JPH01307719A - Stereoscopic endoscope - Google Patents

Abstract

PURPOSE:To obtain a natural image which is easy to look at as a stereoscopic image by arranging illumination systems so as to almost equalize the brightness distributions of illumination light at least in horizontal directions in images obtained by means of observation systems with respect to at least the observation systems used for stereoscope. CONSTITUTION:Light distributing lens systems 52R and 52L are arranged on upper sides in almost vertical directions with respect to objective lens systems 37R and 37L. Therefore, the brightness distributions of the illumination light in the horizontal direction of a screen are almost equalized. The lower sides of both a right image and a left image in the vertical direction of the screen are darkened. The same directions are darkened in both the right image and the left image. When the both images are overlapped, dark parts remain dark, whereby the screen does not flicker. Thus, the stereoscopic image is not unnatural but easy to look at.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a stereoscopic endoscope that has a plurality of observation systems and is capable of stereoscopic viewing.

[Prior Art and Problems to be Solved by the Invention] In recent years, elongated insertion sections have been inserted into body cavities to observe internal organs, etc., and to use treatment tools as necessary. BACKGROUND OF THE INVENTION Endoscopes that can perform various therapeutic procedures using treatment tools inserted into the tunnel are widely used.

By the way, in detecting early diseases, etc., it is important to identify minute irregularities on the surface. However, with conventional endoscopes, the observable image is flat and costs only $111.
4'E It was difficult to distinguish the unevenness.

Therefore, as shown in Japanese Patent No. 57-69839, a stereoscopic endoscope with two vA detection systems has been proposed. These two observation systems have their respective (J P (
Upper) The direction of the vA detection system is determined so that the direction coincides with the tJ l'' direction of the endoscope.

However, as shown in the above-mentioned publication, in the past, uneven illumination was not considered important in stereoscopic endoscopes. For example, in the endoscope disclosed in the above-mentioned publication, the illumination system was provided at a horizontally biased position with respect to the two image guides. If the positions of the illumination systems for the two iA observation systems are not equal, uneven illumination will easily occur in the observation system h, which is far from the illumination system. Also, in the images of each observation system, the direction in which the illumination system is located is 5Ii! Therefore, uneven illumination is likely to occur due to differences in illumination directions.

Furthermore, the influence of uneven illumination between images of each observation system will be explained using FIGS. 9 and 10.

FIG. 9 shows the distal end of the insertion section of the endoscope.

This tip 101 is provided with image guides 102 and 103 as two 111J'b systems and the tip of a light guide 104 as an illumination system.

One image guide 102 is for the left eye, and the other image guide 103 is for the right eye. In the figure, code 10
5, the receiving area is the range of (7) of the three-dimensional image. In addition, the objective lens, light distribution lens, etc. are omitted in the figure. The light rays 1 are strongest on the extension of the central axis of the light guide 104, and become weaker as they move away from the center.

For example, a stereoscopic image (qtogi) is a method of displaying two parallax observation images alternately on a monitor screen, and in synchronization with this display, a liquid crystal shutter that opens alternately on the left and right is displayed on a pair of glasses. Through the lens, images obtained with the right observation system are viewed with the right eye, and images obtained with the left observation system are viewed with the left eye.

At this time, for example, if lie 1 to guide 104 are biased as shown in FIG. 9, as shown in FIG. 10(a),
In the image on the left, the light j11 on the L side is weakened and the 10th
As shown in Figure (b), at - on the right side, the light amount on the right side (and the light amount on the 2C side is slightly weaker).

Therefore, these two images are superimposed and separated to form a three-dimensional image. l
If you do so, the dark areas on the left and right will be switched to 'L7-', causing the screen to shake and making it very difficult to observe. Further, the stereoscopic image also becomes unnatural.

[Object of the Invention] The present invention has been made in view of the above-mentioned minor axis, and an object of the present invention is to provide a stereoscopic endoscope that can produce natural and easy-to-see stereoscopic images. .

[Means for Solving the Problems] The stereoscopic endoscope of the present invention has a plurality of observation systems, and at least each observation system used for stereoscopic vision has J: The illumination system is designed so that the luminance distribution of the illumination light in at least the horizontal direction in each image is approximately the same.

[Companion] In the present invention, at least the n+ degree distribution of illumination light in the horizontal direction in each image obtained by each observation system used for stereoscopic viewing is approximately the same.

[Example] Hereinafter, the present invention will be described in detail with reference to the drawings.

FIGS. 1 to 5 relate to the first embodiment of the present invention.
The flesh is a front view of the distal end of the endoscope insertion part, Figure 2 is a cross-sectional view taken along the line A-A' in Figure 1, Figure 3 is a perspective view of the entire neck attachment, and Figure 4 is a cross-sectional view taken along the line A-A' in Figure 1. FIGS. 5(a) and 5(b) are explanatory diagrams showing the configuration of the inner 81vL device, and FIGS. 5(a) and 5(b) are explanatory diagrams showing each image of the L image taken by the endoscope.

As shown in FIG. 3, the family celebration M1 device includes an endoscope 1 capable of stereoscopic viewing. This endoscope 1 includes an optical vA device 20 having a built-in first video processor (hereinafter referred to as video processor "S(1)") 21, and a second video processor (hereinafter referred to as video processor) 21. A Brosenna (2) and Note 'J,)
22. The light source device 2
0 is connected to the monitor 23.

The endoscope 1l111 has an elongated C, for example, a flexible insertion part 2.
A large-diameter operating portion 3 is provided at the rear end of the insertion PJI 2. A flexible universal cord 4 is laterally extended from the operation unit 3 in 11r1, and the end of this universal cord 4 is connected to the connector socket 25 of the light source equipment 20 in 6rt. A first =1 connector 5 is provided. A signal cord 6 extends from the side of the first connector 5, and a second signal cord 6 is connected to the end of the signal cord 6 to the connector receiver of the bidet A-button (2) 22. Two connectors 7 are provided.

On the distal end side of the insertion section 2, a hard distal end section 9 and a curved section 10 that can be bent in any direction adjacent to the distal end section 9 are sequentially provided. , a bending operation knob 11 is provided, and by rotating the bending operation knob 11, the bending section 10 can be bent vertically/horizontally. , '11' l II+ A treatment instrument insertion port 12 communicating with a treatment instrument channel provided in the human part 2 is provided.

As shown in FIG. 2, the tip 9 has a hard, cylindrical tip main body 31 and a cover member 32 externally fitted on the distal end side of the tip main body 31. As shown in FIG.

The tip body 31 and the cover portion 32 have two observation holes 33.2 that cover the insertion portion 2 in parallel with the axial direction.
Two illumination through holes 34, one treatment instrument through hole 35, and two air/water supply through holes (not shown) are formed.

In each observation through-hole 33, an objective lens system 37R937L held by lens frames 36a and 36b is installed so as to have a predetermined parallax. The objective lens system 37R corresponds to the right eye, and the objective lens system 37L corresponds to the right eye.
It corresponds to the eyes. The lens frame 36a and the tip body 3
An O-ring 38 is interposed between the two. An element frame 39 is connected to the rear end of the lens frame 36b, and a solid-state image element 4OR, /IOL such as a COD placed at the imaging position of the objective lens system 3711.371 is connected to the element frame 39. -C is held at 39. The solid-state dynamic fGl element/1
0+1. /I OL (7)! J-to foot/I 1 ,
/I 1 C is connected to the substrate 42.42, and this substrate 4
2. /12 has electronic components 43. /13 has been implemented. The board 42.42 has signal lines /1.4R, /1
．． 4L is connected. The signal line /141 on the solid-state imaging device 4OL side corresponding to the left eye is connected to the insertion portion 2. The video processor (J3) in the light source device 20 is inserted through the operation unit 3 and the universal cord 4 and connected to the first connector 5 (J3). 1) J connected to #A to 21 is . Solid 1 [image element/l0r (side signal line 41) corresponding to the right eye
1 is an insertion section 2. Operation unit 3. The J3 is inserted into the universal cord 4 and the signal cord 6 and connected to the second connector 7, and the bidet adjustment process is performed via the -l connector 7 (so that 2>22 is connected δ). It has become.

[, Solid Capture Image Soryo/IOL is a video production project (
1) 21, and the output signal of this solid-state image carrier 4OL is subjected to video signal processing by the video Broselli (1) 21. In other words, the solid-state image element 4OR is driven by the video processor 1 (2) 22, and the output signal of this solid-state carrier I6A element 40r (is transmitted to the video processor 1 (2) 22). J: is capable of video signal processing δ.

Also, nrl solid 1ii 3 image 1 child 40R, 40L and human t3 provisional 42. /12 is the shield frame 46.46
It is stored inside.

On the other hand, a light distribution lens system 52R, 52L held by a lens frame 51 is attached to each illumination through hole 34. still,
The light distribution lens system 52R is mainly the objective lens system 37R on the right eye side.
The light distributing lens system 52L mainly irradiates the field of view of the objective lens system 37L on the left [1 side] with illumination light. In this example,
An illumination hole 34.3/l is arranged approximately f, orthogonally above each vA inspection hole 33.33, and as shown in FIG. Light distribution lens system 5
2R is the light distribution lens system 52 for the objective lens system 37L.
L is arranged so that the light R,*, the direction, and the distance f'l between the objective lens system and the light distribution lens system are approximately the same.

At the rear end of each of the light distribution lens systems 52R and 52L, light guides 54R and 5 made of fiber bundles are provided.
4Ls are connected in series. This light guide 5/IR, 5
4L is the insertion part 2. Operation unit 3 and universal code 4
The end of the input O14 is integrated and connected to the connector 5.The integrated light guide is designated by the reference numeral 54.

In addition, on the tip side of two air and water supply holes (not shown),
Nozzles 55 and 55 are provided, respectively. Each nozzle 55.55 has an objective lens system 37R, 3
The distal end surface of 7L is open [1]. Also, treatment? A treatment instrument tunnel tube (not shown) is connected to the rear end of the instrument tunnel through hole 35, and this treatment instrument tunnel tube is inserted into the insertion portion 2 and inserted into the treatment instrument insertion port 1.
Connected to 2.

Further, a cylindrical body 5G is connected to the rear end portion of the tip main body 31. At the rear end of this cylindrical body 56, there are a number of annular joint pieces 57.57. . . , are connected to the insertion portion 2 in the direction of the insertion portion 2 so as to be able to be rotated in the U direction, and a bending tube 58 constituting the bending portion 10 is connected thereto. The outer periphery of this curved pipe 58 is made of metal or the like. The outer periphery of the curved braid 59 is covered with a curved rubber 60. It is fixed, for example, by thread wrapping and adhesive.

By the way, when the bending operation is performed, the bending tube 58 usually bends from the proximal side, so it does not bend beyond the tip side t of the bending tube 58, and the curved shape deteriorates. Therefore, by increasing the wall thickness on the tip side of the curved rubber 60 and increasing the wall thickness on the proximal side, and by curving the proximal side of the curved portion 10, the curved shape can be made to have a uniform curvature. . but,
If the thickness of the curved rubber 60 changes suddenly (steps), wrinkles will occur at that part when it is bent.

This has a curved blade 5 which is named after its appearance.
9 is wrinkled, which may cause the cable wire of the blade to break, which is dangerous.

Therefore, in this embodiment, the thickness of the curved rubber 60 is gradually changed within a predetermined length of t1, as shown by a3''c2a in FIG. Problems such as wire breakage and blade breakage occur 1 to 4 times.

Further, as shown in FIG. 4, a lamp 62 is provided in the light source device 20, and the light emitted from the lamp 62 is condensed by a condensing lens 63, Lie 1 to guide 5 of the first connector 5 connected to the receiver 25
It is designed to fit into a pantry for four people. Also, inside the light source device 20, a video signal from the video brake 1 (1) 21 in the optical YA device 20 and a video signal from the video brake (2) 22 which is separate from the light source device 20 are stored. is input, and this video signal is alternately monitored at a predetermined period on the monitor 23.
A video signal switching means 65 is provided for switching between illumination and illumination.

Therefore, the monitor 23 alternately displays, at a predetermined period, a subject image captured by the solid-state image carrier 40R for the right eye and a subject image captured by the solid-state carrier image device 40L for the left eye.

In this embodiment, a switching signal from the video signal switching means 65 is input, and in synchronization with switching between the left and right images displayed on the monitor 23, the part corresponding to the right eye is switched. Glasses 67 with a liquid crystal screen II ivy that can be opened and closed are provided, and this I[! By observing the screen of the monitor 23 through the mirror 67, stereoscopic viewing becomes possible.

Next, the operation of this embodiment will be explained with reference to FIG.

The light emitted from the lamp 62 in the light source device 20 enters the input end of the light guide 54 of the endoscope 1, is emitted from the tips of the branched light guides 54R, 5/IL, and passes through the light distribution lens system 52R. , 52L, and is irradiated onto the subject. The R light from this object is transmitted through the objective lens system 37R,
37L, the image is formed onto solid 1g image teeth 40R and 4OL. Output 3 of each solid-state imager 4OL, /loR
g, respectively, and de Apu [Ll 17 Tsusa (1) 21
．． The video signal is processed as PY obrosena (J for 2>22).

The video signal 1 from each video processor 21, 22 is output to the monitor 23 alternately at a predetermined period by the video signal switching means 65, and the video signal 1 is sent to the monitor 23 at a predetermined frequency as shown in FIG. 5(b). The solid-state image sensor 40 for the right eye [1 as shown in FIG.
/ images of the subject are displayed alternately δ.

By observing both sides of the r chive 23 through the glasses 67, the subject can be observed three-dimensionally.

By the way, in this embodiment, as shown in FIG.
A light distribution lens system 52f1.52L- is arranged.

Therefore, as shown in FIG. 5, I! of the illumination light in the horizontal direction of the screen! ! The degree surface distribution is approximately equal to −, but in the vertical direction of the screen,
The bottom of both the left and right images becomes dark. However, since both the left and right images become dark in the same direction, even if these two images are aligned, the dark areas remain dark and the C1 screen does not flicker. Therefore, the three-dimensional image does not look unnatural, and the image becomes smaller.

In this embodiment, the overall luminance distribution of illumination light is approximately the same between the iL left and right images, but only the horizontal luminance distribution may be approximately the same.

In addition, the video signal switch 8265 can be changed to Video Brollelli (
2) It may be provided on the 22 side. In this way, when performing normal observation other than stereoscopic observation using an endoscope with one observation system, only the light source device 20 is used, and for stereoscopic observation, wood When using the endoscope 1,
Video processor (by adding 2>22,
Three-dimensional observation becomes possible. Further, the video signal switching means 65 may be provided separately from the light source device 20 and the bidet ΔBrosselli (2) 22. In addition, the light source device and video processor (
1)21. The bif'A processors (2>22) may all be separate units.

FIG. 6 shows a family celebration vLIITi in the second embodiment of the present invention.
There is a side view 'C- of the tip of the entrance part.

In this embodiment, each objective lens system 37R, 37L is provided with two light distribution lens systems 52R, 352R, 5, respectively.
2L, 52L/j: Provided. The light distribution lens systems 52R, 52R are arranged 8 above and below the objective lens system 37R in a substantially vertical direction.

Similarly, the light distribution lens systems 521 and 521j are arranged above and below the lens system 37L in a substantially vertical direction. The conditions of illumination system illumination, number, direction, and distance are substantially the same for each of the objective lens systems 37R and 37L.

According to this embodiment, illumination unevenness is reduced compared to the first embodiment, and both images can be seen more clearly by 4U.

The other functions and effects of the configuration 9 are the same as those of the first embodiment.

Note that the number of illumination windows is not limited to two or four, but may be three, five or more, or an odd number. For example, two II
In the center of the IJ window, install a JLiff I illumination window on the right observation system (), and install one illumination window on the outside of each of the right observation systems (P, 1-1 Tal illumination light). The brightness distribution of
It may be arranged to be uniform in the horizontal direction.

7 and 8 relate to a third embodiment of the present invention, FIG. 7 is an explanatory diagram showing the configuration of an endoscope, and FIG. 8 is a front view of the distal end of the endoscope insertion part. be.

This embodiment is an example in which an image guide is used in the observation system.

As shown in FIG. 7, the endoscope 71 includes an elongated, for example, flexible insertion section 72, and a large-diameter operation section 73 is connected to the rear end of the insertion section 72. As shown in FIG. A flexible light guide cable 74 extends laterally from the operation section 73, and a connector (not shown) connected to a light source device such as the light source device 20 is connected to the end of the light guide cable 4. It is provided. Further, at the rear end of the operation section 73,
Two corresponding eyepieces 75L and 75R are provided on the left and right sides respectively.

The distal end portion 79 of the insertion portion 72 is provided with two λ1 object lens systems 80R and 80L that provide a predetermined visual field. At the imaging position 4 of each objective lens system 80R, 80L, the tip surfaces of image guides 81R, 81L made of fiber bundles are arranged.
, 81L are inserted into the 1 dwarf portion 72, and their rear end portions are guided to the eye portion 1 and the eye portion 75R, 75m, respectively. An eyepiece lens 831 provided in the eyepiece portions 75R, 75L is provided on each rear end surface of the image guides 81R, 81L.
1.83L is facing.

Further, a light guide 85 is inserted into the insertion portion 72 and the light guide cable 74. This light guide 85 has a distal end branched into two parts, and
As shown in FIG.
, 80L in a ring shape. The receiving end of the light guide 85 is connected to a connector provided at the end of the light guide cable 74.

As shown in FIG. 8, the distal end portion 79 has a treatment instrument tunnel through hole 35 forming a treatment instrument channel, and nozzles 55, 55 opening toward each objective lens system 80f1.80L. and is provided.

Furthermore, external television cameras 90 and 90 can be detachably attached to the eyepieces 75R and 75L, respectively. In addition to this, the television camera 90 includes an imaging lens 91 that forms an image of the light from the eyepiece, and a solid N imager 92 that is disposed at the imaging position of the imaging lens 91. One external connection is the solid-state FI of the television camera 90.
: (tA element 92 is the video camera [II? tree (1)
21, and the solid-state image element 92 of the other external television camera 90 is connected to the video camera A [1 set 1) (2) 22. Note that the two external television cameras 90 and 90 may be integrated.

In the above-described configuration 1171, each light guide 85R
, 85L illuminates the field of view of the objective lens systems 80R, 80L.

The return light from the subject is passed through the objective lens system 8011.8OL.
As a result, images are formed on the tip surfaces of the image guides 81R and 81L. Each image formed on the distal end surface of this image guide 81R181L is
The light is guided to the eyepiece section 75R175L by the IL. By observing C with both eyes η from this eyepiece portion 75R975L, the C1 subject can be observed three-dimensionally. J
, and both eyepieces 7511 and 75L are exposed to the left and right TV cameras 90 and 90 (!-'A T, and both images were taken by this external TV camera 90 and 90). Similarly, the screen of the screen 23 is displayed alternately on the monitor 23, and stereoscopic viewing is possible by observing the screen of the screen 23 through the liquid crystal glasses 67.In this embodiment, the light guide 85R , 85L, the output end face is
Since the objective lens systems 80R and 80L are arranged in a ring shape around the outer periphery, the field of view of each objective lens system 80R and 80L is illuminated substantially uniformly. Therefore, when both the left and right images are combined, two images are obtained.

Other configuration 9 operations and effects are similar to those of the first embodiment.

Note that the present invention is not limited to the above-mentioned embodiments, and for example, three or more observation systems may be provided. In this case, at least the observation systems used for stereoscopic viewing (for example, two observation systems) J3 is added to each 1iTq image tqed by this vA detection system.
so that the 1rlIT degree distribution of the illumination light is approximately the same.
All you need to do is arrange a lighting system.

Furthermore, the means for stereoscopic viewing is not limited to the one used in the embodiments, and for example, the six left and right images may be simultaneously displayed on the left and right monitors of the same monitor, or on 1, L separate monitors. You may also use polarized glasses or the like to view the images as 6 and 1, respectively. Alternatively, a lens 1-Nira lens may be used.

Furthermore, when the endoscope according to the present invention is used, in addition to stereoscopic viewing, the video signal switching means 65 alternately sends six left and right image signals i) to the combicoater, and the computer processes the images. It is also possible to synthesize three-dimensional images and perform measurements one after another.

In addition, as a color double image system, the illumination light is R2O, B'
It may be a field-sequential type that sequentially switches to M, or it may be a simultaneous type where a filter array in which color filters that transmit R, 0, and 8t'2 color lights are arranged in a mosaic pattern is provided in front of the solid-state positive image element.

[Effects of the Invention] As explained above, according to the present invention, at least each lens used for stereoscopic viewing can be used for stereoscopic viewing. 5J observation system, the illumination system was arranged so that the brightness distribution of the illumination light in the horizontal direction in each image obtained by each observation system was approximately the same, so the three-dimensional image was natural. This has the effect of providing an image that is easy to view.

[Brief explanation of the drawing]

Figures 1 to 5 relate to the first embodiment of the present invention; Figure 1 is a front view of the distal end of the endoscope insertion section, and Figure 2 is a 161-section view of the bottom Δ'F+1 section of Figure 1. , FIG. 3 is a perspective view showing the rest of the endoscope system 2, FIG. 4 is an explanatory diagram showing the configuration of the 8-hour family celebration device, and FIGS. 5(a) and (b) are the endoscope by (
FIG. 6 is a front view of the distal end of the endoscope insertion section in the second embodiment of the present invention, and FIG.
8 and 8 relate to the third embodiment of the present invention, FIG. 7 is a first explanatory view showing the structure of the endoscope, FIG. 8 is a front view of the distal end of the endoscope insertion part, and FIG. Figure 10(a) and (b) show the endoscope in which the illumination system is arranged unevenly, and the brightness distribution of the illumination light at the tip of the human body part. FIG. 2 is an explanatory diagram showing left and right images obtained by 1...Inner 82 mirror 9...Tip 20...
・Light source device 21.22...Video block 123...Monitor 37R, 37L...3/1 object lens system 40fl, 4O
L...Solid seagull@me-ko 52R, 52L...Light distribution lens system 54R, 54L...Light guide Figure 1 Figure 5 (a) (b) Figure 6 Figure 9 Figure 10 (a) (b)

Claims (1)

[Claims] In a stereoscopic endoscope that has a plurality of observation systems and is capable of stereoscopic viewing, at least for each observation system used for stereoscopic viewing, at least the horizontal direction in each image obtained by each observation system is A stereoscopic endoscope characterized in that an illumination system is arranged so that the luminance distribution of illumination light is approximately the same.