JPH10174673A - Endoscope apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope apparatus which realizes the miniaturization of a visual field conversion camera by using a large image pickup means with a large weight such as 3 CCD camera, a HDTV camera and a non-visible light (infrared, ultraviolet) camera. SOLUTION: An endoscope image moving means 34 which has a VAP 10 adapted to vary the angle of incident light with respect to the direction of the optical axis of an observation optical system and a VAP controller 31 to control the variation in the angle of the incident light by the VAP 10 is provided in a visual field conversion adaptor 2. The area of an image of an endoscope to be observed by a CCD camera is made variable by changing the position of the endoscope image formed on the CCD camera in a TV camera 3 by the VAP 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscopic surgical technique for performing a treatment while observing a treatment state of an affected part by a treatment tool inserted into a body cavity of a patient with an 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] 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 of the endoscope in a direction desired by the operator.

[0004] On the other hand, the applicant of the present invention has disclosed an unscoped endoscope apparatus as an endoscope apparatus at the time of filing the present application.
No. 5995 has been filed. In the endoscope apparatus of this prior art, a technique using a field-of-view conversion endoscope camera that freely changes the field of view of the endoscope without using a robot arm is disclosed. Here, the imaging range of the image of the imaging optical system of the endoscope is changed by moving a part of the imaging optical system of the endoscope with the actuator.

In the endoscope apparatus of this prior art, since a movable part for moving a part of the imaging optical system is disposed inside the endoscope camera, the robot is placed outside the endoscope camera. When the external movable element operates, such as when an external movable element such as an arm is arranged, there is no risk that the external movable element will interfere with the surgeon, patient, peripheral equipment, etc. High in nature. Further, the endoscope device of this prior example is small in size and used in place of a combination of a normal endoscope and a TV camera, so that it is easy to handle.
Furthermore, detecting the tip of the forceps and changing the field of view of the endoscope while tracking the tip of the forceps such that the tip of the forceps is always held at a desired position such as the center position of the TV monitor screen. The field of view of the endoscope can be automatically changed by the surgeon moving the position of the tip of the forceps in any direction during the operation, and the field of view of the endoscope can be easily changed. .

Japanese Patent Application No. 7-115995 discloses an image sensor moving mechanism that moves an image sensor in parallel using a stepping motor and a feed screw.
Furthermore, a method of changing a range of an endoscope image formed on an image sensor by inclining an optical axis of an image pickup optical system using a mirror provided in an image pickup optical system of an endoscope apparatus is also disclosed. I have.

At present, small cameras having a configuration in which only one small CCD is provided in an imaging optical system are often used as endoscope surgery cameras. However, recently, in order to improve the image quality of an endoscope image, a three-CCD camera using three independent CCDs for each color of RGB has been used.
High-definition (HDTV) cameras that achieve more than twice the resolution, high-sensitivity image intensifier (II) cameras that observe weak light such as fluorescence observation, or special observation cameras such as infrared cameras and ultraviolet cameras are useful. However, large cameras are in practical use.

Japanese Patent Application Laid-Open No. Sho 61-223819 discloses a variable apex prism composed of a prism filled with a liquid having a high refractive index and used for camera shake correction of a video camera.

Japanese Patent Application Laid-Open No. 2-148013 discloses a liquid crystal prism whose refractive index changes according to voltage.
A method for changing the direction of the field of view of an optical system provided at the distal end of a flexible endoscope is disclosed.

[0010]

Problems to be Solved by the Invention
In the device disclosed in Japanese Patent Application Laid-Open Publication No. H10-209, there is a possibility that the robot arm holding the endoscope may interfere with an operator, a patient, peripheral devices and the like. Further, there is a possibility that the movement of the endoscope may become unstable due to an unintended operation of the robot. In addition, since a large-sized device such as a robot arm is used, it is inconvenient to carry, install, and sterilize.

The apparatus disclosed in Japanese Patent Application No. 7-115959 has many advantages such as high security, small size, and the ability to replace an ordinary endoscope and TV camera. However, in the method of moving an image sensor by an image sensor moving mechanism using a stepping motor and a feed screw as shown here, when the size of the image sensor is increased, the entire image sensor moving mechanism is increased in size. Absent. For this reason, there is a problem that it is difficult to realize the field-of-view conversion function in a device using a large-sized image sensor such as a 3CCD camera, an HDTV camera, a II camera, and an invisible light camera.

Also, in the method using a mirror, it is not necessary to move the image pickup device, so that it is easy to use a large image pickup device. However, there is a problem that the mirror driving mechanism becomes large and the whole camera becomes large. is there.

The present invention has been made in view of the above circumstances, and its object is to provide a visual field using a large and heavy imaging means such as a 3CCD camera, an HDTV camera, or a non-visible (infrared / ultraviolet) camera. It is an object of the present invention to provide an endoscope apparatus capable of realizing downsizing of a conversion camera.

[0014]

SUMMARY OF THE INVENTION The present invention relates to an endoscope apparatus provided with image forming means for forming a part or all of an endoscope image incident on an observation optical system of an endoscope on an image pickup means. An incident angle changing element which is provided in the image forming means and changes an angle of the incident light with respect to the optical axis direction of the observation optical system, and a change amount of the angle of the incident light by the incident angle changing element. Control means for controlling the endoscope image formed on the image pickup means by the incident angle changing element, thereby changing the area of the endoscope image observed by the image pickup means. An endoscope apparatus provided with a mirror image moving unit. Then, the angle of the incident light of the endoscope image formed on the imaging means is changed in the vertical and horizontal directions with respect to the optical axis of the observation optical system by an incident angle changing element, and the endoscope image formed on the imaging means is changed. By changing the position, the area of the endoscopic image observed by the imaging means is changed.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 3A and 3B. FIG. 1 shows a schematic configuration of the entire endoscope apparatus according to the present embodiment. The endoscope apparatus of the present embodiment is provided with a direct-viewing rigid scope (endoscope) 1 such as a laparoscope, which is inserted into a body cavity of a patient and observes the inside of the body cavity. This scope 1 has a field-of-view conversion adapter (imaging means)
2, a TV camera 3 is detachably attached. The TV camera 3 has a built-in CCD (imaging means) not shown.

A forceps 4 is inserted into the body cavity of the patient from a position different from the scope 1. The forceps 4 includes an elongated shaft-shaped insertion portion 5 inserted into a body cavity of a patient, an openable and closable treatment portion 6 disposed at a distal end portion of the insertion portion 5, and a proximal end portion of the insertion portion 5. The provided hand-side grip portion 7 is provided. Further, a color marker 8 is provided on the treatment section 6 at the distal end of the forceps 4. As the color marker 8, green or blue, which is less in the body cavity, is used.

A focus lens 9, a variable angle prism (VAP) 10, which is an incident angle changing element, and a zoom lens 11 are provided inside the field-of-view conversion adapter 2 in the optical axis of the observation optical system of the scope 1. They are arranged side by side along the top. Here, the focus lens 9
The lens surface on the front side of the zoom lens 11 is disposed to face the observation optical system of the scope 1 at a distance, and the lens surface on the rear side of the zoom lens 11 is T
The V camera 3 is disposed so as to be spaced apart and opposed.

The focus lens 9 is connected to a focus driving means 12. Then, the focus lens 9 is moved by the focus driving means 12 to the scope 1.
Are moved in the front-rear direction along the optical axis of the observation optical system, and the focus of the observation image of the scope 1 can be adjusted.

Further, the zoom lens 11 is connected to a zoom driving means 13. Here, the zoom lens 11 has a plurality of constituent lenses arranged in parallel on the optical axis in the lens unit. Then, the constituent lenses in the lens unit of the zoom lens 11 are moved in the front-rear direction along the optical axis in the lens unit by the zoom driving means 13, so that the zooming of the observation image of the scope 1 can be adjusted.

The VAP 10 is configured as shown in FIGS. That is, this VAP10
Is provided with two circular cover glasses 14a and 14b as shown in FIG. An elastic, substantially cylindrical bellows 16 is mounted between the frames 15a, 15b of the cover glasses 14a, 14b. Further, the liquid 1 having a high refractive index is contained in a space sealed between the two circular cover glasses 14 a and 14 b and the bellows 16.
7 is enclosed.

The frame 1 of one cover glass 14b
2A, two substantially U-shaped bearing portions 18a and 18b are provided on 5b. These bearings 1
8a and 18b are arranged at positions 90 ° apart in the circumferential direction of the frame 15b.

Further, on the frame 15a of the other cover glass 14a, protruding portions 19a, 19b inserted into the bearings 18a, 18b are protrudingly provided. Each protruding portion 19a,
Reference numeral 19b denotes a rotating shaft 2 mounted on each of the bearings 18a and 18b.
It is supported so as to be rotatable around 0a and 20b. Then, each protruding portion 19a, 19b and each bearing portion 18a, 18b
Between the two shafts 21 of the VAP 10
a, 21b are formed.

Two actuators 22a, 22 of the VAP 10 are provided on the opposite sides of the support shafts 21a, 21b in the frames 15a, 15b of the cover glasses 14a, 14b.
b is provided. These two actuators 22
Since a and 22b have the same configuration, only the configuration of one actuator 22a will be described here, and the same portions of the other actuator 22b will be denoted by the same reference numerals with suffixes b and the description thereof will be omitted.

That is, the actuator 22a is provided with a drive motor 23a fixed to the one frame 15b. The drive motor 23a has a male screw member 24a.
Are connected to each other. Furthermore, the other frame 15a
A nut member 25a screwed to the male screw member 24a is connected to the side via a support pin 26a.

When the actuator 22a is driven, when the male screw member 24a is rotationally driven by the drive motor 23a, the male screw member 24a and the nut member 2 are rotated.
The nut member 25a is driven in the axial direction of the male screw member 24a by the screwing operation between the nut member 25a and the nut member 25a.
AP10 is driven to rotate about one support shaft portion 21a,
The angle of the apex angle between the two cover glasses 14a and 14b of the VAP 10 can be changed. When the other actuator 22b is driven, the VAP 10 is similarly rotated about the other support shaft 21b, so that the angle of the apex angle between the two cover glasses 14a and 14b of the VAP 10 can be changed. . Thus, the VAP 10 becomes a prism that can change the apex angle between the two cover glasses 14a and 14b, and can change the angle of incident light with respect to the optical axis direction of the observation optical system of the scope 1. Note that in the configuration of FIG. 2A, the direction of incident light can be changed in directions of two perpendicular axes.

The TV camera 3 is connected to a color extracting device 27 and a TV monitor 28, respectively. here,
The output signal from the CCD in the TV camera 3 is transmitted to the TV monitor 2
8 is input. Then, an endoscope image observed by the scope 1 is displayed on the TV monitor 28. Further, the output signal from the CCD is output to a color extraction device 2.
7 is also input. The color extraction device 27 detects the position of the color marker 8 at the tip of the forceps 4 from the endoscopic image of the scope 1.

The focus driving means 12 in the field-of-view conversion adapter 2 is connected to the focus control device 29, the zoom driving means 13 is connected to the zoom control device 30, and the two VAP actuators 22a and 22b of the VAP 10 are connected to the VAP control device (control device). (Means) 31. Here, a zoom / focus switch 32 is provided between the focus control device 29 and the zoom control device 30. Further, the VAP control device 31 includes a color extraction device 2.
7, the focus control device 29 and the tracking switch 33 are connected respectively. Note that the tracking switch 33 and the zoom / focus switch 32 are attached to a portion around the grip 7 of the forceps 4.

The output signal from the color extracting device 27 is input to the VAP control device 31. Further, an output signal from the VAP control device 27 is input to two actuators 22a and 22b of the focus control device 29 and the VAP 10. Then, the two VAP actuators 22a of the VAP 10,
22b is controlled by the VAP control device 31,
An endoscope image moving means 34 for changing the area of the endoscope image observed by the CCD in the TV camera 3 by the VAP controller 10 and the VAP controller 31 is formed.

Next, the operation of the above configuration will be described.
First, when the endoscope apparatus according to the present embodiment is used, incident light of an endoscope image observed by the scope 1 passes through the focus lens 9, the VAP 10, and the zoom lens 11 in the visual field conversion adapter 2, and then enters the TV camera 3. An image is formed on an image pickup device such as a CCD.

Here, as shown in FIG. 3A, since the endoscope image 35 of the scope 1 is enlarged by the zoom lens 11, the image pickup portion 3 picked up by the CCD in the TV camera 3
6 becomes a part of the entire endoscope image 35.

When the VAP 10 is driven, the two actuators 2 of the VAP 10 are controlled by the VAP control device 27.
At least one of 2a and 22b is driven. As a result, the angle of the apex angle of the VAP 10 is changed, and the direction of the incident light incident on the zoom lens 11 is, with respect to the optical axis, two directions in the vertical direction of the plane of FIG. Tilted in at least one of the directions. At this time, V
The imaging portion 36 of the endoscope image 35 of the scope 1 formed on the CCD moves according to the angle change of the apex angle of the AP 10.
As a result, an endoscope image on the screen of the TV monitor 28 can be obtained as if the direction of the scope 1 had been changed.

During the observation by the scope 1, the position of the color marker 8 at the tip of the forceps 4 is detected by the color extracting device 27 from the endoscope image of the scope 1. If hue and saturation are used for this color detection, colors can be extracted regardless of brightness.

In this state, when the tracking switch 33 is pressed, the angle of the apex angle of the VAP 10 is adjusted by the VAP control device 31 so that the color marker 8 is arranged at the center of the image pickup portion 36 of the endoscope image 35 in the screen. After the calculation, the two actuators 22a and 22b of the VAP 10 are controlled. Thereby, the angle of the apex angle of the VAP 10 changes, and the color marker 8 is moved to the center position O in the screen of the imaging portion 36 of the endoscope image 35 as shown in FIG.

If the angle of the apex angle of the VAP 10 is changed, the optical path length of the endoscope image 35 in the visual field conversion adapter 2 changes. Therefore, the change in the optical path length by the VAP control device 31 is focused by the focus control device 29. Lens 9
Is commanded to compensate by driving.

When the zoom / focus switch 32 is operated, a control signal is output to the focus control device 29 and the zoom control device 30, and the focus position and the zoom position are changed by the focus drive means 12 and the zoom drive means 13. Is done.

Therefore, the above configuration has the following effects. That is, the VA that changes the angle of the incident light with respect to the optical axis direction of the observation optical system in the visual field conversion adapter 2
An endoscope image moving means 34 including a P10 and a VAP control device 31 for controlling the amount of change in the angle of incident light by the VAP 10 is provided. An endoscope image 35 formed on the CCD in the TV camera 3 by the VAP 10 is provided. Area (imaging part 3)
By changing the position of 6), the CC in the TV camera 3 can be changed.
D (the imaging portion 3)
Since 6) is variable, the field of view of the endoscope image of the scope 1 (the imaging portion 36) can be moved according to the operator's intention without changing the position of the scope 1. Therefore, while the assistant is released from the operation of the scope 1,
Since the surgeon can also change the field of view of the endoscope image of the scope 1 without frustration, the operability of the scope 1 can be improved as compared with the related art.

Further, since the field of view of the endoscope image 35 of the scope 1 (imaging portion 36) can be moved while the CCD in the TV camera 3 is fixed at a fixed position, the 3C
Large TVs such as CD cameras and HDTV cameras
A camera can be used. Further, unlike the case where the CCD is moved, the wiring such as the video cable does not move, so that the durability is high.

FIGS. 4A and 4B show the second embodiment of the present invention.
1 shows an embodiment of the present invention. In the present embodiment, the configuration of the visual field conversion adapter 2 of the first embodiment (see FIGS. 1 to 3A and 3B) is changed as follows.

That is, in the visual field conversion adapter 41 of the present embodiment, the VAP 10 of the first embodiment is replaced with two liquid crystal prisms 42a and 42b, and the VAP actuators 22a and 22b of the first embodiment and The VAP controller 31 is replaced by a liquid crystal prism controller 43, respectively. Otherwise, the configuration is the same as that of the first embodiment.

The liquid crystal prisms 42a and 42b are shown in FIG.
As shown in (B), a TN liquid crystal 44 is sandwiched in a space between a pair of plate-shaped transparent electrodes 43a and 43b provided on two substantially triangular sides. Here, rubbing inclined at 90 degrees is applied to the plane on the liquid crystal side of each of the transparent electrodes 43a and 43b.

Further, in this embodiment, two liquid crystal prisms are used to change the direction of the incident light incident on the zoom lens 11 in the field conversion adapter 2 in two directions, that is, up and down and right and left with respect to the optical axis. The orientations of 42a and 42b are rotated and used by 90 degrees with respect to the optical axis.

When no power is supplied, each liquid crystal prism 4
The major axes of the liquid crystal molecules of the TN liquid crystal 44 in the 2a and 42b are parallel to the substrates of the transparent electrodes 43a and 43b, and when energized, the major axes of the liquid crystal molecules are perpendicular to the substrates of the transparent electrodes 43a and 43b, The refractive index changes. At this time, the refractive index can be continuously varied by changing the voltage applied to each of the transparent electrodes 43a and 43b. Since a change in the refractive index of each of the liquid crystal prisms 42a and 42b occurs due to extraordinary light, a polarizing plate is provided on the transparent electrode 43a on the incident side of each of the liquid crystal prisms 42a and 42b.

Therefore, the above configuration has the following effects. That is, in the present embodiment, since the two liquid crystal prisms 42a and 42b are used as the incident angle changing element, the transparent electrodes 43 of the liquid crystal prisms 42a and 42b are used.
The angle of the incident light of the endoscope image formed on the CCD in the TV camera 3 can be changed by changing the voltage applied to the a and 43b and continuously changing the refractive index. Therefore, also in the present embodiment, V of the first embodiment is used.
The same effect as that of AP10 can be obtained.

Further, in the present embodiment, two cover glasses 14a, 14a, 1 like the VAP 10 of the first embodiment.
Since it is not necessary to use a mechanical drive portion corresponding to the VAP actuators 22a and 22b for changing the angle of the apex angle between the 4b and 4b, the entire view conversion adapter 41 can be reduced in size and durability. This is advantageous in terms of maintenance.

FIG. 5A shows a first modification of the liquid crystal prisms 42a and 42b of the second embodiment. The liquid crystal prism 51 of the present modified example has a configuration in which a TN liquid crystal 53 is sandwiched between parallel transparent electrodes 52a and 52b which are arranged to face each other. Further, the transparent electrodes 52a and 52b of the liquid crystal prism 51 according to the present modified example are constituted by resistance elements. Then, by continuously changing the voltage applied to the transparent electrodes 52a, 52b, the refractive index of the liquid crystal prism 51 can be changed continuously, which is equivalent to the liquid crystal prisms 42a, 42b of the second embodiment. A prism can be configured.

FIG. 5B shows a second modification of the liquid crystal prisms 42a and 42b according to the second embodiment. The liquid crystal prism 61 of this modification is the same as the transparent electrode 52a of the liquid crystal prism 51 of the first modification (see FIG. 5A).
52b is changed as follows. That is, in this modification, the electrode plates 62 of the transparent electrodes 52a and 52b are subdivided into strips, and different voltages are applied to the subdivided electrode elements 62a. Also in this case, the same effect as that of the liquid crystal prism 51 of the first modified example can be obtained.

FIG. 6 shows a modification of the visual field conversion adapter 41 of the endoscope apparatus according to the second embodiment (see FIGS. 4 and 5A and 5B). The field-of-view conversion adapter 71 of this modified example is a compensation prism 72a for compensating the angle of the optical path bent by each of the liquid crystal prisms 42a and 42b on the exit optical path side of the two liquid crystal prisms 42a and 42b of the field-of-view conversion adapter 41 of the second embodiment. , 72b. In this case, the liquid crystal prisms 42a and 42b can compensate for the deviation of the optical axis of the optical path in the visual field conversion adapter 71 from the optical axis direction of the scope 1, and the TV camera 3 can be linearly moved along the optical axis direction of the scope 1. Can be arranged.

FIGS. 7A and 7B show a third embodiment of the present invention.
1 shows an embodiment of the present invention. In the present embodiment, a 3D camera 81 having a view conversion function is provided instead of the view conversion adapter 2 and the TV camera 3 of the first embodiment (see FIGS. 1 to 3A and 3B). 3D camera 8
1 is attached to a scope 1.

Inside the 3D camera 81, a VAP 82 as an incident angle changing element, a focus lens 83, and a zoom lens 84 are sequentially arranged along the optical axis of the observation optical system of the scope 1.

Further, a pupil division optical system 85 for separating left and right parallax is provided on the exit optical path side of the zoom lens 84. The pupil division optical system 85 includes a pair of left and right independent imaging lenses 86L and 86R, and imaging elements 87L and 8L.
7R. The VAP 82 is driven by two actuators 88a and 88b having the same configuration as the two actuators 22a and 22b of the first embodiment.

As shown in FIG. 7B, an HMD (Head Mount Display) 89 is mounted on the head H of the user (operator). The HMD 89 is provided with left and right liquid crystal displays 90a and 90b and a gyro sensor 91. Here, the liquid crystal displays 90a and 90b of the HMD 89 are connected to left and right image pickup devices 87L and 87R of the 3D camera 81 via a CCU (camera control unit) not shown.

Next, the operation of the above configuration will be described.
When the endoscope apparatus of the present embodiment is used, the incident light of the endoscope image observed by the scope 1 is bent by the VAP 82 in the 3D camera 81, and then passes through the focus lens 83 and the zoom lens 84. Is incident on.

Further, the endoscope image from the scope 1 emitted from the zoom lens 84 is formed by the left and right imaging lenses 86L and 86L.
The image is formed on the left and right imaging devices 87L and 87R as images having left and right parallax by the 86R.

The images of the left and right image sensors 87L and 87R of the 3D camera 81 are converted by the CCU into HMD 89.
Are displayed on the liquid crystal displays 90a and 90b, and the endoscope image of the observation field of view of the scope 1 is stereoscopically observed. At this time, the up, down, left, and right movements of the observer's head H are H
It is detected by the gyro sensor 91 of the MD 89. VAP corresponding to the detection signal from the gyro sensor 91
By driving 82, H is adjusted according to the movement of the operator's head H.
The observation field of the scope 1 displayed on the liquid crystal displays 90a and 90b of the MD 89 can be changed. Therefore, the surgeon can observe the stereoscopic image in the body cavity as if he or she were actually visually observing the treatment portion in the body cavity.

Therefore, in the above configuration, since the VAP 82, which is an incident angle changing element, is provided in the 3D camera 81, the position of the scope 1 is not changed as in the first embodiment. The scope of the endoscope image of the scope 1 can be moved according to the intention of the user.
Operability can be improved. Further, the present embodiment has an effect that a 3D scope system capable of converting a visual field can be particularly configured.

FIG. 8 shows a fourth embodiment of the present invention. In the present embodiment, the direction of the optical path in the 3D camera 81 is changed by two mirrors 101a and 101b instead of the VAP 82 of the third embodiment (see FIGS. 7A and 7B). In this configuration, the position of the endoscope image is changed.

Further, two mirrors 101a and 101b
Are mounted on rotating shafts 102a and 102b of a rotary actuator such as a stepping motor so that the rotation angle can be controlled. Here, one of the first mirrors 101a is a rotation axis 1 perpendicular to the paper surface in FIG.
02a. By rotating the first mirror 101a about the rotation axis 102a, the direction of the optical path in the 3D camera 81 can be swung up and down in FIG.

The other second mirror 101b is shown in FIG.
Inside, it is attached to a rotating shaft 102b extending vertically. Then, when the second mirror 101b rotates about the rotation axis 102b, the 3D camera 81
The direction of the light path inside can be swung right and left in FIG.

In this embodiment, the VAP 103 that changes the direction of the endoscope image in only one direction between the zoom lens 84 and the right imaging lens 86R of the third embodiment.
Is provided. This VAP 103 is connected to a VAP actuator 104. The direction of the endoscope image photographed on the right image sensor 87R is the VAP1
03 is finely adjusted. Thereby, the convergence angle of the 3D scope (difference in the direction of the visual field to be observed)
In changing, the relationship between the convergence angle and the three-dimensional effect that are different for each individual can be corrected.

Therefore, in the above-described configuration, the same effects as those of the third embodiment can be obtained. In the present embodiment, in particular, one lens is provided between the zoom lens 84 and the right imaging lens 86R. VAP that changes the direction of the endoscope image only in the direction
Since the 103 is provided, it is possible to configure a 3D scope system capable of controlling a convergence angle and capable of converting a visual field. Therefore, by finely adjusting the direction of the endoscopic image captured by the VAP 103 on the right image sensor 87R,
There is an effect that the relationship between the convergence angle and the three-dimensional effect that is different for each individual can be easily corrected.

FIG. 9 shows a fifth embodiment of the present invention. In the present embodiment, a 3D scope system and a visual field conversion system can be selectively switched and used.

That is, in the endoscope apparatus of the present embodiment, as shown in FIG. 9, a 3D scope system and a visual field conversion system are selectively used for a direct-view rigid scope 111 such as a laparoscope. Possible camera head 112
Are detachably attached. This camera head 11
2 is provided with two left and right optical systems 113a and 113b.

Here, the scope 11 is connected to the observation optical system of the scope 111 in the camera head 112.
First prisms 114a and 114b for separating the endoscope image from 1 into left and right optical systems 113a and 113b are provided.

A stop plate 115 is provided between the first prisms 114a and 114b and the observation optical system of the scope 111 so that the stop plate 115 can be moved in and out of the optical path. This diaphragm plate 1
15, two aperture openings 116a and 116b corresponding to the left and right pupils of a person are formed.

The left optical system 113a further includes a second prism 117a that totally reflects light from the first prism 114a at right angles, a left-eye zoom lens 118a,
An image sensor 119a for the left eye is provided. Here, the image sensor 119a for the left eye is the image sensor moving mechanism 12
0 is attached. Then, the imaging device moving mechanism 1
The imaging device 119 for the left eye is supported by 20 so as to be movable up, down, left and right with respect to the optical axis.

The right optical system 113b is provided with a second prism 117b that totally reflects light from the first prism 114b side at right angles, a right-eye lens 118b, and a right-eye image sensor 119b. I have.

Further, the left-eye image sensor 119a is connected to the input end of the first CCU 121 and the right-eye image sensor 119b
Are connected to the input terminals of the second CCU 122, respectively. Here, an output terminal of the first CCU 121 is connected to a 2D monitor 123 and a scan converter 124, which are general two-dimensional TV monitors.

A scan converter 124 and a color extracting device 125 are connected to the output terminal of the second CCU 122, respectively. Further, the scan converter 12
The output terminal 4 is a 3D monitor 12 capable of displaying a stereoscopic (3D) image.
6 is connected.

A drive mechanism (not shown) of the aperture plate 115 is connected to the aperture control unit 127. The stop control unit 127 controls the movement of the stop plate 115 into and out of the optical path.

A drive mechanism (not shown) of the zoom lens 118a is connected to the zoom control unit 128. The zoom control unit 128 controls the zoom lens 11.
8a is controlled.

The image pickup device moving mechanism 120 is connected to the image pickup device movement control section 129. Further, a color extraction device 125 is connected to the image sensor movement control unit 129. The operation of moving the left-eye image sensor 119a up, down, left, and right with respect to the optical axis is controlled by the image sensor movement control unit 129.

The aperture control unit 127 and the zoom control unit 1
28 and the imaging element movement control unit 129 are connected to a controller 130 that outputs a command signal to each of them.
The controller 130 further includes a changeover switch 13 for switching between a 3D scope system and a visual field conversion system.
1 is connected.

Next, the operation of the above configuration will be described.
When using the endoscope device of the present embodiment, first, either the 3D scope system or the visual field conversion system is selected by operating the changeover switch 131.

Here, when the 3D scope system is selected by the changeover switch 131, a control signal output from the controller 130 is input to the aperture movement control unit 127, the zoom control unit 128, and the image sensor movement control unit 129, respectively. . Then, the stop plate 115 is inserted into the optical path from the scope 111 by the stop movement control unit 127.
Further, the zoom control unit 128 controls the zoom lens 11.
8a is set to the same magnification as that of the right-eye lens 118b, and the driving amount of the image sensor moving mechanism 120 is set by the image sensor moving control unit 129. At this time, the driving amount of the image sensor moving mechanism 120 is set such that the center of the left-eye image sensor 119a coincides with the optical axis of the left-eye optical system 113a. In this state, the operation as the next 3D scope system is performed.

During operation as the 3D scope system, light (endoscopic image) from the scope 111 is
5, the first prisms 114a and 114b, and the second prisms 117a and 117b divide the optical path into left and right optical paths corresponding to parallax between the left and right eyes. At this time, the left optical system 1
The light (endoscopic image) incident on the aperture 13a passes through one aperture opening 116a of the aperture plate 115, the first prism 114a, the second prism 117a, and the left-eye zoom lens 118a in this order, and the image sensor for the left eye. 119a.
Further, the light (endoscopic image) incident on the right optical system 113b sequentially passes through the other aperture opening 116b of the aperture plate 115, the first prism 114b, the second prism 117b, and the right-eye lens 118b. Image sensor 119 for right eye
b.

The endoscope image formed on the left-eye image pickup device 119a is converted into a video signal and then converted into a first CCU.
It is input to 121. Similarly, the right-eye image sensor 119b
Is converted into a video signal, and then input to the second CCU 122. Then, an image is formed on the left-eye image sensor 119a and the right-eye image sensor 119b,
The image data converted into the video signals corresponding to the left and right eyes is input to the scan converter 124 via the first CCU 121 and the second CCU 122. The scan converter 124 generates an image signal so that the left and right images are alternately displayed for each screen, and the 3D monitor 1
26 is displayed.

A liquid crystal filter (not shown) is mounted on the screen of the 3D monitor 126 to change the polarization direction from the screen according to the switching of the image signal. Then, the surgeon can view the screen display of the 3D monitor 126 with the left and right eyes wearing glasses with polarizing plates having different polarization planes, thereby enabling the stereoscopic observation of the endoscope image of the scope 111.

Here, the magnification of the left-eye zoom lens 118a can be changed to be used for fine adjustment of the magnification of the left and right eyes. Also, by slightly moving the position of the left-eye image pickup device 119a. It is also possible to adjust the viewing angle of stereoscopic vision.

When the field-of-view conversion system is selected by the changeover switch 131, a control signal output from the controller 130 is input to the diaphragm movement control unit 127, and the diaphragm plate 115 is moved by the diaphragm control unit 127.
Is removed from the optical path from the optical path, and moved to a position away from the optical path. In this state, the operation as the next visual field conversion system is performed.

When operating as this visual field conversion system, the light (endoscopic image) from the scope 111 is
14a, 114b and second prisms 117a, 117b
And is divided into two optical paths.

At this time, the light (endoscopic image) incident on the right optical system 113b is formed on the image sensor 119b via the first prism 114b, the second prism 117b, and the lens 118b in order. An endoscope image of the entire field of view of the scope 111 is formed on the image sensor 119b.

The light (endoscopic image) incident on the left optical system 113a is formed on the image pickup device 119a via the first prism 114a, the second prism 117a, and the zoom lens 118a in order. At this time, the image sensor 119a
, A part of the endoscope image enlarged by the zoom lens 118a is formed. Then, the imaging device moving mechanism 1
2D by changing the endoscope image cutout position by using
The field of view of the endoscope image displayed on the monitor 123 can be changed.

The output signal from the second CCU 122 is input to a color extraction device 125 that performs color extraction as described in the first embodiment. An output signal from the color extraction device 125 is input to an image sensor movement control unit 129 that controls the image sensor movement mechanism 120. At this time, by detecting the position of the color marker 8 at the tip of the forceps 4 in the image from the video signal sent from the second CCU 122 to the color extraction device 125, the position of the forceps 4 in the endoscopic image can be obtained. . The operation of the image sensor moving mechanism 120 is controlled by the image sensor movement control unit 129 such that the position of the color marker 8 is located at the center position of the image sensor 119a in accordance with the position. The field of view of the endoscopic image is changed such that the forceps 4 are arranged at the center position.

Therefore, the following effects can be obtained with the above configuration. That is, the usable camera head 112 is detachably attached to the scope 111 by selectively switching between the 3D scope system and the visual field conversion system, and either the 3D scope system or the visual field conversion system is selected by operating the changeover switch 131. Since this is enabled, the 3D scope and the visual field conversion system can be selectively switched and used as needed.

Further, when used as a 3D scope system, the convergence angle of the 3D scope can be easily adjusted by setting the driving amount of the image sensor moving mechanism 120 by the image sensor movement control unit 129.

Further, when used as a visual field conversion system, even if the image of the tip of the forceps 4 is not on the screen of the 2D monitor 123, the endoscope is positioned so that the tip of the forceps 4 is located at the center of the screen of the 2D monitor 123. The mirror image can be tracked so that the field of view is converted.

The present invention is not limited to the above-described embodiment, but can be variously modified without departing from the gist of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows.

(Additional Item 1) Endoscope, imaging means, imaging means for forming part or all of the observation image of the endoscope on the imaging means, and A variable prism for changing the angle of the light beam in the vertical and horizontal directions with respect to the optical axis direction, and control means for controlling the amount of change in the light beam angle of the variable prism. An endoscope apparatus wherein an area of an endoscope image observed by an imaging unit is changed by changing a position of a mirror image.

(Additional Item 2) The endoscope apparatus according to additional item 1, wherein the variable prism is a variable apex angle prism using a liquid refraction material. (Additional Item 3) The endoscope apparatus according to Additional Item 1, wherein the variable prism is formed using a substance whose refractive index can be varied.

(Problem to be Solved in Supplementary Item 3) In the method of moving an image pickup device on a plane by a mechanism of a stepping motor and a feed screw and a method using a mirror disclosed in Japanese Patent Application No. 7-115959, the image pickup is performed. Since a mechanical drive mechanism for the element and the mirror is required, there is a problem that it is difficult to equalize the reliability of a camera without a mechanical drive mechanism.

(Purpose of Additional Item 3) Realization of a highly reliable view conversion camera. (Means and Actions for Solving the Problem of Supplementary Item 3) The position of the endoscope image formed on the image pickup means is changed by using a prism that changes the bending direction of the light beam by converting the refractive index electrically.

(Additional Item 4) The endoscope apparatus according to Additional Item 1, wherein the variable prism is composed of a liquid crystal and a transparent electrode, and the variable prism control means controls a voltage applied to the transparent electrode.

(Additional Item 5) The endoscope apparatus according to additional item 1, wherein a plurality of the variable prisms are used on an optical axis, and at least two of them have a vertical angle in a direction orthogonal to the optical axis. .

(Objects of Additional Items 1 to 5) A small-sized field-of-view conversion camera using a large and heavy image pickup means such as a 3CCD camera, an HDTV camera, or a visible light (infrared / ultraviolet) camera is realized.

(Means and Actions for Solving the Problems of Supplementary Items 1 to 5) The angle of the light beam is changed in the vertical and horizontal directions with respect to the optical axis, provided in the image forming means for forming an endoscope image on the imaging means. By changing the position of the endoscope image formed on the imaging unit by the variable prism, the area of the endoscope image observed by the imaging unit is changed.

(Additional Item 6) A scope, an imaging means, and an imaging means are provided, and at least a part of the imaging means can be detachably separated from the imaging means, and an image is formed on the imaging means by the separated imaging means. Endoscope apparatus having imaging position changing means for changing the position of an endoscope image up, down, left and right, and changing the area of the endoscope image observed by the imaging means by the imaging position changing means. .

(Additional Item 7) The endoscope apparatus according to Additional Item 6, wherein the image forming position varying means has a movable mirror. (Additional Item 8) The endoscope apparatus according to Additional Item 6, wherein a variable prism is used for the image forming position changing unit.

(Problems to be Solved in Additional Items 6 to 8)
In the method disclosed in Japanese Patent Application No. 7-115995, since the image pickup device and the visual field conversion means are constituted by a camera head integrated, the method is constituted by a combination of a general endoscope, an imaging adapter and a camera. The camera of the surgical endoscope device cannot be used. In addition, it is necessary to repurchase the entire camera head when changing the camera generation. In addition, commercially available 3CC
High-performance cameras such as D, HDVT, II cameras, and invisible light cameras cannot be used.

(Purpose of Supplementary Items 6 to 8) 3CCD camera, HDTV camera, outside visible light (infrared ray / ultraviolet ray), etc.
A variety of external cameras provide a view conversion function. (Means and Actions for Solving the Problems in Supplementary Notes 6 to 8) By making the imaging means having a built-in field conversion function independent of the imaging means, various external cameras can be used.

(Additional Item 9) An endoscope, a magnifying optical system for observing an endoscope image, and a stereo image photographing means for obtaining left and right images with light rays from the magnifying optical system. A stereoscopic endoscope device comprising: means for changing a direction; and means for changing a light beam direction.

(Additional Item 10) The stereoscopic endoscope apparatus according to Additional Item 9, wherein the light beam direction changing means is configured by using two or more mirrors. (Additional Item 11) The stereoscopic endoscope apparatus according to Additional Item 9, wherein the light beam direction changing means is a variable apex angle prism using a liquid refraction material.

(Additional Item 12) The stereoscopic endoscope apparatus according to additional item 9, wherein the light beam direction changing means is configured by using a substance whose refractive index can be changed. (Prior art of Supplementary items 1 to 12) 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 observed by the endoscope. 2. Description of the Related Art Endoscopic surgery is known 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 in a visual field. 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.
This frees the assistant holding the endoscope,
In addition, the surgeon can freely change the field of view in the direction he or she wants.

On the other hand, Japanese Patent Application No. 7-115995 discloses a method of freely changing the field of view of an endoscope without using a robot arm. 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.

Japanese Patent Application No. 7-115995 discloses an image sensor moving mechanism for moving an image sensor in parallel using a stepping motor and a feed screw. Further, there is disclosed a method of changing the range of an endoscope image formed on an image sensor by tilting an optical axis using a mirror.

Also, as a camera for endoscopic surgery at present,
A small camera composed of one small CCD is often used. However, recently, to improve image quality, RG
B. A 3 CCD camera using CCDs of each color, a high-definition (HDTV) camera realizing twice or more the resolution of conventional, a high-sensitivity image intensifier camera for observing weak light such as fluorescence observation, an infrared camera and an ultraviolet camera For example, useful but large cameras have been put to practical use.

Japanese Patent Application Laid-Open No. 61-223819 discloses a camera used for correcting a camera shake of a video camera using a variable apex angle prism composed of a prism filled with a liquid having a high refractive index.

Further, Japanese Patent Application Laid-Open No. 2-148013 discloses a direction in which the viewing direction of an optical system provided at the tip of a flexible mirror is changed by using a liquid crystal prism whose refractive index changes with voltage.

(Problems to be Solved in Additional Items 1 to 12) In Japanese Patent Application Laid-Open No. Hei 6-30896, an operator or a patient's peripheral device may interfere with a robot arm. Unintended movements of the robot can hurt the patient. It is large and inconvenient for transportation, installation and sterilization.

Japanese Patent Application No. 7-115995 has many advantages such as high security, small size, and replacement with a normal endoscope and TV camera. However, in the method in which the image pickup device is moved on a plane by the mechanism of the stepping motor and the feed screw, if the size of the image pickup device becomes large, the driving mechanism becomes large, which is not practical. Therefore, 3CCD camera, HDTV camera,
A camera using a large-sized image sensor, such as an II camera and an invisible light camera, has difficulty in realizing the view conversion function.

In the method using a mirror, it is not necessary to move the image pickup device, so that it is easy to use a large image pickup device. However, the drive mechanism of the mirror is large and the whole camera becomes large.

(Prior Art in Additional Items 9 to 12)
-160316, sharing the insertion part of the scope,
There is disclosed a rigid stereoscope that separates light beams into left and right light beams in the vicinity of an eyepiece.

JP-A-7-328024 discloses a stereoscopic scope having two optical systems and an image sensor at the tip of a rigid scope having a curved portion for performing stereoscopic observation. In this scope, the observation field of view can be changed without moving the scope by bending up, down, left, and right.

(Problems to be Solved in Additional Items 9 to 12) In order to change the viewing direction with a rigid stereoscopic scope disclosed in Japanese Patent Application Laid-Open No. 8-160316, a Japanese Patent Application No. It is necessary to connect a camera head having a field-of-view conversion function as shown in US Pat. No. 1,115,995, and the configuration is complicated, and the apparatus is large and expensive, which is not practical.

As disclosed in JP-A-7-328024,
In a stereoscopic scope that has two optical systems and an image sensor at the tip of a rigid scope having a curved portion and performs stereoscopic observation, the observation field of view can be changed by bending up, down, left and right, but a large resolution with a large resolution There is a disadvantage that an image sensor cannot be used. Also, Japanese Patent Application Hei 7-115
In a camera head having a field-of-view conversion function as disclosed in Japanese Patent Application Laid-Open No. 7-9595, it is possible to perform observation in the same way as moving a scope forward and backward by a zoom lens.
The method of 328024 has the disadvantage that a means for moving the scope forward and backward must be provided separately.

(Purpose of Supplementary Items 9 to 12) A view conversion function is realized by a 3D scope. (Means and Actions for Solving the Problems in Supplementary Items 9 to 12)
By sharing the endoscope and the magnifying observation optical system, providing a means for changing the direction of light rays in the magnifying observation optical system, and then providing stereo image photographing means for separating and forming left and right images,
Enables field of view conversion with a 3D scope.

(Additional Item 13) In a stereoscopic endoscope for obtaining left and right images by two optical systems, a variable prism is provided in the middle of at least one of the optical systems to change the convergence angle of the left and right images. Stereoscopic endoscope.

(Additional Item 14) The stereoscopic endoscope according to Additional Item 13, wherein the variable prism is a variable apex angle prism using a liquid refraction material. (Additional Item 15) By the variable prism, a convergence angle,
Item 13. The stereoscopic endoscope according to additional item 13, wherein the observation image can be adjusted in two vertical directions.

(Additional Item 16) The stereoscopic endoscope according to additional item 13, wherein the variable prism is made of a substance whose refractive index can be changed by a voltage. (Prior art of Supplementary items 13 to 16)
No. 16, published in Japanese Patent Application Laid-Open No. 16-163, discloses a rigid stereoscopic scope in which the insertion part of a scope is shared and a pupil-dividing mirror separates right and left light beams near an eyepiece by changing a convergence angle by translating the pupil-dividing mirror in parallel. A device capable of changing the three-dimensional effect of a visual field is disclosed.

(Problems to be Solved by Additional Items 13 to 16) Japanese Patent Application Laid-Open No. 8-160316 discloses a method of changing a convergence angle by moving a pupil division mirror in parallel to change a stereoscopic effect of an observation visual field. If the pupil division mirror is not slid with very high precision, the vertical positional relationship between the left and right images is displaced, and the stereoscopic observation cannot be performed.

(Purpose of Supplementary Items 13 to 16) A stereoscopic endoscope apparatus capable of easily adjusting a convergence angle without a high-precision mechanism. (Means and Actions for Solving the Problems in Additional Items 13 to 16)
A variable convergence angle mechanism is configured using a variable prism capable of bending a light beam. Since the variable prism has a small rate of bending the light beam with respect to the apex angle and the rate of change in the refractive index, the convergence angle can be easily finely adjusted even if the variable means is not highly accurate.

(Means and Action for Solving the Problem of Supplementary Item 16) Since a prism capable of changing the amount of bending of a light beam by voltage is used, there is no mechanical operation part, and therefore, a precise and highly reliable convergence angle adjusting mechanism. Can be realized.

(Effects of Additional Items 1 to 16) In the visual field conversion endoscope device, a large-sized camera such as a 3CCD, a high-definition television, or a special observation camera can be used, and the size can be reduced.

(Additional Item 17) In an endoscope apparatus provided with an endoscope and an image pickup means for picking up a part or all of the observation image of the endoscope, the endoscope apparatus is disposed inside the image pickup means, Optical axis deflecting means for deflecting the optical axis of the imaging means,
An endoscope apparatus comprising: a control unit that controls the light deflection unit to change an imaging range of the imaging unit.

(Additional Item 18) The endoscope apparatus according to Additional Item 17, wherein the optical axis deflecting means is a variable apex angle prism that is made of a liquid refraction material and that can change the apex angle. .

(Appendix 19) The optical axis deflecting means is made of a material having a variable refractive index.
The endoscope apparatus according to claim 1. (Supplementary Note 20) The optical axis deflecting means includes a pair of transparent electrodes and a liquid crystal sandwiched between the transparent electrodes, and changes a refractive index by applying a voltage to the transparent electrodes. 18. The endoscope apparatus according to claim 17, wherein

(Additional Item 21) The optical axis deflecting means is composed of a pair of transparent electrodes and a liquid crystal sandwiched between the transparent electrodes, and applies a voltage to each of the pair of transparent electrodes. 18. The endoscope apparatus according to claim 17, wherein the refractive index is changed for each portion.

(Supplementary Item 22) The supplementary item 20 or item 21, wherein the optical axis deflecting means is a triangular prism composed of a transparent electrode and a liquid crystal interposed between the transparent electrodes. Endoscope device.

(Additional Item 23) The additional item 20 or the additional item 21, wherein the optical axis deflecting means is a parallel plane prism made of a transparent electrode and a liquid crystal interposed between the transparent electrodes. Endoscope device.

(Additional Item 24) It is assumed that a plurality of the triangular prisms are used and at least two of the triangular prisms are arranged so that the apex angles are rotated by 90 ° with respect to the optical axis of the imaging means. 23. The endoscope apparatus according to claim 22, characterized in that:

(Additional Item 25) In an endoscope apparatus provided with an endoscope and an image pickup means detachable from the endoscope and imaging part or all of an observation image of the endoscope, An optical axis changing means arranged inside the imaging means for changing an optical axis of the imaging means of the imaging means, and a control means for controlling the optical axis changing means to change an imaging range of the imaging means. An endoscope apparatus characterized in that:

(Additional Item 26) The endoscope apparatus according to additional item 25, wherein the optical axis changing means is a variable apex angle prism that is made of a liquid refraction material and that can change the apex angle. .

(Additional Item 27) The endoscope apparatus according to Additional Item 25, wherein the optical axis changing means is a mirror which can move in parallel with the optical axis of the image forming means. (Additional Item 28) In an endoscope apparatus including an endoscope and an imaging unit that captures an observation image of the endoscope, a magnification of an observation image that is arranged inside the imaging unit and captured by the imaging unit is set to A magnifying optical system, a stereo image photographing means having an optical path disposed in the imaging means behind the magnifying optical system and arranged symmetrically for left and right observation, and arranged inside the imaging means. And an optical axis changing means for changing an optical axis of the magnifying optical system.

(Additional Item 29) The endoscope apparatus according to Additional Item 28, wherein the optical axis changing means is a plurality of mirrors that can move in parallel with the optical axis of the magnifying optical system. (Supplementary Note 30) The optical axis changing means is a variable apex angle prism that deflects the optical axis of the magnifying optical system and can change the apex angle considerably as a liquid refraction material. 29. The endoscope apparatus according to 28.

(Additional Item 31) The additional item 28, wherein the optical axis deflecting means is made of a substance having a variable refractive index.
The endoscope apparatus according to claim 1. (Additional Item 32) In a stereoscopic endoscope apparatus having two optical paths symmetrically arranged for left and right observation, the stereoscopic endoscope apparatus is arranged in the one optical path to change a convergence angle of the left and right images, An endoscope apparatus comprising: an optical axis deflecting unit that changes an optical axis of the optical path; and a control unit that controls the optical axis changing unit.

(Additional Item 33) The endoscope apparatus according to additional item 32, wherein the optical axis deflecting means is a variable apex angle prism that is made of a liquid refraction material and that can change the apex angle. .

(Additional Item 34) The additional item 32, wherein the optical axis deflecting means is made of a substance having a variable refractive index.
The endoscope apparatus according to claim 1. (Additional Item 35) The optical axis deflecting means is composed of a pair of transparent electrodes and a liquid crystal interposed between the transparent electrodes, and changes the refractive index by applying a voltage to the transparent electrodes. 33. The endoscope apparatus according to claim 32, wherein

[0137]

According to the present invention, an incident angle changing element for changing the angle of incident light with respect to the optical axis direction of the observation optical system, and control for controlling the amount of change in the angle of incident light by the incident angle changing element. Means for changing the position of the endoscope image formed on the imaging means by the incident angle changing element, thereby changing the area of the endoscope image observed by the imaging means. With this configuration, it is possible to reduce the size of a field-of-view conversion camera using a large and heavy imaging means such as a 3CCD camera, an HDTV camera, or a visible light (infrared / ultraviolet) camera.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an entire endoscope apparatus according to a first embodiment of the present invention.

FIG. 2A is a perspective view showing a variable apex angle prism of the endoscope apparatus according to the first embodiment, and FIG. 2B is a main part showing a shaft support portion of two cover glasses of the variable apex angle prism; FIG. 3C is a perspective view showing an engagement portion between a moving member of the actuator of the apex angle variable prism and a pin of one cover glass frame.

FIGS. 3A and 3B show a moving state of an endoscope image according to the first embodiment, wherein FIG. 3A is a plan view showing a state before the endoscope image is moved, and FIG. The top view showing a state.

FIG. 4A is a schematic configuration diagram of a main part of an endoscope device according to a second embodiment of the present invention, and FIG. 4B is a schematic diagram of a liquid crystal prism of the endoscope device according to the second embodiment; Diagram.

5A is a schematic configuration diagram illustrating a first modification of the liquid crystal prism according to the second embodiment, and FIG. 5B is a diagram illustrating a second modification of the liquid crystal prism according to the second embodiment; FIG.

FIG. 6 is a schematic configuration diagram of a main part showing a modified example of the visual field conversion adapter of the endoscope device according to the second embodiment.

FIG. 7 shows a third embodiment of the present invention,
(A) is a schematic configuration diagram of the entire endoscope apparatus, and (B) is a schematic configuration diagram of a main part showing a 3D camera.

FIG. 8 is a schematic configuration diagram of a main part of an endoscope apparatus according to a fourth embodiment of the present invention.

FIG. 9 is a schematic configuration diagram of an entire endoscope apparatus according to a fifth embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 scope 2, 41 field-of-view conversion adapter (imaging means) 3 TV camera 10, 82 VAP (incident angle changing element) 31 VAP controller (control means) 34 endoscope image moving means 42a, 42b liquid crystal prism (incident angle changing element) 43) Liquid crystal prism control device (control means) 81 3D camera (imaging means)

Claims (1)

[Claims] 1. An endoscope apparatus provided with an image forming means for forming a part or all of an endoscope image incident on an observation optical system of an endoscope on an image pickup means. Provided, an incident angle changing element that changes the angle of incident light with respect to the optical axis direction of the observation optical system,
Controlling means for controlling a change amount of the angle of the incident light by the incident angle changing element, and changing a position of an endoscope image formed on the image pickup means by the incident angle changing element, thereby obtaining the image pickup image. An endoscope apparatus comprising: an endoscope image moving means for changing an area of an endoscope image observed by the means.