the display device displays the low-magnification image. FIG. 9 is a diagram schematically illustrating another display example (third example) when the display device displays a low-magnification image. FIG. 10 is a diagram illustrating another configuration example of the first and second imaging units. FIG. 11 is a side view of the second imaging unit in the direction of arrow A in FIG. FIG. 12 is a diagram illustrating still another configuration example of the second imaging unit. FIG. 13 is a side view of the first and second imaging units in the direction of arrow B in FIG. FIG. 14 is a diagram schematically illustrating an overall configuration of an endoscope system which is a medical observation system including a medical observation device according to another embodiment of the present invention.

  Hereinafter, an embodiment for carrying out the present invention (hereinafter, referred to as “embodiment”) will be described with reference to the accompanying drawings.

  FIG. 1 is a diagram schematically illustrating an overall configuration of a surgical microscope system which is an example of a medical observation system including a medical observation device according to an embodiment of the present invention. The surgical microscope system 1 shown in FIG. 1 has a function of enlarging and imaging a predetermined visual field region and displaying the captured image. The surgical microscope system 1 is a microscope device 2 that is an image acquisition device that captures an image for observing an object under observation, a control device 3 that controls the operation of the surgical microscope system 1, and a microscope device. And 2 a display device 4 for displaying the captured image. The microscope device 2 and the control device 3 are surgical microscopes, and constitute a medical observation device 100 according to the present embodiment. Note that at least one of the control device 3 and the display device 4 can be configured integrally with the microscope device 2.

  The microscope device 2 includes a microscope unit 5 that magnifies and captures an image of a minute part of the object to be observed, and a microscope unit that is connected to a base end of the microscope unit 5 and movably supports the microscope unit 5 with respect to the object to be observed. A support portion 6 rotatably supports the support 5, and a base portion 7 rotatably holding a base end of the support portion 6 and movable on a floor surface. The base unit 7 may be configured to be fixed to a ceiling, a wall surface, a bed, or the like and to support the support unit 6, instead of being provided movably on a floor surface.

  FIG. 2 is an enlarged perspective view showing the configuration of the microscope unit 5 and its surroundings. The microscope section 5 has a columnar shape, and has an imaging unit inside. The detailed configuration of the imaging unit will be described later. In order to image a desired imaging range, the user holds the microscope unit 5 and moves the microscope unit 5. On a side surface of the microscope unit 5, various switches constituting an input unit 24 for receiving an input of an operation instruction of the microscope device 2 are provided. A cover glass for protecting the inside is provided on an opening surface at a lower end portion of the microscope unit 5 (not shown). It should be noted that the switches shown in FIG. 2 merely show a part of various switches and buttons constituting the input unit 24.

  A user such as an operator moves the microscope unit 5 and performs a zoom operation while operating various switches while holding the microscope unit 5. In other words, the microscope unit 5 is an operation unit provided with an input unit 24 while receiving a movement instruction from a user of the microscope unit 5 including the first imaging unit 21 described later. It is preferable that the microscope section 5 has a shape that is elongated in the observation direction so that the user can easily change the viewing direction by grasping the user. For this reason, the shape of the microscope unit 5 may be a shape other than the column shape, and may be, for example, a polygonal column shape. Further, in the present embodiment, the microscope unit 5 also serves as the operation unit. However, the present invention is not limited to this, and the operation unit provided with various switches while receiving the movement instruction of the microscope unit 5 is, for example, a remote controller or a foot switch. Such a configuration may be provided at a position separated from the microscope section 5.

  The support section 6 is configured by alternately connecting a plurality of joint sections and arm sections, and realizes translation or rotation of the microscope section 5. In FIG. 2, a first joint 61, a first arm 71, a second joint 62, and a second arm 72 are connected in this order from the distal end side.

First joint portion 61 is configured to hold the microscope unit 5 rotatably about a first axis A ₁ which is coincident with the optical axis of the microscope unit 5 at the tip end, at the proximal end of the first arm portion 71 It is held by the first arm 71 while being fixed to the distal end. Second joint portion 62, the first arm portion 71 with the rotation can be held in the second about an axis A ₂ which is perpendicular to the first axis A ₁ at the tip end, the second arm portion 72 at the proximal end Will be retained.

  FIG. 2 shows a configuration of at least a part of the joint and the arm of the support unit 6. For example, when the support unit 6 has six joints and five arm units in total, the support unit 6 can realize a movement with three degrees of freedom of translation and three degrees of rotation.

  FIG. 3 is a block diagram illustrating a functional configuration of the surgical microscope system 1. Hereinafter, the functional configuration of the surgical microscope system 1 will be described with reference to FIG.

  First, the functional configuration of the microscope device 2 will be described. The microscope device 2 includes a first imaging unit 21, a second imaging unit 22, a lens driving unit 23, an input unit 24, a signal processing unit 25, a brake unit 26, and a control unit 27.

FIG. 4 is a diagram schematically illustrating a configuration of the first imaging unit 21 and the second imaging unit 22 provided in the microscope unit 5.
The first imaging unit 21 is an imaging unit for magnifying and observing the observation target with high image quality. The first imaging unit 21 includes a variable power optical system 211 having a zoom function, a first image forming optical system 212 that forms an image of light passing through the variable power optical system 211, and an image formed by the first image forming optical system 212. And a first image sensor 213 that converts the image of the observed object into an electrical image signal.

  The variable power optical system 211 and the first imaging optical system 212 are each configured using one or a plurality of lenses. The lens constituting the variable power optical system 211 is driven by the lens driving unit 23. The magnification on the narrowest side and the widest side of the object image to be observed, which is changed in magnification by the variable magnification optical system 211 and formed by the first image sensor 213, is set in advance.

  The first imaging element 213 is configured using, for example, a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The first image sensor 213 is used for observing the object to be observed, and has an effective pixel number of about 8 megapixels (for example, 3840 × 2160 pixels), in other words, a so-called 4K resolution or more in order to image with high image quality. Preferably, it has an effective number of pixels.

  The imaging signal generated by the first imaging unit 21 having the above configuration is transmitted to the control device 3 via a transmission cable. Note that the magnification change of the image is not limited to the zoom optical system 211, and may be performed by electronic zoom by processing an image signal.

  The second imaging unit 22 is an imaging unit for easily introducing a medical device into the field of view of the first imaging unit 21. The second imaging unit 22 electrically condenses light from the object under observation and forms an image of the object under observation by the second image forming optical system 221. A second image sensor 222 that converts the image into an image signal and outputs the image signal.

In this embodiment, the optical axis O ₂₂ of the second imaging unit 22 is inclined with respect to the optical axis O ₂₁ of the first imaging unit 21. The second imaging section 22 is located near the first imaging section 21 and includes a viewing area (first viewing area) of the first imaging section 21 and is wider than the first viewing area (second viewing area). Having. The second imaging unit 22 captures an image (low-magnification image) having a fixed lower magnification than the zoom magnification that can be set by the first imaging unit 21. In other words, the magnification of the observed object image formed on the second imaging element 222 by the second imaging optical system 221 is lower than a predetermined magnification on the wide-angle side that can be set by the first imaging unit 21. Is set.

  The second image sensor 222 is configured using, for example, a CCD or a CMOS, like the first image sensor 213. The second image sensor 222 may have the same effective number of pixels as the first image sensor 213. However, for example, in order to easily introduce a medical device into the field of view of the first image sensor 21, The number of effective pixels around 2 megapixels (e.g., 1920 × 1080 pixels), which is equal to or less than the number of effective pixels, that is, the number of effective pixels less than the so-called HD resolution may be used. I do not care.

  Although the second imaging unit 22 is provided in the microscope unit 5 in the present embodiment, the present invention is not limited to this. The second imaging unit 22 includes the field of view (first field of view) of the first imaging unit 21 and includes the first field of view. The second imaging unit 22 may be provided in addition to the microscope unit 5 as long as the position has a viewing area (second viewing area) wider than the area. Specifically, for example, the second imaging unit 22 can be provided in the support unit 6, the base unit 7, or another installation location dedicated to the second imaging unit 22.

  The imaging signal generated by the second imaging unit 22 having the above configuration is transmitted to the control device 3 via a transmission cable. Note that the second imaging unit 22 may have a zoom function in the same manner as the first imaging unit 21. However, the second imaging unit 22 is configured to facilitate detection of a medical device by a user, and does not necessarily generate a high-quality image for observation of an affected part during surgery. In this sense, it is more preferable that the second imaging unit 22 has a simple configuration without a zoom function.

  The first imaging unit 21 and the second imaging unit 22 always capture images in parallel. The surgical microscope system 1 detects a first image display mode (high-magnification display mode) in which the first image (high-magnification image) captured by the first imaging unit 21 is continuously displayed, and detects the presence or absence of a medical device in the high-magnification image. In addition, a switching display mode in which a high-magnification image and a second image (low-magnification image) captured by the second imaging unit 22 are switched and displayed according to the detection result can be set.

  In the high-magnification display mode, for example, before the user starts an operation, the microscope unit 5 is moved to display the vicinity of a desired affected part on the display device 4, and after the approximate positioning of the microscope unit 5 is performed, the affected part is displayed. This is set when fine adjustment is made to a position where it is easier to see. In the present embodiment, the setting of the high magnification display mode is performed by the user pressing the high magnification display button of the input unit 24 and inputting a setting signal.

  The switching display mode is, for example, a mode set before the user starts the operation or during the operation. In the present embodiment, when the high magnification display button of the input unit 24 is not pressed, the switching display mode is set.

  The lens driving unit 23 has an actuator that drives a lens constituting the variable power optical system 211 of the first imaging unit 21 under the control of the control unit 27.

  As described with reference to FIG. 2, the input unit 24 is provided on a side surface of the microscope unit 5 that is at least partially an operation unit. The input unit 24 includes a high-magnification display button for receiving an instruction input for displaying on the display device 4 in the high-magnification display mode, a zoom switch for receiving an instruction input for a zoom operation, and the like. The operating microscope system 1 is set to the high magnification display mode when the high magnification display button is pressed, and is set to the switching display mode when the high magnification display button is not pressed. The high-magnification display button and the zoom switch are desirably provided on the side surface of the microscope unit 5 as an operation unit so that a finger can reach while the user holds the microscope unit 5. Note that a foot switch that can be operated by a user with a foot may be provided as the input unit 24 other than the side surface of the microscope unit 5. The foot switch may include a zoom switch for changing the zoom magnification in the high-magnification image.

  The signal processing unit 25 performs predetermined signal processing on the images captured by the first imaging unit 21 and the second imaging unit 22, and outputs the processed images.

  The brake unit 26 has a plurality of electromagnetic brakes provided for each joint of the support unit 6. The electromagnetic brake is released under the control of the control unit 27 in response to a release instruction signal that the input unit 24 accepts an input. When the electromagnetic brake is released, the microscope section 5 and each arm section are in a state where they can rotate with respect to the corresponding joint section. A state in which the microscope unit 5 and all the arm units are rotatable with respect to the corresponding joint unit is called all-arm free. Note that an air brake may be used as the brake unit 26 instead of the electromagnetic brake.

  The control unit 27 can communicate with the control unit 34 of the control device 3 and controls the operation of the microscope device 2 in cooperation with the control unit 34. The control unit 27 is realized using a general-purpose processor such as a CPU (Central Processing Unit), or an integrated circuit dedicated to executing a specific function such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). You. Note that the signal processing unit 25 and the control unit 27 may be provided at arbitrary locations of the microscope unit 5, the support unit 6, and the base unit 7, or may be provided in the control device 3.

  Next, a functional configuration of the control device 3 will be described. The control device 3 includes an image processing unit 31 that performs predetermined image processing on the imaging signal sent from the microscope device 2, an input unit 32 that receives input of various instruction signals, and an operation unit necessary for the operation of the surgical microscope system 1. It has a storage unit 33 that stores various information including information, and a control unit 34 that controls the microscope system 1 for operation.

  The image processing unit 31 includes a detection unit 311 that detects the presence of a medical instrument such as forceps in the high-magnification image sent from the microscope device 2. The detection unit 311 detects a color corresponding to a medical device by performing image processing on a high-magnification image. The color corresponding to the medical device here is specifically silver. Alternatively, for example, a specific color marker may be provided in advance at the tip of the medical device, and the detection unit 311 may detect the color of the color marker, thereby detecting the presence of the medical device in the visual field region. Note that the detection unit 311 may detect a medical device by performing pattern matching. When pattern matching is applied, the storage device 33 may store a template of a medical device in advance. The image processing unit 31 is realized using a general-purpose processor such as a CPU, or an integrated circuit such as an ASIC or an FPGA.

  The storage unit 33 is configured using a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and various programs for operating the surgical microscope system 1 and various programs necessary for operating the surgical microscope system 1 are provided. The parameters and the like are stored. When the detection unit 311 detects the presence or absence of a medical device in the high-magnification image by performing pattern matching, the storage unit 33 stores a template of the medical device.

  The various programs include an operation program for executing the operation method of the control device 3. Various programs can be recorded on computer-readable recording media such as a hard disk, a flash memory, a CD-ROM, a DVD-ROM, and a flexible disk, and can be widely distributed. Various programs can also be obtained by downloading via a communication network. The communication network referred to here is realized by, for example, an existing public line network, LAN (Local Area Network), WAN (Wide Area Network), etc., and may be wired or wireless.

  The control unit 34 can communicate with the control unit 27 of the microscope device 2, and controls the entire operation microscope system 1 including the microscope device 2 in cooperation with the control unit 27. The control unit 34 includes a display control unit 341 that controls display of an image or the like performed by the display device 4. The display control unit 341 outputs a signal of a high-magnification image captured by the first imaging unit 21 to the display device 4 according to the detection result of the detection unit 311 and causes the display device 4 to display the high-magnification image. One of the display control and the second display control for outputting at least the signal of the low magnification image captured by the second imaging unit 22 to the display device 4 and displaying the low magnification image on the display device 4 is executed. In the present embodiment, the display control unit 341 is provided in the control unit 34 of the control device 3, but is not limited thereto, and may be provided in the microscope device 2 such as the control unit 27.

  The control unit 34 is configured using a general-purpose processor such as a CPU, or an integrated circuit such as an ASIC or an FPGA. At least a part of the control unit 34 and at least a part of the image processing unit 31 may be configured using a common CPU, ASIC, or FPGA.

  The control device 3 having the above configuration is configured using one or a plurality of computers. When configuring the control device 3 using a plurality of computers, the plurality of computers may be communicably connected via a communication network.

  Data transmission between the microscope device 2 and the control device 3 may be performed by an electric signal or by an optical signal. Further, a signal having a large data amount, such as image data, may be transmitted as an optical signal, and other signals may be transmitted as electric signals.

  Next, a functional configuration of the display device 4 will be described. The display device 4 receives the moving image data generated by the control device 3 from the control device 3, and displays an image corresponding to the moving image data. Such a display device 4 has a display panel made of liquid crystal or organic EL (Electro Luminescence). The display device 4 preferably has a display section for displaying an image of 55 inches or more in order to easily obtain an immersive feeling during observation, but is not limited thereto.

  An outline of an operation performed using the surgical microscope system 1 having the above functional configuration will be described. First, an outline of an operation performed by a user before starting a surgery will be described. The user sets the operation mode to the switching display mode without pressing the high-magnification display button of the input unit 24, grasps the microscope unit 5 and looks at the image displayed on the display device 4, and operates the input unit 24. By inputting a release instruction signal to release the operation of the brake unit 26 and move the microscope unit 5, the visual field range is adjusted to the target affected part. At this stage, the medical device does not exist near the affected part, and the medical device is not detected within the visual field range of the high-magnification image captured by the first imaging unit 21. Therefore, the low-magnification image is displayed on the display device 4.

  Thereafter, when the vicinity of the desired affected part is displayed on the display device 4, the user presses the high magnification display button provided on the microscope unit 5 held by the user to switch to the high magnification display mode. Thereby, in the display device 4, the high-magnification image captured by the first imaging unit 21 is displayed on the display device 4. In the state of the high-magnification image, the user finely adjusts the position of the microscope unit 5 so that the vicinity of the desired affected part is displayed on the display device 4, and operates the input unit 24 as needed to operate the first imaging unit 21. Is adjusted so that an appropriate observation image can be obtained. After that, the input of the release instruction signal via the input unit 24 ends, the brake unit 26 is operated, and the position of the microscope unit 5 is fixed.

  As described above, in the surgical microscope system 1, a portion that receives a movement instruction of the microscope unit 5 from a user and an input operated by the user until the position of the microscope unit 5 is fixed to a position where an appropriate observation image is obtained. The unit 24 is provided collectively in one microscope unit 5 (operation unit). Therefore, various operations relating to the position adjustment of the microscope unit 5 can be easily performed.

  FIG. 5 is a diagram schematically illustrating a situation at the time of surgery using the surgical microscope system 1. Specifically, FIG. 5 is a diagram schematically illustrating a situation in which an operator 401 as a user is operating on the head of a patient 402 as an observation target. The operator 401 sets the switching display mode without pressing the high magnification display button of the input unit 24 in a state where the position of the microscope unit 5 is fixed, and performs an operation while looking at the display device 4. In a state where no medical device is detected within the visual field range of the high-magnification image captured by the first imaging unit 21, the wide-range low-magnification image captured by the second imaging unit 22 is displayed on the display device 4. When the medical device is brought closer to the affected part in this state, the medical device is detected within the visual field range of the high-magnification image captured by the first imaging unit 21, and the high-magnification image is displayed on the display device 4.

  As described above, in the surgical microscope system 1, the operator 401 can guide the medical instrument into the field of view of the high-magnification image without moving the line of sight with the line of sight facing the display device 4. Also, it is assumed that the operator 401 is holding the medical instrument in both hands during the operation, but when the medical instrument deviates from the visual field range of the high magnification image during the operation, the operator 401 There is no need to operate the input unit 24 to change the zoom magnification to the wide-angle side, and the operator 401 can hold the medical device in both hands and move the medical device away from the vicinity of the affected part without moving the medical device. It can be guided within the field of view of the magnification image.

  Hereinafter, an outline of the processing performed by the control device 3 will be described with reference to a flowchart shown in FIG. When the surgical microscope system 1 is set to the switching display mode (Step S1: Yes), the detection unit 311 detects whether the medical instrument is captured in the high-magnification image captured by the first imaging unit 21. Processing is performed (step S2).

  As a result of the detection by the detection unit 311, when the medical device is captured in the high-magnification image (Step S <b> 3: Yes), the display control unit 341 causes the display device 4 to display the high-magnification image captured by the first imaging unit 21. First display control is performed (step S4). On the other hand, as a result of detection by the detection unit 311, when the medical device is not shown in the high-magnification image (Step S <b> 3: No), the display control unit 341 displays the low-magnification image captured by the second imaging unit 22 on the display device 4. The second display control for displaying is performed (step S5). For example, in a state where the visual field range is adjusted to the target diseased part before the user starts the operation, the medical instrument is not shown in the high-magnification image. Therefore, in such a case, the display control unit 341 performs the second display control.

  After step S4 or S5, when the input unit 24 receives the input of the end instruction signal (step S6: Yes), the surgical microscope system 1 ends a series of operations. On the other hand, after step S4 or S5, if the input unit 24 has not received the input of the end instruction signal (step S6: No), the surgical microscope system 1 returns to step S1.

  In step S1, when the high-magnification display button of the input unit 24 is pressed and the surgical microscope system 1 is set to the high-magnification display mode (step S1: No), the surgical microscope system 1 proceeds to step S4. , The display control unit 341 performs first display control. As a case where the first display control is performed, for example, a case where the user finely adjusts the position of the microscope unit 5 to a position where the affected part is more visible while pressing the high magnification display button before the operation is started. be able to.

  According to the embodiment of the present invention described above, the first imaging unit 21 and the second imaging unit 22 capture images in parallel, and the presence of the medical device is detected by the high-magnification image by the first imaging unit 21. In this case, a high-magnification image is displayed on the display device 4, while a low-magnification image by the second imaging unit 22 is displayed on the display device 4 when the presence of the medical device is not detected in the high-magnification image. It is possible to switch between the display of the high-magnification image and the display of the low-magnification image only by adding the. Therefore, according to the present embodiment, the user can easily and accurately grasp the position of the medical device with a simple configuration even when the medical device deviates from the first visual field of the medical observation apparatus 100. be able to. As a result, the user can easily introduce the medical device into the first visual field region.

  In the present embodiment, when the switching display mode is set, the display of the high-magnification image and the display of the low-magnification image are switched according to the presence or absence of the detection of the medical device in the high-magnification image, but the low-magnification image is displayed. At this time, the display may include the information of the high-magnification image. Hereinafter, such a display example will be described. FIG. 7 is a diagram schematically illustrating another display example (first example) when the display device 4 displays a low-magnification image. In the case shown in FIG. 7, the low-magnification image 501 is displayed as the main screen, while the high-magnification image 502 is reduced and superimposed on the lower right area of the low-magnification image 501 as a sub-screen. Note that the display device 4 may display the low-magnification image 501 and the high-magnification image 502 side by side or up and down with the size relationship shown in FIG.

  FIG. 8 is a diagram schematically illustrating another display example (second example) when the display device 4 displays a low-magnification image. In the case shown in FIG. 8, the field center P of the first field of view is displayed in the low magnification image 503 as information on the first field of view.

  FIG. 9 is a diagram schematically illustrating another display example (third example) when the display device 4 displays a low-magnification image. In the case shown in FIG. 9, the outline F of the first visual field region is displayed in the low-magnification image 504 in a superimposed manner as the information on the first visual field region.

  According to the display examples (first to third examples) of the display device 4 described above, information of the high-magnification image can be obtained while the low-magnification image is being displayed. It is not necessary to feel a sense of incongruity when switching to the magnification image.

  Note that instead of the first imaging unit 21 and the second imaging unit 22 capturing images in parallel, for example, a configuration in which the operation of the second imaging unit 22 is turned on and off so that imaging is not always performed may be adopted. In this case, a threshold region to be detected is set inside the outermost contour of the high-magnification image by the first imaging unit 21, and when a medical device is detected within this threshold region, the imaging operation of the second imaging unit 22 is stopped. On the other hand, when the medical device is not detected in the threshold region, the imaging operation of the second imaging unit 22 may be executed. Accordingly, the unnecessary imaging of the second imaging unit 22 is not performed when the medical device is in the high-magnification image, and only when the medical device is likely to deviate from the high-magnification image or when the medical device deviates from the high-magnification image, the second imaging unit 22 can be driven, and more efficient drive control can be performed.

(Other embodiments)
The embodiments for carrying out the present invention have been described so far, but the present invention should not be limited only to the above embodiments. For example, the configurations of the first imaging unit and the second imaging unit are not limited to those described above. FIG. 10 is a diagram illustrating another configuration example of the first imaging unit and the second imaging unit. In FIG. 10, the first imaging unit 21LR includes a stereo optical system capable of generating two images having parallax, with a part of the visual field overlapping each other, and generating a three-dimensional image. The second imaging unit 22A has a wider viewing area than the first imaging unit 21LR and generates an image with a lower magnification than the first imaging unit 21LR.

In the first imaging unit 21LR, the variable power optical system 211L and the first image forming optical system 212L are paired with the variable power optical system 211R and the first image forming optical system 212R, and the optical axes O _1L are parallel to each other. _, O _1R to form a stereo optical system. The lenses constituting the variable magnification optical systems 211L and 211R are driven by the lens driving unit 23. Observed object images formed by the first imaging optical systems 212L and 212R are respectively converted into electric signals on different light receiving surfaces of one first imaging device 213LR, and are output as two image signals having parallax. . An optical system 214, which is a pair of a concave lens and a convex lens and has a function of expanding a range of a distance to an object to be observed, which can generate two images having parallax, is provided in front of the variable magnification optical systems 211L and 211R, that is, on the object side. Is provided.

FIG. 11 is a diagram schematically illustrating the configuration of the second imaging unit 22A, and is a side view of the second imaging unit 22A in the direction of arrow A in FIG. The second imaging unit 22A includes a second imaging optical system 221A, a second imaging device 222A, and a mirror 223A. The mirror 223A is on the optical axis O _{2A of} the second imaging optical system 221A and the optical system 214 of the first imaging unit 21LR, and is connected to the second imaging optical system 221A and the optical system 214 of the first imaging unit 21LR. The first imaging unit 21LR is provided between the pair of stereo optical systems, and reflects the light passing through the optical system 214 to guide the light to the second imaging optical system 221A.

  Also in the case of the imaging unit having the configuration shown in FIGS. 10 and 11, the same effects as in the above-described embodiment can be obtained. The configuration of the stereo optical system may be a known configuration other than that shown in FIG. If it is not possible to secure a space for installing the mirror 223A between the stereo optical systems, it is possible to configure the second imaging unit using an image fiber or the like.

  FIG. 12 is a diagram illustrating still another configuration example of the second imaging unit. FIG. 13 is a side view of the first and second imaging units in the direction of arrow B in FIG. 12 and 13, the configuration of the first imaging unit 21LR is the same as in FIGS. 10 and 11.

  The second imaging unit 22LR is provided between the variable power optical system 211R and the optical system 214, includes a stereo optical system capable of generating two images having parallax, and generates a three-dimensional image. The second imaging unit 22LR transmits the light from the optical system 214 to the variable power optical system 211R and reflects the light reflected by the prism 223R in a direction orthogonal to the transmitted light. And an imaging optical system 221R. The second imaging unit 22LR is provided between the variable power optical system 211L and the optical system 214, and transmits the light from the optical system 214 to the variable power optical system 211L and reflects the light in a direction orthogonal to the transmitted light. And a second imaging optical system 221L that forms an image of the light reflected by the prism 223L. Although not shown, the second imaging optical system 221L has the same configuration as the second imaging optical system 221R. The second imaging unit 22LR receives the object images formed by the second imaging optical systems 221L and 221R on different light receiving surfaces, converts them into electric signals, and outputs the electric signals as two image signals having parallax. It further has a second image sensor 222LR.

  It is preferable that the prisms 223L and 223R have a function of performing spectroscopy such that the amount of light transmitted to the first imaging unit 21LR is larger than the amount of light reflected to the second imaging unit 22LR. In this case, by setting the number of pixels used for image generation in the second image sensor 222LR to be smaller than the number of pixels used for image generation in the first image sensor 213LR, the brightness of the image captured by the second image pickup unit 22LR is reduced. It is possible to set an appropriate range.

  In the configuration shown in FIGS. 12 and 13, it is also possible to use two half mirrors instead of the two prisms.

  FIG. 14 is a diagram schematically illustrating an overall configuration of an endoscope system which is a medical observation system including a medical observation device according to another embodiment of the present invention. An endoscope system 81 shown in the figure includes an endoscope device 82 that is an image acquisition device that acquires an in-vivo image of the observed object by inserting a distal end portion into the observed object. Is connected to the endoscope device 82, performs predetermined image processing on the in-vivo image captured by the endoscope device 82 to generate image data for display, and controls the overall operation of the endoscope system 81. A control device 83 for controlling, a light source device 84 for generating illumination light for irradiating an object to be observed from a distal end of the endoscope device 82, and a display device 85 for displaying an image captured by the endoscope device 82, etc. Prepare. The endoscope device 82, the control device 83, and the light source device 84 constitute a medical observation device 200.

  The endoscope device 82 has a rigid and elongated shape, and has an insertion portion 821 whose distal end is inserted into the inside of the object to be observed, and is detachably connected to a base end of the insertion portion 821, and is inserted through the insertion portion 821. A camera head 822 that captures the focused image of the observed object and outputs an imaging signal; a cable 823 that transmits the imaging signal output by the camera head 822 to the control device 83; and a cable 823 provided at the base end of the cable 823. The connector 824 includes a connector 824 that is detachably attached to the control device 83 and a light guide 825 that transmits the illumination light generated by the light source device 84 to the distal end of the insertion portion 821. Inside the camera head 822, a first imaging unit that captures a high-magnification image and a second imaging unit that captures a low-magnification image are provided. An input unit 822a including a high-magnification display button, a zoom switch, and the like is provided on the surface of the camera head 822, which is an operation unit that is gripped by the user during use.

  Also in the medical observation device 200 having the above configuration, when the switching display mode is set, the control device 83 detects whether the medical instrument is captured in the high-magnification image and responds to the detection result. By performing control to switch between the display of the high-magnification image and the display of the low-magnification image, the same effect as in the embodiment can be obtained.

  In addition, instead of providing the first imaging unit and the second imaging unit in one endoscope device 82, the first endoscope device including the first imaging unit and imaging the vicinity of the affected part at high magnification and including the affected part is included. A configuration including a second endoscope apparatus that captures an image of the range at a low magnification may be provided. In this case, the control device is connected to the first and second endoscope devices, respectively, controls the operation of both endoscope devices, performs image processing on the in-vivo images captured by each endoscope device, and performs display processing. Generate image data. The light source device is configured to supply illumination light to the first and second endoscope devices. The same effect as described above can be obtained in the medical observation device having such a configuration.

  Instead of detecting the presence or absence of the medical device in the high-magnification image by image processing, the detection may be performed based on the relative position between the first imaging unit and the medical device. In this case, for example, the configuration described in Patent Document 1 can be adopted. Specifically, a marker is attached to each of the microscope unit 5 and the medical device, and a navigation device that detects the position information of each marker to detect the relative position between the microscope unit 5 and the medical device is provided, thereby achieving high magnification. The presence or absence of a medical device in the image is detected.

  The timing at which the image displayed on the display device 4 is switched, such as when the medical device deviates from the first visual field region during the operation or when the medical device starts to be introduced into the first visual field region, is metadata. Alternatively, it may be stored in addition to data of at least one of the high-magnification image and the low-magnification image. This makes it possible to easily grasp and edit the timing at which the display is switched during the actual operation when editing the moving image of the operation.

  Thus, the present invention can include various embodiments and the like without departing from the technical idea described in the claims.

DESCRIPTION OF SYMBOLS 1 Surgical microscope system 2 Microscope device 3,83 Control device 4,85 Display device 5 Microscope unit 21,22LR First imaging unit 22,22A, 22LR Second imaging unit 23 Lens drive unit 24,32,822a Input unit 25 Signal Processing unit 26 Brake unit 27, 34 Control unit 31 Image processing unit 33 Storage unit 81 Endoscope system 82 Endoscope device 84 Light source device 100, 200 Medical observation device 211, 211L, 211R Zoom optical system 212, 212L, 212R first imaging optical system 213, 213LR first imaging device 214 optical system 221, 221A, 221L, 221R second imaging optical system 222, 222A, 222LR second imaging device 223A mirror 223L, 223R prism 311 detector 341 display Control units 501, 503, 504 Low-magnification image 502 High magnification image 821 Insertion section 822 Camera head F Outer shell P Center of field of view

Claims (6)

A first imaging unit configured to image a pair of first visual field regions each partially overlapping each other,
A first optical system provided in the first imaging unit to guide one of two optical images having a first optical axis and having a parallax according to the pair of first visual field regions;
A second optical system having a second optical axis and provided in the first imaging unit for guiding the other of the two optical images;
A second imaging unit that includes the pair of first viewing regions and captures a second viewing region wider than the pair of first viewing regions at a lower magnification than the first imaging unit;
A position where a part coincides with at least one of the first optical axis and the second optical axis, or a third optical axis located between the first optical axis and the second optical axis. A third optical system provided in the second imaging unit for guiding an optical image corresponding to the second viewing area,
A detection unit that detects whether a medical device is included in the first image captured by the first imaging unit;
A first display control for outputting a signal of the first image to a display device and displaying the first image on the display device in accordance with a detection result of the detection portion; A display control unit that executes one of a second display control that outputs a signal of two images to the display device and causes the display device to display the second image;
Equipped with a,
The third optical system includes:
A medical observation apparatus, which is a stereo optical system that guides two optical images having parallax, respectively . The first optical system, the second optical system, and the third optical system,
The medical observation device according to claim 1, wherein a part of the optical system is shared. The first optical system, the second optical system, and the third optical system,
The medical observation apparatus according to claim 2, wherein at least an optical system closest to the observation target is shared. The display control unit,
If the detection unit detects that the medical device is present in the first image, the first display control is executed, and the detection unit does not include the medical device in the first image. The medical observation device according to any one of claims 1 to 3 , wherein the second display control is performed when the detection is performed. The display control unit,
As the second display control, the second image is displayed on the display device as a main screen, and the first image is displayed on the display device as a sub-screen that is displayed in an area smaller than the main screen. The medical observation device according to any one of claims 1 to 4 , wherein The display control unit,
As the second display control when displaying the second image, either by superimposing the information on the first viewing region to the second image according to claim 1-5, characterized in that to be displayed on said display device The medical observation device according to claim 1.

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