JP7131781B2 - Trocar with imaging function - Google Patents

Description

TECHNICAL FIELD The present invention relates to a trocar with an imaging function, and more particularly to a trocar with an imaging function that is preferably used for observing a region between a surgical site and a body wall while attached to the body wall.

During laparoscopic surgery, surgical instruments such as forceps and an endoscope are inserted separately into the patient's body cavity, and an endoscope is used to perform surgery while viewing images of the operative site captured by a camera at the tip of the endoscope. surgery is being performed. At that time, a surgical instrument such as forceps or an endoscope is inserted into the patient's body cavity through a trocar attached to the patient's body wall, more specifically, through a hole formed in the body wall.

Such endoscopic surgery has the advantage of requiring a smaller incision area than conventional open surgery and shortening the period required for postoperative recovery. On the other hand, there are also disadvantages such as a narrow field of view during surgery and restrictions on the operation of surgical instruments.

If the field of view during surgery is narrow, it is not possible to fully observe areas other than the surgical site, so it is necessary to check for bleeding in areas other than the original working area (operative site) and damaged instruments. There is a problem that it takes a long time to check for a part of the skin and gauze residue.

As means for solving the problem caused by such a narrow field of view, Patent Document 1 below discloses a configuration in which a camera capable of wide-angle imaging is arranged inside a body cavity separately from an endoscope camera.
FIG. 10 shows a specific example thereof. In the figure, 100 is an endoscope camera for obtaining a magnified image of a surgical site (organ 110), and 103 is a small camera inserted into a body cavity to obtain a wide-angle image. This camera 103 is connected to the distal end of a needle 104 that penetrates from the outside of the body into the body cavity via a connector part 105. By pulling up the part of the needle 104 protruding outside the body (outside the body), , enabling desired wide-angle imaging of the surgical site.

JP 2009-195521 A

However, in the device described in Patent Document 1, the imaging direction of the camera 103 is the axial direction (vertical direction in the figure) of the support member (needle) 104 that penetrates the body wall H, and the imaging is possible. The area is the range LA indicated by dotted line hatching in FIG. Therefore, it is possible to widely observe an observation area (area LB surrounded by a two-dot chain line in the figure) whose imaging direction is different from that of the camera 103 by approximately 90°, that is, an area between the operated part 110 and the body wall H. Can not.
SUMMARY OF THE INVENTION In view of the circumstances described above, it is an object of the present invention to provide a trocar with an imaging function that enables a wide observation of the region between the surgical site and the body wall while attached to the body wall. It was made as

Accordingly, the present invention is a trocar that is used while attached to a body wall and guides a surgical instrument into a body cavity through an insertion hole formed therein,
a cylindrical guide tube that penetrates the body wall and is inserted into the body cavity; and a proximal member that is formed on the proximal side of the guide tube and that is engaged with the surface of the body wall and has a larger diameter than the guide tube. , has
A camera internally provided with a lens for condensing light from a subject positioned in an observation area outside the guide tube, and imaging means for receiving the light condensed by the lens and converting it into an image signal, provided at different positions in the circumferential direction on the cylindrical wall of the guide tube ,
The camera is mounted in a recess opening on the outer peripheral surface of the cylindrical wall at a position closer to the proximal member than the distal end surface of the guide tube .

Here, four or more cameras can be provided at different positions in the circumferential direction on the cylinder wall.

Further, in the present invention, light irradiation means for irradiating an observation area outside the guide tube with illumination light can be provided on the cylindrical wall of the guide tube separately from the camera.

Further, in the present invention, a part of the observation areas of the adjacent cameras can be overlapped with each other so that the range of 360° in the circumferential direction of the guide tube can be observed.

Further, in the present invention, a plurality of cameras can be provided at different positions in the axial direction of the guide pipe.

As described above, according to the present invention, light from a subject located in an observation area outside the guide tube is projected to different circumferential positions on the tube wall of the tubular guide tube inserted into the body cavity through the body wall. and an imaging means for receiving the light condensed by the lens and converting it into an image signal. According to the present invention, by providing a member for obtaining an observation image of the inside of the body cavity on the cylindrical wall of the guide tube, it is possible to observe a region between the surgical site and the body wall, which is separated from the surgical site. It is possible to easily confirm the location of bleeding occurring in such a region, and the confirmation of residues such as gauze.

In addition, since the present invention is a trocar that has been conventionally used in endoscopic surgery with an imaging function added, there is no need to make a new wound (hole) in the patient's body wall, thereby reducing the burden on the patient. can be suppressed.

In the present invention, a wide range in the circumferential direction of the guide pipe can be observed by providing a plurality of cameras each having an imaging means inside in the circumferential direction of the guide pipe.

According to the present invention as described above, it is possible to provide a trocar with an imaging function that enables a wide observation of the region between the surgical site and the body wall while attached to the body wall.

1 is a diagram showing the overall configuration of a body cavity observation device using a trocar according to an embodiment of the present invention; FIG. 2 is an exploded view of the trocar of FIG. 1; FIG. (A) is a cross-sectional view along III-III in FIG. (B) is an enlarged view of the recess and its periphery in FIG. 3(A). It is the figure which showed an example of the usage condition of the trocar of the same embodiment. It is the figure which showed the modification of the trocar of the same embodiment. FIG. 6 is a view showing the base-side cylindrical member of FIG. 5; It is a figure showing the principal part of other embodiments of the present invention. It is a figure showing the important section of further another embodiment of the present invention. It is the figure which showed the principal part of a reference example. 1 is a diagram showing an example of a conventional observation device for inside a body cavity; FIG.

An embodiment of the present invention will now be described in detail with reference to the drawings.
FIG. 1 is a diagram showing the configuration of an observation device 10 that observes the inside of a body cavity using the trocar of this embodiment. In the figure, 12 is a trocar, 16 is a controller, and 18 is a monitor.
As will be described later, the trocar 12 of this example has an imaging function, and the obtained image signal is output to the control unit 16 through the cord 19, and after image processing by the control unit 16, it is displayed on the monitor 18 as an observation image. Is displayed.

The trocar 12 is an insertion aid used for inserting a surgical instrument into a patient's body cavity. A hand side member 24 having a larger diameter than the guide tube 22 is provided.
Inside the guide tube 22 and the proximal member 24, a through hole 25 for inserting a surgical instrument such as an endoscope is formed. The surgical instrument is inserted into the insertion hole 25 through the opening 26 of the proximal member 24 while being attached to the hole formed in H.

The large-diameter proximal member 24 is composed of a first member 40 and a second member 42 .
The first member 40 is a member positioned closest to the hand side of the trocar 12, and as shown in FIG. opening 26 is formed. A branch pipe 27 extending obliquely upward is formed in the side wall of the first member 40, and the tip opening of the branch pipe 27 communicates with the hole 25a.
A cylindrical projection 41 projecting downward is formed on the lower end side of the first member 40 .

The second member 42 is a member that is connected to the guide tube 22, and has an upper portion 43 with a large diameter and a lower portion 44 with a small diameter.
A concave portion 45 corresponding to the protrusion 41 of the first member 40 is formed inside the upper portion 43 , and the protrusion 41 of the first member 40 is fitted into the concave portion 45 of the second member 42 to and the second member 42 are connected.
Inside the lower part 44 , a hole 25 b forming a part of the insertion hole 25 is formed so as to open at the bottom surface of the recess 45 .

An annular projecting portion 46 is provided downward from the lower end surface of the lower portion 44 of the second member 42 in the drawing. An upper end portion 28a of a guide tube 22 (specifically, a base-side tubular member 28), which will be described later, is fitted inside the protrusion 46, and an upper end portion 48a of a lens 48 is fitted outside the protrusion 46. are connected and assembled. The outer diameter of the lower part 44 is the same as the outer diameter of the upper end part 48a of the lens 48 so that the outer peripheral surface of the lower part 44 of the second member 42 and the outer peripheral surface of the upper end part 48a of the lens 48 are flush with each other at this connecting portion. dimensioned.

The second member 42 is formed with an enlarged diameter portion whose outer diameter gradually increases from the lower portion 44 to the upper portion 43. When the trocar 12 is attached to the hole formed in the body wall H, the enlarged diameter portion engages the surface of the body wall H to define the position of the trocar 12 .

The guide tube 22 is a portion inserted through the body wall H and inserted into the body cavity when the trocar 12 is attached to the body wall H. As shown in FIG. 29.

The tip-side cylinder member 29 is a member located on the most tip side of the trocar 12, and is a cylindrical member having a through hole 25d forming part of the insertion hole 25 formed therein. An annular protrusion 29a protrudes axially upward from the upper end surface of the distal side tubular member 29 (the end surface on the proximal side tubular member 28 side), and protrudes the lower end portion 28b of the proximal side tubular member 28. The proximal side cylindrical member 28 and the distal side cylindrical member 29 are integrally connected in the axial direction by being fitted in the portion 29a. The length of the distal end side cylindrical member 29 is appropriately determined so that the distal end and movable portion of a surgical instrument such as an endoscope to be inserted therein protrude from the distal end 29b of the guide tube 22 (the distal end side cylindrical member 29). can do.

In addition, the lower end portion 48b of the lens 48 is fitted to the outside of the protrusion 29a of the tip side tubular member 29, and the tip side tubular member 29 and the lens 48 are integrally connected in the axial direction. At this connecting portion, the outer diameter of the upper end portion of the tip side tubular member 29 is the same as the outer diameter of the lower end portion 48b of the lens 48 so that the outer peripheral surface of the tip side tubular member 29 and the outer peripheral surface of the lens 48 are flush with each other. dimensioned.

The base-side tubular member 28 is a tubular member in which a through hole 25c forming part of the insertion hole 25 is formed. The outer surface of the cylinder wall 31 has a bulging barrel shape.
In this example, a recess 30 is formed in the top portion of the central portion 28c of the base end side cylindrical member 28, which swells most outward. As shown in FIG. 3A, four recesses 30 are formed at equal intervals (at intervals of 90°) in the circumferential direction, and each recess 30 has an opening facing radially outward. there is

FIG. 3B is an enlarged view of the cross-sectional shape of the recess 30. As shown in FIG. As shown in the figure, the cross section of the recess 30 has a trapezoidal shape that opens toward the outer peripheral surface of the cylindrical wall 31, and the side wall 35 of the recess 30 is inclined with respect to the bottom surface 33. The opening area is formed so as to increase with increasing distance from the bottom surface 33 .

An imaging element 34 as imaging means is provided on the bottom surface 33 of the recess 30 with the light receiving surface facing outward (the opening side of the recess). The imaging element 34 is an imaging element equipped with an optical sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), and receives light (reflected light) condensed by a lens 48 and outputs it as an image signal. do. In this example, the image pickup device 34 is arranged so that the light receiving surface 34 a of the image pickup device 34 coincides with the imaging plane of the lens 48 .

A side wall 35 extending from the bottom surface 33 toward the opening is provided with an LED 36 as light irradiation means for irradiating an observation area outside the guide tube 22 with illumination light.
Note that the shape of the base-side cylindrical member 28 is not limited to the shape of this example, and can be changed as appropriate as long as the image pickup element 34 and the LED 36 can be attached thereto.

The LED 36 and the imaging element 34 are connected to the control unit 16 by a cord 19 (see FIG. 1) that is inserted through the inside of the trocar 12, and power for operation is supplied to the LED 36 and the imaging element 34 through the cord 19. and the image signal output from the imaging device 34 is sent to the control section 16 via the code 19 .

The lens 48 has a cylindrical shape and is arranged outside the LED 36 and the imaging device 34 . As shown in FIG. 2, the cross-sectional shape of the lens 48 in the axial direction is such that both end portions 48a and 48b are straight, and the portions other than both ends are curved with the center bulging outward. It has a rotationally symmetrical shape. An upper end portion 48a and a lower end portion 48b of the lens 48 are formed with a stepped inner surface, and the upper end portion 48a and the lower end portion 48b correspond to the protrusion 46 of the second member 42 and the protrusion of the tip side cylindrical member 29, respectively. The lens 48 is fitted concentrically with the guide tube 22 while being externally fitted to the portion 29a. Then, light from a subject located outside the lens 48 (reflected light of illumination light emitted from the LED 36 in this example) is condensed based on the curvature of the lens 48 and guided to the light receiving surface of the image sensor 34. is configured to

The control unit 16 supplies power to the LED 36 and the imaging element 34 via the cord 19 , processes the received image signal from the imaging element 34 , and displays the obtained image on the monitor 18 . In this example, four images can be displayed on the monitor 18 based on the four image signals output from the trocar 12 . In addition, when the observation range of each imaging device 34 is 90° or more in the circumferential direction and the observation ranges of the adjacent imaging devices 34 partially overlap each other, the four images are joined together and the guide tube 22 It is also possible to generate a composite image covering a range of 360° in the circumferential direction of the and output it to the monitor 18 .

FIG. 4 is a diagram showing an example of a mode of use of an observation device for observing body cavities using the trocar 12 of the present embodiment. In the figure, 52a and 52b are forceps, 54 is an endoscope for magnifying an operation site and displaying it on an external monitor (not shown), and having a camera 54a at its tip. These forceps 52a, 52b and endoscope 54 are inserted inside through trocars 56, 12, 58 attached to the patient's body wall H, respectively. Of these, the trocar 12 is a trocar having an imaging function.

In this example, since gas is sent into the body through one of the trocars, the body wall H expands outward, and a predetermined space is formed between the body wall H and the organ 60 to be operated. The operator operates the forceps 52a, 52b and the like based on the enlarged image of the organ 60 captured by the endoscope 54 to perform incision and suturing of the organ 60. FIG.
In this example, an observation image of the region LB between the organ 60 and the body wall H, which is difficult to confirm with the endoscope camera 54a, is displayed on the monitor 18 ( (See FIG. 1).

In this embodiment, the arrangement of the imaging device 34 provided on the cylindrical wall 31 of the guide tube 22 can be appropriately changed according to the region to be observed. 5 and 6 show an example thereof.
In this example, the imaging elements 34 are provided in two axially upper and lower stages of the base end side tubular member 28 . As shown in FIG. 6, five recesses 30 (72 °) are formed. These recesses 30 formed on the base end side are opened obliquely upward in the figure. The imaging element 34 provided on the bottom surface of the recess 30 formed on the proximal end side can image the area near the back surface of the body wall H outside the guide tube 22 through the lens 48 .

On the other hand, five recesses 30 (at intervals of 72°) are formed in the proximal side cylindrical member 28 in the circumferential direction at positions on the distal side (lower side in the drawing) than the top. These recesses 30 formed on the tip end side are opened obliquely downward in the figure. The imaging element 34 provided on the bottom surface of the recess 30 formed on the distal end side can image the area near the surgical site outside the guide tube 22 through the lens 48 .
Therefore, according to the examples shown in FIGS. 5 and 6, the area outside the guide tube 22 can be widely observed in the axial direction (vertical direction in the drawings).

As described above, in the present embodiment, the region between the surgical site (organ 60) and the body wall H, which is separated from the surgical site (organ 60), can be widely observed in the direction along the body wall H. It is possible to solve the problem caused by the difficulty in observing the region.
In addition, since this embodiment adds an imaging function to the trocar that has been used conventionally, there is no need to create a new wound (hole) in the patient's body wall, and the burden on the patient can be reduced. .

In the present embodiment, the imaging element 34 is attached to the proximal side member 24 side of the guide tube 22 at the axially intermediate position, so that an area near the body wall H that is difficult to observe with an endoscope camera can be easily observed. can be observed.

In this embodiment, a wide range in the circumferential direction of the guide tube 22 can be observed by providing a plurality of imaging elements 34 in the circumferential direction of the guide tube 22 .

In this embodiment, the lens 48 has a cylindrical shape and is arranged outside the cylindrical wall 31 of the guide tube 22 so as to cover the LED 36 and the imaging device 34 . can function as a protective cover against Both end portions 48a and 48b of the lens 48 are fitted and assembled with the protrusion 46 of the second member 42 and the protrusion 29a of the distal end side cylindrical member 29, respectively. Intrusion of liquid into the inner space of 48 can be prevented satisfactorily.

FIG. 7 is a diagram showing essential parts of another embodiment of the present invention. In the figure, 61 is a small camera equipped with a lens 63 for collecting light and an imaging element 34 inside the housing, and is attached to the cylindrical wall 31 of the guide tube 22B (specifically, the proximal side cylindrical member 28B). there is
In this example, a portion of the cylindrical wall 31 of the proximal side cylindrical member 28B forms a bulging portion 64 that bulges outward in the radial direction. Four recesses 65 are formed in the circumferential direction (at intervals of 90°). These recesses 65 formed on the base end side are opened obliquely upward in the figure. A camera 61 is attached to a concave portion 65 formed on the base end side so that the imaging direction is obliquely upward. As this camera 61, for example, a camera having a size of about 1 mm.times.1 mm.times.1.7 mm can be used. Also, the camera 61 is capable of capturing an image within a viewing angle of 90°.

On the other hand, four recesses 65 are formed in the circumferential direction (at intervals of 90°) at positions on the distal side (lower side in the drawing) of the base end side cylindrical member 28B than the top of the bulging portion 64. . These recesses 65 formed on the tip end side are opened obliquely downward in the drawing. A camera 61 is attached to a recess 65 formed on the tip side so that the imaging direction is obliquely downward.

Further, as shown in FIG. 7B, an LED 36 as light irradiation means is attached to the cylinder wall 31 at a position different in the circumferential direction from the recess 65 so as to face the outside of the guide tube 22B. This LED 36 can illuminate the observation area outside the guide tube 22B within a range of an illumination angle of 120° or more. A diffuser plate may be placed in front of the LEDs 36 if diffusion is required. These camera 61 and LED 36 are connected to the control section 16 (see FIG. 1) by a cord (not shown).

Reference numeral 67 denotes a cylindrical transparent protective cover arranged outside the camera 61 and the LED 36, and both ends thereof are attached to the projecting portion 46 at the lower end of the hand-side member 24 and the projecting portion 29a at the upper end of the tip-side cylindrical member 29. They are assembled concentrically with the guide tube 22B in a state where they are externally fitted. The transparent protective cover 67 has a spherical portion facing the camera 61 and also functions as a lens for condensing light from an object positioned outside the guide tube 22B.

According to this embodiment, the observation area outside the guide tube 22B is irradiated with illumination light by the LEDs 36, and the light (reflected light) from the subject positioned in the observation area outside the guide tube 22B passes through the transparent protective cover 67. It passes through and enters the camera 61 . Then, the light is condensed by a lens 63 provided in the camera 61 and enters the light receiving surface of the imaging element 34 . The light incident on the imaging device 34 is converted into an image signal and output to the external controller 16 (see FIG. 1). In this embodiment, a plurality of cameras 61 whose imaging directions are directed obliquely upward and cameras 61 whose imaging directions are obliquely downward are arranged in the circumferential direction of the guide tube 22B, and the area between the operated site and the body wall is widely observed. be able to.
It should be noted that the surface of the base-end cylindrical member 28B that holds the camera 61 and the LED 36 can be subjected to a blackening treatment in order to suppress reflection on the surface. Further, in order to improve the mountability of the camera 61 and the LED 36, it is also possible to configure the base end side cylinder member 28B to be axially splittable at the top of the bulging portion 64. As shown in FIG.

FIG. 8 is a diagram showing essential parts of still another embodiment of the present invention. In FIG. 7, reference numeral 70 denotes a small-sized camera having a lens 63 for condensing light and an imaging element 34 inside a housing. Reference numeral 72 denotes a concave mirror that reflects light from a subject positioned in the observation area outside the guide tube 22C toward the camera 70. As shown in FIG.
In the trocar 12C of this example, the camera 70 and the concave mirror 72 are provided on the guide tube 22C, more specifically, on the outer peripheral side of the base end side cylindrical member 28C. The concave mirror 72 is positioned below the camera 70 in the figure (on the tip side of the guide tube 22C), and is arranged with the reflecting surface 72a facing the camera 70 side.
Reference numeral 74 denotes a substantially cylindrical transparent protective cover disposed outside the camera 70 and the concave mirror 72. Both ends of the transparent protective cover 74 are formed by the protrusion 46 at the lower end of the hand side member 24 and the protrusion 29a at the upper end of the distal end side cylindrical member 29. and are assembled in a state in which they are fitted on the outside.

According to this example, light from a subject located in the observation area outside the guide tube 22</b>C passes through the transparent protective cover 74 and enters the concave mirror 72 . Furthermore, the light incident on the concave mirror 72 is reflected by the reflecting surface 72a of the concave mirror 72 toward the camera 70, condensed by the lens 63 provided in the camera 70, and incident on the light receiving surface of the imaging element 34. . Then, the light incident on the imaging element 34 is converted into an image signal and output to the external control section 16 (see FIG. 1).
As described above, according to this embodiment, the region between the surgical site and the body wall, particularly the region LB close to the back side of the body wall H can be widely observed.
A plurality of concave mirrors 72 may be provided corresponding to the number of attached cameras 70, or one ring-shaped concave mirror extending in the circumferential direction of the base end side cylindrical member 28C may be provided. be.

FIG. 9 is a diagram showing a main part of the reference example. In this example, the light source 76 of the illumination light and the imaging element 34 are arranged in the control unit 16D at a position spaced apart from the trocar 12D, and the light from the light source 76 is guided through a guide tube using a light-projecting optical fiber 78. The light from the object located in the observation area outside the guide tube 22D is guided to the observation area outside the guide tube 22D to the imaging device 34 using the optical fiber 80 for light reception.

The light-projecting optical fiber 78 is arranged from the light source 76 to the cylindrical wall 31 of the guide tube 22D (specifically, the base-side cylindrical member 28D). is arranged radially outward so as to face the outside of the Light emitted from the light source 76 is condensed by a lens 83 arranged between the light source 76 and the light-projecting optical fiber 78, and guided through the light-projecting optical fiber 78 to the cylindrical wall 31 of the guide tube 22D. The light emitted from the end portion of the light-projecting optical fiber 78 on the cylinder wall 31 side is irradiated onto the observation area outside the guide tube 22D through the irradiation lens 82 . In this example, the optical fiber 78 for light projection and the lens 82 for irradiation constitute light irradiation means.

The light-receiving optical fiber 80 is arranged from the imaging device 34 to the cylindrical wall 31 of the guide tube 22D, and the end of the light-receiving optical fiber 80 on the side of the tube wall 31 extends radially outward so as to face the outside of the guide tube 22D. are arranged. A condensing lens 84 is arranged at the tip of the end portion of the optical fiber 80 for light reception on the cylinder wall 31 side. According to this example, the light from the subject positioned in the observation area outside the guide tube 22D is guided by the lens 84 to the end face of the light receiving optical fiber 80, and emitted from the end face of the light receiving optical fiber 80 on the image sensor 34 side. be. A lens 85 for forming an image on the light receiving surface of the image pickup device 34 is arranged between the light receiving optical fiber 80 and the image pickup device 34. Light emitted from the light reception optical fiber 80 passes through the lens 85 and passes through the image pickup device. 34 and converted into an image signal.

As described above, when the imaging element 34 is not provided on the cylindrical wall 31 of the guide tube 22D, the light-receiving optical fiber 80 that guides the light condensed by the lens 84 to the imaging element 34 is attached to the tube wall 31 of the guide tube 22D. By providing it on the wall 31, the area LB between the surgical site and the body wall can be observed. Also in this example, by providing a plurality of light-receiving optical fibers 80 in the circumferential direction or the vertical direction of the guide tube 22D, the outer region of the guide tube 22D can be observed over a wide range.

Although the embodiments of the present invention have been described in detail above, these are only examples, and the present invention can be configured in various forms without departing from the scope of the invention.

12, 12B, 12C, 12D Trocar 22, 22B, 22C, 22D Guide tube 24 Hand side member 25 Insertion hole 31 Cylindrical wall 34 Imaging element (imaging means)
36 LED (light irradiation means)
48, 63, 84 lens 61, 70 camera 78 optical fiber for light projection (light irradiation means)
80 optical fiber for light reception 82 lens (light irradiation means)

Claims (5)

A trocar that is used while attached to a body wall and guides a surgical instrument into a body cavity through an insertion hole formed therein,
a cylindrical guide tube that penetrates the body wall and is inserted into the body cavity; and a proximal member that is formed on the proximal side of the guide tube and has a larger diameter than the guide tube and engages the surface of the body wall. , has
A camera internally provided with a lens for condensing light from a subject positioned in an observation area outside the guide tube, and imaging means for receiving the light condensed by the lens and converting it into an image signal, provided at different positions in the circumferential direction on the cylindrical wall of the guide tube ,
The camera has an image pickup function, wherein the camera is installed in a recess opening on the outer peripheral surface of the cylindrical wall at a position closer to the hand side member than the tip surface of the guide tube. Trocker. 2. The trocar with an imaging function according to claim 1, wherein four or more of said cameras are provided at different circumferential positions on said cylindrical wall. 3. The apparatus according to claim 1, wherein light irradiation means for irradiating an observation area outside said guide tube with illumination light is provided on the cylindrical wall of said guide tube separately from said camera. A trocar with an imaging function. 4. The camera with imaging function according to any one of claims 1 to 3, wherein a part of observation areas of the adjacent cameras overlap each other, and a range of 360° in the circumferential direction of the guide tube can be observed. Trocker. 5. The trocar with an imaging function according to claim 1, wherein a plurality of said cameras are provided at different positions in the axial direction of said guide pipe.

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