JPH0263206B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a surgical microscope and its control system that automatically corrects relative positional deviations and focus-related deviations between a surgical site and an observation optical system.

BACKGROUND ART In ophthalmology and otorhinolaryngology, surgical microscopes have been used for a long time in surgeries because the target organs are extremely minute living tissue. Conventionally, for example, in ophthalmological surgery, it was common for patients to be given local anesthesia only around their eyes, and as a result, the patient may move during the surgery, or the arms of the surgical microscope may move slightly. There have been problems such as the surgical site being removed from the field of view of the observation optical system and the in-focus state not being maintained. For this reason, in conventional surgical microscopes, a fine movement support device has been developed that allows the observation optical system to be moved freely in the X-Y directions within a plane substantially perpendicular to the observation optical axis. The operation of this fine movement support device can be controlled by a foot switch in the same way as driving the focusing mechanism.

However, in recent years, with the development of surgical instruments used directly and jointly, and the sophistication of surgical techniques, there are now 10 to 20 types of foot switches that the surgeon must operate during surgery, and their arrangement. It is difficult to memorize the information, and there is a risk of making mistakes.

The present invention was made in order to eliminate the drawbacks of the conventional surgical microscope, and its first purpose is to
To provide a new surgical microscope capable of automatically correcting the in-focus state of an observation optical system when it is no longer maintained due to movement of a patient or the like.

A second object of the present invention is to provide a novel focusing control system for a surgical microscope that can overcome the above-mentioned conventional drawbacks in a group of surgical instruments consisting of a surgical microscope and a surgical bed.

The structural features of the surgical microscope of the present invention to achieve the above object include an index means disposed either near the surgical site or on the observation optical system side;
a detection means installed either near the surgical site or on the observation optical system side on a side different from the index means arrangement side, and receives an image of the index means and outputs image reception position information; a focusing means of an observation optical system section and a storage means for storing initial image receiving position information from the detection means in an initial focus state of the observation optical system section; and a calculation means for calculating a focusing correction amount from the image receiving position information from the state detection means and the initial image receiving position information, and actuating the focusing means based on the calculation result of the calculation means. The object of the present invention is to correct an out-of-focus state of the observation optical system section.

In addition, the structural features of the focusing control system of the surgical microscope include a surgical microscope having an observation optical system section for observing at least the surgical site, and an observation optical axis of the observation optical system section that observes the surgical site. a support means for the surgical site having a moving means for moving in a direction parallel to the surgical site; an index means disposed near the surgical site or on the observation optical system side; and an index means for the surgical site. a detection means that is installed near the surgical site on a side other than the placement side or on the observation optical system side, and receives an image of the index means and outputs image reception position information; and the observation optical system. storage means for storing initial image receiving position information from the detecting means in an initial focused state of the observation optical system; and image receiving position information from the detecting means when the observation optical system section is out of the initial focused state; and a calculation means for calculating a focus correction amount from the image receiving position information, and according to the calculation result of the calculation means, the moving means is operated to correct the out-of-focus state of the observation optical system section.

According to the present invention, even if a positional shift or out-of-focus state occurs between the field of view of the observation optical system and the surgical site due to movement of the patient or movement of arms, the amount of shift is detected on the microscope side and the observation is performed. The optical system automatically moves around the surgical bed, etc., and the amount of deviation can be automatically corrected.
Therefore, it is no longer necessary for the operator to frequently operate the fine movement support device and focusing switches as in the past, and it is possible to provide an ideal surgical microscope that allows the operator to concentrate on the surgery. The present invention can further provide a control system that allows the same manual control as the surgical microscope described above using a conventional surgical microscope.

Embodiments of the present invention will be described below with reference to the drawings. The following explanation will be made using an ophthalmological surgical microscope as an example, but the present invention can be used not only in this clinical department, but also in other medical surgical microscopes such as neurosurgery and otorhinolaryngology. It is possible.

The observation optical system section 10 of the surgical microscope is supported by a support arm 20, and the support arm 20 is supported by a fine movement support device 30 so that it can move freely in the X-Y direction in a plane perpendicular to the observation optical axis O. ing. This fine movement support device 30 includes a multi-joint arm 4 rotatably attached to a stand (not shown).
0 and is held on the surgical site OB so that the surgical site OB, for example, the patient's eye, can be observed at high magnification at all times.

As shown in FIG. 2, the observation optical system unit 10 includes an objective lens 11, binocular variable magnification optical systems 12a and 12b parallel to the optical axis O of the objective lens 11, and a square prism disposed behind the objective lens 11. 13a, 13b,
Focus plates 14a, 14b, and eyepiece 15a,
Binocular observation optical system 16a, 16b consisting of 15b
have. The observation optical system section 10 also includes binocular observation optical systems 16a and 16, as shown in FIG.
It has an illumination optical system 17 and a detection optical system 18 in a plane perpendicular to the plane including b. The illumination optical system 17 is composed of a light source 170, an aperture 171, and a projection lens 172, and directs the light from the light source 170 to the surgical area OB.
The area to be operated on is illuminated.

On the other hand, the detection optical system 18 includes a filter 180,
It is composed of an imaging lens 181, an aperture 183 placed at the front focal position of the imaging lens 181, and an area type sensor array 182. The observation optical system section 10 having such a configuration is coupled to a focusing mechanism section 50 built into the support arm 20, and the observation optical system section 10 is aligned with the observation optical axis O by driving this focusing mechanism section. It can then be moved up and down to focus on the area to be operated on.

Furthermore, two infrared light-emitting diodes 101 and 102 are arranged near the operated part OB, for example, the eyes, which serve as indicators for positional deviation of the visual field and focus control. These infrared light emitting diodes 101, 102
The reason for arranging two indicators is to perform focus control, as will be described later.If only positional deviation correction of the visual field is required, it is sufficient to arrange only one indicator. For example, as shown in FIG. 4, the infrared light emitting diodes 101 and 102 can be placed near the affected eye.
The light emitting diodes 101 and 102 may be attached to the eyelid opening device 103 and used during surgery.

Next, the control system of this embodiment will be explained along with its operation. The operator sets the observation optical system section 10 on the surgical site OB by rotating the multi-joint arm 40. Next, as shown in FIG. 3, when the initial value set switch 200 is turned on, the oscillator 201
operates and the infrared light emitting diode 10 is activated at a certain period.
1 and 102 are turned on alternately. The light from the infrared light emitting diodes 101 and 102 passes through the objective lens 11.
After passing through, a filter 180 allows only light in the infrared region, which is the emission wavelength thereof, to pass therethrough, and images of the light emitting diodes 101 and 102 are formed on an area sensor array 182 by a lens 181. Since the gate circuit 202 is also opened when the initial value set switch 200 is turned ON, the detection output from the sensor array 182 is sent to the memory circuit 203 through the gate circuit 202.
is memorized. When the light emitting diodes 101 and 102 are turned on, this memory circuit 203 stores information on the image formation position of the light emitting diode 101 on the sensor array 182, and then information on the image formation position on the sensor array 182 of the light emitting diode 102. are respectively stored as x-y coordinate values.

If the field of view shifts or becomes out of focus due to movement of the patient or movement of arms during surgery, the correction switch 204 is turned on. This correction switch 2
04 opens the gate circuit 205 (at this time, the gate circuit 202 is closed), and at the same time, the oscillator 201 oscillates again, and the light emitting diodes 101 and 102 alternately emit light. Information on the projection positions of the light emitting diodes 101 and 102 onto the sensor array 182 is sequentially sent to the arithmetic circuit 207 through the gate circuit 205. This calculation circuit 2
07, the initial value data stored in the memory circuit 203 is input from the call gate circuit 206 which is opened at the same time as the ON operation of the correction switch 204.

The initial projection position coordinates of the light emitting diode 101 onto the sensor array are (x ₀ , y ₀ ), and the light emitting diode 1
Let the initial projected position coordinates of 02 be (x ₀ ′, y ₀ ′), and the detected coordinate values from the sensor array 182 when the correction switch 204 is turned on are (x ₁ , y ₁ ),
(x ₁ ′, y ₁ ′), the arithmetic circuit 207 calculates δ _x ≡ (x ₁ − x ₀ ) β ⁻¹ δ _y ≡ (y ₁ − y ₀ ) β ⁻ as shown in FIG. ¹ and δ≡{√( ₀ − ₀ ′) 2 + ( ₀ − ₀ ′) 2 −√ ( ₁ − ₁ ′) 2 + ( ₁ − ₁ ′) 2} δ _z ≡f/β ²・δ/L where f ₁ is the focal length of the objective lens 11 L is the distance between the light emitting diodes 101 and 102 f ² is the focal length of the lens 181 f is the combined focal length of the objective lens 11 and the lens 181 Calculate β = f ₂ / f ₁ , The calculation results δx, δy are sent to the fine movement support device 3.
0 to correct the positional deviation of the observation optical system section 10. Further, the calculation result δz is input to the focusing mechanism section 50, and the pulse motor 501 is driven according to the value to move the observation optical system section 10 up and down to correct the focal shift.

FIG. 6 shows a second embodiment of the present invention, in which the detection section is made independent of the observation optical system section. Assume that the operator drives the focusing mechanism section 50 to move the observation optical system section 10 up and down to focus on any one of the operated parts OB ₁ , OB ₂ , and OB ₃ having different depths (heights). The detection unit 300 operates a known focusing mechanism to independently move up and down on the observation optical system unit 10 to focus on the index 101 to create a focused state.
Store location information. Next, when a shift in the field of view or an out-of-focus state occurs due to patient movement, etc., the detection unit 300 detects the state and operates the drive mechanism unit 50 and fine movement support device 30 until the shift or out-of-focus state is corrected. Drive and automatically correct.

FIG. 7 shows another embodiment of the detection section of the first and second embodiments. In this example, 1
This shows a detection device that can correct deviations in the field of view and out-of-focus simply by using two light-emitting diodes 101, and the light from the light-emitting diodes 101 passes through a first optical path consisting of an imaging lens 181a and a mirror 402a, and a first optical path consisting of an imaging lens 181a and a mirror 402a. It is divided into a second optical path consisting of an image lens 181b and a mirror 402b, and each optical path is connected to a rotating chopper 400 rotated by a motor 401.
is alternatively selected by , and images of the light emitting diodes 101 are alternately formed on the area type sensor array 183.

FIG. 8 shows still another embodiment of the detection section. In this embodiment, a special pattern projection system is provided on the index side, and this pattern is detected by a one-dimensional linear sensor array to detect deviations and out-of-focus of the field of view of the observation optical system. As shown in FIG. 8A, the detection system includes a projection section 601, a projection lens 602, and a linear sensor array 603, and as shown in FIGS. 3 and 6, this detection section includes an observation optical system section. 10 or externally attached.

The projection unit 601 includes a light source 604 and a projection index plate 605 illuminated by the light source and having a pattern as shown in FIG. 8B. The patterns of the index plate 605 include wedge patterns 606 and 607 whose arrangement directions are opposite to each other, and two patterns.
The parallel book consists of straight line patterns 608 and 609, and a glass plate 610 is attached to one of the straight line patterns 609 in order to change the focusing position.

8C shows the projection pattern of the index pattern onto the linear sensor 603 at the time of initial setting. The detection width of the projection pattern 606' by the linear sensor 603 is detected as _S1 .
Similarly, the projection pattern 607' is S ₂ and 60
8′ is detected in S ₃ and 609′ is detected in S ₄ , respectively.
It is also assumed that the center positions of the projection patterns 606' and 607' are detected to be located at the _M1th element and the _M2nd element of the sensor.

Next, when the observation optical system section shifts its position, the widths of the projection patterns 606' and 607' change to S ₁ ' and S ₂ ', respectively, as shown in FIG. Furthermore, if the respective centers change to the M ₁ ′-th and M ₂ ′-th element positions, the amount of positional deviation and its direction can be detected based on the changes in the element position and width. Furthermore, when a focus shift occurs, the widths of the projection patterns 608' and 609' change to S ₃ ' and S ₄ ' as shown in C, so the amount of focus shift can be detected from this amount of change.

FIG. 9 shows still another embodiment of the present invention, and both of the embodiments shown in FIGS. 3 and 6 described above move the observation optical system section of a surgical microscope up and down or drive a fine movement support device. The out-of-focus state and the positional deviation of the visual field were corrected by this method, but in this embodiment, the above-mentioned corrections are made by moving the surgical bed in the up, down, left, right, front and rear directions. This embodiment includes a surgical microscope 701 having a detecting section 705 having the same configuration as each of the above-described embodiments, an index section 703, a surgical bed 704 that can be electrically driven forward and backward, up and down, and left and right. It is composed of a control circuit 702 shown in FIG. Information regarding positional deviation and defocusing of the visual field is transmitted from the control circuit 702 to the surgical bed 7.
04, and the surgical bed is moved to correct positional deviation and defocus of the visual field.

The present invention is not limited to the embodiments described above, and for example, the arrangement of the area-type sensor array as the detection means and the infrared light emitting diode as the indicator means may be reversed to place them near the surgical site. As the detection means, a light emitting diode may be arranged on the observation optical system side. In addition to the area type sensor array and linear sensor array described above, a known photoelectric position detection device may be used as the detection means. Further, the detection means may use an image pickup tube or an image sensor used for recording a surgical operation as a means for detecting a target image.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the configuration of the observation optical system section of the surgical microscope of the present invention, FIGS. 2 and 3 are optical layout diagrams and block diagrams showing the first embodiment of the present invention, and FIG. 5 is a schematic diagram showing the displacement of the index projection image, FIG. 6 is an explanatory diagram showing the configuration of the second embodiment of the present invention, and FIG. 7 is a diagram showing the configuration of the second embodiment of the present invention. 8A to 8C are explanatory diagrams showing the configuration of the second embodiment of the present invention, FIGS. 8A to 8C are explanatory diagrams of the detection principle of the third embodiment of the detection section of the present invention, and FIG. It is an explanatory diagram. 10...Observation optical system section, O...Observation optical axis, 12
a, 12b... variable magnification optical system, 18... detection optical system, 20... support arm, 30... fine movement support device, 40... multi-joint arm, 50... focusing mechanism section, 101, 102... Infrared light emitting diode, 1
82...area type sensor array, 200...initial value set switch, 183...aperture placed at the front focal position of the lens 181.

Claims (1)

[Scope of Claims] 1. An index means arranged either near the surgical site or on the observation optical system side; and near the surgical site and the observation optical system section on a side other than the side where the index means is arranged. a detection means installed on either side of the index means for receiving an image of the index means and outputting image reception position information; a focusing means for the observation optical system section; and an initial focusing state of the observation optical system section. storage means for storing initial image receiving position information from the detecting means; and image receiving position information from the detecting means in a state where the observation optical system section is out of the initial focused state, and the initial image receiving position information. A surgical microscope comprising: a calculation means for calculating a focus correction amount, and the focusing means is operated according to the calculation result of the calculation means to correct an out-of-focus state of the observation optical system section. . 2. The surgical microscope according to claim 1, wherein the index means is disposed near the surgical site, and the detection means is disposed on the observation optical system side. 3. The indicator means is at least two light-emitting indicators, and the detection means is comprised of at least one area-type photosensor array, and is capable of outputting a light receiving position from the light-emitting indicators as an output signal related to a plane coordinate value. A surgical microscope according to claim 1 or 2. 4. The surgical microscope according to claim 3, wherein the luminescent indicator is an infrared light emitting diode attached to an eyelid opening device. 5. The surgery according to any one of claims 1 to 4, wherein the focusing means includes a drive mechanism that moves the observation optical system back and forth along its observation optical axis. microscope. 6. A surgical microscope having an observation optical system section for observing at least the part to be operated on, and the part to be operated on having a moving means for moving the part to be operated on in a direction parallel to the observation optical axis of the observation optical system part. supporting means; an index means disposed either near the surgical site or on the observation optical system side; and an indicator disposed near the surgical site and on the observation optical system side that are separate from the index means arrangement side. a detection means installed on either one of the index means and configured to receive the image of the index means and output the image reception position information; and a detection means for storing the initial image reception position information from the detection means in the initial focusing state of the observation optical system section. and a calculation means for calculating a focus correction amount from the image reception position information from the detection means and the initial image reception position information when the observation optical system section is out of the initial focus state, A focusing control system for a surgical microscope, characterized in that the moving means is actuated based on the calculation result of the calculation means to correct an out-of-focus state of the observation optical system section. 7. The focusing control system for a surgical microscope according to claim 6, wherein the index means is disposed near the surgical site, and the detection means is disposed on the observation optical system side. 8. The indicator means is at least two light-emitting indicators, and the detection means is comprised of at least one area-type photosensor array, and is capable of outputting the light reception position from the light-emitting indicators as an output signal related to a plane coordinate value. A focusing control system for a surgical microscope according to claim 6 or 7. 9. The focusing control system for a surgical microscope according to claim 8, wherein the luminescent indicator is an infrared light emitting diode attached to an eyelid opening device. 10. A focusing control system for a surgical microscope according to any one of claims 6 to 9, wherein the support means is a surgical bed that holds a human body having a surgically operated part.