JPH06237881A - Stereo endoscope - Google Patents

Abstract

PURPOSE:To prevent display of a stereoscopic image from becoming difficult to see even in changing direction of the field of view by manipulating an endoscope rotating around the axis center direction of the inserting part. CONSTITUTION:A shutter 20 to split an optical path right and left, which is transmitted from an objective optical system 16, is set up between the objective optical system 16 and an image pick up element 17 and an image rotator 21, which is manipulated to rotate an image transmitted from the objective optical system 16 around the optical axis, is set up between the objective optical system 16 and the image pick up element 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image display device for an endoscope, which displays a stereoscopic image in the field of view of the endoscope.

[0002]

2. Description of the Related Art Generally, for example, by using a laparoscope, which is a rigid endoscope inserted into the abdominal cavity as a means for treating an affected area in the abdominal cavity of a patient, the abdominal cavity of the patient can be treated without surgical open surgery. Techniques have been developed to treat the affected area. When treating an affected area in the abdominal cavity under this type of laparoscope, the field of view of the laparoscope is directed toward the affected area, and the treatment is performed while observing the affected area and a treatment tool for performing various treatments on the affected area within the field of the laparoscope. The operation of the tool is performed.

In addition, as a video display device of an observation optical system using a laparoscope, a two-dimensional image display is often performed in which an observation image is two-dimensionally displayed on a monitor screen. However, with a two-dimensional image display, it is difficult to grasp the perspective, and it is difficult to grasp the relative distance between the affected part and the treatment tool. There is a problem.

Therefore, the relative distance between the affected part and the treatment instrument is determined by displaying a three-dimensional image of the observation image on the monitor screen as a video display device of the observation optical system by the laparoscope. A technique has been developed that makes it easy to grasp and makes operations such as operation of a treatment tool and suturing of an affected area efficient.

FIG. 15A shows a schematic structure of a perspective type rigid endoscope 1 for three-dimensionally displaying an observation image on a monitor screen. Reference numeral 2 denotes the endoscope 1. Is the insertion part of. An inclined surface 3 that obliquely intersects the axial direction of the insertion portion 2 is formed at the tip of the insertion portion 2, and a pair of left and right observation windows 4 and 5 are arranged on the inclined surface 3. ing. Left and right objective optical systems are connected to these observation windows 4 and 5.

Further, a pair of image pickup devices such as CCDs are arranged in the operation portion 6 on the hand side connected to the base end portion of the insertion portion 2. Then, the image sent from the left and right objective optical systems is converted into an electric signal by each image pickup element and outputted.

Further, the left and right image pickup devices are connected to a monitor 8 via a signal line 7. Then, a stereoscopic image is displayed on the screen of the monitor 8 from the left and right images obtained by the left and right objective optical systems.

[0008]

In the endoscope 1 for displaying a three-dimensional image having the above-described conventional structure, the endoscope 1 is rotated about the axial direction of the insertion portion 2 while the endoscope 1 is in use. When the visual field direction of the endoscope 1 is changed by a dynamic operation, the left and right objective optical systems incorporated in the main body of the endoscope 1 and the left and right image pickup elements are integrated with the main body of the endoscope 1. It is designed to rotate.

Therefore, for example, from the state where the rotation angle of the rigid endoscope 1 is held at the reference position of 0 ° as shown in FIG. 15 (A), the endoscope 1 becomes as shown in FIG. 15 (B). 9
When it is rotated by 0 °, the vertical direction of the stereoscopic image displayed on the screen of the monitor 8 is also rotated, which causes a problem that the display of the stereoscopic image on the screen of the monitor 8 becomes difficult to see.

The present invention has been made in view of the above circumstances, and its object is to change the view direction of the endoscope by rotating the endoscope around the axial direction of the insertion portion. An object of the present invention is to provide an image display device for an endoscope that can prevent the display of a stereoscopic image from being difficult to see even if there is.

[0011]

According to the present invention, there is provided an objective optical system arranged at a distal end portion of an insertion portion of an endoscope, and an image pickup means for converting an image sent from the objective optical system into an electric signal and outputting the electric signal. And an optical path splitting means for splitting the optical path sent from the objective optical system into left and right parts to form left and right split optical paths, and a video playback screen for playing a video image based on the left and right video signals sent from the imaging means. Image rotation which is interposed between the display means for reproducing the three-dimensional image reproduced above, the optical path splitting means and the objective optical system, and rotates the image sent from the objective optical system about the optical axis. And means.

[0012]

The optical path sent from the objective optical system is divided into left and right by the optical path splitting means, guided to the image pickup means through the left and right split optical paths, and the image based on the left and right video signals sent from the image pickup means is reproduced on the display means. By reproducing the image on the screen to display a stereoscopic image and rotating the image sent from the objective optical system about the optical axis by the image rotating means provided between the optical path dividing means and the objective optical system. , When the endoscope is rotated around the axial direction of the insertion section to change the direction of the field of view of the endoscope, the image sent from the objective optical system is rotated around the optical axis to produce a stereoscopic image. This is to prevent the display from being difficult to see.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. 1 (A) to 2 (B). FIG. 1A shows a schematic structure of a perspective type rigid endoscope 11 such as a laparoscope. 12 is an insertion portion of the endoscope 11 and 13 is a base end portion of the insertion portion 12. This is the operation unit on the near side.

An inclined surface 14 that obliquely intersects the axial direction of the insertion portion 12 is formed at the tip of the insertion portion 12, and an observation window 15 and an illumination window (not shown) are formed on the inclined surface 14. It is arranged. One objective optical system 16 is connected to the observation window 15.

The operation unit 13 on the hand side has, for example, CC
One image pickup device (image pickup means) 17 such as D is arranged. The image pickup device 17 is connected to a monitor (display means) 19 via a left-right direction switching circuit 18.

Further, between the objective optical system 16 and the image pickup element 17, a left / right optical path switching shutter (optical path dividing means) 20 for dividing the optical path of an image sent from the objective optical system 16 into right and left is provided. There is. The shutter 20 divides the optical path of an image sent from the objective optical system 16 into two regions, left and right, 20a and 20b, as shown in FIG.
It is formed by a liquid crystal shutter that alternately opens and closes the left and right divided areas 20a and 20b. And
An image based on each of the left and right image signals sent from the image pickup device 17 is reproduced on the image reproduction screen of the monitor 19 via the left-right direction switching circuit 18 and a stereoscopic image is displayed.

Further, between the shutter 20 and the objective optical system 16, an image rotator (image rotating means) 21 for rotating the image sent from the objective optical system 16 about the optical axis.
Is installed. The image rotator 21 is formed of, for example, a back image type trapezoidal prism. In this case, the unit main body 23 of the image rotator 21 has a unit holder 24 holding the image rotator 21 and an operation knob 25 protruding from the unit holder 23 as shown in FIG. The operation knob 25 extends to the outside through a guide groove formed in the main body of the operation unit 13. The image rotator 2 is operated with the operation of the operation knob 25.
1 is rotated around the optical axis of the objective optical system 16, and the image sent from the objective optical system 16 is rotated around the optical axis.

An adjusting lens 22 for adjusting the light sent from the objective optical system 16 side to a parallel light is arranged on the image incident end face side of the image rotator 21, and the light sent from the objective optical system 16 side is arranged. The light is incident on the image rotator 21 side after being adjusted to be parallel light through the adjusting lens 22.

Next, the operation of the above configuration will be described.
First, during observation with the rigid endoscope 11, illumination light is emitted through the light guide in the visual field direction of the endoscope 11 in the abdominal cavity, and an image in the visual field of the endoscope 11 is observed through the observation window 15 of the endoscope 11. It is incident on the objective optical system 16 through.

The observation image sent through the optical path of the objective optical system 16 is incident on the image rotator 21 in the state of being adjusted to parallel light by the adjusting lens 22, and the image transmitted through the image rotator 21 is switched to the left and right optical path switching shutter 20. After that, an image is formed on the image pickup device 17. At this time, the shutter 20 is divided into the left and right divided areas 20a and 20b.
Are alternately opened and closed, and the left and right images are supplied to the image pickup device 17 through the left and right split optical paths in accordance with the opening and closing operation of the shutter 20. It should be noted that the image formed on the image pickup device 17 is reversed left and right when passing through the image rotator 21.

Furthermore, the left and right images sent are the image pickup device 1.
It is converted into left and right video signals by 7 and output.
The output signal from the image pickup device 17 is supplied to the monitor 19 in a state where the left and right directions are switched and a normal image is returned through the left and right direction switching circuit 18. Then, the image based on each of the left and right image signals sent from the image pickup device 17 is reproduced on the image reproduction screen of the monitor 19 and the stereoscopic image is displayed.

During use of the endoscope 11, the endoscope 1
When rotating 1 about the axial direction of the insertion portion 12 to change the visual field direction of the endoscope 11, the objective optical system 16 incorporated in the main body of the endoscope 11 and the imaging device 17 also rotates integrally with the main body of the endoscope 11.

Then, for example, from the state where the rotation angle of the rigid endoscope 11 is held at the reference position of 0 ° as shown in FIG. 2 (A), the endoscope 11 becomes as shown in FIG. 2 (B). 90
When rotated, the operation knob 25 is operated to move the image rotator 21 about the optical axis of the objective optical system 4
Rotate 5 °. As a result, it is possible to prevent the image sent from the objective optical system 16 from being rotated around the optical axis and to change the posture of the stereoscopic image displayed on the screen of the monitor 19, and thus, as in the conventional case. It is possible to prevent the display of the stereoscopic image on the screen of the monitor 19 from becoming difficult to see.

Therefore, in the above-mentioned structure, an image rotator 21 for rotating the image sent from the objective optical system 16 about the optical axis is provided between the left and right optical path switching shutter 20 and the objective optical system 16. Therefore, the endoscope 11 is rotated about the axial direction of the insertion portion 12 to operate the endoscope 11.
When changing the visual field direction, the image rotator 21 can be operated to rotate the image sent from the objective optical system 16 about the optical axis. Therefore, even when the endoscope 11 is rotated about the axis of the insertion portion 12 to change the visual field direction of the endoscope 11, the stereoscopic image on the screen of the monitor 19 is changed as in the conventional case. It is possible to prevent the display from being difficult to see.

3A and 3B show a first modification of the left / right optical path switching shutter 20. As shown in FIG. 3A, an opening 34 for exposure is formed in a disk-shaped shutter plate 31, and a rotary shaft 33 of a drive motor 32 of a shutter drive mechanism shown in FIG. The shutter plate 31 is fixed to the central portion. In this case, the drive motor 32 is formed by, for example, a step motor. Then, the exposure timing of the image sensor 17 and the rotation operation of the shutter plate 31 by the drive motor 32 are synchronized, and the opening 34 of the shutter plate 31 is synchronized.
The optical path of the image sent from the objective optical system 16 is controlled so as to be divided into two left and right regions 20a and 20b according to the rotation of the.

Further, FIGS. 4A and 4B show a second modification of the left / right optical path switching shutter 20. As shown in FIG. 4A, a disc-shaped fixed plate 41 and a disc-shaped shutter plate 42 are provided, and a rotary shaft 44 of a drive motor 43 of the shutter drive mechanism shown in FIG. It is fixed to the central portion of the shutter plate 42. in this case,
The fixed plate 41 is formed with a pair of openings 45 and 46 that divide the optical path of the image into two regions, left and right.
The shutter plate 42 has a substantially crescent-shaped opening 47 for exposure. Then, the exposure timing of the image pickup device 17 and the rotation operation of the shutter plate 42 by the drive motor 43 are synchronized, and the optical path of the image sent from the objective optical system 16 is moved to the left and right along with the rotation of the opening 47 of the shutter plate 43. The control is performed so that the area is divided into two areas 20a and 20b.

Further, FIG. 5 shows a left and right optical path switching shutter 2.
The third modification of No. 0 is shown. This is a pair of arc-shaped exposures that divide the optical path of an image sent from the objective optical system 16 into two left and right regions 20a and 20b on a disk-shaped shutter plate 51 that is rotationally driven by a drive motor of a shutter drive mechanism. The openings 53 and 54 for use are formed. In this case, the exposure openings 53 and 54 have a phase of 1
It is set in a state of being shifted by 80 ° and having different arc radii. Also in this case, the exposure timing of the image sensor 17 and the rotation operation of the shutter plate 51 by the drive motor are synchronized, and the image sent from the objective optical system 16 is rotated as the openings 53 and 54 of the shutter plate 51 rotate. The optical path is controlled to be switched to the two left and right areas 20a and 20b alternately.

Further, FIGS. 6A and 6B show the second embodiment of the present invention.
2 shows a rigid endoscope 61 of the embodiment. Figure 6
In (A) and (B), 62 is an insertion portion of the endoscope 61,
Reference numeral 63 is an operating portion on the proximal side connected to the base end portion of the insertion portion 62.

Further, an observation window 65 and an illumination window (not shown) are provided on the tip surface 64 of the insertion portion 62. One objective optical system 66 is connected to the observation window 65. Further, a pair of left and right image pickup devices (image pickup means) 67 and 68 are arranged in the operation portion 63 on the hand side.

Further, the objective optical system 66 and the image pickup device 67,
An optical path splitting unit 69 that splits the optical path sent from the objective optical system 66 into left and right parts between the optical path 68 and the optical path 68.
Is installed.

The optical path splitting means 69 has an objective optical system 66.
A pupil division prism 70 disposed on the optical axis of is provided. Then, the observation image sent through the optical path of the objective optical system 66 has two reflection surfaces 71 a of the pupil division prism 70.
After being totally reflected in two directions by 71b, the image sensor 6 is formed by the mirrors 72 and 73 arranged in the respective reflection directions.
It is designed to be totally reflected in the directions of 7,68.

Further, the image pickup devices 67 and 68 are similar to the monitor 19 of the first embodiment for displaying a stereoscopic image through a signal line.
(Shown in FIG. 1A). Then, an image based on each of the left and right image signals sent from the image pickup devices 67 and 68 is reproduced on the image reproduction screen of the monitor to display a stereoscopic image.

Further, an image rotator 74 for rotating the image sent from the objective optical system 66 about the optical axis is provided between the prism 70 and the objective optical system 66. The image rotator 74 is formed of, for example, a surface-shaped trapezoidal prism. This surface-type image rotator 74 is provided with a roof surface 74a,
The image that has passed through the image rotator 74 having the roof surface 74a is sent to the image pickup devices 67 and 68 in a state where the left and right directions are normally returned.

Further, in the unit main body 76 of the image rotator 74, as shown in FIG. 6B, a rotary drive mechanism 78 is attached to a unit holder 77 for holding the image rotator 74. The rotator 74 is rotated around the optical axis of the objective optical system 66, and the image sent from the objective optical system 66 is rotated around the optical axis.

A gravitational direction detecting sensor 79 such as a G sensor is provided in the operating portion 63. And
The operation of the drive motor of the rotation drive mechanism 78 of the image rotator 74 is controlled on the basis of the detection data from the gravity direction detection sensor 79, and the endoscope 61 is used for the axis center of the insertion portion 62 during use. Even if the visual field direction of the endoscope 61 is changed by rotating around the direction, the monitor 1
The posture of the stereoscopic image displayed on the screen 9 is prevented from changing.

An adjusting lens 75 for adjusting the light sent from the objective optical system 66 side to a parallel light is arranged on the image incident end face side of the image rotator 74, and the light sent from the objective optical system 66 side is arranged. The light is incident on the image rotator 74 side in a state of being adjusted to parallel light through the adjusting lens 75.

Next, the operation of the above configuration will be described.
First, an observation image sent through the optical path of the objective optical system 66 during observation by the rigid endoscope 61 is incident on the image rotator 74 in a state of being adjusted to parallel light by the adjusting lens 75. Further, the image transmitted through the image rotator 74 has two reflecting surfaces 71 of the pupil division prism 70.
a, 71b are totally reflected in two directions, divided into left and right, and then mirrors 72, 73 respectively arranged in respective reflection directions.
Is totally reflected by the image pickup devices 67 and 68.

Further, the left and right images sent through the left and right split optical paths are converted into left and right video signals by the image pickup devices 67 and 68 and output. The image sensor 67,
The image based on each of the left and right image signals sent from 68 is reproduced on the image reproduction screen of the monitor 19 and the stereoscopic image is displayed.

During use of the endoscope 61, the endoscope 6
When changing the visual field direction of the endoscope 61 by rotating 1 about the axial direction of the insertion portion 62, the objective optical system 66 incorporated in the main body of the endoscope 61 and the image pickup element 67,6
8 also rotates integrally with the main body of the endoscope 61.

At this time, the attitude of the endoscope 61 is detected by the gravity direction detection sensor 79 in the operation section 63.
Then, during use of the endoscope 61, when the endoscope 61 is rotated about the axial direction of the insertion portion 62, the image rotator 74 rotates based on the detection data from the gravity direction detection sensor 79. The operation of the drive motor of the drive mechanism 78 is controlled, and a rotation angle (θ of half the rotation angle θ of the endoscope 61 (θ
The image rotator 74 is rotationally driven at / 2).

Therefore, even in the case of the above construction, the endoscope 61 is rotated about the axial direction of the insertion portion 62 to change the visual field direction of the endoscope 61 as in the first embodiment. When doing so, it is possible to prevent the posture of the stereoscopic image on the screen of the monitor 19 from changing as in the related art, and prevent the display of the stereoscopic image on the screen of the monitor 19 from becoming difficult to see.

Further, in this embodiment, since the image rotator 74 formed by the surface image type trapezoidal prism having the roof surface 74a is used, the image pickup devices 67 and 68 and the monitor as in the first embodiment are used. Since it is not necessary to interpose the left-right direction replacement circuit 18 with the circuit 19, the configuration can be simplified.

Further, when the endoscope 61 is rotated about the axial direction of the insertion portion 62 during use of the endoscope 61, the image rotator is detected based on the detection data from the gravity direction detection sensor 79. Since the drive motor of the rotation drive mechanism 78 of 74 drives the image rotator 74 at a rotation angle (θ / 2) that is ½ of the rotation angle θ of the endoscope 61, the image rotator 74 is rotated on the screen of the monitor 103. It is possible to automatically perform the posture adjustment work of the displayed stereoscopic image. Therefore, the work for adjusting the attitude of the stereoscopic image can be simplified and the usability can be improved as compared with the case where the work is performed manually.

FIG. 7 shows a modification of the image rotator that can be used in combination with the endoscopes 11 and 61. Here, each of the image rotators 1, 3, 5, 7, and 9 is a back image type having an odd number of reflecting surfaces. Further, in the figure, 2, 4, 6, 8, 10, 11
A roof surface D is formed on each of the image rotators and the image rotator is of a surface image type having an even number of reflection surfaces. The roof surface D is counted as one reflecting surface.

Further, FIGS. 8A to 8D show a perspective type rigid endoscope 91 of a first modified example. Figure 8
In (A), reference numeral 92 is an insertion portion of the endoscope 91, and 93 is an operation portion on the proximal side connected to a base end portion of the insertion portion 92.

Further, the insertion portion 9 is provided at the tip of the insertion portion 92.
An inclined surface 94 is formed so as to obliquely intersect the axial direction of the two, and an observation window 95 and an illumination window (not shown) are arranged on the inclined surface 94. 1 in this observation window 95
Two objective optical systems 96 are connected.

Further, for example, a CC
One image pickup device 97 such as D is arranged. The image pickup device 97 is connected to a monitor (display means) 103 via a left-right direction switching circuit 102 as shown in FIGS.

Further, an image rotator 98 for rotating the image sent from the objective optical system 96 about the optical axis is interposed between the image pickup element 97 and the objective optical system 96. The image rotator 98 is formed of, for example, a back image type trapezoidal prism. In this case, in the unit main body 100 of the image rotator 98, the operation knob 25 (shown in FIG. 1B) is projectingly provided on the unit holder 101 holding the image rotator 98 as in the first embodiment. 25 is extended to the outside through a guide groove formed in the main body of the operating portion 93. And
With the operation of the operation knob 25, the image rotator 98 is rotated around the optical axis of the objective optical system 96, and the image sent from the objective optical system 96 is rotated around the optical axis.

An adjusting lens 99 for adjusting the light sent from the objective optical system 96 side to a parallel light is provided on the image incident end face side of the image rotator 98, and the light sent from the objective optical system 96 side is provided. The light is incident on the image rotator 98 side in the state of being adjusted to parallel light through the adjusting lens 99.

In the above arrangement, the observation image sent through the optical path of the objective optical system 16 is incident on the image rotator 98 in the state of being adjusted to parallel light by the adjusting lens 99, and this image rotator 9 is further moved.
The image transmitted through 8 is formed on the image sensor 97. In addition,
The image formed on the image sensor 97 is the image rotator 9.
Left and right are reversed when passing 8.

Further, the image to be sent is converted into a video signal by the image pickup device 97 and output. This image sensor 9
The output signal from 7 is supplied to the monitor 103 in a state where the left and right directions are switched and a normal image is returned through the left and right direction switching circuit 102. Then, the image based on the image signal sent from the image pickup device 97 is reproduced on the image reproduction screen of the monitor 103, and the stereoscopic image is displayed.

During use of the endoscope 91, the endoscope 9
When rotating 1 about the axial direction of the insertion portion 92 to change the visual field direction of the endoscope 91, the objective optical system 96 incorporated in the main body of the endoscope 91 and the imaging device. 97 also rotates integrally with the main body of the endoscope 91.

Then, for example, when the rotation angle of the rigid endoscope 91 is held at the reference position of 0 ° as shown in FIG. 8 (B), the endoscope 11 becomes as shown in FIG. 8 (C). 90
When the rotary operation is performed, the operation knob 25 is operated and the operation shown in FIG.
As shown in (D), the image rotator 98 is rotated by 45 ° about the optical axis of the objective optical system 96. Accordingly, it is possible to prevent the image sent from the objective optical system 96 from being rotated around the optical axis and changing the posture of the stereoscopic image displayed on the screen of the monitor 103.
It is possible to prevent the display of a stereoscopic image on the screen of the monitor 103 from becoming difficult to see as in the conventional case.

Further, FIGS. 9A to 9C show a rigid endoscope 9
2 shows a second modification of No. 1. This is shown in FIG.
The image rotator 98 of the first modified example shown in (A) to (D) is changed to a surface image type image rotator 111 having a roof surface 111a, and the unit main body 112 of the image rotator 111 is shown in FIG. ), A rotation driving mechanism 114 is attached to the unit holder 113 holding the image rotator 111, and the image rotator 111 is rotated around the optical axis of the objective optical system 96 by the rotation driving mechanism 114 to rotate the objective optical system. The image sent from 96 is rotated around the optical axis.

Further, a gravitational direction detection sensor 115 such as a G sensor is provided in the operation section 93. The operation of the drive motor of the rotation drive mechanism 114 of the image rotator 111 is controlled based on the detection data from the gravity direction detection sensor 115, and the endoscope 91 is inserted into the insertion portion 92 during use. Even when the visual field direction of the endoscope 91 is changed by rotating around the axial direction, the posture of the stereoscopic image displayed on the screen of the monitor 103 is prevented from changing. ing.

In view of this, in the above-described structure, the image-type image rotator 111 having the roof surface 111a is used, so that the image sensor 9 as in the first embodiment is used.
7 and the monitor 103 between the left-right direction switching circuit 102
It is not necessary to interpose, and the configuration can be simplified.

During use of the endoscope 91, the endoscope 9
When 1 is rotated about the axial direction of the insertion portion 92, the drive motor of the rotation drive mechanism 114 of the image rotator 111 is driven based on the detection data from the gravity direction detection sensor 115, and the endoscope 91. Since the image rotator 111 is rotationally driven at a rotation angle (θ / 2) that is 1/2 of the rotation angle θ of, the posture adjustment work of the stereoscopic image displayed on the screen of the monitor 103 can be automatically performed. . Therefore, the work for adjusting the attitude of the stereoscopic image can be simplified and the usability can be improved as compared with the case where the work is performed manually.

10 and 11 show a rigid endoscope 1.
31 shows a third modification of No. 31. 13 in FIG.
2 is the insertion part of the endoscope 131, and 133 is the insertion part 1
It is a proximal side operation unit connected to the base end of 32. Further, 134 is a TV camera used in combination with the endoscope 131.

The TV camera 134 has a camera head 135 connected to the operation section 133 of the endoscope 131, a universal cable 136 having one end connected to the camera head 135, and the other end of the universal cable 136. Light guide connector 137 and TV connector 13 connected to this light guide connector 137
8 are provided respectively. The light guide connector 137 is detachably connected to the light source device 139, and the TV connector 138 is detachably connected to the monitor 141 via the TV camera control unit 140.

FIG. 11 shows the operation section 13 of the endoscope 131.
3 shows a connecting portion between the camera head 135 and the camera head 135 of the TV camera 134. In this case, the operation projection 133 is provided with the illumination projection 142 and the image projection 143 on the connection surface with the camera head 135. further,
Inside the operation unit 133, a light guide 144 for illumination and a relay lens 145 for image are arranged. The base end of the light guide 144 is connected to the condenser lens 146 disposed on the illumination projection 142, and the base end of the relay lens 145 is the image projection 14.
It is arranged so as to face the cover glass 147 arranged in No. 3. A connection ring 148 is rotatably attached to the connecting surface of the operation unit 133 with the camera head 135.

The camera head main body 151 of the camera head 135 has an illumination projection 142 and an image projection 14 on it.
Recessed receiving portions 152 and 153 which are fitted in the concave and convex portions are respectively formed. Furthermore, this camera head body 15
A male screw-shaped threaded portion 154 that is screwed into the connection ring 148 is formed on the outer peripheral surface of 1.

The tip end of the camera side light guide 155 is attached to the illumination receiving portion 152, and the adapter lens 156 is attached to the image receiving portion 153. Further, on the inner surface side of the adapter lens 156, an image pickup device 157 such as a CCD is arranged so as to face it. This image sensor 15
7 is rotatably held via a bearing 158. The rotating portion of the bearing 158 is formed in a vertically asymmetrical shape in which the lower weight is heavy. In addition, 159 is a circuit board of the image sensor 157, and 160 is a signal cable.

Therefore, in the above-described structure, the image pickup device 157 is rotatably held via the bearing 158, and the rotating portion of the bearing 158 is formed in a vertically asymmetrical shape in which the lower weight is heavy. The endoscope 13
1 is in use, even when the endoscope 131 is rotated about the axial direction of the insertion portion 132, the rotation of the rotating portion of the bearing 158, which is heavy on the lower side, causes the image pickup device 1 to rotate.
The posture of 57 can always be held in a correct posture.
Therefore, when the endoscope 131 is rotated about the axial direction of the insertion portion 132 to change the visual field direction of the endoscope 131, the attitude of the stereoscopic image on the screen of the monitor 141 changes as in the conventional case. It is possible to prevent the display of the stereoscopic image on the screen of the monitor 141 from becoming difficult to see.

12 and 13 show the rigid endoscope 1.
71 shows a fourth modification of 71. In FIG. 12, 17
2 is the insertion part of the endoscope 171, and 173 is the insertion part 1
The proximal operation unit 174 connected to the base end of 72 is a universal cable connected to the operation unit 173.

Further, FIG. 13 shows the internal structure of the operation unit 173. In FIG. 13, 175 is a light guide, 176 is a relay lens, 177 is an adapter lens, 178 is an image pickup element 178 such as CCD, 179 is a circuit board of the image pickup element 178, and 180 is a signal cable.
Here, the holding cylinder 181 holding the image pickup element 178 is rotatably supported by the operation portion main body 173a.

A worm wheel 182 is fixed to the holding cylinder 181. A rotation shaft of a rotation operation knob 184 arranged outside the operation portion 173 is fixed to the worm 183 screwed to the worm wheel 182. The image pickup device 178 is rotationally driven together with the holding cylinder 181 via the screwing portion of the worm 183 and the worm wheel 182 in accordance with the rotation operation of the rotation operation knob 184.

Therefore, in the above-mentioned construction, while the endoscope 171 is being used, the endoscope 171 is rotated around the axial direction of the insertion portion 172 to change the visual field direction of the endoscope 171. When changing, the image pickup device 178 is driven to rotate together with the holding cylinder 181 in accordance with the rotation operation of the rotation operation knob 184, thereby preventing the posture of the stereoscopic image displayed on the screen of the monitor 141 from changing. Can
It is possible to prevent the display of the stereoscopic image on the screen of the monitor 141 from becoming difficult to see as in the conventional case.

FIG. 14 shows a fifth modification of the rigid endoscope 191. In FIG. 14, 192 is an insertion portion of the endoscope 191, and 193 is an operating portion on the proximal side connected to the base end portion of the insertion portion 192. Furthermore, the insertion part 1
An objective lens 194 and a relay lens 196 are provided in the unit 92, and a gravity direction detection sensor 200 such as a G sensor is provided.

Further, an adapter lens 197 is attached to the operation section 193, and this adapter lens 197 is attached.
An image pickup device 195 such as a CCD is arranged to face the inner surface of the device. The worm wheel 202 is fixed to the holding cylinder of the image sensor 195. A drive motor 204 is attached to the worm 203 screwed onto the worm wheel 202.
It is designed to be driven by rotation. Further, a control circuit 205 is connected to the drive motor 204. The control circuit 205 includes a gravity direction detection sensor 200
Are connected.

Then, the drive motor 20 for the worm 203
The operation of the reference numeral 4 is controlled based on the detection data from the gravity direction detection sensor 200, and while the endoscope 191 is in use, the endoscope 191 is rotated about the axial direction of the insertion portion 192 to move the inside. Even when the viewing direction of the endoscope 191 is changed, the posture of the stereoscopic image displayed on the screen of the monitor 141 is prevented from changing.

The present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[0072]

According to the present invention, the optical path sent from the objective optical system is divided into the right and left between the objective optical system and the image pickup means, and the optical path dividing means for forming the left and right divided optical paths is provided to divide the optical path. Since the image rotating means for rotating the image sent from the objective optical system around the optical axis is provided between the means and the objective optical system, the endoscope is rotated around the axial direction of the insertion portion. Then, even when the view direction of the endoscope is changed, it is possible to prevent the display of the stereoscopic image from being difficult to see.

[Brief description of drawings]

1A is a schematic configuration diagram of an observation optical system of a rigid endoscope according to a first embodiment of the present invention, FIG. 1B is a cross-sectional view showing an operation knob of an image rotator, and FIG. FIG. 3 is a plan view showing an optical path switching shutter.

2A and 2B are diagrams for explaining the operation of the image rotator, in which FIG. 2A is a schematic configuration diagram showing a state in which the rigid endoscope is held at a reference position, and FIG. FIG. 6 is a schematic configuration diagram showing a state in which a rotation operation is performed to a rotation position of °.

3A and 3B show a first modified example of a left / right optical path switching shutter, FIG. 3A is a plan view of a shutter plate, and FIG. 3B is a longitudinal sectional view showing a shutter drive mechanism.

4A and 4B show a second modification of the left / right optical path switching shutter, wherein FIG. 4A is a plan view of a shutter plate, and FIG. 4B is a longitudinal sectional view showing a shutter drive mechanism.

FIG. 5 is a plan view of a shutter plate showing a third modification of the left / right optical path switching shutter.

FIG. 6 shows a second embodiment of the present invention (A)
Is a plan view showing a schematic configuration of an observation optical system of a rigid endoscope,
(B) is the same side view.

FIG. 7 is a schematic configuration diagram showing a modified example of the image rotator.

FIG. 8 shows a first modified example of the rigid endoscope,
(A) is a side view showing a schematic configuration of an observation optical system of a rigid endoscope, (B) is a schematic configuration diagram showing a state where the rigid endoscope is held at a reference position, and (C) is a rigid endoscope. The schematic configuration diagram showing a state in which the mirror is rotated to a rotation position of 90 ° from the reference position, (D) shows that the image rotator is rotated 45 ° from the rotation position of 90 ° of the rigid endoscope. The schematic block diagram which shows a state.

FIG. 9 shows a second modification of the rigid endoscope,
(A) is a side view showing a schematic configuration of an observation optical system of a rigid endoscope, (B) is a cross-sectional view showing an image rotator,
(C) is an explanatory view for explaining the operation of the image rotator.

FIG. 10 is a schematic configuration diagram showing a third modified example of the rigid endoscope.

FIG. 11 is a vertical cross-sectional view of the operation unit.

FIG. 12 is a schematic configuration diagram showing a fourth modified example of the rigid endoscope.

FIG. 13 is a vertical cross-sectional view of the operation unit.

FIG. 14 is a schematic configuration diagram showing a fifth modified example of the rigid endoscope.

FIG. 15 shows a conventional example, in which (A) is a schematic configuration diagram showing a state where the rigid endoscope is held at a reference position,
FIG. 6B is a schematic configuration diagram showing a state in which the rigid endoscope is rotated to a rotation position of 90 ° from the reference position.

[Explanation of symbols]

12, 62, 92, 112, 132, 172 ... Insertion part,
16, 66, 96, 116 ... Objective optical system, 17, 67,
68, 97, 117, 157, 178 ... Imaging device (imaging means), 19, 103, 141 ... Monitor (display means),
20 ... Left / right optical path switching shutter (optical path splitting means), 69
Optical path splitting means 21, 74, 98, 118 ... Image rotator (image rotating means).

[Procedure amendment]

[Submission date] August 4, 1993

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

[Title of Invention] Stereoscopic endoscope

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic endoscope for displaying a stereoscopic image in the visual field of the endoscope .

[0002]

2. Description of the Related Art Generally, for example, by using a laparoscope, which is a rigid endoscope inserted into the abdominal cavity as a means for treating an affected area in the abdominal cavity of a patient, the abdominal cavity of the patient can be treated without surgical open surgery. Techniques have been developed to treat the affected area. When treating an affected area in the abdominal cavity under this type of laparoscope, the field of view of the laparoscope is directed toward the affected area, and the treatment is performed while observing the affected area and a treatment tool for performing various treatments on the affected area within the field of the laparoscope. The operation of the tool is performed.

In addition, as a video display device of an observation optical system using a laparoscope, a two-dimensional image display is often performed in which an observation image is two-dimensionally displayed on a monitor screen. However, with a two-dimensional image display, it is difficult to grasp the perspective, and it is difficult to grasp the relative distance between the affected part and the treatment tool. There is a problem.

Therefore, the relative distance between the affected part and the treatment instrument is determined by displaying a three-dimensional image of the observation image on the monitor screen as a video display device of the observation optical system by the laparoscope. A technique has been developed that makes it easy to grasp and makes operations such as operation of a treatment tool and suturing of an affected area efficient.

FIG . 16 (A) shows a schematic structure of a perspective type rigid endoscope 1 for three-dimensionally displaying an observation image on a monitor screen in a three-dimensional manner . Reference numeral 2 denotes this endoscope 1. Is the insertion part of. An inclined surface 3 that obliquely intersects the axial direction of the insertion portion 2 is formed at the tip of the insertion portion 2, and a pair of left and right observation windows 4 and 5 are arranged on the inclined surface 3. ing. Left and right objective optical systems are connected to these observation windows 4 and 5.

Further, a pair of image pickup devices such as CCDs are arranged in the operation portion 6 on the hand side connected to the base end portion of the insertion portion 2. Then, the image sent from the left and right objective optical systems is converted into an electric signal by each image pickup element and outputted.

Further, the left and right image pickup devices are connected to a monitor 8 via a signal line 7. Then, a stereoscopic image is displayed on the screen of the monitor 8 from the left and right images obtained by the left and right objective optical systems.

[0008]

In the endoscope 1 for displaying a three-dimensional image having the above-described conventional structure, the endoscope 1 is rotated about the axial direction of the insertion portion 2 while the endoscope 1 is in use. When the visual field direction of the endoscope 1 is changed by a dynamic operation, the left and right objective optical systems incorporated in the main body of the endoscope 1 and the left and right image pickup elements are integrated with the main body of the endoscope 1. It is designed to rotate.

Therefore, for example, when the rotation angle of the rigid endoscope 1 is held at the reference position of 0 ° as shown in FIG. 16 (A) , the endoscope 1 becomes as shown in FIG. 16 (B). 9
When it is rotated by 0 °, the vertical direction of the stereoscopic image displayed on the screen of the monitor 8 is also rotated, which causes a problem that the display of the stereoscopic image on the screen of the monitor 8 becomes difficult to see.

The present invention has been made in view of the above circumstances, and its object is to change the view direction of the endoscope by rotating the endoscope around the axial direction of the insertion portion. An object of the present invention is to provide a stereoscopic endoscope that can prevent the display of a stereoscopic image from being difficult to see.

[0011]

According to the present invention, there is provided an objective optical system arranged at a distal end portion of an insertion portion of an endoscope, and an image pickup means for converting an image sent from the objective optical system into an electric signal and outputting the electric signal. And an optical path splitting means for splitting the optical path sent from the objective optical system into left and right parts to form left and right split optical paths, and a video playback screen for playing a video image based on the left and right video signals sent from the imaging means. Image rotation which is interposed between the display means for reproducing the three-dimensional image reproduced above, the optical path splitting means and the objective optical system, and rotates the image sent from the objective optical system about the optical axis. And means.

[0012]

The optical path sent from the objective optical system is divided into left and right by the optical path splitting means, guided to the image pickup means through the left and right split optical paths, and the image based on the left and right video signals sent from the image pickup means is reproduced on the display means. By reproducing the image on the screen to display a stereoscopic image and rotating the image sent from the objective optical system about the optical axis by the image rotating means provided between the optical path dividing means and the objective optical system. , When the endoscope is rotated around the axial direction of the insertion section to change the direction of the field of view of the endoscope, the image sent from the objective optical system is rotated around the optical axis to produce a stereoscopic image. This is to prevent the display from being difficult to see.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS . 1 (A) to 3 (B) . FIG. 1A shows a schematic structure of a perspective type rigid endoscope 11 such as a laparoscope. 12 is an insertion portion of the endoscope 11 and 13 is a base end portion of the insertion portion 12. This is the operation unit on the near side.

An inclined surface 14 that obliquely intersects the axial direction of the insertion portion 12 is formed at the tip of the insertion portion 12, and an observation window 15 and an illumination window (not shown) are formed on the inclined surface 14. It is arranged. One objective optical system 16 is connected to the observation window 15.

The operation unit 13 on the hand side has, for example, CC
One image pickup device (image pickup means) 17 such as D is arranged. The image pickup device 17 is connected to a monitor (display means) 19 via a left-right direction switching circuit 18.

Further, between the objective optical system 16 and the image pickup element 17, a left / right optical path switching shutter (optical path dividing means) 20 for dividing the optical path of an image sent from the objective optical system 16 into right and left is provided. There is. The shutter 20 divides the optical path of an image sent from the objective optical system 16 into two regions, left and right, 20a and 20b, as shown in FIG.
It is formed by a liquid crystal shutter that alternately opens and closes the left and right divided areas 20a and 20b. And
An image based on each of the left and right image signals sent from the image pickup device 17 is reproduced on the image reproduction screen of the monitor 19 via the left-right direction switching circuit 18 and a stereoscopic image is displayed.

Further, between the shutter 20 and the objective optical system 16, an image rotator (image rotating means) 21 for rotating the image sent from the objective optical system 16 about the optical axis.
Is installed. The image rotator 21 is formed of, for example, a back image type trapezoidal prism. In this case, the unit main body 23 of the image rotator 21 has a unit holder 24 holding the image rotator 21 and an operation knob 25 protruding from the unit holder 23 as shown in FIG. The operation knob 25 extends to the outside through a guide groove formed in the main body of the operation unit 13. The image rotator 2 is operated with the operation of the operation knob 25.
1 is rotated around the optical axis of the objective optical system 16, and the image sent from the objective optical system 16 is rotated around the optical axis.

An adjusting lens 22 for adjusting the light sent from the objective optical system 16 side to a parallel light is arranged on the image incident end face side of the image rotator 21, and the light sent from the objective optical system 16 side is arranged. The light is incident on the image rotator 21 side after being adjusted to be parallel light through the adjusting lens 22.

Next, the operation of the above configuration will be described.
First, during observation with the rigid endoscope 11, illumination light is emitted through the light guide in the visual field direction of the endoscope 11 in the abdominal cavity, and an image in the visual field of the endoscope 11 is observed through the observation window 15 of the endoscope 11. It is incident on the objective optical system 16 through.

The observation image sent through the optical path of the objective optical system 16 is incident on the image rotator 21 in the state of being adjusted to parallel light by the adjusting lens 22, and the image transmitted through the image rotator 21 is switched to the left and right optical path switching shutter 20. After that, an image is formed on the image pickup device 17. At this time, the shutter 20 is divided into the left and right divided areas 20a and 20b.
Are alternately opened and closed, and the left and right images are supplied to the image pickup device 17 through the left and right split optical paths in accordance with the opening and closing operation of the shutter 20. Incidentally, it and Urazo when video that has passed through the image rotator 21, which is formed on the image sensor 17
The vertical direction is reversed in the figure.

Here, referring to FIG.
explain about. The object image G ₀ is read once with the objective optical system 16.
An intermediate image of the same posture as the object image G ₀ by two ray system images
G ₁ is made. In addition, the image rotator 21 is included.
In the single-time imaging system, in addition to the inverted image by the single-time imaging,
Image of the posture shown by back-imaged by Girorotator 21
Is imaged on the image sensor 17.

In a video device incorporating an ordinary image sensor,
The inverted image on the image sensor 17 in which the object image G ₀ is formed once is
Displayed on the monitor 19 through a video circuit (not shown)
During this time, the posture of the image is further inverted and the same as the object image G _0.
It has a normal image posture. However, this configuration
In the image rotator 21, so it has been back-imaged,
The image forming circuit 18 shown in the figure reverses the vertical direction to form an erect image.
On the monitor 19 which is displayed through the video circuit
The image is a normal image.

Further, the left and right images sent are the image pickup device 1.
It is converted into left and right video signals by 7 and output.
The output signal from the image sensor 17 is switched up and down.
The image is supplied to the monitor 19 in a state where the image is returned to a normal image through the image forming circuit 18 .

Then, an image based on each of the left and right image signals sent from the image pickup device 17 is reproduced on the image reproduction screen of the monitor 19 and a stereoscopic image is displayed.

During use of the endoscope 11, the endoscope 1
When rotating 1 about the axial direction of the insertion portion 12 to change the visual field direction of the endoscope 11, the objective optical system 16 incorporated in the main body of the endoscope 11 and the imaging device 17 also rotates integrally with the main body of the endoscope 11.

Then, for example, from the state where the rotation angle of the rigid endoscope 11 is held at the reference position of 0 ° as shown in FIG. 3 (A) , the endoscope 11 becomes as shown in FIG. 3 (B). 90
When rotated, the operation knob 25 is operated to move the image rotator 21 about the optical axis of the objective optical system 4
Rotate 5 °. As a result, it is possible to prevent the image sent from the objective optical system 16 from being rotated around the optical axis and to change the posture of the stereoscopic image displayed on the screen of the monitor 19, and thus, as in the conventional case. It is possible to prevent the display of the stereoscopic image on the screen of the monitor 19 from becoming difficult to see.

Therefore, in the above-mentioned structure, an image rotator 21 for rotating the image sent from the objective optical system 16 about the optical axis is provided between the left and right optical path switching shutter 20 and the objective optical system 16. Therefore, the endoscope 11 is rotated about the axial direction of the insertion portion 12 to operate the endoscope 11.
When changing the visual field direction, the image rotator 21 can be operated to rotate the image sent from the objective optical system 16 about the optical axis. Therefore, even when the endoscope 11 is rotated about the axis of the insertion portion 12 to change the visual field direction of the endoscope 11, the stereoscopic image on the screen of the monitor 19 is changed as in the conventional case. It is possible to prevent the display from being difficult to see.

FIGS. 4A and 4B show a first modification of the left / right optical path switching shutter 20. As shown in FIG. 4 (A) , an opening 34 for exposure is formed in a disc-shaped shutter plate 31, and a rotary shaft 33 of a drive motor 32 of a shutter drive mechanism shown in FIG. 4 (B) is attached. The shutter plate 31 is fixed to the central portion. In this case, the drive motor 32 is formed by, for example, a step motor. Then, the exposure timing of the image sensor 17 and the rotation operation of the shutter plate 31 by the drive motor 32 are synchronized, and the opening 34 of the shutter plate 31 is synchronized.
The optical path of the image sent from the objective optical system 16 is controlled so as to be divided into two left and right regions 20a and 20b according to the rotation of the.

Further, FIGS. 5A and 5B show a second modification of the left / right optical path switching shutter 20. As shown in FIG. 5A , a disc-shaped fixed plate 41 and a disc-shaped shutter plate 42 are provided, and a rotary shaft 44 of a drive motor 43 of the shutter drive mechanism shown in FIG. It is fixed to the central portion of the shutter plate 42. in this case,
The fixed plate 41 is formed with a pair of openings 45 and 46 that divide the optical path of the image into two regions, left and right.
The shutter plate 42 has a substantially crescent-shaped opening 47 for exposure. Then, the exposure timing of the image pickup device 17 and the rotation operation of the shutter plate 42 by the drive motor 43 are synchronized, and the optical path of the image sent from the objective optical system 16 is moved to the left and right along with the rotation of the opening 47 of the shutter plate 43. The control is performed so that the area is divided into two areas 20a and 20b.

Further, FIG. 6 shows a shutter 2 for switching the right and left optical paths .
The third modification of No. 0 is shown. This is a pair of arc-shaped exposures that divide the optical path of an image sent from the objective optical system 16 into two left and right regions 20a and 20b on a disk-shaped shutter plate 51 that is rotationally driven by a drive motor of a shutter drive mechanism. The openings 53 and 54 for use are formed. In this case, the exposure openings 53 and 54 have a phase of 1
It is set in a state of being shifted by 80 ° and having different arc radii. Also in this case, the exposure timing of the image sensor 17 and the rotation operation of the shutter plate 51 by the drive motor are synchronized, and the image sent from the objective optical system 16 is rotated as the openings 53 and 54 of the shutter plate 51 rotate. The optical path is controlled to be switched to the two left and right areas 20a and 20b alternately.

Further, FIGS. 7A and 7B show the second embodiment of the present invention.
2 shows a rigid endoscope 61 of the embodiment. Figure 7
In (A) and (B) , 62 is an insertion portion of the endoscope 61,
Reference numeral 63 is an operating portion on the proximal side connected to the base end portion of the insertion portion 62.

Further, an observation window 65 and an illumination window (not shown) are provided on the tip surface 64 of the insertion portion 62. One objective optical system 66 is connected to the observation window 65. Further, a pair of left and right image pickup devices (image pickup means) 67 and 68 are arranged in the operation portion 63 on the hand side.

Further, the objective optical system 66 and the image pickup device 67,
An optical path splitting unit 69 that splits the optical path sent from the objective optical system 66 into left and right parts between the optical path 68 and the optical path 68.
Is installed.

The optical path splitting means 69 includes an objective optical system 66.
A pupil division prism 70 disposed on the optical axis of is provided. Then, the observation image sent through the optical path of the objective optical system 66 has two reflection surfaces 71 a of the pupil division prism 70.
After being totally reflected in two directions by 71b, the image sensor 6 is formed by the mirrors 72 and 73 arranged in the respective reflection directions.
It is designed to be totally reflected in the directions of 7,68.

The image pickup devices 67 and 68 are similar to the monitor 19 of the first embodiment for displaying a stereoscopic image through signal lines.
(Shown in FIG. 1A). Then, an image based on each of the left and right image signals sent from the image pickup devices 67 and 68 is reproduced on the image reproduction screen of the monitor to display a stereoscopic image.

An image rotator 74 for rotating the image sent from the objective optical system 66 about the optical axis is provided between the prism 70 and the objective optical system 66. The image rotator 74 is formed of, for example, a surface-shaped trapezoidal prism. This surface-type image rotator 74 is provided with a roof surface 74a,
The image that has passed through the image rotator 74 having the roof surface 74a is sent to the left and right image pickup devices 67 and 68 as a front image .

Further, in the unit main body 76 of the image rotator 74, as shown in FIG. 7 (B) , the unit holder 77 for holding the image rotator 74 is provided with the rotation drive mechanism 78. The rotator 74 is rotated around the optical axis of the objective optical system 66, and the image sent from the objective optical system 66 is rotated around the optical axis.

A gravitational direction detecting sensor 79 such as a G sensor is provided in the operating portion 63. And
The operation of the drive motor of the rotation drive mechanism 78 of the image rotator 74 is controlled on the basis of the detection data from the gravity direction detection sensor 79, and the endoscope 61 is used for the axis center of the insertion portion 62 during use. Even if the visual field direction of the endoscope 61 is changed by rotating around the direction, the monitor 1
The posture of the stereoscopic image displayed on the screen 9 is prevented from changing.

An adjusting lens 75 for adjusting the light sent from the objective optical system 66 side to a parallel light is disposed on the image incident end face side of the image rotator 74, and the light sent from the objective optical system 66 side is arranged. The light is incident on the image rotator 74 side in a state of being adjusted to parallel light through the adjusting lens 75. Also, 80 is a left / right optical path switch
It is a shutter.

Next, the operation of the above configuration will be described.
First, an observation image sent through the optical path of the objective optical system 66 during observation by the rigid endoscope 61 is incident on the image rotator 74 in a state of being adjusted to parallel light by the adjusting lens 75. Further, the image transmitted through the image rotator 74 has two reflecting surfaces 71 of the pupil division prism 70.
a, 71b are totally reflected in two directions, divided into left and right, and then mirrors 72, 73 respectively arranged in respective reflection directions.
Is totally reflected by the image pickup devices 67 and 68.

Further, the left and right images sent via the left and right split optical paths are converted into left and right video signals by the image pickup devices 67 and 68 and output. The image sensor 67,
The image based on each of the left and right image signals sent from 68 is reproduced on the image reproduction screen of the monitor 19 and the stereoscopic image is displayed.

Here, as shown in the optical path of FIG.
In the configuration of this optical system, the shaded light beam is
The image sensor is on the wrong side, and the left and right direction is on the object side.
And the left-right direction of the image sensor is opposite. Therefore, the display device
The left and right images are swapped between the two. Tsuma
Image sensors corresponding to the left and right on the display
By doing this,

During use of the endoscope 61, the endoscope 6
When changing the visual field direction of the endoscope 61 by rotating 1 about the axial direction of the insertion portion 62, the objective optical system 66 incorporated in the main body of the endoscope 61 and the image pickup element 67,6
8 also rotates integrally with the main body of the endoscope 61.

At this time, the attitude of the endoscope 61 is detected by the gravity direction detection sensor 79 in the operation section 63.
Then, during use of the endoscope 61, when the endoscope 61 is rotated about the axial direction of the insertion portion 62, the image rotator 74 rotates based on the detection data from the gravity direction detection sensor 79. The operation of the drive motor of the drive mechanism 78 is controlled, and a rotation angle (θ of half the rotation angle θ of the endoscope 61 (θ
The image rotator 74 is rotationally driven at / 2).

Therefore, even in the case of the above construction, the endoscope 61 is rotated around the axial direction of the insertion portion 62 to change the visual field direction of the endoscope 61 as in the first embodiment. When doing so, it is possible to prevent the posture of the stereoscopic image on the screen of the monitor 19 from changing as in the related art, and prevent the display of the stereoscopic image on the screen of the monitor 19 from becoming difficult to see.

Further, in this embodiment, since the image rotator 74 formed by the surface image type trapezoidal prism having the roof surface 74a is used, the image pickup devices 67 and 68 and the monitor as in the first embodiment are used. it is not necessary to interposed the emblem of times <br/> path 18 between the 19, it is possible to simplify the configuration.

Further, when the endoscope 61 is rotated about the axial direction of the insertion portion 62 during use of the endoscope 61, the image rotator is detected based on the detection data from the gravity direction detection sensor 79. Since the drive motor of the rotation drive mechanism 78 of 74 drives the image rotator 74 at a rotation angle (θ / 2) that is ½ of the rotation angle θ of the endoscope 61, the image rotator 74 is rotated on the screen of the monitor 103. It is possible to automatically perform the posture adjustment work of the displayed stereoscopic image. Therefore, the work for adjusting the attitude of the stereoscopic image can be simplified and the usability can be improved as compared with the case where the work is performed manually.

FIG. 8 shows a modification of the image rotator that can be used in combination with the endoscopes 11 and 61. Here, each of the image rotators 1, 3, 5, 7, and 9 is a back image type having an odd number of reflecting surfaces. Further, in the figure, 2, 4, 6, 8, 10, 11
A roof surface D is formed on each of the image rotators and the image rotator is of a surface image type having an even number of reflection surfaces. The roof surface D is counted as one reflecting surface.
Further, FIGS. 9A to 9D show a perspective type rigid endoscope 91 of a first modified example. In FIG. 9A , 92
Is an insertion portion of the endoscope 91, and 93 is an operation portion on the proximal side connected to the base end portion of the insertion portion 92.

Further, the insertion portion 9 is provided at the tip of the insertion portion 92.
An inclined surface 94 is formed so as to obliquely intersect the axial direction of the two, and an observation window 95 and an illumination window (not shown) are arranged on the inclined surface 94. 1 in this observation window 95
Two objective optical systems 96 are connected.

Further, for example, CC is provided on the operating section 93 on the hand side.
One image pickup device 97 such as D is arranged. The image pickup device 97 is connected in FIG. 9 (B) ~ monitor via the emblem circuit 102 as shown in (D) (display means) 103.

Further, an image rotator 98 for rotating the image sent from the objective optical system 96 about the optical axis is interposed between the image pickup element 97 and the objective optical system 96. The image rotator 98 is formed of, for example, a back image type trapezoidal prism. In this case, in the unit main body 100 of the image rotator 98, the operation knob 25 (shown in FIG. 1B) is projectingly provided on the unit holder 101 holding the image rotator 98 as in the first embodiment. 25 is extended to the outside through a guide groove formed in the main body of the operating portion 93. And
With the operation of the operation knob 25, the image rotator 98 is rotated around the optical axis of the objective optical system 96, and the image sent from the objective optical system 96 is rotated around the optical axis.

An adjusting lens 99 for adjusting the light sent from the objective optical system 96 side to a parallel light is arranged on the image incident end face side of the image rotator 98, and the light sent from the objective optical system 96 side is arranged. The light is incident on the image rotator 98 side in the state of being adjusted to parallel light through the adjusting lens 99.

In the above arrangement, the observation image sent through the optical path of the objective optical system 16 is incident on the image rotator 98 in the state of being adjusted to parallel light by the adjusting lens 99, and the image rotator 9 is further moved.
The image transmitted through 8 is formed on the image sensor 97. In addition,
The image formed on the image sensor 97 is the image rotator 9.
When passing through 8 , the vertical direction is reversed in Fig. 9 (B),
It is imaged .

Further, the image sent is converted into a video signal by the image pickup device 97 and output. This image sensor 9
The output signal from 7 goes up and down through the image forming circuit 102.
Monitor 1 in a state that is returned to the interchanged with the normal image
03. Then, the image based on the image signal sent from the image pickup device 97 is reproduced on the image reproduction screen of the monitor 103, and the stereoscopic image is displayed.

During use of the endoscope 91, the endoscope 9
When rotating 1 about the axial direction of the insertion portion 92 to change the visual field direction of the endoscope 91, the objective optical system 96 incorporated in the main body of the endoscope 91 and the imaging device. 97 also rotates integrally with the main body of the endoscope 91.

[0056] Then, for example, the endoscope 11 from the state where the rotation angle is held at the reference position of the 0 ° as shown in FIG. 9 (B) of the rigid endoscope 91, as shown in FIG. 9 (C) 90
When the rotary operation is performed, the operation knob 25 is operated and the operation shown in FIG.
As shown in (D) , the image rotator 98 is rotated by 45 ° about the optical axis of the objective optical system 96. Accordingly, it is possible to prevent the image sent from the objective optical system 96 from being rotated around the optical axis and changing the posture of the stereoscopic image displayed on the screen of the monitor 103.
It is possible to prevent the display of a stereoscopic image on the screen of the monitor 103 from becoming difficult to see as in the conventional case.

Further, FIGS. 10A to 10C show a second modified example of the rigid endoscope 91. This is shown in FIG.
The image rotator 98 of the first modified example shown in (A) to (D) is changed to a surface image type image rotator 111 having a roof surface 111a, and the unit main body 112 of the image rotator 111 has a structure shown in FIG. ) , A rotation driving mechanism 114 is attached to the unit holder 113 holding the image rotator 111, and the image rotator 111 is rotated around the optical axis of the objective optical system 96 by the rotation driving mechanism 114 to rotate the objective optical system. The image sent from 96 is rotated around the optical axis.

Further, a gravity direction detecting sensor 115 such as a G sensor is provided in the operation section 93. The operation of the drive motor of the rotation drive mechanism 114 of the image rotator 111 is controlled based on the detection data from the gravity direction detection sensor 115, and the endoscope 91 is inserted into the insertion portion 92 during use. Even when the visual field direction of the endoscope 91 is changed by rotating around the axial direction, the posture of the stereoscopic image displayed on the screen of the monitor 103 is prevented from changing. ing. In addition,
Reference numeral 116 is a left / right optical path switching shutter.

Therefore, in the above-described structure, since the image-type image rotator 111 having the roof surface 111a is used, the image sensor 9 as in the first embodiment is used.
7 need not be provided between the image forming circuit 102 and the monitor 103, and the configuration can be simplified.

During the use of the endoscope 91, the endoscope 9
When 1 is rotated about the axial direction of the insertion portion 92, the drive motor of the rotation drive mechanism 114 of the image rotator 111 is driven based on the detection data from the gravity direction detection sensor 115, and the endoscope 91. Since the image rotator 111 is rotationally driven at a rotation angle (θ / 2) that is 1/2 of the rotation angle θ of, the posture adjustment work of the stereoscopic image displayed on the screen of the monitor 103 can be automatically performed. . Therefore, the work for adjusting the attitude of the stereoscopic image can be simplified and the usability can be improved as compared with the case where the work is performed manually.

11 and 12 show a rigid endoscope 1.
31 shows a third modification of No. 31. In FIG. 11 , 13
2 is the insertion part of the endoscope 131, and 133 is the insertion part 1
It is a proximal side operation unit connected to the base end of 32. Further, 134 is a TV camera used in combination with the endoscope 131.

The TV camera 134 has a camera head 135 connected to the operation section 133 of the endoscope 131, a universal cable 136 having one end connected to the camera head 135, and the other end of the universal cable 136. Light guide connector 137 and TV connector 13 connected to this light guide connector 137
8 are provided respectively. The light guide connector 137 is detachably connected to the light source device 139, and the TV connector 138 is detachably connected to the monitor 141 via the TV camera control unit 140.

FIG. 12 shows the operation section 13 of the endoscope 131 .
3 shows a connecting portion between the camera head 135 and the camera head 135 of the TV camera 134. In this case, the operation projection 133 is provided with the illumination projection 142 and the image projection 143 on the connection surface with the camera head 135. further,
Inside the operation unit 133, a light guide 144 for illumination and a relay lens 145 for image are arranged. The base end of the light guide 144 is connected to the condenser lens 146 disposed on the illumination projection 142, and the base end of the relay lens 145 is the image projection 14.
It is arranged so as to face the cover glass 147 arranged in No. 3. A connection ring 148 is rotatably attached to the connecting surface of the operation unit 133 with the camera head 135.

Further, the camera head body 151 of the camera head 135 has an illumination projection 142 and an image projection 14 on it.
Recessed receiving portions 152 and 153 which are fitted in the concave and convex portions are respectively formed. Furthermore, this camera head body 15
A male screw-shaped threaded portion 154 that is screwed into the connection ring 148 is formed on the outer peripheral surface of 1.

The tip end of the camera side light guide 155 is attached to the illumination receiving portion 152, and the adapter lens 156 is attached to the image receiving portion 153. Further, on the inner surface side of the adapter lens 156, an image pickup device 157 such as a CCD is arranged so as to face it. This image sensor 15
7 is rotatably held via a bearing 158. The rotating portion of the bearing 158 is formed in a vertically asymmetrical shape in which the lower weight is heavy. In addition, 159 is a circuit board of the image sensor 157, and 160 is a signal cable.

Therefore, in the above-described structure, the image pickup device 157 is rotatably held via the bearing 158, and the rotating portion of the bearing 158 is formed in a vertically asymmetrical shape in which the lower weight is heavy. The endoscope 13
1 is in use, even when the endoscope 131 is rotated about the axial direction of the insertion portion 132, the rotation of the rotating portion of the bearing 158, which is heavy on the lower side, causes the image pickup device 1 to rotate.
The posture of 57 can always be held in a correct posture.
Therefore, when the endoscope 131 is rotated about the axial direction of the insertion portion 132 to change the visual field direction of the endoscope 131, the attitude of the stereoscopic image on the screen of the monitor 141 changes as in the conventional case. It is possible to prevent the display of the stereoscopic image on the screen of the monitor 141 from becoming difficult to see.

13 and 14 show the rigid endoscope 1.
71 shows a fourth modification of 71. In FIG. 13 , 17
2 is the insertion part of the endoscope 171, and 173 is the insertion part 1
The proximal operation unit 174 connected to the base end of 72 is a universal cable connected to the operation unit 173.

Further, FIG. 14 shows the internal structure of the operating portion 173. In FIG. 14 , 175 is a light guide, 176 is a relay lens, 177 is an adapter lens, 178 is an image pickup element 178 such as CCD, 179 is a circuit board of the image pickup element 178, and 180 is a signal cable.
Here, the holding cylinder 181 holding the image pickup element 178 is rotatably supported by the operation portion main body 173a.

A worm wheel 182 is fixed to the holding cylinder 181. A rotation shaft of a rotation operation knob 184 arranged outside the operation portion 173 is fixed to the worm 183 screwed to the worm wheel 182. The image pickup device 178 is rotationally driven together with the holding cylinder 181 via the screwing portion of the worm 183 and the worm wheel 182 in accordance with the rotation operation of the rotation operation knob 184.

Therefore, in the above-mentioned configuration, while the endoscope 171 is in use, the endoscope 171 is rotated around the axial direction of the insertion portion 172 to change the visual field direction of the endoscope 171. When changing, the image pickup device 178 is driven to rotate together with the holding cylinder 181 in accordance with the rotation operation of the rotation operation knob 184, thereby preventing the posture of the stereoscopic image displayed on the screen of the monitor 141 from changing. Can
It is possible to prevent the display of the stereoscopic image on the screen of the monitor 141 from becoming difficult to see as in the conventional case.

FIG. 15 shows a fifth modification of the rigid endoscope 191. In FIG. 15 , 192 is an insertion portion of the endoscope 191, and 193 is an operation portion on the proximal side connected to the base end portion of the insertion portion 192. Furthermore, the insertion part 1
An objective lens 194 and a relay lens 196 are provided in the unit 92, and a gravity direction detection sensor 200 such as a G sensor is provided.

Further, an adapter lens 197 is attached to the operation section 193, and this adapter lens 197 is attached.
An image pickup device 195 such as a CCD is arranged to face the inner surface of the device. The worm wheel 202 is fixed to the holding cylinder of the image sensor 195. A drive motor 204 is attached to the worm 203 screwed onto the worm wheel 202.
It is designed to be driven by rotation. Further, a control circuit 205 is connected to the drive motor 204. The control circuit 205 includes a gravity direction detection sensor 200
Are connected.

The drive motor 20 for the worm 203
The operation of the reference numeral 4 is controlled based on the detection data from the gravity direction detection sensor 200, and while the endoscope 191 is in use, the endoscope 191 is rotated about the axial direction of the insertion portion 192 to move the inside. Even when the viewing direction of the endoscope 191 is changed, the posture of the stereoscopic image displayed on the screen of the monitor 141 is prevented from changing.

The present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[0075]

According to the present invention, the optical path sent from the objective optical system is divided into the right and left between the objective optical system and the image pickup means, and the optical path dividing means for forming the left and right divided optical paths is provided to divide the optical path. Since the image rotating means for rotating the image sent from the objective optical system around the optical axis is provided between the means and the objective optical system, the endoscope is rotated around the axial direction of the insertion portion. Then, even when the view direction of the endoscope is changed, it is possible to prevent the display of the stereoscopic image from being difficult to see.

[Brief description of drawings]

1A is a schematic configuration diagram of an observation optical system of a rigid endoscope according to a first embodiment of the present invention, FIG. 1B is a cross-sectional view showing an operation knob of an image rotator, and FIG. FIG. 3 is a plan view showing an optical path switching shutter.

FIG. 2 is an explanation for explaining a posture of an observed image .
Fig.

FIG. 3 illustrates the operation of the image rotator .
In (A), the rigid endoscope is held at the reference position.
(B) shows whether the rigid endoscope is at the reference position.
Schematic structure showing a state of being rotated to a rotation position of 90 ° from
Diagram.

FIG. 4 shows a first modification of the left / right optical path switching shutter.
(A) is a plan view of the shutter plate, and (B) is a chassis.
FIG. 3 is a vertical cross-sectional view showing a cutter drive mechanism.

FIG. 5 shows a second modification of the left / right optical path switching shutter.
(A) is a plan view of the shutter plate, and (B) is a chassis.
FIG. 3 is a vertical cross-sectional view showing a cutter drive mechanism.

FIG. 6 shows a third modification of the left / right optical path switching shutter.
Plan view of to the shutter plate.

FIG. 7 shows a second embodiment of the present invention, (A)
Is a plan view showing a schematic configuration of an observation optical system of a rigid endoscope ,
(B) is the same side view.

FIG. 8 is a schematic configuration showing a modified example of the image rotator .
Fig.

FIG. 9 shows a first modified example of the rigid endoscope,
(A) is a side view showing a schematic configuration of an observation optical system of a rigid endoscope
Figure (B) shows the rigid endoscope being held at the reference position.
(C) is a rigid endoscope as a reference position
Schematic structure showing a state of being rotated to a rotation position of 90 ° from
Diagram (D) shows the image from the 90 ° rotation position of the rigid endoscope.
-Outline showing the state where the rotary rotator is rotated by 45 °
Diagram.

FIG. 10 shows a second modified example of the rigid endoscope,
(A) is a side view showing a schematic configuration of an observation optical system of a rigid endoscope
FIG. (B) is a cross-sectional view showing the image rotator,
(C) is a theory for explaining the operation of the image rotator.
Clear view.

FIG. 11 is a schematic configuration showing a third modified example of the rigid endoscope .
Fig.

FIG. 12 is a vertical cross-sectional view of an operation unit.

FIG. 13 is a schematic configuration showing a fourth modified example of the rigid endoscope .
Fig.

FIG. 14 is a vertical cross-sectional view of the operation unit.

FIG. 15 is a schematic configuration showing a fifth modified example of the rigid endoscope .
Fig.

FIG. 16 shows a conventional example, in which (A) is a rigid endoscope.
Is a schematic configuration diagram showing a state in which is held at the reference position ,
(B) shows that the rigid endoscope is at the 90 ° rotational position from the reference position.
The schematic structure figure showing the state where it was rotated.

[Explanation of Codes] 12, 62, 92, 112, 132, 172 ... Insertion Part,
16, 66, 96, 116 ... Objective optical system, 17, 67,
68, 97, 117, 157, 178 ... Imaging device (imaging means), 19, 103, 141 ... Monitor (display means),
20, 80, 104, 116 ... Left / right optical path switching shutter (optical path splitting means), 69 ... Optical path splitting means 21, 74,
98, 118 ... Image rotator (image rotating means).

[Procedure 3]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 4]

[Figure 5]

[Figure 6]

[Figure 1]

[Fig. 2]

[Fig. 12]

[Fig. 13]

FIG. 14

[Figure 3]

[Figure 7]

FIG. 15

[Figure 8]

[Figure 9]

FIG. 11

[Figure 10]

FIG. 16

 ─────────────────────────────────────────────────── ─── Continued front page (72) Masahito Goto 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Shingo Kato 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Shinji Yamashita 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Atsushi Kiwata 2-43-2, Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Nobuaki Akui 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Hideki Koyanagi 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Industry Co., Ltd. (72) Inventor Akira Murata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd. (72) Inventor Wataru Ono 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd. (72) Inventor Akihiro Taguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd.

Claims (1)

[Claims] 1. An objective optical system disposed at a distal end portion of an insertion portion of an endoscope and an image pickup means for converting an image sent from the objective optical system into an electric signal and outputting the electric signal, An optical path splitting means for splitting the optical path sent from the objective optical system into left and right parts, and an optical path splitting means for forming left and right split optical paths, and a video based on each of the left and right video signals sent from the image pickup means is played back on a video playback screen and a stereoscopic video And an image rotating means for rotating an image sent from the objective optical system around an optical axis, the display rotating means being provided between the optical path splitting means and the objective optical system. A video display device for an endoscope.