JPH10127565A - Observation system for treatment in body cavity - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an observation system for treatment in a body cavity capable of changing the observation field by easier operation to reduce a load on an operator. SOLUTION: A hard endoscope 3 retained on the tip end of an electric manipulator 2 with a built-in motor has an eye piece part equipped with a TV camera and its output is inputted into an HMD element of the HMD(Head Modulated Display) 21 mounted in front of right and left eyes through a CCU 18 to enable the observation field to be viewed stereoscopically. The position and the direction of the head part of an operator are detected by a magnetic sensor 22 and the visual line by a visual line detecting sensor 23 respectively and are transmitted via a control signal selecting device 29 and a motor control unit 34 to drive a motor to change the observation field for the endoscope 3. A motor control signal is generated so that the control signal selecting device 29 largely changes the observation field when the operator moves his/her head equal to or larger than a threshold value and, when the operator moves his/her head smaller than the threshold value, a small observation field change is carried out corresponding to the change of the visual line position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a body cavity treatment observation system for performing treatment inside a body cavity with a treatment tool under an endoscope.

[0002]

2. Description of the Related Art In recent years, so-called endoscopic surgery, which involves less invasion of a patient than surgery involving laparotomy and thoracotomy, has been performed. In particular, laparoscopic surgery is being widely performed.

[0003] In this endoscopic surgery, a field of view obtained by the endoscope is displayed on a TV monitor, and a treatment tool is operated while looking at the operation field on this screen to perform a treatment such as removal of an affected part. .

[0004] This endoscopic surgery has the advantage that the invasion of the patient is small, but the observation screen is two-dimensional and it is difficult to obtain a perspective, so that the operator requires skill in the treatment operation, and it is difficult for the operator to perform the procedure properly. In order to obtain a proper observation field of view, there is a problem that the assistant holding the endoscope needs to be skilled in the operation of the endoscope, and that the burden on the assistant increases during a long operation.

To solve these problems, a surgical manipulator system disclosed in Japanese Patent Application Laid-Open No. Hei 7-328016 has been provided. This system includes a surgical manipulator for three-dimensional observation / treatment and manipulator operation means operated by an operator, and operates the manipulator according to the movement of the operator. Also, 3
An image obtained by the three-dimensional observation manipulator is a head mounted display (Head Mounted Display,
Stereoscopic observation is possible by HMD).

[0006]

Since the operating means of the observation manipulator is the movement of the operator's head, the head must be moved each time even if it is desired to slightly change the observation field of view, and the operation is complicated. And it was a burden on the surgeon.

(Object of the Invention) The present invention has been made in view of the above points, and provides an in-body-cavity treatment observation system capable of performing a simpler operation of changing the observation field of view and reducing the burden on the operator. The purpose is to do.

[0008]

Means for Solving the Problems An intracorporeal body provided with image transmitting means inserted into a body cavity for transmitting an image of the inside of a patient to the outside of the body, and a visual field converting means for converting a visual field of an image obtained by the image transmitting means. Observation means, head-mounted image display means for displaying an image obtained by the body cavity observation means, position / direction detection means for detecting the position and orientation of the operator's head, and head-mounted image display A line of sight detecting means for detecting a line of sight of an operator wearing the means with respect to the display means, and a drive signal selecting means for selecting a signal for driving the visual field converting means from the output of the position / azimuth detecting means and the line of sight detecting means. With the intracavity treatment observation system, the observation field of view can be converted by selecting either the position of the operator's head or the line of sight of the operator.

[0009]

Embodiments of the present invention will be specifically described below with reference to the drawings. (First Embodiment) FIGS. 1 to 4 relate to a first embodiment of the present invention, FIG. 1 shows an intra-body cavity treatment observation system according to the first embodiment of the present invention, and FIG. FIG. 3 shows a configuration of a control signal selecting device, and FIG. 4 shows a flowchart for performing a process of changing a visual field.

A body cavity treatment observation system 1 according to a first embodiment of the present invention shown in FIG. 1 has three degrees of freedom of turning, lifting, lowering, and expanding and contracting, and internally includes a driving motor and a position detecting encoder. The electric manipulator 2 includes a rigid endoscope 3 which transmits a two-dimensional image of the inside of the body to the outside of the body by a free joint at the distal end.
Since the free joint has two degrees of freedom, the endoscope 3 has five degrees of freedom.
The image can be converted (changed) by moving the endoscope 3 via the electric manipulator 2 forming the field-of-view conversion means.

The endoscope 3 is provided with a rigid insertion portion 4 which is elongated so as to be inserted into a body, and an eyepiece at the rear end of the insertion portion 4. A light guide (not shown) is inserted into the insertion portion 4, and the light guide is connected to a light source device (not shown) via a light guide cable connected to a light guide base provided near the rear end of the insertion portion 4.

Illumination light supplied from the light source device is transmitted by a light guide cable, and is emitted from a front end surface of the light guide. The affected part or the like illuminated by the emitted illumination light is imaged by an objective lens disposed at the tip of the insertion section 4,
The optical image is transmitted to the eyepiece by a relay optical system as an optical image transmitting means disposed in the insertion section 4. Since the insertion section 4 is inserted into the body, the relay optical system forms an image transmission means for transmitting an image inside the body outside the body.

[0013] The optical image transmitted by the naked eye via the eyepiece disposed in the eyepiece can be observed. When the image is displayed on an image display means such as a monitor, a detachable TV camera 6 is attached to the eyepiece.

The insertion section 4 is introduced through a trocar 7 into an abdominal cavity 9 of a patient fixed on an operating table 8. Forceps 12 as a treatment tool are further introduced into the abdominal cavity 9 of the patient via another trocar 11, so that treatment of a diseased tissue or the like in the abdominal cavity can be performed under observation by the endoscope. I have to.

The electric manipulator 2 is provided with a grip 13 provided on the hand side thereof, and is capable of moving back and forth from the grip 13 (that is, vertically movable up and down) and of B as shown at B. A rotatable (swivelable) first arm 14 and a front end of the first arm 14 bent in, for example, an L-shape are extended and retracted (that is, extend and retract in the horizontal direction) as indicated by reference numeral C. And a second arm 15.

The grip 13 is provided with fixing means 16, and the electric manipulator 2 is connected to the bedside rail 17 attached to the operating table 8 via the fixing means 16.
It is detachably supported at an arbitrary position (e.g., extending in a direction perpendicular to the paper surface of FIG. 1).

The TV camera 6 mounted on the eyepiece of the endoscope 3 has an image pickup device including a solid-state image pickup device such as a charge-coupled device (abbreviated as CCD) or the like, and the image pickup device is connected via a cable. It is connected to a camera control unit (hereinafter abbreviated as CCU) 18 and photoelectrically converts an optical image formed on an imaging surface of a solid-state imaging device with a drive signal output from the CCU 18 and outputs an imaging signal as an output signal to the CCU 18. Then, the signal is processed by the CCU 18 to generate a video signal.

The video signal output from the CCU 18 is input to an HMD 21 serving as a head-mounted image display device detachably mounted on the head of the operator. This HMD2
1 includes an HMD display element 19 (see FIG. 2) such as a liquid crystal display disposed in front of the right and left eyes of the wearer, and displays an image of an affected part in the body cavity 9 captured by the endoscope 3. Display (outside the body).

The HMD 21 is provided with a magnetic sensor 22 for detecting the three-dimensional position and orientation of the operator's head and a line-of-sight detection sensor 23 for detecting the operator's line of sight. Thus, the motor in the electric manipulator 2 is controlled to convert the field of view of the endoscope 3.

The magnetic sensor 22 has three sensor coils that intersect at right angles to each other, and detects a magnetic field generated from a magnetic source (not shown) that is fixed to the operating table 8 and that has three coils that are orthogonal to the magnetic sensor 22. Thus, the position and orientation of the magnetic sensor 22 (that is, the operator's head) when the magnetic source is set as the reference position are determined.

The line-of-sight detection sensor 23 is shown in FIG.
As shown in FIG.
5b is observed and image processing is performed to obtain 2
The one that detects the direction of the line of sight indicated by the dashed line or the light emitting diode 2 with respect to the eyes 25a and 25b as shown in FIG.
The infrared ray is emitted from 6 and the light reflected by the eyeballs 25a and 25b is detected by a PSD (position sensing device) 27 to detect the direction of the line of sight. The alternate long and short dash line indicates the viewing direction when the HMD display element 19 is viewed from the front.

Both the magnetic sensor 22 and the line-of-sight detection sensor 23 are of a well-known type and will not be described in detail. Magnetic sensor 22, eye-gaze detection sensor 23, ON / OFF of operation input
The output of the operation input switch 28 is input to a control signal selection device 29 for selecting a control signal. As the operation input switch 28, a foot switch or a hand switch provided on the forceps 12 is suitable.

As shown in FIG. 3, the control signal selecting device 29 includes a line-of-sight position calculating circuit 30 for calculating the line-of-sight position by calculation.
And a head position / azimuth calculation circuit 31 for calculating the head position / azimuth by calculation, and an amount of change (displacement) from the output of the line-of-sight position calculation circuit 30 and the output of the head position / azimuth calculation circuit 31
, A displacement detection / comparison circuit 32 that compares these signals and outputs a signal corresponding to the result, and a motor control signal generation circuit 33 that generates a motor control signal based on the output signal of the displacement detection / comparison circuit 32 And outputs the motor control signal to the motor control unit 34.

The motor control unit 34 is connected to the electric manipulator 2 and controls the motor inside the electric manipulator 2. The control signal selecting device 29 detects displacement from the head position / azimuth value calculated by the head position / azimuth calculation circuit 31 and the gaze position value calculated by the gaze position calculation circuit 30 as described later. The comparison circuit 32 detects the amount of change in the head position / azimuth and determines whether the value is less than a set threshold value. The change is output to the motor control signal generation circuit 33, and a motor control signal for driving the motor is generated in accordance with the change.

On the other hand, when the amount of change in the head position / orientation is equal to or greater than the threshold value, the amount of change is used as the motor control signal generation circuit 3.
3 to generate a motor control signal for driving the motor in accordance with the amount of change. Then, the arm 1 of the electric manipulator 2 is driven via the motor by the motor control signal.
4, 15 and the like are driven, and the endoscope 3 is moved by this drive so as to follow a change in the line-of-sight position or a change in the head position / azimuth, and an image obtained by the endoscope 3 by the movement or the like. It is possible to change (convert) the field of view.

Next, the operation of the present embodiment will be described. The surgeon wears the HMD 21 on the head and operates the forceps 12 while observing an image inside the patient to perform a treatment. When changing the treatment target part, the electric manipulator 2 holding the endoscope 3 is moved to change the observation field of view.

A motor control signal for converting the observation visual field detects a moving amount for each visual field conversion from an output of the line-of-sight position calculating circuit 30 and an output of the head position / azimuth calculating circuit 31. Can be obtained by selecting

FIG. 4 shows a flowchart of this selection.
When the operation input switch 28 is turned on, the displacement detection / comparison circuit 32 obtains the amount of change in the line-of-sight position and the head position / azimuth with reference to the time when the operation input switch 28 is turned on.

First, when the operation input switch 28 is turned on, the displacement detection / comparison circuit 32 detects the amount of change in the head position / azimuth as shown in step S1. This head position
The azimuth change amount is a distance and an angle in a three-dimensional space.

In the displacement detection / comparison circuit 32, a threshold value is set in advance for the amount of change in the head position / azimuth. As shown in step S2, the displacement detection / comparison circuit 32 has a threshold value for the amount of change. Determine if it is less than the value.

If it is determined that the amount of change in the head position / orientation is less than the threshold value, the process proceeds to the next step S3, and if not, the process proceeds to step S4. The amount of the change is output to the motor control signal generation circuit 33, and the process returns to the first step S1.

In step S3, the displacement detection / comparison circuit 32
Outputs the amount of change in the line-of-sight position to the motor control signal generation circuit 33, and returns to the first step S1. The amount of change in the line-of-sight position is a pixel address in the observation screen.

The magnetic sensor 2 provided on the HMD 21
The position / azimuth 2 is set at the time of initial setting or the like so as to correspond to the tip position / azimuth of the endoscope 3, and the magnetic sensor 22 changes the position / azimuth according to the translation / rotation of the head. The motor in the electric manipulator 2 is controlled so that the output of the endoscope 3 is detected and the tip of the endoscope 3 is moved by the output (in the case of the threshold value or more).

If the amount of change in the head position / azimuth is less than the threshold value, it is assumed that there is no change in the head position / azimuth, and the output from the line-of-sight position calculation circuit 30 determines the amount of change from the time when the operation input switch is turned on. And outputs the change amount to the motor control signal generation circuit 33. In this case, a small visual field conversion is performed from the image in the visual field before the visual line is changed so that the changed visual line becomes the center position of the image.

With respect to the threshold value of the head direction (rotation), for example, if the angle is set from the center of the HMD display element to the vicinity thereof, if the angle is less than that angle, a smaller image conversion is performed by the line of sight, and the image conversion is performed. When there is a change in the head orientation, a large field of view conversion is performed in accordance with the change amount.

The motor control signal generation circuit 33 determines whether the input signal is the head position / azimuth or the line-of-sight position, generates a motor control signal based on the data, and outputs the signal to the motor control unit 34. Then, the electric manipulator 2 is driven.

When the operator is not in the observation visual field, that is, when the operator wants to largely change the visual field, the surgeon turns on the operation input switch 28 and moves the head to perform a large visual field conversion. When the next treatment target part exists, that is, when it is desired to slightly change the field of view, the surgeon turns on the operation input switch 28 without moving the head and moves the line of sight to change the field of view.

Further, in the visual field conversion by the visual line detection,
If the reference position of the line-of-sight change is set at the center of the image and the amount of change is determined based on the line-of-sight position when the operation input switch 28 is turned on, the line-of-sight is adjusted to the treatment target and the operation input switch 28 is turned on. With simple operation just to do,
The field of view conversion can be performed so that the treatment target portion is located at the center of the screen.

Further, as the endoscope 3, a two-relay system in which two relay optical systems are provided inside, or an image transmitted by one relay optical system is used for two images having parallax at the eyepiece. A stereoscopic endoscope capable of transmitting a three-dimensional image, such as a pupil division method, is used to display images for the right and left eyes on two HMD display elements 19 provided in the HMD 21 respectively. By doing so, the surgeon can perform the treatment while stereoscopically observing the in-vivo image.

Therefore, as an input for the visual field conversion, the position / azimuth of the operator's head and the line of sight are detected, and if the change in the position / azimuth of the head is less than the threshold value, the detected line of sight is detected. By performing the visual field conversion based on, the minute visual field conversion can be realized by a simple operation.

According to the present embodiment, the visual field conversion is performed by selecting either the position of the operator's head or the line of sight of the operator for the conversion of the observation visual field. It is possible to simplify and set a desired observation visual field, and further reduce the burden on the operator.

In other words, when a small visual field conversion is performed, the visual field is directed to the direction in which the visual field is to be changed, so that the observation visual field can be converted in that direction by the output of the visual field detecting means, and a large visual field change can be performed. In this case, by moving the head, the observation field of view can be largely changed in the moving direction by the output of the head position / azimuth detecting means.

In addition to the automatic visual field conversion mode in which the motor is controlled via the motor control unit 34 by the motor control signal from the control signal selection circuit 29, the gripping unit 13 and the like are instructed to turn, move up and down, expand and contract, and the like. A group of switches may be provided so that the signal can be used to drive the motor via the motor control unit 34 by a selective switch operation.

(Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 5 shows an intra-body cavity treatment observation system according to a second embodiment of the present invention. FIG. 6A shows a schematic structure of a TV camera having a zoom function, and FIG. 2 shows a viewable image that can be converted.

The intracorporeal treatment observation system 41 of the present embodiment shown in FIG. 5 uses an endoscope holding arm 43 having a link mechanism 42 in place of the electric manipulator 2 in FIG. Holds fixedly in position.

The endoscope holding arm 43 is detachably supported at an arbitrary position on the bedside rail 17 attached to the operating table 8 via fixing means 45 provided on a grip portion 44 on the hand side. You. This endoscope holding arm 43
Is a first arm 46 rotatable with respect to the gripper 44.
And a link mechanism 42 connected to the tip of the arm 46 via a rotatable pivot.
The endoscope 3 is held at the tip of two arms forming the endoscope 2.

The eyepiece 47 of the endoscope 3 (see FIG. 6A)
, A TV camera 48 having a visual field conversion mechanism is detachably attached. As shown in FIG. 6A, inside the TV camera 48, a zoom lens 49 that can move forward and backward in the optical axis direction of the endoscope 3, an imaging lens 50, a CCD 51 that can move on an imaging plane, and a zoom. Lens 49 and CCD
Motors (not shown) for driving the respective motors 51 are provided.

In this embodiment, the observation optical system (the objective optical system, the relay optical system, and the eyepiece optical system) of the endoscope 3 is usually provided by a zoom optical system (including the zoom lens 49 and the imaging lens 50). ) To the CCD 51
Therefore, an image of a part thereof (the imaging surface portion of the CCD 51) is displayed on the display means of the HMD 21.

The output of the motor control unit 34 is input to the TV camera 48. In the present embodiment, the operation input switch 28 is further provided with a zoom-in / out switch, and a zoom control signal is input to the motor control unit 34 via the control signal selection device 29. Other configurations are first
In this embodiment, the same components are denoted by the same reference numerals, and description thereof will be omitted.

In this embodiment, the holding means for holding the endoscope 3 does not have an electric drive means for moving the endoscope 3 or the like, and the endoscope holding arm 43 which is manually operated is used. In addition, by forming an image in the TV camera 48 with a zoom optical system that projects larger than the imaging surface of the CCD 51, when the field of view conversion is required, the field of view conversion required by moving the position of the CCD 51 is performed. It is realized with a compact configuration.

Next, the operation of the present embodiment will be described. TV
The visual field conversion by the camera 48 will be described. Endoscope 3
The image of the inside of the patient captured by the above is projected by the zoom lens 49 to be larger than the size of the CCD 51.

For example, a wide range R1 in the body cavity shown in FIG.
Is projected onto a surface including the imaging surface of the CCD 51, and the CCD 51 projects the enlarged projected image R1 '.
An image R2 ′ of the range R2, which is a part of the above, is captured. The images R1 'and R2' are shown in FIG.

By moving the CCD 51 on the imaging plane as indicated by the arrow in FIG. 6A, the portion of the image R2 'to be actually captured can be changed as shown in FIG. 6B. That is, the observation field of view can be converted while the endoscope 3 is fixed.

When the operation input switch 28 is turned on, a motor control signal obtained by converting the amount of change in the head position / azimuth or line-of-sight position into a motor control signal is output from the control signal selecting device 29. Control unit 34
Outputs a signal for driving and controlling a motor for driving the CCD 51 in the TV camera 48, and performs a visual field conversion.

Since the head orientation detected by the magnetic sensor 22 does not correspond to the driving mechanism of the CCD 51, the head position / azimuth calculation circuit 31 converts the azimuth data into position data. Is output to the displacement detection / comparison circuit 32. When the zoom-in / out switch provided on the operation input switch 28 is turned on, the motor control unit 34 outputs a signal for controlling the driving of the motor for driving the zoom lens 49, and performs zoom-in / out.

When there is no treatment target part in the treatment target in the observation image, the endoscope holding arm 43 is moved by hand and fixed at a desired position. Other operations are the same as those of the first embodiment.

According to the present embodiment, the visual field can be converted by moving the CCD 51 in the TV camera 48, so that the setup is simple and the system configuration can be made more compact. Further, by zooming in / out, it is possible to easily set a state in which a diagnosis target part is magnified and observed, or an abnormal part is observed in a wide area so as to be easily searched.

Similarly to the first embodiment, when the treatment target portion is not within the observation visual field, that is, when it is desired to largely change the visual field, the operation input switch 28 is turned on and the head is moved. When a large field of view conversion can be performed and the next treatment target part is present in the observation image, that is, when it is desired to slightly change the field of view, the operator turns on the operation input switch 28 without moving the head. By moving the line of sight, visual field conversion can be performed.

(Third Embodiment) Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 7 shows a body cavity treatment observation system according to the third embodiment, and FIG. 8 shows an explanatory view of a visual field conversion using an image memory for the visual field conversion.

The intracorporeal treatment observation system 61 of the third embodiment shown in FIG. 7 is similar to the intracorporeal treatment observation system 4 of FIG.
In 1, the output signal of the CCU 18 and the output signal of the control signal selection device 29 are input to the image reading control device 62,
The output signal of the image reading control device 62 is
It is configured to input to. The eyepiece of the rigid endoscope 3 is equipped with, for example, a TV camera 63 having a built-in high-resolution (large number of pixels) CCD.

The output signal of the TV camera 63 is CC
The signal is input to U18, subjected to signal processing, and a video signal (image signal) is generated.

The output signal of the CCU 10 after signal processing is
An input signal is input to an image reading control device 31 having an image memory and the like, and an output signal from the image reading control device 31 is HM
The image is input to D21 and displayed.

The motor control signal generating circuit 33 (see FIG. 3) provided in the control signal selecting device 29 is replaced with an image reading position control circuit for controlling the image reading position. The readout position of the image is controlled by this input signal. Other configurations are the same as those of the second embodiment.

Next, the operation of the present embodiment will be described. The visual field conversion by the image reading control device 62 will be described. The image captured by the high-resolution CCD provided in the TV camera 63 is stored in a storage area 64 (see FIG. 8) of an image memory provided in the image readout control device 62.

As shown in FIG. 8, the storage area 64 of the image memory is set wider than the read area 65, and a part of the image stored by changing the image reading position 66 from the storage area 64 of the image memory. Only the settings are read out. By changing the reading position of the read image, the visual field conversion can be performed.

That is, when the operation input switch 28 is turned on, a readout position control signal obtained by converting the amount of change in the head position / azimuth or line-of-sight position into a control signal for the image readout position is output from the control signal selecting device 29. You.

The image reading position control device 31 receiving the signal changes the reading position of the image read from the provided image memory according to the input signal.
The field of view conversion is performed by displaying the read image on the HMD 21. By using a high-resolution CCD, it is possible to suppress a deterioration in resolution caused by cutting out and enlarging and displaying a part of the entire area.

Also, instead of a CCD as an image pickup device, a high-resolution CMD (Charge Modulation) is used.
Device) can also be used. As shown in FIG. 9, in the CMD 71, each of pixels that perform photoelectric conversion (one pixel portion is represented by a symbol G as a representative) is formed of a transistor, and is selected by a horizontal scanning circuit 72 and a vertical scanning circuit 73. A signal corresponding to the amount of charge generated by photoelectric conversion can be read out from the pixel as a current.

The horizontal scanning circuit 72 and the vertical scanning circuit 73 are controlled by the read position control signal output from the control signal selecting device 29, so that the image read position can be changed by the head position / azimuth or the line-of-sight position change amount. To change the field of view.

In the case of using a CCD, since the detected charge amount is sequentially transferred, an image memory is required to read out an arbitrary area of a picked-up image, but the CMD 71 reads out the image to the element itself as described above. Since the camera has the position control function, the visual field conversion function can be realized without an image memory.

In both cases where the CCD or the CMD 71 is used, turning on the zoom-in / out switch provided in the operation input switch 28 changes the size of the set read-out image area, thereby enabling electronic zooming. Function can be achieved. Other operations are the same as those of the second embodiment.

According to the present embodiment, since the visual field conversion is performed electronically, a mechanism for mechanically driving the visual field conversion is not required, and the assemblability and durability can be improved.
The other effects are the same as those of the second embodiment.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described with reference to FIG. FIG.
1 shows an intra-body cavity treatment observation system according to the embodiment. This embodiment uses image display means capable of stereoscopic viewing with the naked eye,
Even when the surgeon moves, the movement is detected and the movement of the image display means is controlled (the work of adjusting the movement of the image display means so that the assistant can perform stereoscopic view is necessary. (Without doing so).

As shown in FIG. 10, in the body cavity treatment observation system 81 of the fourth embodiment, the rigid endoscope 82
It is fixedly held at an arbitrary position by an endoscope holding arm 43 having a link mechanism 42, and is introduced into a patient's abdominal cavity 9 fixed on an operating table 8 via a trocar 7.

In the abdominal cavity 9 of the patient, the trocar 1
1 through which a forceps 12 for treating a tissue is introduced. The endoscope holding arm 43 is provided with a grip portion 44 on its hand side.
And is detachably supported at an arbitrary position on the bedside rail 17 attached to the operating table 8 via a fixing means 45 provided in the operating table 8.

The endoscope 82 is a two-relay type having two relay optical systems therein, or a pupil for dividing an image transmitted by one relay lens into two images having parallax at the eyepiece. This is a stereoscopic endoscope capable of transmitting a three-dimensional image of a division system or the like.

A TV camera 83 having an image pickup device for picking up each transmitted image is detachably attached to the eyepiece, and its output is the first CCU 18a.
After being input to the second CCU 18b and subjected to signal processing, it is input to the lenticular type stereoscopic display 84, and the image of the inside of the patient captured by the endoscope 82 is displayed as a stereoscopic image.

The three-dimensional display 84 is held by a ceiling-mounted electric arm 85 having a driving motor and a position detecting encoder inside.
The electric arm 85 is pivotable, vertically movable and telescopic at the base side.
The distal end holding the stereoscopic display 84 has two degrees of freedom (up / down / left / right swing (pan / tilt)), for a total of five degrees of freedom.

A magnetic sensor 86 for detecting a three-dimensional position and orientation is attached to the surgeon's head. The magnetic sensor 86 is similar to the magnetic sensor 22 of the first embodiment, and a magnetic source (not shown) is fixed at a known position with respect to the electric arm 85.

The arm control unit 87 includes the magnetic sensor 8
6 and an encoder output signal inside the electric arm 85, and outputs a signal for driving the electric arm 85.

Next, the operation of the present embodiment will be described. The magnetic sensor 86 has a sensor position / azimuth based on a magnetic source (not shown), that is, a three-dimensional position of the operator's head.
Detect orientation. Further, the position and orientation of the distal end portion with respect to the reference position of the electric arm 85, that is, the position and orientation of the three-dimensional display 84 can be calculated from the encoder signal inside the electric arm 85.

Further, since the positional relationship between the magnetic source and the electric arm 85 is known, the arm control unit 87
Calculates the position and orientation of the stereoscopic display 84 with respect to the detected operator's head based on the input signal of the magnetic sensor 86 and the encoder signal inside the electric arm 85,
If the positional relationship exceeds a preset range, a signal for driving the electric arm 85 is output so that the positional relationship between the two falls within the range.

The range set here is a range in which the image displayed on the three-dimensional display 84 can be observed as a three-dimensional image. When the surgeon moves during the operation, the stereoscopic display 84 moves to a position and orientation that enables stereoscopic observation according to the movement, and maintains a positional relationship where the operator can perform stereoscopic observation.

The position and orientation of the operator's head may be detected by image processing from a stereoscopic image obtained by two TV cameras.

According to the present embodiment, even if the operator moves during the operation, the display 84 for stereoscopic display moves in accordance with the movement and maintains the positional relationship enabling stereoscopic observation. It is possible to always observe a stereoscopic image of the inside of the patient with the naked eye during the operation without the adjustment of.

Note that a parallax barrier type display may be adopted as the stereoscopic display instead of the lenticular type display. Note that embodiments and the like formed by partially combining the above-described embodiments and the like also belong to the present invention.

[Supplementary Notes] An image transmission unit inserted into the body cavity and transmitting an image of the inside of the patient to the outside of the body, an in-vivo observation unit including a field-of-view conversion unit that converts a field of view of an image obtained by the image transmission unit, and an in-body observation unit Head-mounted image display means for displaying the obtained image, position / direction detection means for detecting the position and orientation of the operator's head, and display means for the operator wearing the head-mounted image display means An in-body-cavity treatment observation system comprising: a line-of-sight detecting unit that detects a line of sight to the vehicle; and a drive signal selecting unit that selects a signal for driving the visual field conversion unit from the output of the position / azimuth detecting unit and the line of sight detecting unit.

(Problems of Supplementary Notes 1 to 5) Since the operating means of the observation manipulator is the movement of the operator's head, the head must be moved each time even if the observation field of view is to be slightly changed. It was complicated and burdened by the operator.

(Purpose of Supplementary Notes 1 to 5) An object of the present invention is to provide an intracorporeal treatment observation system capable of performing a simpler operation of changing the observation field of view and reducing the burden on the operator. In order to achieve this object, by adopting the configuration of appendixes 1 to 5, it is possible to change the observation visual field by selecting either the position of the operator's head or the line of sight of the operator.

2. The position / azimuth detecting means is a magnetic type three-dimensional position / azimuth sensor attached to the head mounted image display means, and the line of sight detecting means is a CCD camera or PSD provided in the head mounted image display means. The drive signal selection means includes a determination circuit that determines whether to output the detected three-dimensional position / azimuth sensor position or the line-of-sight position, and a control signal generation circuit that generates a control signal of the visual field conversion means from an output of the determination circuit. 2. The body cavity treatment observation system according to supplementary note 1.

3. 3. The in-body cavity treatment observation system according to claim 2, wherein the image transmission means is an endoscope, and the visual field conversion means is an electric manipulator holding the endoscope.

[0092] 4. The image transmission means is an endoscope, and the visual field conversion means is detachably attached to an eyepiece of the endoscope, and moves within an imaging plane to capture an arbitrary part of an image transmitted by the endoscope. 3. The body cavity treatment observation system according to claim 2, wherein the system is a TV camera equipped with a possible CCD.

[0093] 5. 3. The body cavity treatment observation system according to claim 2, wherein the image transmission means is an endoscope, and the visual field conversion means is an image reading control means capable of reading an arbitrary part of an image transmitted and captured by the endoscope.

6. An in-vivo observation unit that is inserted into a body cavity to obtain a three-dimensional image; a three-dimensional image display unit that displays a three-dimensional image obtained by the in-vivo observation unit and enables stereoscopic viewing with the naked eye; Body / cavity comprising: a position / azimuth detecting means for detecting the position and orientation of the object, an electric manipulator holding the stereoscopic image display means, and a manipulator driving means for driving the electric manipulator based on the output of the position / azimuth detecting means. Internal treatment observation system.

(Problems of Supplementary Notes 6 to 8) Since the image of the HMD is always displayed in front of the eyes, the operator does not need to take an unreasonable posture to look at the TV monitor as in the conventional endoscopic operation. On the other hand, there are problems such as giving a sense of restraint to the surgeon and making it difficult to see the surroundings. Therefore, an image display device capable of stereoscopic viewing with the naked eye is desirable.

As a display device capable of displaying moving images and capable of autostereoscopic viewing, a parallax barrier system shown in FIG.
There is a lenticular type shown in FIG. In the parallax barrier method, the right-eye image 92R and the left-eye image 92L alternately displayed on the three-dimensional image display surface 91 are converted into a thin slit-shaped opening arranged at an appropriate gap d from the display surface 91. A slit barrier 93 having a light-shielding portion allows the stereoscopic vision to be separated when viewed from the right eye 94R and the left eye 94L.

On the other hand, in the lenticular method, FIG.
As shown in FIG. 12B, a lenticular screen 96 having a semi-cylindrical shape is used. FIG. 12 (A)
FIG. 12B is a perspective view of the lenticular screen 96, and FIG.

In the lenticular screen 96 system, a lenticular screen 96 having a left-eye image 97L and a right-eye image 97R arranged in a stripe pattern on the focal plane of a semi-cylindrical lens having a thickness of t and a pitch of p is used. FIG.
As shown in (B), the right eye 98R depends on the directivity of the lens.
In addition, when viewed from the left eye 98L, the left and right images can be separated to enable stereoscopic observation.

In each method, the observation position range in which stereoscopic vision is possible is determined, and if the operator moves from the state in which stereoscopic vision is possible, stereoscopic vision cannot be performed. The work of adjusting the position occurs.

(Purpose of Supplementary Notes 6 to 8) An object of the present invention is to provide an intracorporeal treatment observation system capable of performing autostereoscopic vision without manually adjusting the position of the stereoscopic image display device even when the operator moves. In order to achieve this object, the configuration described in Supplementary notes 6 to 8 drives the electric manipulator holding the stereoscopic image display means in response to the movement of the position of the operator, so that even if the operator moves. Stereovision can be performed.

7. 7. The body cavity treatment observation system according to claim 6, wherein the stereoscopic image display means is a parallax barrier type or lenticular type stereoscopic display.

8. 8. The in-body-cavity treatment observation system according to claim 7, wherein the in-body-cavity observation means is a two-relay or pupil-division stereoscopic endoscope, and the position / direction detection means is a magnetic three-dimensional position / direction sensor.

[0103]

As described above, according to the present invention, an image transmitting means inserted into a body cavity and transmitting an image of the inside of a patient outside the body, and a visual field conversion for converting the visual field of the image obtained by the image transmitting means. Means for observing the inside of the body cavity, means for displaying the image obtained by the means for observing the inside of the body cavity, display means for displaying the image obtained by the means for observing the inside of the body cavity, and position / direction detecting means for detecting the position and direction of the head of the operator. A line-of-sight detecting means for detecting a line of sight of an operator wearing the head-mounted image display means with respect to the display means, and a drive for selecting a signal for driving the visual field converting means from outputs of the position / azimuth detecting means and the line of sight detecting means. Signal selection means, the viewing field can be converted by selecting either the operator's head position or the operator's line-of-sight position and the output is used to convert the field of view. And the desired observation field of view Settings can be, yet it is possible to reduce the burden on the operator.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a body cavity treatment observation system according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a configuration example of a line-of-sight detection unit.

FIG. 3 is a block diagram showing a configuration of a control signal selection device.

FIG. 4 is a diagram showing a flowchart for performing a view conversion process.

FIG. 5 is a diagram showing a configuration of a body cavity treatment observation system according to a second embodiment of the present invention.

FIG. 6 is a diagram showing a schematic structure and the like of a TV camera having a zoom function.

FIG. 7 is a diagram illustrating a configuration of a body cavity treatment observation system according to a third embodiment of the present invention.

FIG. 8 is an explanatory diagram of an operation of a visual field conversion according to a third embodiment.

FIG. 9 is a diagram illustrating a configuration of a solid-state imaging device used in a modification of the third embodiment.

FIG. 10 is a diagram showing a configuration of an intra-body cavity treatment observation system according to a fourth embodiment of the present invention.

FIG. 11 is a diagram illustrating a parallax barrier display device capable of stereoscopic viewing with the naked eye.

FIG. 12 is a diagram illustrating a lenticular display device capable of stereoscopic viewing with the naked eye.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... In-body-cavity treatment observation system 2 ... Electric manipulator 3 ... Endoscope 4 ... Insertion part 6 ... TV camera 7, 11 ... Trocar 8 ... Operating table 9 ... Abdominal cavity 12 ... Forceps 13 ... Grasping part 14, 15 ... Arm 16 ... Fixing means 17 Bedside rail 18 CCU 19 HMD display element 21 HMD 22 Magnetic sensor 23 Eye-gaze detection sensor 24 CCD camera 25 a, 25 b Eyeball 27 PSD 28 Operation input switch 29 Control signal selector Reference numeral 30: gaze position calculation circuit 31: head position / direction calculation circuit 32: displacement detection / comparison circuit 33: motor control signal generation circuit 34: motor control unit

Claims (1)

[Claims] 1. An in-body cavity observing means, comprising: an image transmitting means inserted into a body cavity and transmitting an image of the inside of a patient outside the body; and a visual field converting means for converting a visual field of an image obtained by the image transmitting means. Wearing head-mounted image display means for displaying an image obtained by the in-vivo observation means, position / direction detection means for detecting the position and orientation of the operator's head, and head-mounted image display means In-vivo treatment comprising: a line-of-sight detection unit that detects a line of sight of the operator with respect to the display unit; and a drive signal selection unit that selects a signal for driving the visual field conversion unit from the output of the position / direction detection unit and the output of the line-of-sight detection unit. Observation system.