JPH10309258A - Body cavity examination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an examination device for the body cavity with which an operator can obtain a visual field at a requested position and with a requested magnification in such a wide range of visual field inside the body cavity as exceeds the visual field angle of a scope by the operators's own operation. SOLUTION: This device for examination inside the body cavity has the top part 3 which has an imaging element 10 to take an image obtained through examination inside the body cavity and a magnification changing means (a zoom lens 8 and an actuator 9) to change a rate of magnification of the image taken by the imaging element 10. The device has also curving means (consisting of plural curving tubes, wires 11a, 11b, 11c, and 11d, pulleys 12a and 12b, gears 13a and 13b, and motors 14a and 14b) to curve the top part 3 at least in two directions, position of interest detecting means (a color marker 18 and a color detecting means) to detect a position of interest, and a drive control means to produce an image to be examined at a position of interest by controlling the drive quantity of the magnification changing means and the curving means corresponding to the detected position of interest.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a body cavity observation device.

[0002]

2. Description of the Related Art In an operation under an endoscope, 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 displayed on the endoscope. 2. Description of the Related Art Conventionally, a treatment operation is performed while observing a treatment state of an affected part by a treatment instrument with an endoscope within an observation field of view.

For example, JP-A-6-30896 discloses that
It discloses that an endoscope is held by a robot arm and the position of the endoscope is changed according to a command of an operator. This frees the assistant from the task of holding the endoscope and allows the surgeon to change the field of view in any direction he or she wants.

On the other hand, Japanese Patent Application No. 7-214824 discloses that
A method for freely changing the field of view of an endoscope without using a robot arm is disclosed. In this method, an imaging range of an endoscope image is changed by moving a part of an imaging optical system by an actuator. Since the movable part is provided inside the apparatus, the risk due to the operation of the apparatus is small and the safety is high. Moreover, since it is small and used in place of a combination of a normal endoscope and a TV camera, handling is easy. Further, since the visual field can be changed by detecting the tip of the forceps, it is easy for the operator to change the visual field during the operation.

Further, Japanese Patent Application No. 6-315281 discloses that
An electric zoom of an endoscope using a piezoelectric actuator is disclosed. Japanese Patent Application Laid-Open No. 8-164148 discloses that a field of view is converted by electrically cutting out and enlarging a part of an endoscope image.

Further, Japanese Patent Application Laid-Open No. 7-328024 discloses a manipulator device having a stereoscopic endoscope whose tip is curved. In this manipulator device, the field of view of the stereoscopic endoscope provided at the distal end can be changed by electrically moving the curvature of the distal end.

[0007]

However, in Japanese Patent Application Laid-Open No. Hei 6-30896, since the robot arm is driven to change the field of view of the endoscope, the operation of the robot arm interferes with the surgeon or the surgical instrument. there is a possibility. Further, the range of change of the visual field is limited by the operation range of the robot arm.

Further, Japanese Patent Application No. 7-214824 has a disadvantage that the range in which the field of view can be converted is limited to the range of the scope of the scope. In addition, since a part of an image is cut out and displayed in an enlarged manner, there is a disadvantage that the image quality and the optical ability of the optical system of the scope and the camera are required to be several times or more as compared with the conventional case.

Japanese Patent Application Laid-Open No. 8-164148 has a disadvantage that the resolution of an enlarged image is lower than that of an obtained image. Also, it is difficult to observe a part other than the observation range of the scope.

[0010] Further, in Japanese Patent Application Laid-Open No. 7-328024, in order to obtain an image approaching the object, it is necessary to drive the manipulator holding the entire endoscope to bring the scope closer, and a manipulator is required. However, there is a disadvantage that the manipulator may interfere with an operator or a surgical instrument.

The in-vivo observation device of the present invention has been made in view of such a problem, and its object is to provide a desired position and a desired position of an operator from a wide field of view in the body cavity. It is an object of the present invention to provide an in-body-cavity observation device capable of obtaining a field of view of an enlargement ratio by an operator's own operation.

[0012]

In order to achieve the above object, an in-vivo observation apparatus according to the present invention is provided with an image pickup means for picking up an observation image obtained by observing the inside of a body cavity, and an image picked up by the image pickup means. A tip provided with magnification changing means for changing the magnification of the observed image, a bending means for bending the tip in at least two directions, an interest position detecting means for detecting an interest position, and an interest position detection. A drive control unit that controls a drive amount of the magnification changing unit and the bending unit in accordance with the position of interest detected by the unit to obtain an observation image of the position of interest.

That is, in the in-vivo observation apparatus of the present invention, the image pickup device and the magnification varying means are arranged at the distal end, and the bending means for moving the distal end up, down, left and right is provided. Then, an observation image of the interested position is obtained by driving the magnification changing means and the bending means in accordance with the interesting position in the image designated by the operator.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing a configuration of an in-vivo observation device according to a first embodiment of the present invention.
And an operation unit 2. The insertion section 1 includes a distal end 3, a curved section 4, and a rigid pipe 5. The rigid pipe 5 is inserted into the body wall 21 through the trocar 6.
The root of the insertion section 1 is held by a scope holder 7 and is held and attached to a surgical bed (not shown). Inside the distal end portion 3, a zoom lens 8 as a variable magnification optical system, an actuator 9 as an optical system driving unit for driving the zoom lens 8, and a zoom lens 8
And an image pickup device (image pickup means) 10 for picking up an image according to. The zoom lens 8 and the actuator 9 constitute a magnification changing means.

The bending portion 4 comprises a bending tube composed of a plurality of bending pieces, and has wires 11a, 11b, 11c, 11d.
You can move up, down, left and right by pulling. The wires 11a, 11b, 11c, and 11d are guided into the operation unit 2 by the coil sheaths 20a and 20c and a coil sheath (not shown). The wires 11a and 11b are connected to a pulley 12 inside the operation unit 2.
a. The pulley 12a is connected to the gear 13a and the shaft of the motor 14a. Similarly, wire 11
c and 11d are connected to the pulley 12b, and the shaft of the pulley 12b is connected to the shaft of the gear 13b and the motor 14b. Further, a forceps 15 as a treatment tool is inserted into the body wall 21, a handle 16 for operating the forceps 15 is provided, and a jaw 17 for gripping is provided at a distal end portion of the forceps 15. The jaw 17 is provided with a color marker 18. A tracking switch 19 is provided near the handle 16. A plurality of bending tubes described above and wires 11a, 11b, 11c, 11d;
The pulleys 12a and 12b, the gears 13a and 13b, and the motors 14a and 14b constitute a bending unit.

The operation of the above configuration will be described below. The field of view 22 inside the body cavity is changed by the zoom lens 8 to the image sensor 1
Observation is possible by forming an image at 0. This field of view 22
Can be converted by changing the direction of the distal end portion 3 with the bending portion 4. The bending portion 4 includes wires 11a, 11b, 11c, 11
By subtracting d, the direction can be changed.

That is, the rotation of the motor 14a is
The speed is reduced at a and transmitted to the pulley 12a. When the pulley 12a rotates rightward, the wire 11a is pulled, and the endoscope bends upward. Similarly, if the pulley 12a is rotated to the left, the wire 11b is pulled and the field of view can be changed downward. Also, the motor 14b is driven, and the rotation is
By decelerating at 3b, the pulley 12b rotates,
When the pulley 12b rotates rightward, the wire 11c is pulled, the tip 3 faces leftward, and the field of view moves leftward. When the pulley 12b rotates to the left, the wire 11b is pulled, the tip 3 turns to the right, and the visual field 22 moves to the right.

In this manner, by driving the motors 14a and 14b by the drive control means (not shown) in accordance with the operation of the tracking switch 19, the visual field is converted by moving the distal end portion 3 of the endoscope up, down, left and right. can do. Also, by changing the magnification of the zoom lens 8 using the actuator 9, the range of the field of view can be expanded,
Due to the narrowing, the range of the visual field captured by the image sensor 10 changes, and the same visual field conversion as when the endoscope is moved forward and backward can be obtained.

As a result, it is possible to obtain the same field of view as moving the endoscope up, down, left, right, or closer or farther in the body cavity despite holding the insertion section 1 of the endoscope with the scope holder 7. Can be.

FIG. 2A is a diagram showing a detailed configuration of the zoom lens 8 described above. The zoom lens 8 includes an objective lens 23, a fixed lens 24, a moving lens 25, a moving lens arm 26 that supports the moving lens 25, and a moving knob 27 connected to the moving lens arm 26.

The moving knob 27 is connected to the actuator 9. When the actuator 9 moves, the moving knob 2
7 moves left and right, and the moving lens arm 26 moves according to the left and right movement of the moving knob 27. As a result, the movable lens 25 moves, and the size of the image captured by the image sensor 10 is changed by the movement of the movable lens 25.

FIG. 2B is a diagram showing a detailed configuration of the actuator 9. The actuator 9 is a moving body 29
, An outer pipe 28, a contact portion 31, a piezoelectric element 30,
And a wiring 32. The left end of the moving body 29 is engaged with the moving knob 27.

A contact portion 31 which is a part of the moving body 29 is in contact with the outer pipe 28, and the contact portion 31 is pressed against the outer pipe 28 by a spring force to open outward. The left end of the piezoelectric element 30 is connected to the moving body 29, and the wiring 32 is connected to the right end of the piezoelectric element 30. The piezoelectric element 30 expands and contracts left and right by applying a higher voltage than the wiring 32.

The operation of the zoom lens 8 and the actuator 9 will be described below. When a high voltage is suddenly applied to the piezoelectric element 30, the piezoelectric element 30 rapidly expands in the lateral direction. The moving body 29 moves leftward due to the impact force, and as a result, the moving knob 27 moves leftward. Here, when the voltage applied to the piezoelectric element 30 is gradually reduced, the contact portion 3
The position 1 does not move because it is engaged with the pipe 28 by frictional force. Therefore, even if the piezoelectric element 30 contracts, the position does not change. When the operation of rapidly applying a high voltage to the piezoelectric element 30 and slowly reducing the voltage is repeated, the moving body 2
9 moves to the left, and consequently the movement knob 27 can move to the left. In addition, by making the pattern of the voltage applied to the piezoelectric element 30 opposite to positive or negative, the moving body 29
Moves to the right.

Hereinafter, the automatic forceps tracking function used in the present embodiment will be described with reference to FIGS. 3 (A) and 3 (B). FIG. 3A shows a color image 18 at the distal end of the forceps 15 captured by the image sensor 10 shown in FIG.
FIG. When the tracking switch 19 as the operation input means provided on the forceps 15 is pressed, the color detection means detects the position on the monitor screen 34 of the color marker 18 as the body cavity instruction means by performing a color extraction process. Next, the motors 14a and 14b are driven so that the obtained position of the color marker 18 on the monitor screen 34 approaches the screen center 33 as the position of interest. Tracking switch 19
By continuously pressing, the color marker 18 approaches the center 33 of the screen, and as shown in FIG.
The position 8 reaches the screen center 33.

With this arrangement, the operator places the tip of the forceps 15 in the center of the area to be viewed, keeps pressing the tracking switch 19 on the spot, and presses the color marker 18 until the center of the screen is reached, so that the surgeon can view his / her desired view Can be freely specified.

The manual conversion of the field of view will be described below. FIG. 4 is a diagram showing a configuration in a case where manual conversion of the field of view of the endoscope is performed. Even with such a simple configuration, the field of view of the endoscope can be freely converted.
An operation switch 35 is provided near the handle 16 of the forceps 15. The operation switch 35 is provided with a joystick 36 and a zoom switch 37 as operation input means. The joystick 36 can move up, down, left, and right. Also, the zoom switch 37
Can move laterally. By moving the joystick 36 in the vertical direction, the motor 14a is turned on, and the motor 14a is driven to pull the pulley 12a.
Rotates to the right. As a result, when the joystick 36 is moved upward, the field of view is converted upward. The same applies to the horizontal direction.

When the zoom switch 37 is operated to the near side, the zoom lens 8 is driven to zoom up. Also, when the zoom switch 37 is pushed forward, the zoom lens 8 moves, and a wide observation field of view can be obtained. Also in this method, the surgeon can freely change the visual field by operating the forceps.

As shown in FIGS. 5A and 5B, by moving the cursor position 38 on the monitor screen 34 with the joystick 36, a more precise movement position can be specified. That is, as shown in FIG. 5A, the cursor position 38 on the monitor screen 34 is designated by moving the joystick 36. By pressing a designation button (not shown) at the designated position, the visual field can be moved so that the center of the visual field coincides with the cursor position 38.

As shown in FIG. 5B, the pointing area 40 is designated by designating two points 39a and 39b on the monitor screen 34 with a cursor. By driving the motors 14a and 14b for changing the viewing direction in accordance with the position and size of the pointing area 40 and the actuator 9 of the zoom lens 8 for changing the magnification, the pointing area 40 is displayed on the monitor screen 34. It can occupy the whole.

Hereinafter, the correction of the view conversion direction will be described. In order to precisely move the bending portion 4 to a specific position on the screen 34 shown in FIGS. 5A and 5B to change the direction, there is a problem as shown in FIG. . That is, the movement amount of the wires 11a, 11b, 11c, and 11d does not correspond to the movement amount of the visual field.

That is, the movement of the wires 11a and 11b corresponding to the vertical movement of the visual field is stopped and fixed.
When c and 11d are driven by the pulley 12b, FIG.
A locus as indicated by 41 is drawn. A pulley 1 for stopping the movement of the wire in the left-right direction and pulling the wire moving up and down.
By moving 2a, the visual field draws a locus like 42.
It can be seen that since each bending tube is constituted by a bending piece, a curved trajectory is drawn.

Therefore, by providing an electric correction means in the control device (not shown) of the motors 14a and 14b, as shown by trajectories 43 and 44 in FIG.
By correcting the movement trajectories in the horizontal direction and the vertical direction so as to be horizontal and vertical, even if a position on the screen is designated as shown in FIG. be able to.

FIGS. 7A and 7B are views showing another configuration of the zoom lens 8 described above. 7A, the fixed lens 48 is fixed to the lens barrel 45, and the moving lens A
49 is fixed to the lens unit A46. Further, the moving lens B50 is fixed to the lens unit B47. A cam pin A51 is fixed to the lens arm A46.
A cam pin B52 is fixed to the lens arm B47. The lens arm A 46 is inscribed in the inner cylinder of the lens barrel 45 and can slide left and right. In addition, Lenswak B47
Is inscribed in the lens arm A46 and is slidable left and right. The lens barrel 45 is provided with a long hole in the left-right direction with respect to the drawing direction so that the cam pin A51 can move left and right. Similarly, for the cam pin B52, a long hole is provided in the lens barrel 45 and the lens arm A46 in the left-right direction. Thus, by moving the cam pin A51 left and right, the lens work A46 and the moving lens A49 can be moved left and right. Similarly, by moving the cam pin B52 right and left, the lens block B47 and the moving lens B50 can be moved right and left. A cam ring 53 is rotatably provided outside the lens barrel 45.

Further, as shown in FIG. 7B, the cam ring 53 is provided with a cam groove 77a and a cam groove 77b. The cam pin A51 is in contact with the inside of the cam groove 77a, and the cam pin B52 is in contact with the inside of the cam groove 77b. Here, the moving lens A49 and the moving lens B are rotated by rotating the cam ring 53 left and right.
Moves relative to the fixed lens 48 and the image sensor 10. This changes the magnification of the zoom lens,
The magnification of the image picked up by the image sensor 10 changes.

FIGS. 8A and 8B show the insertion portion 1 described above.
It is a figure showing another composition of. First, the configuration in FIG. 8A is described. Cam ring 5 in FIGS. 7A and 7B
A gear is provided on the outside of the ring gear 3 to form a ring gear 54. The ring gear 54 meshes with a pinion gear 55. The pinion gear 55 is connected to a motor 57 via a flexible shaft 56. Flexible shaft 56
Pass through the curved portion 4, the hard pipe 5, and the inside of the hard pipe 5. The rotation of the motor 57 rotates the flexible shaft 56, and the rotation is transmitted to the pinion gear 55 to rotate the ring gear 54. Therefore, by rotating the motor 57 in the left-right direction, the magnification of the zoom lens can be changed.

Next, the configuration of FIG. 8B will be described. 7A and 7B, a cam pulley 58 is provided by providing a groove for winding a wire 59 outside the cam ring 53.
Is configured. The wire 59 passes through the inside of the coil sheath 60 and is wound around the pulley 61. The pulley 61 is driven to rotate by a motor 62. When the pulley 61 is rotated rightward by driving the motor 62, the wire 5
9 is pulled, and the cam pulley 58 rotates. When the motor 62 is rotated in the reverse direction to rotate the pulley 61 counterclockwise, the cam pulley 58 is rotated by the urging force of the torsion spring 63 connected to the cam pulley 58, and the magnification can be changed.

In addition, by using a manipulator having a plurality of joints as disclosed in Japanese Patent Publication No. 7-509637, instead of the scope holder 7 of this embodiment, the degree of freedom of observation can be further increased. .

According to the above-described first embodiment, the surgeon
Even if the assistant does not have an endoscope and a camera, the operator can obtain a field of view at a desired position and magnification from a wide field of view in the body cavity by himself / herself.

Hereinafter, a second embodiment of the present invention will be described. The second embodiment is intended to realize stereoscopic observation as if the operator were in a body cavity. FIG.
(A), (B) is a diagram showing a configuration of a second embodiment of the present invention. Here, as shown in FIG. 9A, the zoom lens 64 and the imaging devices 66a and 66 corresponding to the right and left eyes of the operator are provided on the distal end portion 3 of the insertion section 1 in the first embodiment.
Image forming lenses 65a and 65b for forming an image on b are provided. Thereby, the image of the endoscope corresponding to the left and right parallax is projected on the imaging devices 66a and 66b, and the inside of the body cavity can be observed three-dimensionally.

As shown in FIG. 9B, the surgeon wears a head-mounted display (HMD) 67. The HMD 67 is provided with liquid crystal monitors 68a and 68b corresponding to the left and right eyes. In addition, HMD67
Is provided with a posture sensor 69b for detecting a movement of an operator's head by a change in magnetism, and a magnetic source 6 for generating a magnetic field.
9a is fixed at a specific position.

The operation of the second embodiment will be described below. When the surgeon moves the head up and down and left and right, the movement is taken out as a displacement of the attitude sensor 69b with respect to the magnetic source 69a. The field of view conversion is performed by driving the bending portion 4 shown in FIG. The movement of the surgeon in the front-rear direction is also detected by the posture sensor 69b. The magnification of the zoom lens 64 is varied according to the movement in the front-back direction. Thus, if the operator turns left, an image on the left can be obtained, and if the operator approaches, a field of view can be obtained as if the target was enlarged by the zoom lens 64 and approached. Further, when the head is pulled, the magnification of the zoom lens 64 is reduced, so that it is possible to obtain a visual field as if it were far away.
Moreover, the surgeon can use the HMD 67 from each of the imaging devices 66a and 66b.
Images having left and right parallaxes are obtained on the liquid crystal monitors 68a and 68b, so that the inside of the body cavity can be three-dimensionally observed.

According to the above-described second embodiment, the surgeon can observe a three-dimensional image of the inside of the body cavity in accordance with his or her own movement as if it were curved. Hereinafter, a third embodiment of the present invention will be described. The third embodiment intends to expand the movable visual field range.

FIG. 10 is a diagram showing the configuration of the third embodiment of the present invention. The difference from the configuration of the first embodiment shown in FIG.
In the insertion portion 1, the first bending portion 7 is attached to the tip of the rigid pipe 5.
0 is connected, and the first curved portion 70 is connected to the distal end portion 3 via the curved portion 73 and the second curved portion 72 ahead of the curved portion 73. The first bending portion 70 and the second bending portion 72
It has the same configuration as the bending portion 4 of FIG. Further, the operation unit 2 is provided with actuators corresponding to the respective curvatures.

In the configuration of the first embodiment described above, when the insertion section 1 is inserted from the trocar 6, the object 71 on the other side of the obstacle 126 cannot be observed. Part, the first bending part 70 and the second
Since the curved portion 72 is provided, it is possible to obtain the same field of view as when the trocar 6 is switched to the second trocar 74 in the first embodiment. As a result, the obstacle 126
It is possible to observe the object 71 on the other side of.

Further, as shown in Japanese Patent Application Laid-Open No. 8-164148, by electrically enlarging a part of the observation field of view 75, it is possible to enlarge and observe only the field of view 76 around the object 71. is there. This makes it possible to observe a field of view that was not obtained when the endoscope was inserted from the trocar 6.

In this configuration, as described above, the obstacle 12
In addition to observing while avoiding Step 6, the same object can be observed from different angles, and the three-dimensional positional relationship within the body cavity can be grasped.

According to the third embodiment, the visual field in the body cavity can be largely changed without changing the trocar hole into which the endoscope is inserted. In addition, an object that cannot be normally observed due to an obstacle can be observed by approaching from another direction. Furthermore, the same object can be observed from different viewpoints.

Hereinafter, a fourth embodiment of the present invention will be described. In the fourth embodiment, it is intended to enlarge a field of view conversion using a perspective scope in a view conversion camera. FIG. 11 is a diagram showing the configuration of the fourth embodiment of the present invention. The configuration of the fourth embodiment is similar to that of the perspective scope 78.
, A visual field conversion camera 79, a TV monitor 88, a color extracting means 89, and a control device 90. The perspective scope 78 is detachably fitted to the field-of-view conversion camera 79 via the pulley 81A by its eyepiece 80. The pulley B83 is connected to a geared DC motor 84, and the pulley A81 and the pulley B83 are connected by a timing belt.

The field-of-view conversion camera 79 is provided with a zoom lens 85, a CCD camera 86, and a CCD camera moving means 87. The CCD camera 86 is a CCD
By the camera moving means 87, it is possible to translate vertically, horizontally and vertically to the optical axis of the zoom lens 85.
The video signal output from the CCD camera 86 is output to a TV monitor 88.
And the color extraction means 89. The output of the color extracting means 89 is input to the control device 90. The control device 90 is a CCD
It controls the camera moving means 87, the zoom lens 85, and the geared DC motor 84.

The operation of the fourth embodiment will be described below.
By driving the geared DC motor 84, the pulley B
83 rotates, and the rotation is transmitted to the pulley A81 by the timing belt 82. The eyepiece 80 engaged with the pulley A81 rotates together with the pulley A81, and as a result, the oblique scope 78 rotates. The field of view R1 of the oblique scope 78 is enlarged by the zoom
An image is formed in the area 1 '. Part of the region R1 'is photographed by the CCD camera 86.

Here, by moving the CCD camera moving means 87, the range observed by the CCD camera 86 can be partially cut out from the field of view R1 of the perspective scope 78. With this, it is as if the perspective scope 7
8 can be obtained. Furthermore,
By driving the geared DC motor 84 to rotate the perspective scope 78, the field of view can be changed from the direction of R1 to R3. In this manner, the cutout direction R2 can be changed in a larger area.

Hereinafter, automatic forceps tracking using the above configuration will be described. FIG. 12A is a diagram illustrating a control flowchart of forceps automatic tracking. FIG. 12B
Shows the relationship between the visual field range of the oblique scope 78 and the cutout range of the image. First, as shown in step F1,
The position of the color marker 18 provided at the tip of the forceps 15 in FIG. Next, the position 95 of the color marker 18 is determined by the rotation angle of the perspective scope 78 and the CCD.
Based on the position of the camera 86, the coordinate is converted into the coordinate system shown in FIG. Reference numeral 91 in FIG.
8 shows the visual field range when facing upward.

CCD camera moving means 87 in the visual field range
Thus, the imaging range 93 cut out by the CCD camera 86 and displayed on the monitor is 93. The color marker position 95 in the imaging range 93 is detected by the color extracting means 89, and the position is converted into coordinates (X0, Y0) by the cutout position of the CCD camera 86 and the rotation angle of the perspective scope 78 (step). F2).

Next, the oblique scope 78 is rotated so that the position (X0, Y0) of the color marker is on an axis passing through the center of the field of view of the oblique scope 78 (step F3). As a result, the visual field range of the perspective scope 78 moves as indicated by 92. Further, the CCD camera 86 is moved by the CCD camera moving means 87 so that the center of the image is at the position (X0, Y0) (step F4). As a result, the cutout imaging range is as shown by 94.

In this manner, an automatic tracking function of the forceps using the oblique scope 78 is realized. By the way, in order to perform such control, it is necessary to know the direction of the visual field of the perspective scope 78.

FIG. 13 is a view for explaining an example of a method of knowing the direction of the visual field of the visual field scope 78. The oblique scope 78 and the eyepiece 80 are provided with projections 96 corresponding to the viewing direction of the oblique scope 78. Also, the eyepiece 80
Pulley A81 that rotates the perspective scope 78 by fitting
Is provided with a depression 97 corresponding to the projection 96. In addition, the eyepiece 80 is connected to the clip 9 provided on the pulley A81.
9 and a spring 98 press against the pulley A81. Thus, by providing the projection 96 on the eyepiece 80 of the perspective scope 78, it is possible to determine the viewing direction of the perspective scope 78 based on the position of the pulley A81.

Another method for determining the viewing direction of the scope will be described below with reference to FIGS. 14 (A), (B) and (C). Generally, the field of view of the perspective scope 78 includes
As shown in (A), a marker 101 indicating an upward direction is provided in a part of the scope field of view 100. The marker 101 is observed by a camera and can be confirmed on a monitor. By processing the image from the camera and extracting the position of the marker 101 indicating the upward direction, the direction of the perspective scope 78 can be known.

However, in this case, as shown in FIG. 14B, the upward marker 101 may be outside the monitor image 103. In such a case,
As shown in FIG. 14 (C), the oblique scope 78 is rotated by the motor 84 with a gear so as to be displayed in the monitor image so that the upward marker 101 is observed in the monitor image 103. Can be detected.

FIG. 15 is a diagram for explaining still another method for determining the direction of the visual field. Scope mounting part 1 for mounting the eyepiece 80 of the perspective scope 78 to the visual field conversion camera
The LG post 1 of the perspective scope 78 as an LG support 107 for holding a part of the scope mounting portion 104 at a projecting position of a light guide (hereinafter referred to as LG).
05. Also, the LG post 105 has
The LG tube 106 is detachably connected.

Here, the LG post 105 is generally provided on the opposite side of the viewing direction of the oblique scope 78. Therefore, when the position of the LG support 107 and the position of the LG post 105 match, the position of the scope mounting portion 104 is uniquely determined as the viewing direction of the oblique scope 78.

Hereinafter, the image distortion correction will be described.
In this configuration, the case where the viewing direction of the oblique scope 78 is upward and the bottom image of the scope observation range is cut out and displayed, and the case where the viewing direction is downward and the top image of the scope observation range is cut out and displayed. Although the same object can be observed, the former looks like the image displayed on the monitor is narrowed at the lower side of the monitor display image, and the latter looks like the upper side is narrowed. In this way, even an image obtained by observing the same object looks different depending on the rotation angle of the oblique scope 78. When the observing scope 78 is continuously rotated and observed as in the present embodiment, the observed object appears to be distorted.

Then, the video signal of the obtained observation image is
The image is input to an image memory and an image correction device capable of correcting the distortion of the image by reading the image memory.
By correcting the image according to the rotation angle of the image and the cutout position of the image, the observation object can be observed without distortion by rotating the oblique scope 78.

According to the above-described fourth embodiment, the visual field can be converted in a wide range beyond the range of the viewing angle of the oblique scope 78. Further, even if the oblique scope 78 rotates, the position of the rigid portion does not change, so that even if the oblique scope 78 is rotated to change the visual field, it does not interfere with the organ in the body cavity. In addition, by controlling the rotation angle of the oblique scope 78 so that an area near the center of the oblique scope 78 is always displayed on the monitor, even if a large viewing range beyond the observation range of the oblique scope 78 is moved, A continuous and natural image can be obtained. In addition, since an image at the center of the oblique scope 78 is cut out, a bright, high-quality image with small distortion can be obtained.

Hereinafter, a fifth embodiment of the present invention will be described. The fifth embodiment intends to realize a structure in which LG and the like do not interfere with an operator even when the oblique scope 78 is automatically rotated.

FIG. 16 is a view showing the structure of the fifth embodiment of the present invention.
8 and an LG sheath 108. The perspective scope 78 does not have an LG, and is detachably connected to a pulley A81 of a visual field conversion camera 79 by an eyepiece 80.

The LG sheath 108 has a structure in which an LG fiber 109 is sandwiched between an inner pipe 112 and an outer pipe 111. One end of the LG fiber 109 is connected to the LG post 105 and is detachably connected to the LG tube 106. The right end of the LG sheath 108 is
It is connected to the transparent cap 110. Further, the left end of the LG sheath 108 is detachably fixed to the visual field conversion camera 79 by a mounting screw 113. Strabismus scope 78
Is located inside the LG sheath 108 and does not interfere with the operator at all. Further, since the distal end of the oblique scope 78 is also inside the transparent cap 110, it does not interfere with organs in the body cavity. Further, even if the visual field range of the oblique scope 78 changes due to rotation, the cap is transparent, so that the visual field is not impaired.

FIG. 17 is a diagram showing a second configuration example of the fifth embodiment. Protective cover 1 on the near side of the oblique scope 78
14 are provided. A packing 116 is provided on the protective cover 114 and the tip 115 thereof so as to be in contact with the rigid pipe portion of the perspective scope 78 so that the perspective scope 78 can freely rotate. Further, the protective cover 114 is provided with a space 118 from which the LG tube 106 connected to the LG post 105 can be pulled out. The protective cover 114 is provided with the fastening screw 11.
9 is fixed to the visual field conversion camera 79.

Further, in the configuration example of FIG. 18, the LG fiber 121 is provided on the pulley A81 of the visual field conversion camera 79, and is connected to the incident end of the LG fiber 122 provided on the eyepiece 80 of the perspective scope 78. It is characterized by. Also, the light of the LG fiber 109 is
Pulley A81 to prevent interference with observation light from
Is provided with a light shielding wall 123, and the scope eyepiece 80 is provided with a light shielding hole 124.

According to the configuration of FIG. 16 described above, since the oblique scope 78 does not directly contact an organ in the body cavity,
No contamination. According to the configuration of FIG.
Even if the conventional oblique scope 78 is used and the oblique scope 78 is automatically rotated, the LG post 105 does not interfere with the operator.

Further, according to the configuration of FIG. 18, since the light is directly supplied from the field-of-view conversion camera, even if the oblique scope rotates, it does not interfere with the operator or the organ in the body cavity at all. A. The invention having the following configuration is derived from the specific embodiment described above. (1) An in-vivo observation device, comprising: an imaging unit that captures an observation image obtained by observing the inside of a body cavity; and an enlargement ratio varying unit that varies an enlargement ratio of the observation image captured by the imaging unit. A tip part to be bent, a bending means for bending the tip part in at least two directions, an interest position detection means for detecting an interest position, and the magnification changing means corresponding to the interest position detected by the interest position detection means. And a drive control means for controlling a drive amount of the bending means to obtain an observation image of the interesting position. (1-1) The interest position is the center of the screen. (1-2) The interesting position detecting means includes an in-vivo indicating means for indicating the inside of the body cavity, and a detecting means for detecting the in-vivo indicating means. (1-2-1) The body cavity indicating means is a color marker provided on the treatment tool, and the detecting means is a color detecting means for detecting a color of the color marker. (1-3) The position of interest is detected by an operation input unit provided on the treatment tool. (1-3-1) The operation input means is a joystick. (1-4) The detection of the position of interest is performed by a sensor that detects the movement of the operator. (1-5) The magnification changing means is a variable magnification optical system;
And optical system driving means. (1-5-1) The optical system driving means is an actuator using a piezoelectric element. (1-6) The magnification changing means changes the readout range of the image sensor. (1-7) The bending means has a bending tube, a wire for bending the bending tube, a pulley and a motor for driving the wire. (1-7-1) Means for electrically correcting the driving amount of the motor and the bending amount of the bending tube are provided. (1-8) The imaging means is provided corresponding to left and right parallax. (1-8-1) The imaging means is provided corresponding to one magnification changing means, a pupil division optical system, and left and right parallax. (2) an oblique endoscope, an endoscope rotating means for rotating the oblique endoscope, an endoscope image cutout means for cutting out an endoscope image obtained by the oblique endoscope, and the endoscope A rotation unit, a control unit that controls the endoscope image cutout unit, an interest position detection unit that detects an interest position, and the endoscope rotation unit corresponding to the detected interest position. An in-vivo observation apparatus, wherein an endoscopic image cutout unit is driven to obtain an image of the position of interest. (2-1) The endoscope image cutout means controls an imaging element, an imaging means, a moving means for moving the imaging element perpendicular to an optical axis of the imaging means, and the moving means. Control means. (2-2) The endoscope rotating means is driven such that the position of interest approaches the center of the endoscope image. (2-3) The rotating means is provided with a visual field direction indicating means of the oblique endoscope. (2-3-1) The indicating means has a fitting portion provided in the endoscope and the endoscope rotating means. (2-4) The control device of the rotating means is provided with a view direction indicating means of the oblique endoscope. (2-4-1) The view direction indicating means detects the view direction indicating member in the endoscope image by image processing. (3) In the body cavity observation device according to the configuration (2), the body cavity has at least a part of the asymmetric shape of the oblique endoscope, and a hole for freely rotating the oblique endoscope. A scope cover that is detachable from an observation device. (3-1) The scope cover is provided with an illumination fiber. B. The conventional techniques of the above-described configurations (1) to (2-3-1) are as follows. 1. The structures (1) to (1-7-1) and the structures (2) to (2-2) are as described in the above [Conventional Technology]. 2. Configurations (1-8) and (1-8-1): JP-A-8-1
Japanese Patent No. 60316 discloses a stereoscopic rigid viewing endoscope. In this method, an image having left and right parallax is obtained from a field of view of a rigid endoscope having one optical path by a pupil division optical system. 3. Configurations (2-3) and (2-3-1): JP-A-61-1
No. 130915 discloses an eyepiece connecting device for connecting an endoscope and an endoscope camera. here,
The endoscope is configured to be rotatable with respect to the camera. Further, U.S. Pat. No. 5,888,819 discloses a configuration in which a perspective rigid mirror is rotated using gears. C. Problems to be solved by the inventions of the above configurations (1) to (2-3-1) are as follows. 1. Configurations (1) to (1-8-1) are as described in the above [Problems to be Solved by the Invention]. 2. Configurations (2) to (2-2): Japanese Patent Application No. Hei 7-21482
Japanese Patent Application Laid-Open No. 4 (1999) -1995 has a drawback that the range in which the field of view can be converted is limited to the range of the scope of the scope. 3. Configurations (2-3) and (2-3-1): USP508
The configuration described in Japanese Patent No. 8819 has the disadvantage that the observer cannot know the viewing direction of the oblique scope. D. The objects of the invention of the above-described configurations (1) to (3-1) are as follows.

Configuration (1): A visual field at a desired position and magnification of the operator is obtained from the visual field of a wide range in the body cavity by the operator himself.

Configuration (1-2): The operator changes the field of view in a desired direction while operating a surgical instrument or the like. Configuration (1-3): While grasping a surgical instrument or the like, the surgeon converts the visual field in a direction desired by the surgeon.

Configuration (1-4): Even if both hands of the operator are concentrated on the treatment operation, the field of view is converted in a desired direction of the operator. Configuration (1-6): A zoom unit and a driving unit for the zoom unit are not required, and the end of the endoscope is reduced in size.

Configurations (1-7) and (1-7-1): Change the field of view to a desired position accurately. Configuration (1-8): An operator performs a visual field conversion while observing an object three-dimensionally.

Configuration (1-8-1): The stereoscopic observation optical system is downsized. Configuration (2): The observation field of view is converted over a wide range beyond the observation range of the scope.

Configuration (2-2): A continuous and natural image can be obtained even when a large field of view is moved beyond the scope observation range. Also, a bright, high-quality image with small distortion is obtained.

Configurations (2-3) and (2-3-1): Control of the visual field direction using the rotation of the oblique scope is performed accurately. Configurations (3) and (3-1): Even if the oblique endoscope is automatically rotated, components of the endoscope such as a light guide do not interfere with objects around the visual field such as an operator or a surgical instrument. . E. FIG. The operations of the above configurations (1) to (3) are as follows. (1) An image pickup device having an image pickup element and a zoom lens is provided at the tip, and a bending mechanism for moving the tip up, down, left, and right is provided. The zoom lens and the bending mechanism correspond to an interesting position in an image specified by the operator. Drive to obtain the field of interest. (1-2) The pointing means points to the position of interest in the body cavity and automatically converts the field of view to that position. (1-3) The treatment tool is provided with operation means for changing the visual field. (1-4) A sensor for detecting the movement of the surgeon's head is provided, and the visual field conversion is performed based on the output of the sensor. (1-6) The size of the observation range is electrically varied. (1-7-1) A means for correcting the relationship between the drive amount and the bending angle is provided in the bending drive control means. (1-8) Imaging means corresponding to left and right parallax for stereoscopic observation is provided. (1-8-1) By using one zoom lens and a pupil division optical system, the zoom lens and the driving unit are shared by both eyes. (2) A means for automatically rotating the perspective scope is provided in the visual field conversion camera. (2-2) The rotation angle of the perspective scope is controlled so that a monitor near the center of the perspective scope is always displayed on the monitor. (2-3) A view direction indicating means such as a projection is provided on the scope rotating means so that the view conversion camera can detect the view direction of the oblique scope. (3) A scope cover is provided so as not to touch the light guide that is moved by the rotation of the endoscope.

[0079]

According to the present invention, it is possible to obtain a field of view at a desired position and an enlargement ratio by the operator himself from a wide field of view in the body cavity exceeding the field of view of the scope. Can be. In addition, the assistant does not need to hold the scope, and can obtain an observation image as intended by the operator while performing the surgical operation.

[Brief description of the drawings]

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

FIG. 2A is a diagram illustrating a detailed configuration of a zoom lens, and FIG. 2B is a diagram illustrating a detailed configuration of an actuator.

FIG. 3 is a diagram for explaining a forceps automatic tracking function.

FIG. 4 is a diagram illustrating a configuration in a case where manual conversion of a field of view of an endoscope is performed.

FIG. 5 is a diagram for explaining a method of specifying a cursor position on a monitor screen.

FIG. 6 is a diagram for describing correction of a visual field conversion direction.

FIG. 7 is a diagram showing another configuration of the zoom lens.

FIG. 8 is a diagram showing another configuration of the insertion unit.

FIG. 9 is a diagram showing a configuration of a second embodiment of the present invention.

FIG. 10 is a diagram showing a configuration of a third embodiment of the present invention.

FIG. 11 is a diagram showing a configuration of a fourth embodiment of the present invention.

12A is a diagram illustrating a control flowchart of forceps automatic tracking, and FIG. 12B is a diagram illustrating a relationship between a visual field range of a perspective scope and a cutout range of an image.

FIG. 13 is a diagram for explaining an example of a method of knowing a direction of a visual field of a visual field scope.

FIG. 14 is a diagram for explaining another method of determining the viewing direction of the viewing scope.

FIG. 15 is a diagram for explaining still another method of determining a viewing direction.

FIG. 16 is a diagram showing a configuration of a fifth embodiment of the present invention.

FIG. 17 is a diagram illustrating a second configuration example of the fifth embodiment;

FIG. 18 is a diagram illustrating a third configuration example of the fifth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Insertion part, 2 ... Operation part 3 ... Tip part 4 ... Bending part 5 ... Hard pipe 6 ... Trocar 7 ... Scope holder 8 ... Zoom lens 9 ... Actuator 10 ... Image sensor 11a, 11b, 11c, 11d ... Pulley 12a , 12b ... pulley 13a, 13b ... gear 14a, 14b ... motor 15 ... forceps 16 ... handle 17 ... jaw 18 ... color marker 19 ... tracking switch 20 ... coil sheath 21 ... body wall 22 ... field of view 23 ... objective lens 24 ... fixed lens 25 ... moving lens 26 ... moving lens work 27 ... moving knob 28 ... outer pipe 29 ... moving body 30 ... piezoelectric element 31 ... contact part 32 ... wiring

Claims (1)

[Claims] A distal end portion comprising: an imaging unit configured to capture an observation image obtained by observing the inside of a body cavity; and a magnification changing unit configured to change a magnification of an observation image captured by the imaging unit. Bending means for bending the tip portion in at least two directions; Interesting position detecting means for detecting an interesting position; Driving of the magnification changing means and the bending means corresponding to the interesting position detected by the interesting position detecting means And a drive control means for controlling an amount to obtain an observation image of the interesting position.