JPH10118006A - Endoscope apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To intuitively operate an endoscope by arranging a imaging region- returning means for returning the imaging region of a means to a preset standard position and a imaging region-returning indicating means for indicating returning the imaging region of the imaging means to the standard position. SOLUTION: A TV camera 4 is fitted to an eyepiece part 5 of a scope 1 and a CCD 6, a zoom lens 7 and a CCD moving mechanism 8 for moving the CCD 6 in the direction orthogonal to the optical axis direction of the zoom lenz 7 are built in the TV camera 4. In addition, an original point returning switch 9 is provided on the outer face of a casing of the TV camera 4. The original point returning switch 9 drives the CCD moving mechanism 8 is such a way that the photographing range of the CCD 6 is returned to the original point being a preset standard position during operation. In addition, when the original point returning switch 9 is operated, the zoom lens 7 is driven so as to return magnifying power of the zoom lens 7 to the original point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscopic surgery used to perform a treatment while observing a treatment state of an affected part by a treatment instrument inserted into a body cavity of a patient with the endoscope. The present invention relates to an endoscope apparatus.

[0002]

2. Description of the Related Art Generally, a treatment tool and an endoscope are separately inserted into a body cavity of a patient, and an image of a distal end portion of the treatment tool inserted into the body cavity is captured in an observation field of view of the endoscope. An endoscope-based operation for performing a treatment operation while observing a treatment state of an affected part by a treatment instrument with an endoscope is known.

[0003] For example, Japanese Patent Application Laid-Open No. 6-30896 discloses an endoscope apparatus used for this type of endoscopic surgery. In this method, the endoscope is held by a robot arm, and the position of the endoscope can be changed according to a command from an operator. As a result, the assistant who conventionally holds the endoscope is released, and the surgeon can freely change the field of view in the direction he or she wants.

Further, the present applicant has disclosed in Japanese Patent Application No. Hei 7-115959, which was not disclosed at the time of filing the present invention, an endoscope apparatus which is configured to freely convert the field of view of an endoscope without using a robot arm. Has been proposed. Here, the imaging range of the endoscope image is changed (switched) by moving a part of the imaging optical system of the endoscope with the actuator.

[0005]

Problems to be Solved by the Invention
In the device disclosed in the publication, there is a possibility that an operator, a patient, a peripheral device, and the like may interfere with a robot arm disposed outside the endoscope. Further, there is a possibility that the movement of the endoscope becomes unstable due to an unintended operation of the robot arm.
In addition, since it is necessary to install a large device such as a robot and its peripheral devices outside the endoscope, it is inconvenient for operations such as transporting and sterilizing the entire device.

[0006] On the other hand, in the device disclosed in Japanese Patent Application No. 7-115959, the movable part moved by the actuator is disposed inside the endoscope. Therefore, when a device arranged outside the endoscope such as a robot arm is operated, there is little possibility that the movable portion outside the endoscope comes into contact with an operator or the like, and the safety is high. Further, there are many advantages that the whole device is small and can be replaced with a normal endoscope and a TV camera. Furthermore, since this device is small and used in place of a combination of a normal endoscope and a TV camera, it is easy to handle. In addition, by detecting the tip of a treatment tool such as forceps and tracking the tip of the treatment tool, the field of view of the endoscope can be changed, and the operator can change the field of view of the endoscope during surgery. Is easy.

However, in the above-mentioned conventional configuration, if the field of view of the endoscope is shifted from the optical axis of the endoscope during the operation under the endoscope due to the operation of changing the field of view of the endoscope, the endoscope is not used. It is difficult to intuitively and accurately move the endoscope in the desired direction while viewing the mirror image, and thus the endoscope's field of view is deviated from the optical axis of the endoscope inside the body cavity. However, there is a problem that it is difficult to insert and remove the endoscope and to change the position of the endoscope.

Further, if the detection of the distal end of the treatment tool fails during the visual field conversion operation of the endoscope, or if the operator performs an erroneous operation such as pressing an operation switch incorrectly, the visual field of the endoscope is lost. There is a risk.

Further, in order to effectively use the field-of-view conversion function of the endoscope, it is necessary to set the position of the endoscope in advance so that the target portion to be observed is included in the endoscope image. Therefore, it is necessary to perform observation in an imaging range in which the entire endoscope image can be observed, and thus the imaging range of the observation image of the endoscope may be limited.

The present invention has been made in view of the above circumstances, and has as its object the purpose of high safety, small size of the whole apparatus, replacement of an endoscope, insertion and removal of a body cavity, and the like. It is easy to match the direction of the observation field of view of the endoscope with the optical axis direction of the endoscope even when the detection of the distal end of the treatment tool fails or the observation direction is unknown, so that the endoscope is intuitive. It is an object of the present invention to provide an endoscope device having high operability that can be operated in a controlled manner.

[0011]

SUMMARY OF THE INVENTION The present invention provides an endoscope inserted into a body cavity, imaging means for imaging a part or all of an observation image of the endoscope, and an imaging range of the imaging means. Imaging range changing means for changing; an imaging range returning means for returning an imaging range of the imaging means to a preset reference position; and controlling an operation of the imaging range returning means to change an imaging range of the imaging means to the reference range. An endoscope apparatus comprising: an imaging range return instructing unit that issues an instruction to return to a position. With the above configuration, the operator operates the imaging range return instructing means to return the imaging range when exchanging the endoscope, inserting / removing the body cavity, failing to detect the distal end of the treatment tool, or when the observation direction is unknown. And the imaging range is returned to the preset reference position (origin) using the imaging range returning means, so that the observation direction of the endoscope matches the optical axis direction of the endoscope, and The mirror is designed to be intuitively operated.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS.
FIG. 1A shows a schematic configuration of the entire endoscope apparatus according to the present embodiment. In FIG. 1A, reference numeral 1 denotes a scope as a rigid endoscope inserted into a body cavity of a patient, and reference numeral 2 denotes a scope holder 2 having an articulated structure for holding the scope 1 movably. Here, the scope 1 has an elongated insertion portion 1a.
And an eyepiece 5 connected to the proximal end of the insertion portion 1a. Then, the insertion portion 1a of the scope 1 is inserted through the trocar 3 previously inserted into the body cavity of the patient,
It is inserted into the body cavity so as to observe the inside of the body cavity. The optical system of the scope 1 is provided with a distortion removing lens (not shown).

A TV camera 4 is attached to the eyepiece 5 of the scope 1. Inside the TV camera 4, a CCD (imaging means) 6, which is a solid-state image sensor, a zoom lens 7, and a CCD moving mechanism (imaging range) for moving the CCD 6 in a direction orthogonal to the optical axis direction of the zoom lens 7 Change means) 8. Furthermore, TV camera 4
An origin return switch (imaging range return instructing means) 9 is provided on the outer surface of the casing 4a.

The TV camera 4 has a forceps tracking device 1
0 and a CCU (camera control unit) 11 are connected. Here, the forceps tracking device 10 includes an operation switch 12 such as a foot switch, a hand switch, and the like, which performs an operation of switching the tracking function of the distal end portion 15 of the forceps 14 between valid and invalid, and enlargement / reduction switches 88a and 88.
b and the CCU 11 are connected to each other. In addition,
T is an enlargement switch 88a, and W is a reduction switch 88b. Further, the CCU 11 includes, for example, a TV monitor, an HM
D (HEAD MOUTED DISPLAY: head mounted display)
Are connected.

A forceps 14 is inserted into the body cavity of the patient from a location different from the scope 1. The forceps 14
Even if a treatment tool such as a peeling forceps, scissors, a laser probe, a suture device, an electric scalpel, a needle holder, or an ultrasonic suction device is inserted in place of the above, the operation does not change at all.

FIGS. 2 and 3 show the TV camera 4.
A scope attachment / detachment section 16 shown in FIG. The scope attaching / detaching portion 16 is provided with a substantially cylindrical fitting portion 17 into which the eyepiece 5 of the scope 1 is fitted. The eyepiece 5 of the scope 1 is fitted into the cylinder of the fitting 17,
Thereby, the optical axis of the scope 1 and the optical axis of the TV camera 4 can be accurately aligned.

As shown in FIG. 2, three pressing pins 18 are uniformly arranged in the circumferential direction on the cylindrical wall of the fitting portion 17. Further, a rotating ring 19 is provided on the outer peripheral surface of the fitting portion 17.
Are mounted so as to be rotatable in the circumferential direction. An inner cam curved portion 20 is formed on the inner peripheral surface of the rotating ring 19 as shown in FIG. The inner cam curved portion 20 has an inner protruding portion 20a protruding inward, and the inner protruding portion 20a.
A recess 20b having a diameter larger than a is formed. When the rotating ring 19 rotates, the three pressing pins 18 are pushed inward by the inwardly protruding portions 20 a of the inner cam curve portion 20. further,
With the rotation of the rotating ring 19, the inwardly protruding portions 20a of the inner cam curved portion 20 are disengaged from the three pressing pins 18, and the concave portions 20b of the inner cam curved portion 20 are arranged to face the three pressing pins 18. In this case, there is no pushing force to push the three pressing pins 18 inward, so that the three pressing pins 18 are returned to the states accommodated in the respective recesses 20 b of the rotating ring 19.

In order to have the same resolution as that of the conventional camera in the observation after the enlargement by the zoom lens 7 of the TV camera 4,
It is desirable that the dedicated scope 1 with high resolution is accurately attached to the optical axis. Here, a ring-shaped recess 24 into which the three pressing pins 18 are inserted is formed on the outer peripheral surface of the eyepiece 5 of the dedicated scope 1. And FIG.
After the eyepiece 5 of the scope 1 is fitted into the fitting 17 of the TV camera 4 as shown in FIG.
When the rotation of the scope 9 is performed, the three pressing pins 18 are evenly pressed against the recessed portions 24 of the eyepiece 5 by the inwardly protruding portions 20 a of the inner cam curved portion 20, so that the scope 1 is turned on the TV.
The camera 4 is securely fixed to the camera 4.

Further, an arc-shaped compression spring receiving groove 17a is formed on the outer peripheral surface of the fitting portion 17, as shown in FIG. A compression spring 21 for tightening the rotating ring 19 is provided in the compression spring receiving groove 17a. One end of the compression spring 21 is attached to a pin 19 a protruding inward from the inner peripheral surface of the concave portion 20 b of the rotating ring 19.

Further, the rotating ring 19 includes a rotating ring 1.
Nine fastening release knobs 23 are attached. The rotating ring 19 is tightened by a compression spring 21 compressed in the circumferential direction, and the release knob 23 allows the scope 1 to be easily attached and detached.

A conical slope 25 is provided at the eyepiece 22 of a general scope 1 as shown in FIG. 3B other than the dedicated scope 1 having a higher resolution shown in FIG. 3A. Although formed, the scope attaching / detaching portion 16 of the present embodiment is
In this case, since the three pressing pins 18 press the slope 25, the general eyepiece 22 can be accurately attached.

FIG. 4 shows the internal structure of the TV camera 4. The TV camera 4 is provided with a focus mechanism 41, a zoom mechanism 42 as a drive mechanism of the zoom lens 7, and a CCD moving mechanism 8 in a casing 4a. Here, the focus mechanism 41 is provided with a focus ring 26, a cylindrical cam 28 having a cam groove 27, a focusing lens 29, and a focus pin 30 attached to a lens frame 29 a of the focusing lens 29. . The focus mechanism 41 rotates the focus ring 26,
The focus pin 30 is formed by the cam groove 27 of the cylindrical cam 28.
Are moved back and forth along the optical axis direction of the TV camera 4, and the focusing lens 29 is moved back and forth along the optical axis direction of the TV camera 4.

The zoom mechanism 42 includes a cylindrical outer cylinder member 42a, an inner cylinder member 42b disposed inside the outer cylinder member 42a, a large-diameter first lens frame 42c, and a small-diameter And a second lens frame 42d. Here, a flange-shaped bent portion 31 protruding outward is formed at the rear end of the outer cylinder member 42a. This bent part 3
A gear 32 is formed on the outer peripheral surface of the gear 1. This gear 3
2, a substantially arc-shaped notch 33 is formed as shown in FIG.

The inner cylinder member 42b has two cam grooves 3
4a and 34b are formed. Here, one cam groove 34a is engaged with a cam pin 36a projecting from the outer peripheral surface of the first lens frame 42c, and the other cam groove 34b is projected from the outer peripheral surface of the second lens frame 42d. Cam pin 36
b is engaged.

Further, a front lens group 35a composed of a plurality of lenses is mounted on the front end of the first lens frame 42c. A rear lens group 35b including a plurality of lenses is mounted on the second lens frame 42d. The zoom lens 7 of the TV camera 4 includes the front lens group 35a and the rear lens group 35b.

An electric rotating mechanism 42e of the zoom mechanism 42 is provided inside the TV camera 4. As shown in FIG. 5, the electric rotating mechanism 42e is provided with a stepping motor 38, a pinion gear 39 fixed to a motor shaft of the motor 38, and a reduction gear 37. Here, a large-diameter gear 37a and a small-diameter gear 37b are fixed coaxially to the reduction gear 37. The large-diameter gear 37a of the reduction gear 37 meshes with the pinion gear 39, and the small-diameter gear 37b meshes with the gear 32 of the outer cylinder member 42a. The photo interrupter 40 is disposed at a substantially central position in the rotation range of the outer cylinder member 42a regulated by the notch 33 of the gear 32.

During the operation of the zoom mechanism 42, the rotation of the stepping motor 38 of the electric rotating mechanism 42e is transmitted to the gear 32 while being reduced by the reduction gear 37,
The outer cylinder member 42a is driven to rotate. By the rotation of the outer cylinder member 42a at this time, the cam pins 36a and 36b move forward and backward along the optical axis direction of the TV camera 4 while being guided by the cam grooves 34a and 34b. Thereby, the first
The relative position between the front lens group 35a of the lens frame 42c and the rear lens group 35b of the second lens frame 42d changes, and the magnification of the TV camera 4 is changed.

Further, when the zoom mechanism 42 is in operation, the notch 33 of the gear 32 is detected by the photo-interrupter 40 to detect the position of the origin, and thereafter, the zoom mechanism 42 is determined by the number of pulses sent to the stepping motor 38.
The rotation angle of the outer cylinder member 42a and the corresponding enlargement ratio are set.

FIGS. 6A and 6B and FIG.
2 shows a CCD moving mechanism 8 provided in the V camera 4. The CCD moving mechanism 8 is provided with a base plate 43 having a substantially rectangular frame shape.

An RL plate 46a movably supported on the base plate 43 in a direction perpendicular to the optical axis of the TV camera 4 in the X direction (the horizontal direction in FIG. 6A). A UD plate 46b movably supported in a Y direction (up and down direction in FIG. 6A) orthogonal to the moving direction (X direction) of the plate 46a;
6a and UD plate 46b in the X and Y directions
And a CCD pedestal 52 movably supported in each direction. Here, FIG.
As shown in (B), the CCD 6 and the infrared cut filter 5
3 are mounted in a state where they are arranged to face each other.

6A, a pair of upper and lower parallel guide shafts 60a and a pair of left and right parallel guide shafts 60b are arranged on the base plate 43. One set of upper and lower guide shafts 60a and one set of left and right guide shafts 60b
Are fixed on the base plate 43 by fixing pins 44 and screws 45. The RL plate 46a is connected to the guide shaft 60a.
6A, and is supported so as to be movable in the left-right direction. Similarly, the UD plate 46b is connected to the guide shaft 60.
6 (A) along the line b.

FIG. 7 shows the center of the RL plate 46a.
A square hole 47a extending in the X direction is provided as shown in FIG. Further, a square hole 47b extending in the Y direction is provided at the center of the UD plate 46b as shown in FIG.

An RL stepping motor 48a, which is a drive motor for the RL plate 46a, and a UD stepping motor 48b, which is a drive motor for the UD plate 46b, are provided on the base plate 43 of the CCD moving mechanism 8 via the stepping motor bases 62a and 62b. Each is fixed. Here, one end of a feed screw 49a is fixed to the RL stepping motor 48a. Further, one end of a feed screw 49b is fixed to the UD stepping motor 48b.

A nut member mounting groove 61 is formed in the RL plate 46a on the side of the engaging portion with one of the guide shafts 60a. The nut member 50a is fitted into the nut member mounting groove 61. This nut member 50a
Are formed with a screw hole into which the feed screw 49a is inserted and an insertion hole for the rod-shaped nut guide 120a. Here, the nut guide 120a is fixed at a position farther from the base plate 43 than the feed screw 49a. The nut member 120 is formed by the nut guide 120a.
0a is restricted from tilting with respect to the base plate 43.

When the feed screw 49a is driven to rotate by the RL stepping motor 48a, the rotation of the feed screw 49a causes the RL stepping motor 48 to pass through a threaded portion between the feed screw 49a and the nut member 50a.
a of the RL plate 46 is converted into a linear motion.
a is moved in the left-right direction in FIG. 6A.

A pin 51 is fixed on the side of the UD plate 46b which engages with one of the guide shafts 60b.
This pin 51 is fitted in a groove of the nut member 50b. The nut member 50b has a screw hole into which the feed screw 49b is inserted and an insertion hole for the rod-shaped nut guide 120b. Here, the nut guide 12
Ob is fixed at a position farther from the base plate 43 than the feed screw 49b. And this nut guide 120
b restricts the nut member 50b from tilting with respect to the base plate 43.

When the feed screw 49b is driven to rotate by the UD stepping motor 48b, the rotation of the feed screw 49b causes the UD stepping motor 48 to pass through a threaded portion between the feed screw 49b and the nut member 50b.
b is converted into a linear motion, and the UD plate 46
b is moved up and down in FIG. 6A.

On the lower surface of the CCD pedestal 52, a horn-shaped projection 55 is provided in a protruding manner. The projection 55 is inserted into the square hole 47a of the RL plate 46a and the square hole 47b of the UD plate 46b, and the pedestal socket 54 is fixed by screws from below. The CCD pedestal 52 and the pedestal 5
The UD plate 46b and the RL plate 46a are sandwiched between the UD plate 46b and the UD plate 46b.
The L plate 46a is slidably pressed on the guide shafts 60a and 60b, respectively.

Thus, in the CCD moving mechanism 8 according to the present embodiment, the projection 55 of the CCD pedestal 52 moves the RL plate 4 in conjunction with the movement of the UD plate 46b in the Y direction.
While sliding in the Y direction along the square hole 47a of 6a,
The projection 55 of the CCD pedestal 52 slides in the X direction along the square hole 47b of the UD plate 46b in conjunction with the operation of the RL plate 46a moving in the X direction. The CCD pedestal 52 moves up, down, left and right in conjunction with the plate 46b. As a result, the CCD 6 moves in the X direction by the operation of the stepping motor 48a,
The operation of 8b causes the CCD 6 to move in the Y direction.

The nut member 5 of the RL plate 46a
A light shielding plate 56a is provided at 0a, and a light shielding plate 56b is provided at a nut member 50b of the UD plate 46b.
Further, the stepping motor bases 62a and 62b are provided with photo interrupters 57a and 57b, respectively. After detecting the positions of the light-shielding plates 56a and 56b with the photo interrupters 57a and 57b, the origin position of the CCD 6 is detected.
The vertical and horizontal positions of the CCD 6 are set according to the number of pulses sent to 8b.

The CCD 6 has a flexible substrate 58.
Are connected at one end. The other end of the flexible substrate 58 is connected to a connector 59 in the TV camera 4. The intermediate portion of the flexible substrate 58 is folded back so as to respond to the movement of the CCD 6.

The stepping motors 48a, 48b
Is fixed to the surface opposite to the CCD 6 with respect to the base plate 43, so that it is configured to be smaller than when it is fixed to the same surface.

One end of a camera cable 63 having a coaxial cable structure is connected to the TV camera 4. At the center of the camera cable 63, a plurality of CCD cables 64 are arranged as shown in FIG. This C
The CD cable 64 is a cable for transmitting and receiving video signals and control signals from the CCD 6. Further, a plurality of motor cables 65 are juxtaposed around the CCD cable 64 via a tube-shaped shield wire 66a and a resin outer tube 67a. This motor cable 6
Reference numeral 5 denotes a cable for transmitting control signals for motor control and switch operation. The outer peripheral surface of the camera cable 63 is covered with a tubular shield wire 66b and a resin outer tube 67b.

As shown in FIG. 8A, a motor cable connector 68 connected to the forceps tracking device 10 is connected to the other end of the camera cable 63. A plurality of pins 6 are provided at the tip of the motor cable connector 68.
9 are juxtaposed. The motor cable 65 disposed on the outer peripheral side of the camera cable 63 is connected to these pins 69. And the motor cable 65
Is detachably connected to the forceps tracking device 10 via a motor cable connector 68.

At the base end of the motor cable connector 68, a CCD cable 64 arranged at the center of the camera cable 63 is pulled out together with the outer tube 67a to form a branch cable 68a. A CCD cable connector 7 is provided at the tip of the branch cable 68a.
0 is linked. The CCD cable connector 70 is detachably connected to the CCU 11.

The CCD cable 64 needs to be matched in length and impedance in order to transmit a very high frequency.
Since the electrical connection of the cable 64 is the same as that using a single cable, compatibility with a conventional TV camera can be maintained.

As shown in FIG. 9, the forceps tracking device 10 comprises an A / D converter 71, an image processing circuit 72, and an actuator control circuit (imaging range returning means) 73. Here, the A / D converter 71 is a CCU
11 is connected. And the CCD of the TV camera 4
The video signal No. 6 is converted by the CCU 11 into a video signal such as NTSC or RGB, and the video signal output from the CCU 11 is taken into the A / D converter 71.

The A / D converter 71 is connected to an actuator control circuit 73 via an image processing circuit 72. This actuator control circuit 73 has CC
The actuator 74 used for the D moving mechanism 8, the home return switch 9, and the operation switch 12 are connected. Here, besides the RL stepping motor 48a and the UD stepping motor 48b of the present embodiment shown in FIG.
Voice coil, actuator using piezoelectric vibrator,
An ultrasonic motor, a shape memory alloy or the like can be used.

The A / D converter 71 converts an analog video signal into a digital signal in order for the image processing circuit 72 to perform image processing. Further, the image calculation processing circuit 72 includes the forceps 14 imaged by the CCD 6.
Position of the tip 15 of the CCD moving mechanism 8
The position and the movement amount of the CCD pedestal 52 are obtained, and a command regarding the position and the movement amount of the actuator 74 is sent to the actuator control circuit 73. The method of detecting the position of the tip 15 of the forceps 14 includes a method of detecting the position of the center of gravity of the color marker provided on the tip 15 of the forceps 14 as shown in FIG. There is a method of detecting the tip position by model matching.

In the actuator control circuit 73,
The control is performed so that the actuator 74 operates in accordance with the command regarding the position and the movement amount obtained by the image calculation processing circuit 72. Here, when the actuator 74 is the RL stepping motor 48a and the UD stepping motor 48b of the present embodiment, open loop control is performed, and when the actuator is a DC motor, closed loop control using a feedback signal from an encoder is performed. Further, as described above, the above control is switched between valid and invalid according to the state of the operation switch 12.

Further, the actuator control circuit 73 is moved by the driving of the CCD moving mechanism 8 to set the position of the center point Q of the CCD 6 at a preset reference position, for example, FIG.
The origin 7 which is the center position O of the endoscope image circle 75 as shown in FIG.
An imaging range return means for driving the CCD moving mechanism 8 so as to return to the position 7 is provided. The imaging range return means controls the operation of the CCD moving mechanism 8 by operating the origin return switch 9 to return the position of the center point Q of the CCD 6 to the origin 77.

Next, the operation of the above configuration will be described.
When the endoscope device of the present embodiment is used, as shown in FIG. 1 (A), the insertion portion 1a of the scope 1 is inserted through the trocar 3 previously inserted into the body cavity of the patient so as to observe the inside of the body cavity. Inserted into the body cavity. Further, forceps 14 are inserted into the body cavity of the patient from a place different from the scope 1. At this time, the distal end portion 15 of the forceps 14 is
It is set to the state by being inserted into the visual field range R _1.

The observation image of the scope 1 is a TV camera 4
And the image is displayed on the display monitor 13. Here, as shown in FIG. 1B, the visual field range R _{2 of the} observation image captured by the CCD 6 via the zoom lens 7 of the TV camera 4
Is smaller than the field of view R ₁ by the eyepiece 5 of the scope 1, and the field of view R ₁ by the eyepiece 5 of the scope ₁
Is observed by the CCD 6.

[0054] Also, the visual field range R ₂ projected on CCD6 by movement of CCD6 is moved. Here, CCD6
Is moved by the forceps tracking device 10.

Further, C under control by the forceps tracking device 10
The movement position of the CD 6 is controlled such that the position of the distal end portion 15 of the forceps 14 detected by the forceps tracking device 10 is disposed substantially at the center of the display monitor 13.

Further, in the movement control of the CCD 6, an operation of switching the validity / invalidity of the tracking function of the distal end portion 15 of the forceps 14 is performed according to the state of the operation switch 12. For example, only when the operation switch 12 is pressed, the position of the distal end portion 15 of the forceps 14 detected by the forceps tracking device 10 is displayed on the display monitor 13.
So that the distal end portion 15 of the forceps 14
The movement position of the CCD 6 is controlled to follow the position.

When the operation button of the operation switch 12 is depressed while the TV camera 4 is capturing the observation image of the scope 1, the tracking function of the tip 15 of the forceps 14 by the forceps tracking device 10 is activated. When the forceps tracking function is activated, the video signal of the CCD 6 is transmitted by the CCU 11 to the NTS.
It is converted into a video signal such as C or RGB. Further, the video signal output from the CCU 11 is taken into an A / D converter 71 and then sent to an image processing circuit 72, where the A / D converter 7
The image calculation processing shown in the flowchart of FIG. 10 is performed based on the output signal from No. 1 and the position of the distal end portion 15 of the forceps 14 is obtained.

In this embodiment, the forceps 1 is used as position detecting means for detecting the position information of the distal end portion 15 of the forceps 14.
4 is provided with a color marker at the tip 15 and a color correlation calculation circuit is provided at the image calculation processing circuit 72.

Then, first, an observation image of the surgical site captured by the TV camera 4 is captured (step S).
1). This image is converted into a video signal and then input to a color correlation operation circuit. In this color correlation calculation circuit, the color of the color marker of the distal end portion 15 of the forceps 14 imaged by the TV camera 4 is extracted (step S2), and the three axes (x axis, The position of the y-axis and the z-axis) and the azimuth are detected. Rotation / translation coordinate conversion calculation is performed based on this position information, and binarization is performed (step S
3), calculation of center of gravity (step S4), tip 1 of forceps 14
After the respective steps of estimating the position of No. 5 (Step S5) are sequentially performed, correction calculations of the magnification and the coordinate axis are performed (Step S6), and the position of the distal end portion 15 of the forceps 14 is calculated.

The amount of movement of the CCD 6 is calculated from the calculated data of the position of the tip 15 of the forceps 14 calculated by this processing (step S7). At this time, the position and the amount of movement of the CCD pedestal 52 of the CCD moving mechanism 8 are obtained, and a command relating to the position and amount of movement of the actuator 74, ie, CC
The data of the movement amount of D6 is output (step S8).

Subsequently, the signal output from the image processing circuit 72 is input to the actuator control circuit 73. The actuator control circuit 73 outputs a control signal for the actuator 74 so that the actuator 74 operates in accordance with a command regarding the position of the distal end portion 15 of the forceps 14 and the amount of movement of the CCD 6 determined by the image processing circuit 72.

The actuator control circuit 73
RL stepping motor 48a of actuator 74 and UD stepping motor 4
8b are respectively driven, and the CCD 6 of the CCD moving mechanism 8 is driven.
Is moved in a direction orthogonal to the optical axis direction. Therefore, the tip 1 of the forceps 14 by the forceps tracking device 10
During the operation of the tracking function 5, the tracking operation of the distal end 15 of the forceps 14 that changes the imaging range of the TV camera 4 is performed while tracking the distal end 15 of the forceps 14 imaged by the TV camera 4.

In addition, the forceps 1 is located substantially at the center of the display monitor 13.
When the operation switch 12 is pressed in a state where the distal end 15 of the CCD 4 is not displayed, the movement control of the CCD 6 is performed so that the distal end 15 of the forceps 14 moves to the center of the display monitor 13 at a predetermined speed. Is performed.

The enlargement / reduction switches 88a, 88b
By operating the, the zoom lens 7 is driven by the forceps tracking device 10 and the endoscope image can be enlarged or reduced.

Next, the operation of the imaging range return means for returning the imaging range of the CCD 6 after moving in an appropriate direction from the origin 77 to a preset reference position will be described. First, all of the observation images from the eyepiece 5 of the scope 1 are shown in FIG.
As shown in FIG. 1, an image is formed on an endoscope mirror image circle 75, and a part thereof is cut out by the CCD 6.

In this case, the center position O of the endoscope image circle 75 is set as the origin 77, and the position of the CCD 6 is set at CC with respect to the origin 77.
It is represented as position component data (x, y) in the x and y directions of the center point Q of D6. FIG. 11 shows the positional relationship between the endoscope image circle 75 enlarged by the zoom lens 7 and the imaging ranges I ₀ and I ₁ of the CCD 6. Here, a dotted rectangular frame I ₀ is an imaging range of the CCD 6 at the position of the origin 77, and a solid rectangular frame I ₁ is an image of the CCD 6 when the center point Q of the CCD ₆ is moved to the position of (x, y). Each of the ranges is shown.

The position of the center point Q of the CCD 6 after moving in an appropriate direction from the origin 77 is
It is represented as position component data (x, y) in the x and y directions of the center point Q of D6. Note that the origin 77 and C
The position component data (x, y) of the center point Q of CD6 is CC
It is obtained from the number of drive pulses of the stepping motors 48a, 48b from the positions obtained by the light shielding plates 56a, 56b and the photo interrupters 57a, 57b of the D moving mechanism 8.

When the origin return switch 9 is pressed, the position component data (x, y) of the center point Q of the CCD 6 is obtained by the imaging range return means of the actuator control circuit 73.
The number of drive pulses of the stepping motors 48a and 48b is calculated such that the position of the origin 77 coincides with the position data of the origin 77, and the motors 48a and 48b are driven based on the calculation result so that the center point Q of the CCD 6 is The CCD 6 is moved to the matching position.

The diameter of the endoscope image circle 75 changes in proportion to the magnification of the zoom lens 7. For example, if the magnification of the zoom lens 7 is reduced, the diameter of the endoscope image circle 75 is
As shown in FIG. If the diameter of the endoscope image circle 75 is slightly smaller than the diagonal length 79 of the imaging range I of the CCD 6 as shown in FIG.
An image is formed on the CD 6, which is the zoom lens 7.
Is the origin of the magnification. In this case, the endoscope image picked up by the endoscope image circle 75 is the entire image cut out by the CCD 6, so that in this state, the position of the scope 1 is set so that all the objects to be observed are included, and the field of view conversion is performed. We can make the most of functions.

When the origin return switch 9 is operated, the position of the center point Q of the CCD 6 is returned to the origin 77, and the zoom lens 7 is driven such that the magnification of the zoom lens 7 returns to the origin shown in FIG. Is done.

Therefore, the above configuration has the following effects. That is, the field of view of the scope 1 can be changed in a state where the distal end portion 15 of the forceps 14 is detected and the distal end portion 15 of the forceps 14 is tracked. Is moved, the viewing direction of the scope 1 is converted to that direction. Therefore, the operator can hold the treatment tool such as the forceps 14 with both hands and change the visual field range I of the scope 1 by himself while performing the treatment.

Further, the operator does not need to instruct the assistant to move the scope 1 so as to obtain a desired visual field direction, and the assistant does not need to operate the scope 1. Workability of the lower operation can be greatly increased.

Further, since the scope 1 itself does not move when the direction of the visual field is changed by the forceps tracking device 10, there is no influence on the treatment operation of the operator and no force is applied to the patient.

Further, when changing the viewing direction of the scope 1, the CCD moving mechanism 8 in the TV camera 4 may be operated, so that it can be realized at a lower cost than the method of moving the entire scope 1. Further, since all the pixels of the CCD 6 are used, good image quality can be obtained.

Further, the RL stepping motor 48a and the UD stepping motor 48b
Is fixed to the surface opposite to the CCD 6 with respect to the base plate 43.
The entire D moving mechanism 8 is configured to be small.

Furthermore, in the present embodiment, the UD plate 46b and the RL plate 46a, which are sliders, are slidably supported by the parallel guide shafts 60a, 60b in the CCD moving mechanism 8, so that the structure can be reduced.

When the origin return switch 9 is operated, C
Since the CCD moving mechanism 8 is driven to return the imaging range I of the CD 6 to the origin 77 which is a preset reference position, the imaging range I of the CCD 6 can be easily set to the origin 7.
7 can be restored. Therefore, when exchanging the scope 1 and inserting / removing the scope 1 into / from the body cavity, the forceps 14
When the detection of the leading end 15 of the CCD 6 is unsuccessful or the observation direction is unknown, the origin return switch 9 is operated to operate the imaging range I of the CCD 6.
By returning to the origin 77, the observation direction of the scope 1 and the direction of the scope 1 can be matched, so that the scope 1 can be operated intuitively.

Further, since the zoom lens 7 is driven so that the magnification of the zoom lens 7 returns to the origin shown in FIG. 12 when the origin return switch 9 is operated, the scope 1 is viewed in this state. The entire mirror image can be observed. Therefore, thereafter, the zoom lens 7 is driven by the forceps tracking device 10 by operating the enlargement / reduction switches 88a and 88b, and the endoscope image is reduced, thereby changing the position of the scope 1 to the most effective field-of-view conversion operation. It can be set as follows.

FIG. 13 shows a second embodiment of the present invention. In the present embodiment, a hand switch (controller) 81 is detachably provided on the operation unit 14a on the hand side of the forceps 14 in the endoscope apparatus having the configuration of the first embodiment (see FIGS. 1 to 12). Hand switch 81
A switch 82 for instructing the tracking function of the forceps 14 and an origin return switch 83 are provided on the top.

Therefore, in the above configuration, the forceps 1
Since the hand switch 81 is provided on the operation part 14a on the hand side of the operator 4, the operator operating the operation part 14a on the hand side of the forceps 14 can easily operate the origin return switch 83 during the operation, and There is an effect that the return operation can be performed more easily.

FIG. 14 shows a third embodiment of the present invention. In this embodiment, an operation button unit (controller) 86 is provided, and an operation panel 86a of the operation button unit 86 has an origin return switch 9 of the first embodiment (see FIGS. 1 to 12) and an enlargement / reduction switch. 88a and 88b, respectively,
Up, down, left, and right operation buttons 87a, 87b, 87c, for changing the viewing direction of the scope 1 to up, down, left, and right directions.
87d are provided respectively. The operation button unit 86 is used by being installed on the floor, the operation section 14a of the forceps 14, the bedside, or the like.

In the present embodiment, the forceps tracking device 10 of the first embodiment is replaced by a visual field control device, and the operation switch 12 is replaced by an operation button unit 86 as position command means. The operation buttons 87a, 87b, 8 on the upper, lower, left and right
7c and 87d are operated to output position control signals to control the scope 1 in the viewing direction.
The field of view is enlarged and reduced by operating the enlargement / reduction switches 88a and 88b. FIG.
Reference numerals T and W of the operation button unit 86 in 4 correspond to enlargement and reduction, respectively, and U, D, R and L correspond to up, down, left and right, respectively.

When using the endoscope apparatus of the present embodiment, the visual field range of the scope 1 is controlled according to the operator's instructions on the operation buttons of the operation button unit 86 without disturbing the operator's treatment work. By operating the origin return switch 9, the CC
The imaging range I of D6 can be returned to the origin 77.

Therefore, the above configuration has the following effects. That is, in the present embodiment, the operation button unit 86 can be provided near the surgeon, so that the operability is improved.

FIGS. 15A and 15B show a fourth embodiment of the present invention. In the present embodiment, the TV camera 4 of the first embodiment (see FIGS. 1 to 12)
Provided with an operation panel (controller) 91, which is provided with a field-of-view enlargement button 92 for controlling the expansion of the field of view of the scope 1, a field-of-view reduction button 93 for controlling the reduction of the field of view, and an origin return switch 94. It is.

In the present embodiment, the number of operation buttons provided on the operation panel 91 of the TV camera 4 is changed by setting the position of the camera 4, the field-of-view enlargement button 92 required when attaching / detaching to / from the scope 1, and the field of view reduction. Only three buttons 93 and an origin return switch 94 can be provided.
Further, by providing the TV camera 4 with the operation panel 91, the number of wires near the operating table can be reduced.

FIG. 16 shows a fifth embodiment of the present invention. In this embodiment, one end of the connection cable 101 is connected to the operation button unit 86 of the third embodiment (see FIG. 14), and a waterproof connector 102 is connected to the other end of the connection cable 101. The waterproof connector 102 is connected to the first embodiment (FIGS. 1 to 1).
2) so as to be detachably attached to the TV camera 4). In this case, the same effect as in the third embodiment can be obtained.

FIG. 17 shows a sixth embodiment of the present invention. In this embodiment, the scope holder 2 of the first embodiment (see FIGS. 1 to 12)
The configuration is such that the V camera 4 is directly supported. In this case, the scope holder 2 and the TV camera 4 are detachably connected by a coupler 111.

Further, the coupler 111 of the TV camera 4 is provided with an origin return switch 112. This home return switch 112 is turned on when the coupler 111 is disconnected.
It consists of a detachable interlocking switch. When the scope 1 is taken out of the body cavity, the CCD 6 is attached and detached between the scope holder 2 and the TV camera 4.
Is automatically returned to the origin 77.

Therefore, in the above configuration, when the scope 1 is taken out of the body cavity, the scope holder 2 and the T
Since the imaging range I of the CCD 6 is automatically returned to the origin 77 when the camera is attached to or detached from the V camera 4, the observation direction of the scope 1 is made to coincide with the optical axis direction of the scope 1. 1 can be operated intuitively, and the operability of the scope 1 can be improved.

FIGS. 18 to 20 show a seventh embodiment of the present invention. In the present embodiment, a mechanical origin return mechanism 121 for automatically returning the imaging range I of the CCD 6 to the origin 77 mechanically in conjunction with the attaching / detaching operation of the scope 1 inside the TV camera 4 of the first embodiment. Is provided.

Here, as shown in FIG. 18, two rotating mirrors 122a and 122b for bending the optical path between the zoom lens 7 and the CCD 6 are arranged inside the TV camera 4. One rotating mirror 122a is fixed to a rotating shaft of the stepping motor 123a. The other rotating mirror 122b is fixed to a rotating shaft of the stepping motor 123b.

Then, the optical path of the incident light (endoscope image) sent from the eyepiece 5 of the scope 1 to the TV camera 4 passes through the zoom lens 7 and is turned downward by approximately 90 ° by one of the rotating mirrors 122a. While being bent, the reflected light from the rotating mirror 122a is bent laterally by approximately 90 ° by the other rotating mirror 122b and is imaged on the CCD 6. Here, when the rotation mirror 122a rotates, the endoscope image incident on the CCD 6 moves left and right, and when the rotation mirror 122b rotates, the incident endoscope image moves up and down.

Further, a stepping motor 124 is provided as an actuator of the zoom lens 7. The rotation axis of the stepping motor 124 has a ball screw 12
5 are connected at the base end.

Further, the lens frame 126 of the zoom lens 7 has a projecting portion 127 projecting sideways. The projecting portion 127 is formed with a screw hole of a ball screw mechanism that is screwed with the ball screw 125. When the stepping motor 124 is driven, the lens frame 126 is moved in the optical axis direction together with the projection 127 along with the rotation of the ball screw 125, and the zoom lens 7 is moved in the optical axis direction by the movement of the lens frame 126. The endoscope image is enlarged or reduced.

Also, the scope attaching / detaching portion 16 of the TV camera 4
As shown in FIG. 19, the rotation link 128 is
29 are connected so as to be rotatable. An L-shaped bent portion 130 bent substantially in an L-shape is formed on the base end portion (rearward from the support pin 129) side of the rotation link 128,
At the tip of the L-shaped bent portion 130, a substantially mountain-shaped concave portion 1 is formed.
30a are formed.

Further, an abutting portion 131 bent substantially in an L-shape is formed on the distal end portion (frontward of the support pin 129) of the rotary link 128. The rotation link 12
A return spring 132 for holding the abutting portion 131 in a state protruding outside the fitting portion 17 as shown in FIG.

A substantially mountain-shaped engaging portion 133 is formed at the shaft end of the rotating shaft of the rotating mirror 122a so as to engage with the concave portion 130a of the rotating link 128 in a detachable manner. The engaging portion 133 is provided with the concave portion 13 of the rotary link 128.
When 0a is engaged, the rotating mirror 122a is fixed at a position where the optical axis is arranged at the center of the CCD 6, as shown in FIG.

The scope attachment / detachment section 16 of the TV camera 4
When the eyepiece 5 of the scope 1 is fitted to the fitting part 17 of the scope 1, the eyepiece 5 of the scope 1 is abutted against the abutting part 131 of the rotating link 128 as shown in FIG. 128 jumps up. At this time, the engagement between the engaging portion 133 of the rotating mirror 122a and the concave portion 130a of the rotating link 128 is released, and the rotating mirror 12
2a is driven to rotate by a stepping motor 123a.

When the eyepiece 5 of the scope 1 is detached from the scope attaching / detaching portion 16 of the TV camera 4 as shown in FIG. 19, the rotating link 128 is pushed down by the spring force of the return spring 132, and The concave portion 130a of the link 128 is engaged with the engaging portion 133 of the rotating mirror 122a, and the rotating mirror 122a is fixed at a position where the optical axis is at the center of the CCD 6.

In FIGS. 19 and 20, one mirror 1 is used.
Although the tilt mechanism 22a has been described, the other mirror 1
The tilt mechanism 22b has a similar structure. As a result, when the eyepiece unit 5 of the scope 1 is detached from the scope attaching / detaching unit 16 of the TV camera 4, a mechanical origin returning mechanism 121 for automatically returning the imaging range I of the CCD 6 to the origin 77.
Is configured.

Therefore, in the above-mentioned configuration, a mechanical origin return mechanism for automatically returning the imaging range I of the CCD 6 to the origin 77 mechanically in conjunction with the attachment / detachment operation of the scope 1 inside the TV camera 4. 121, so scope 1
The home position can be automatically returned in conjunction with the operation of removing the eyepiece 5 from the scope attaching / detaching portion 16 of the TV camera 4. Therefore, the imaging range I of the CCD 6 inside the TV camera 4 can be forcibly returned to the origin 77 even when the control device (forceps tracking device 10) fails or the control device is disconnected.

FIG. 21 shows an eighth embodiment of the present invention. In this embodiment, a galvanometer motor 141 is used instead of the stepping motors 122a and 122b of the mechanical origin return mechanism 121 of the seventh embodiment (see FIGS. 18 to 20) to automatically cut off the current. An origin return mechanism 142 for returning to the origin is provided.

The galvanometer motor 141 is provided with a permanent magnet 143, a coil 144, and a torsion spring 145. Then, the two rotating mirrors 122a and 122b are rotated at a rotation angle proportional to the current supplied to the coil 144.
Is driven. Here, the coil 144
When the power supply to the torsion spring 145 is stopped, the two rotating mirrors 122a and 122b return to the origin positions by the restoring force of the torsion spring 145.

Therefore, in the above-described configuration, since the home position is automatically returned only by cutting off the current supplied to the galvanometer motor 141, a special mechanism for home position return is not required. Furthermore, even when the control device (forceps tracking device 10) breaks down, the home return can be automatically performed when the power is turned off.

FIG. 22A to FIG. 22C and FIG.
Shows a ninth embodiment of the present invention. The present embodiment is provided with an endoscope device incorporating a CMD camera 151 capable of performing a visual field conversion operation using a CMD (Charge Modulation Device).

FIG. 22 shows an endoscope apparatus according to this embodiment.
As shown in FIG. 1A, the first embodiment (FIGS. 1 to 12)
The CMD camera 151 is connected to the eyepiece 5 of the scope 1 (see Reference). The CMD camera 151 includes a fixed magnification imaging lens 152 and a CM in a casing 151a.
D153 is provided. Furthermore, the CMD camera 15
The first casing 151a is provided with the same origin return switch 9 as in the first embodiment.

The CMD 153 includes the CMD control device 1
54 are connected. Further, the CMD control device 1
The display monitor 13 and the operation switches 12 and the enlargement / reduction switches 88a and 88 are the same as those in the first embodiment.
b are connected respectively.

The CMD 153 has a structure in which pixels 155 as phototransistors are two-dimensionally arranged, and has a feature that each pixel 155 can be read out independently. As the CMD 153, an element having several times more pixels 155 than required for a current television signal has been put to practical use.

Further, the CMD camera 151 has an electronic zoom function and an electronic clipping function. Here, the electronic zoom function is performed as shown in FIG.
From the whole aggregate of the 153 pixels 155, the adjacent pixel 1
55 is read out every other pixel and displayed on the display monitor 13. In FIG. 22B, reference numeral 155a denotes a pixel read by the electronic zoom function, and 155b denotes a pixel not read. At this time, by changing the thinning rate of the entire group of the pixels 155, the same effect as when the image is zoomed (enlarged / reduced), that is, the electronic zoom operation can be performed.

The electronic clipping function reads a partial area 156 from the entire set of the pixels 155 of the CMD 153 and displays it on the display monitor 13 as shown in FIG. It is possible to cut out a part of the image from the entire image captured in the entire assembly, that is, to perform an electronic cutout operation.

Then, by combining the electronic zoom function and the electronic cutout function, the CC of the first embodiment can be used.
The same operation as that of the D moving mechanism 8 and the zoom mechanism 42 can be obtained. Here, by using a high-density CMD153 of 1,000,000 pixels or more, an image having the same image quality as the current NTSC television signal can be obtained even when the electronic zoom operation and the electronic cutout operation are performed.

FIG. 23 shows a schematic configuration of the entire CMD control device 154. This CMD controller 15
4 is a CMD video signal circuit 157, an A / D converter 1
58, image operation processing circuit 159, CMD drive circuit 160
Consists of Here, the display monitor 13 is connected to the CMD video signal circuit 113 and the CMD1
53 and the A / D converter 158 are connected respectively.

Further, to the CMD drive circuit 160 of the CMD control device 154, the operation switch 12, the origin return switch 9, and the enlargement / reduction switches 88a, 88b are connected, respectively, and the CMD 153 and the image operation processing circuit 159 are connected. Have been.

The video signal of CMD 153 is CMD 153.
The video signal is converted into a video signal such as NTSC or RGB by the video signal circuit 157. Further, this video signal is taken into the A / D converter 158. The A / D converter 158 converts an analog video signal into a digital signal. Then, the digital signal output from the A / D converter 158 is input to the image calculation processing circuit 159, and the image calculation processing circuit 159 performs image calculation processing.

The image calculation processing circuit 159 includes the forceps 1
The position of the leading end 15 of the CMD 153 is obtained, and a command for the cutout position of the CMD 153 is sent to the CMD drive circuit 160. Here, the method of detecting the position of the distal end portion 15 of the forceps 14 includes a method of detecting the position of the center of gravity of the color marker provided on the distal end portion 15 of the forceps 14 of the first embodiment (see FIG. 10), There is a method of extracting the shape of the tip 14 and detecting the position of the tip 15 by model matching.

Further, the CMD drive circuit 160 controls to read out the pixel 155 of the CMD 153 in accordance with a command regarding the position obtained by the image processing circuit 159 and the cutout position of the image.

By operating the operation switch 12,
The above control is switched between valid and invalid. Further, the thinning rate of the CMD 153 is controlled so that the image enlargement ratio changes according to the operation command of the enlargement / reduction switches 88a and 88b. By operating the origin return switch 9, the display is returned to a state where the display is thinned out from the entire screen as shown in FIG.

Therefore, in the above configuration, CMD
Since the endoscope device incorporating the camera 151 is provided, the CCD moving mechanism 8 and the zoom mechanism 42 of the first embodiment are provided.
A field-of-view conversion camera having no optical element driving mechanism as described above can be provided. Therefore, there is no mechanical drive,
In addition to high durability, there is no mechanical drive mechanism, so that there are effects such as low cost and no deterioration of image quality.

FIGS. 24 and 25 show the first embodiment of the present invention.
0 shows an embodiment. This embodiment is the first
An endoscope apparatus having the same configuration as that of the first embodiment is provided with an automatic optical axis alignment function.

When the endoscope image circle 75 is shown on the CCD 6 as shown in FIG. 24, since the periphery of the endoscope image circle 75 is dark, the image is binarized, and then the image is processed by image processing such as edge extraction. The outline of the endoscope image circle 75 is extracted. An equation of a circle is obtained from the extracted contour by a method such as the least square method, and a center point 171 of the circle is obtained. Further, the center point 171 of the circle is set as the origin 77.

When the endoscope image circle 75 is not reflected on the CCD 6, the CCD 6 is moved to a position 172 where the endoscope image circle 75 is reflected as shown in FIG. Is detected. At this time, if the CCD 6 is moved to the position 173 on the opposite side of the endoscope image circle 75 and the center point 171 of the circle is calculated using the image and the movement vector 174, the accuracy of the origin detection is improved.

Therefore, in the endoscope apparatus provided with the automatic optical axis alignment function of the above method, there is an effect that the optical axis of the CCD 6 is automatically adjusted, and the center of the image can be accurately returned upon returning to the origin. .

Note that the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows. (Additional Item 1) In an endoscope apparatus including an endoscope to be inserted into a body cavity and imaging means for capturing a part or all of an observation image of the endoscope, an imaging optical system of the imaging means is provided. An actuator that moves at least a part of the optical element to change an imaging range, an imaging range return unit that returns the imaging range to a predetermined position, and an imaging range return instructing unit that instructs the imaging range to return to a predetermined position An endoscope apparatus comprising:

(Additional Item 2) In an endoscope apparatus provided with an endoscope inserted into a body cavity and imaging means for imaging a part or all of an observation image of the endoscope, an imaging optical system of the imaging means An actuator for moving part or all of the optical elements of the system to change the imaging range, a return unit for returning the imaging range to a predetermined position, and a switch unit for instructing return. Endoscope device.

(Purpose of Additional Items 1 and 2) Replacement of endoscope,
When insertion / removal into the body cavity, failure to detect the tip of the treatment tool, when the observation direction is unknown, etc., return to the origin, the observation direction matches the direction of the endoscope, and the endoscope can be operated intuitively I do.

(Operation of Supplementary Items 1 and 2) The operator instructs with the return switch, and returns the imaging range to a predetermined position (origin) using the return means. (Effects of supplementary items 1 and 2) In a field-of-view conversion endoscope camera, an endoscope image is displayed when exchanging an endoscope, inserting or removing a body cavity, failing to detect the distal end of a treatment tool, or when the observation direction is unknown. The origin is returned so that the center of the screen becomes the center of the screen, the observation direction and the direction of the endoscope match, and the endoscope can be intuitively operated. In addition, since the entire image of the endoscope can be observed, the position of the endoscope can be set so that field conversion is most effective. By returning to the origin, it can be operated in the same way as a normal endoscope + camera.

(Additional Item 3) The endoscope apparatus according to Additional Item 2, wherein the optical element is a solid-state imaging device. (Additional Item 4) The endoscope apparatus according to Additional Item 2, wherein the optical element is a solid-state imaging device that is movable perpendicularly to an optical axis.

(Additional Item 5) The endoscope apparatus according to additional item 2, wherein the optical element is a mirror. (Additional Item 6) The endoscope apparatus according to Additional Item 2, wherein the determined position of the imaging range is a range substantially centered on the optical axis of the endoscope.

(Additional Item 7) The endoscope apparatus according to Additional Item 2, wherein the determined position of the imaging range is determined by the amount of movement of the actuator from the reference point setting means. (Effects of Supplementary Items 4 to 7) In the field-of-view conversion endoscope camera, an endoscope image is displayed when exchanging an endoscope, inserting or removing a body cavity, failure in detecting a distal end of a treatment tool, or when the observation direction is unknown. Is reliably returned to the origin so that the center of the screen becomes the center of the screen, the observation direction matches the direction of the endoscope, and the endoscope can be operated intuitively. In addition, since the entire image of the endoscope can be observed, the position of the endoscope can be set so that field conversion is most effective. By returning to the origin, it can be operated in the same way as a normal endoscope + camera.

(Additional Item 8) The additional item 2, wherein the switch means is provided in the endoscope apparatus main body.
Endoscope device. (Effect of Additional Item 8) The operation of the switch means by the operator becomes easy.

(Additional Item 9) The endoscope apparatus according to Additional Item 2, wherein the switch means is provided on a treatment tool inserted into a body cavity. (Conventional technology of Supplementary Item 9) When the visual field is shifted from the optical axis of the endoscope due to the visual field conversion, no switch means for returning the visual field of the endoscope to the origin has been particularly provided. (Problem to be solved in Supplementary item 9) If the visual field is shifted from the optical axis of the endoscope due to the visual field conversion, the visual field is kept as it is, so the endoscope is replaced, and the insertion / removal into the body cavity is performed. However, it is difficult to confirm the observation direction, and the operability is poor. (Purpose of Supplementary Item 9) The object of the present invention is to facilitate operation of the switch means by an operator. (Additional Item 10) The endoscope apparatus according to Additional Item 2, wherein the switch means is provided in an operation means (remote controller) for instructing an imaging range.

(Additional Item 11) An additional item 2 characterized in that the image pickup means has an enlargement ratio changing device for the image and an enlargement ratio returning device for returning to a predetermined enlargement ratio in conjunction with the switch device. Endoscope apparatus of 6. (Purpose of Supplementary Item 11) In order to most effectively set the position of the endoscope by the visual field conversion, the entire image of the endoscope can be observed. It can be operated in the same way as a normal endoscope + camera. (Operation of Supplementary Item 11) Simultaneously with the return to the original point, the magnification is reduced to the predetermined magnification, and the entire image of the endoscope can be observed.

(Additional Item 12) The endoscope apparatus according to Additional Item 11, wherein the magnification changing means is a zoom lens driven by an actuator. (Additional Item 13) The endoscope apparatus according to Additional Item 11, wherein the enlargement ratio is determined by an amount of movement of the actuator from a reference point setting unit.

(Additional Item 14) The additional item 11 is characterized in that the determined magnification is defined by the diagonal of the observation screen being substantially the same as or larger than the maximum diameter of the endoscope image.
Endoscope device. (Additional Item 15) The additional item 1 is characterized in that the determined enlargement ratio is a minimum enlargement ratio of the enlargement ratio variable unit.
1 endoscope apparatus.

(Additional Item 16) The endoscope according to additional items 2 and 11, wherein the switch means operates in conjunction with attachment / detachment of the endoscope device and a device connected to the endoscope device. apparatus. (Purpose of Supplementary Item 16) Automatically returns to the home position when the endoscope needs to be returned or removed, such as when the endoscope is attached or detached, or when it is attached to or detached from the support device. (Operation of Additional Item 16) An origin return operation is performed in conjunction with attachment and detachment.

(Additional Item 17) The endoscope apparatus according to additional items 2 to 16, wherein the return means and the switch means are mechanically connected. (Purpose of Supplementary Item 17) Even if the control device breaks down, it is possible to easily configure a control device that can return to the origin mechanically and operate in the same manner as a normal endoscope + camera. (Operation of Supplementary Item 17) The home position return operation is mechanically performed.

(Additional Item 18) In an endoscope apparatus provided with an endoscope inserted into a body cavity and imaging means for imaging a part or all of an observation image of the endoscope, an imaging optical system of the imaging means An actuator for moving a part or all of the system to change an imaging range of the imaging means, and when the actuator is not driven by an urging force, returns to a predetermined position to set the imaging range to the predetermined position. An endoscope device characterized by the above-mentioned.

(Prior Art of Supplementary Items 2 to 18) In general, a treatment tool and an endoscope are separately inserted into a body cavity of a patient, and an image of a distal end portion of the treatment tool inserted into the body cavity is viewed through the endoscope. 2. Description of the Related Art There is known an endoscopic operation in which a treatment operation is performed while observing a treatment state of an affected part by a treatment tool with an endoscope while being captured within an observation field of view of a mirror.

Japanese Patent Application Laid-Open No. 6-30896 discloses an endoscope apparatus used for this type of endoscopic surgery. In this method, the endoscope is held by a robot arm, and the position of the endoscope can be changed according to a command from an operator. As a result, the assistant who conventionally holds the endoscope is released, and the operator can freely change the field of view in the direction he or she wants.

On the other hand, in Japanese Patent Application No. 7-115995,
A method for freely changing the field of view of an endoscope without using a robot arm is disclosed. In this method, the imaging range of the image of the endoscope is changed by moving a part of the imaging optical system by an actuator. Since the movable part is inside the apparatus, the danger due to the operation of the apparatus is small, and the safety is high. It is small and easy to handle because it is used in place of a combination of a normal endoscope and TV camera. In addition, the visual field can be changed by detecting the tip of the forceps, so that the operator can easily change the visual field during the operation.

(Problems to be Solved by Additional Items 2 to 18) In Japanese Patent Application Laid-Open No. Hei 6-30896, an operator and a patient's peripheral device may interfere with the robot arm. Unintended movements of the robot can hurt the patient.
It is large and inconvenient for transportation, installation and sterilization.

[0143] Japanese Patent Application No. 7-115995 has many advantages such as high security, small size, and replacement with a normal endoscope and a TV camera. However, when the endoscope is inserted into or removed from the body cavity, or when it is desired to change the position of the endoscope, the operation becomes difficult if the field of view is deviated from the optical axis of the endoscope due to the field of view conversion. Further, when the detection of the distal end of the treatment tool fails, there is a possibility that the operator loses the field of view due to an incorrectly pressed operation switch or the like. Further, in order to effectively use the visual field conversion function, it is necessary to set the position of the endoscope in advance so that the target to be observed is included in the endoscope image. For that purpose, it is necessary to observe in an imaging range where the entire endoscope image can be observed.

(Purpose of Supplementary Item 18) Even in the case of a failure of the control device, it is possible to return to the origin and operate in the same manner as a normal endoscope + camera simply by turning off the power. Easy home return without home return mechanism, switch means or home return control. (Operation of Additional Item 18) By turning off the power to the actuator, the home return operation is performed by the urging force.

(Appendix 19) Image processing means for detecting the edge of the endoscope image, calculation means for obtaining the center of the endoscope image from the edge, and an imaging range in which the center of the obtained endoscope image is determined The endoscope apparatus according to any one of additional items 2 and 11, further comprising setting means for setting the endoscope.

(Prior Art in Additional Item 19) Japanese Patent Application No. 7-31
2930, a TV that performs visual field conversion by moving the image sensor
A method is disclosed in which a camera limits a moving range of an image sensor based on a reference circle that defines a range of an endoscope image.

(Problem to be solved by Additional Item 19)
Japanese Patent Application No. 7-313930 presupposes that the center of the endoscope image and the center of the optical system of the TV camera exactly match. However, the manufacturing accuracy of the optical system of the endoscope and the TV camera, and Because the center of the endoscope image and the center of the optical system of the TV camera do not exactly match due to the deviation or inclination of the optical axis, an expected operation may not be performed.

(Object of Appendix 19) Even if the optical axis of the endoscope and the optical axis of the imaging means of the endoscope apparatus (TV camera) are shifted, the center of the endoscope image is automatically set to the origin. Is set to (Operation of Supplementary Item 19) The circumference of the edge of the endoscope image is detected by image processing, the center of the endoscope image is set as the origin, and the center of the endoscope image automatically matches the origin.

(Supplementary Item 20) An endoscope capable of observing the inside of a body cavity, an image forming lens for forming an endoscope image, a solid-state image pickup device readable in pixel units, position indicating means, and position indicating means An endoscope apparatus comprising control means for controlling reading of a solid-state imaging device based on the output of the endoscope.

(Prior Art in Additional Item 20) Japanese Patent Application No. 6-30
8740 discloses a method of taking an endoscope image into an image memory, cutting out a part of the image based on the position indicated by the treatment tool, and displaying it in an enlarged manner. This method does not include a mechanically operating part.
0896 and the method of Japanese Patent Application No. 7-115959 can be realized in a small and simple configuration.

Reference “High definition random access camera HR”
C "(Terada, Video Information Industrial, June 1996, p3
5-38), a CMD (Charge Modulat) that has 4 million pixels and is capable of cutting out and enlarging a part of an image by changing the pixel reading method.
An ion device) and a control device are disclosed.

(Problem to be Solved by Additional Item 20)
In Japanese Patent Application No. 6-308740, it is necessary to use an expensive image memory. In addition, when a normal TV signal is input, a part of the image is cut out, and the image is enlarged and displayed, there is a problem that the image quality is deteriorated. The use of a high-pixel CCD can prevent the image quality from deteriorating. However, since a memory having several times the capacity and an element for performing high-speed data processing are required, the apparatus becomes expensive.

(Purpose of Appendix 20) Optical element (CCD
And a zoom (movement) mechanism are not required, so that it can be manufactured with high durability and at low cost. No memory is required when an image memory is used. There is no image quality degradation by using a high pixel element. Since high-speed data processing is not required, inexpensive elements can be used.

(Operation of Supplementary Item 20) Using the CMD element, the method of reading out the pixels is changed based on the position indicating means, the imaging range is converted, and the visual field of the endoscope is converted. (Additional Item 21) The endoscope apparatus according to Additional Item 20, wherein the reading-out section changes an image cutout range.

(Additional Item 22) If the solid-state imaging device is a CMD
(Charge Modulation Device
e) The endoscope device according to attachment 20, wherein the endoscope device is constituted by elements. (Additional Item 23) An additional item, wherein the treatment tool inserted into the body cavity, detection means for detecting position information of the treatment tool, and reading is controlled based on the position information detected by the detection means. Endoscope devices according to 19 to 22.

(Additional Item 24) A scope image information processing circuit having an algorithm in which the position information detecting means extracts a feature amount of the treatment tool in the scope image information and detects a position of the extracted feature amount. An endoscope apparatus according to an additional item 23.

(Additional Item 25) The endoscope apparatus according to Additional Item 24, wherein the characteristic amount of the processing tool is color. (Additional Item 26) The endoscope apparatus according to Additional Item 24, wherein the characteristic amount of the treatment tool is a shape. (Additional Item 27) In an endoscope apparatus including an endoscope inserted into a body cavity and an imaging unit that captures a part or all of an observation image of the endoscope, an imaging element is vertically arranged in an optical axis direction. It has an actuator for moving and changing the imaging range, the actuator, an imaging device guide portion movably supporting the imaging device and a base plate for fixing both, the actuator and the imaging device guide portion, An endoscope device, wherein each of the endoscope devices is fixed to a surface opposite to a base plate.

(Prior Art in Additional Item 27) Japanese Patent Application No. 7-31
2930 discloses an image sensor moving mechanism that moves the image sensor in parallel using a stepping motor and a feed screw.

(Problem to be solved by Additional Item 27)
In Japanese Patent Application No. 7-313930, it is difficult to make the device small because the mechanism of the stepping motor and the feed screw are on the same plane as the CCD. Further, the shape of the slider and the support base for moving the image sensor is complicated, so that it is expensive.

(Purpose of Additional Item 27) The moving mechanism of the image pickup device is made compact. The shape of the slider support mechanism is simplified and manufactured inexpensively. (Operation of Supplementary Item 27) By arranging the imaging element and the driving means on the opposite side with respect to the base plate, the moving mechanism can be made compact. The slider mechanism is configured at low cost by using parallel guide shafts.

(Additional Item 28) The endoscope apparatus according to Additional Item 27, wherein the image pickup device guide section includes at least one set of parallel guide shafts and a slider that is fitted and slid on the guide shafts.

(Additional Item 29) The actuator
A motor, a feed screw fixed to a shaft of the motor, a nut meshing with the feed screw, and a nut guide shaft for guiding the nut, wherein the nut guide is fixed at a position farther from the base plate than the feed screw. An endoscope apparatus according to attachment 27, further comprising:

[0163]

According to the present invention, there is provided an imaging range changing means for changing the imaging range of the imaging means for imaging a part or all of the observation image of the endoscope, and the imaging range of the imaging means is set in advance. The imaging range return instructing unit controls the operation of the imaging range returning unit that returns to the reference position, and provides an instruction to return the imaging range of the imaging unit to the reference position. In addition, it is easy to replace the endoscope, insert and remove the body cavity, etc., and when the detection of the distal end of the treatment tool fails or when the observation direction is unknown, the observation field of view of the endoscope is You can easily match the optical axis direction of the endoscope and operate the endoscope intuitively,
Operability can be improved.

[Brief description of the drawings]

FIG. 1A is a schematic configuration diagram of an entire endoscope apparatus according to a first embodiment of the present invention, and FIG. 1B is a plan view showing a display screen of a display monitor.

FIG. 2 is a cross-sectional view showing a scope attaching / detaching portion of the TV camera according to the first embodiment.

3A is a longitudinal sectional view showing a state in which the scope of the present embodiment is connected to a scope attaching / detaching portion of the TV camera of the first embodiment, and FIG. 3B is a longitudinal sectional view of the first embodiment; FIG. 7 is a longitudinal sectional view showing a state in which a scope having a general conical slope different from that of the present embodiment is connected to a scope attaching / detaching portion of the TV camera.

FIG. 4 is a longitudinal sectional view showing the internal configuration of the TV camera according to the first embodiment.

FIG. 5 is a transverse cross-sectional view showing a mounted state of a zoom ring of a zoom mechanism in the TV camera according to the first embodiment.

FIG. 6A is a plan view showing an upper surface side of a base plate of the CCD moving mechanism according to the first embodiment, and FIG. 6B is a cross-sectional view taken along line BB of FIG.

FIG. 7 is a plan view showing the lower surface side of the base plate of the CCD moving mechanism according to the first embodiment;

FIG. 8A is a schematic configuration diagram illustrating a connection portion between a camera cable of the TV camera according to the first embodiment and a forceps tracking device and a CCU, and FIG. 8B is a longitudinal sectional view of the camera cable of the TV camera.

FIG. 9 is a block diagram of the forceps tracking device according to the first embodiment.

FIG. 10 is a flowchart for explaining a forceps position detection operation based on color by the forceps tracking device according to the first embodiment;

FIG. 11 is a schematic configuration diagram for explaining an origin return operation of the forceps tracking device according to the first embodiment.

FIG. 12 is an explanatory diagram for explaining a state of cutting out an endoscope image captured by the CCD according to the first embodiment;

FIG. 13 is a side view of a forceps showing a second embodiment of the present invention.

FIG. 14 is a plan view showing a controller of the endoscope apparatus according to the third embodiment of the present invention.

FIG. 15A is a plan view illustrating a controller of an endoscope apparatus according to a fourth embodiment of the present invention, and FIG. 15B is a plan view illustrating an operation panel of the controller according to the fourth embodiment;

FIG. 16 is a plan view showing a controller of an endoscope apparatus according to a fifth embodiment of the present invention.

FIG. 17 is a side view showing a connection state between the scope holder and the TV camera of the endoscope apparatus according to the sixth embodiment of the present invention.

FIG. 18 is a perspective view showing a connection state between a scope and a TV camera of the endoscope apparatus according to the seventh embodiment of the present invention.

FIG. 19 is a schematic configuration diagram showing a separated state of a scope and a TV camera according to the seventh embodiment.

FIG. 20 is a schematic configuration diagram showing a connection state between a scope and a TV camera according to the seventh embodiment.

FIG. 21 is a perspective view showing a main configuration of an endoscope apparatus according to an eighth embodiment of the present invention.

FIG. 22 shows a ninth embodiment of the present invention,
(A) is a schematic configuration diagram of the entire endoscope apparatus, (B) is an explanatory diagram for explaining an electronic zoom operation by the CMD of the ninth embodiment, and (C) is a CMD of the ninth embodiment. FIG. 4 is an explanatory diagram for explaining an electronic cutout operation according to FIG.

FIG. 23 is a schematic configuration diagram of a CMD control device according to a ninth embodiment.

FIG. 24 is an explanatory diagram for explaining a cut-out state of an endoscope image captured by a CCD of the endoscope apparatus according to the tenth embodiment of the present invention.

FIG. 25 is a schematic configuration diagram for explaining an origin return operation of the forceps tracking device according to the tenth embodiment.

[Explanation of symbols]

 Reference Signs List 1 scope 6 imaging means (CCD) 8 CCD moving mechanism (imaging range changing means) 9 origin return switch (imaging range return instructing means) 10 forceps tracking device 73 actuator control circuit (imaging range returning means)

Claims (1)

[Claims] 1. An endoscope inserted into a body cavity, imaging means for imaging a part or all of an observation image of the endoscope, imaging range changing means for changing an imaging range of the imaging means, An imaging range return unit that returns an imaging range of the imaging unit to a preset reference position; and an imaging unit that controls an operation of the imaging range return unit and gives an instruction to return the imaging range of the imaging unit to the reference position. An endoscope apparatus comprising: a range return instruction unit.