JPH1096867A - Stereoscopic hard endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stereoscopic hard endoscope capable of forming both two and three dimensional images of an object to be observed by a single device and also forming a bright superior image particularly in the two-dimensional image. SOLUTION: This endoscope is constituted of a hard endoscope 1 having an objective optical system 6, relay optical system 7, and adjustable lens; a TV camera unit 2 having a pupil split diaphragm 9, rotary shutter 10, image- forming optical system 11, and CCD 12; CCU 13, enantiomorph switching device 4, and monitor 5. The flexible endoscope 1 and the TV camera unit 2 are structured mutually detachably and attachably. In addition, the rotary shutter 10 is provided with an opening 10a' for forming a two-dimensional image other than an opening 10a, 10b for forming a three-dimensional image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an imaging apparatus for performing stereoscopic observation using a rigid endoscope, and more particularly to a stereoscopic observation rigid endoscope apparatus capable of performing both two-dimensional observation and three-dimensional observation satisfactorily. It is.

[0002]

2. Description of the Related Art In general, for example, by using a laparoscope, which is a rigid endoscope inserted into the abdominal cavity as a means for treating an affected part in the abdominal cavity of a patient, the abdominal cavity can be ablated without performing a surgical laparotomy. Technologies that can treat affected areas have been developed. When treating an affected part in the abdominal cavity using this kind of laparoscope, the field of view of the laparoscope is directed toward the affected part, and the affected part and a treatment tool for treating the affected part in the field of view of the laparoscope are treated. The operation of the treatment tool is performed while observing.

[0003] However, when an abdominal mirror is used for the purpose of treatment, a video display device that displays the observation image displays the observation image in a two-dimensional manner on a monitor screen (two-dimensional image display). Since it is difficult to grasp the perspective and it is difficult to grasp the relative distance between the affected part and the treatment tool, there is a problem that operations such as operation of the treatment tool and suturing of the affected part are difficult, and the work requires skill.

Therefore, by displaying the observation image in a three-dimensional manner on the monitor screen (three-dimensional image display), the relative distance between the affected part and the treatment tool can be easily grasped, and the operation of the treatment tool and the affected part can be easily performed. Techniques have been developed to streamline the work such as suturing.

[0005] For example, FIG.
FIG. 1 is a diagram illustrating a schematic configuration of an observation device using a perspective rigid endoscope such as an abdominal cavity mirror disclosed in JP-A-881. An endoscope 31 used in this device includes an insertion portion 32 and the insertion portion 3.
2 and an operation unit 33 on the hand side connected to the base end of the second unit.

At the tip of the insertion portion 32, an inclined surface 34 that obliquely intersects the axial direction of the insertion portion 32 is formed, and on the inclined surface 34, an observation window 35 and an illumination window (not shown) are provided. Have been. One objective optical system 36 is provided in the observation window 35.
Are connected. The operation unit 33 on the hand side has a CCD
And the like. The image sensor 37 is connected to a monitor 39 via a left / right direction switching circuit 38. Further, the objective optical system 36 and the image sensor 37
A shutter (optical path splitting means) 40 for switching the left and right optical paths of the pupil for splitting the optical path of the image transmitted from the objective optical system 36 into left and right directions is disposed between the shutters. As shown in FIG. 12B, for example, the shutter 40 divides the optical path of the image transmitted from the objective optical system 36 into two left and right regions 40a and 40b.
And a liquid crystal shutter or a rotary shutter that alternately opens and closes the left and right divided areas 40a and 40b. Then, an image based on the left and right image signals transmitted from the image sensor 37 is reproduced on an image reproduction screen of a monitor 39 via a left-right direction switching circuit 38, and a stereoscopic image is displayed.

FIG. 13 is a view showing another example of the left / right switching shutter 40. As shown in FIG. This is a disk-shaped shutter plate 4
1 shows the optical path of an image transmitted from the objective optical system 36 in FIG.
Similarly to the shutter 40 shown in FIG. 2B, a pair of arc-shaped exposure openings 42,
43 is formed. At this time, the phases of the exposure openings 42 and 43 are shifted by 180 °, and the radii of the arcs are different. Further, the shutter plate 41 is rotatably driven by a drive motor of a shutter drive mechanism (not shown). Accordingly, by synchronizing the exposure timing of the image sensor 37 with the rotation of the shutter plate 41 by the drive motor, the optical path of the image transmitted from the objective optical system 36 with the rotation of the openings 42 and 43 of the shutter plate 41. Can be alternately switched to two left and right regions.

FIG. 14 is a diagram showing a configuration of a stereoscopic endoscope disclosed in Japanese Patent Application Laid-Open No. 6-59199. The insertion portion of the stereoscopic endoscope 51 is provided with an objective lens 52 including a plurality of lenses and a relay lens unit 53 including a plurality of lens groups from the distal end side. Further, toward the rear of the lens 53a located at the rearmost end of the relay lens section 53, the pupil division shutter 54 and the imaging lens 5 are sequentially arranged.
5, and the CCD 56 are arranged. Objective lens 52
The relay lens unit 53 constitutes a relay lens system 57 and transmits a subject image to the pupil division shutter 54.
The pupil division shutter 54 has a disk shape, and a circular hole is formed on the disk. The pupil division shutter 54 is arranged so that the center axis of the disk coincides with the optical axis of the relay lens system 57, and is rotated about the center axis by a rotation unit (not shown). . This stereoscopic endoscope enables observation of a stereoscopic image with the above configuration.

[0009]

A conventional apparatus of this kind is for grasping a relative distance between an affected part and a treatment tool when performing difficult work using an endoscope. However, such an operation is not required, and for example, in the case of observation for the purpose of grasping the whole image in the abdominal cavity, two-dimensional observation (hereinafter, abbreviated as 2D observation) is sufficient. Three-dimensional observation (hereinafter abbreviated as 3D observation)
No need to do.

[0010] However, the conventional devices shown above are all 3
It is configured for the purpose of performing D observation.
When 2D observation is performed by such an apparatus, only one of the light beams forming the left or right object image may be guided to the image pickup device. The image displayed on the video display device is dark because the light is incident on the image pickup device after being divided by the means (image dividing means). It is preferable to use an image that is as bright as possible even when grasping the entire image inside the abdomen. In this regard, the above-described conventional apparatus is not suitable for 2D observation.

Accordingly, the present invention has been made in view of the above-mentioned problems of the prior art, and its object is to
An object of the present invention is to provide a stereoscopic observation rigid endoscope apparatus that can perform both 2D observation and 3D observation with one apparatus, and particularly obtains a brighter observation image during 2D observation.

[0012]

In order to achieve the above object, a stereoscopic observation rigid endoscope apparatus according to the present invention comprises an objective optical system and a transmission optical system for transmitting an object image formed by the objective optical system. A rigid endoscope provided, one imaging optical system that forms an image of a light beam emitted from the rigid endoscope, and an image dividing unit that temporally separates a plurality of images for performing 3D observation, In the stereoscopic observation rigid endoscope apparatus having one imaging device, the image dividing means is configured to be capable of switching between three-dimensional observation and two-dimensional observation, and the two-dimensional observation is performed more than the three-dimensional observation. A light beam having a large diameter is incident on the image pickup device so that a bright object image can be observed. The switching between the three-dimensional observation and the two-dimensional observation is performed by moving the image dividing means. Further, a TV camera unit is constituted by the image dividing means, one image forming optical system and one image pickup element.
It is also characterized in that the V camera unit is detachable from the rigid endoscope.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on illustrated embodiments.

First Embodiment FIG. 1A is a view showing a schematic configuration of a rigid endoscope apparatus for stereoscopic observation (hereinafter abbreviated as an apparatus) according to this embodiment. The apparatus of this embodiment includes a rigid endoscope 1, a TV camera unit 2, a CCU (camera control unit) 3, a left / right image switching device 4, and a monitor 5. The rigid endoscope 1 and the TV camera unit 2 are configured to be detachable from each other. The rigid endoscope 1 includes an objective optical system 6.
A relay optical system 7 for relaying an object image by the objective optical system 6; and an adjusting lens 8 for adjusting light transmitted from the relay optical system 7 to substantially parallel light. The adjustment lens 8 functions as an eyepiece when the TV camera unit 2 is detached and the naked eye observation is performed. The TV camera unit 2 includes the adjusting lens 8.
Pupil dividing aperture 9 provided with openings 9a and 9b for dividing the optical path of the object image transmitted from relay lens 7 through relay lens 7 into left and right regions, and rotary shutter (image dividing means) 1
0, an imaging optical system 11, and a CCD (image pickup device) 12.

The two apertures 9a, 9b,
Reference numeral 9b is for giving a desired parallax to two images on the left and right sides and favorably expressing the stereoscopic effect of the images at the time of 3D observation. The openings 9a and 9b preferably have a circular shape in terms of aberration. The rotary shutter 10 is formed in a disk shape (details will be described later), and is rotated by a drive motor 13. Further, the rotary shutter 10 can be moved together with the drive motor 13 in the direction of the arrow in the figure. The CCD 12 is connected to the monitor 5 via the CCU 3 and the left / right image switching device 4. Rotary shutter 1
In the vicinity of 0, a rotation shutter speed and position detecting means 14 for detecting the rotation speed and the angular position of the rotation direction of the rotation shutter 10 are provided, and are connected to the left and right image switching device 4.

In the apparatus of the present embodiment, the observer can observe the subject image displayed on the monitor 5 through the light-shielding glasses as a three-dimensional image. These shading glasses are
The left and right sides are alternately shielded from light in synchronization with the display image. This provides an observer with a three-dimensional effect by using the afterimage phenomenon, and enables observation as a three-dimensional image by using the parallax between the left subject image and the right subject image that enter the pupil of the objective optical system 6. is there.

Next, the structure of the rotary shutter 10 used in the apparatus of this embodiment will be described. FIG. 1B is a front view showing the configuration of the rotary shutter 10 as viewed from the imaging optical system 11 side. A disk-shaped rotary shutter 10 that is driven to rotate by a drive motor 13 for driving a shutter includes:
Apertures 9a and 9b of pupil division stop 9 provided for dividing an object image transmitted from adjustment lens 8 side into left and right regions.
Are formed with a pair of arc-shaped exposure openings 10a and 10b for 3D observation. At this time, the opening 10a and the opening 10b are out of phase by 180 °, and the radii of the arcs are different. Reference numeral 16 denotes the entire light beam emitted from the adjustment lens 8.

When performing 3D observation, the driving motor 13
, The rotary shutter 10 is rotated. Then, the observation image transmitted from the objective optical system 6 side and alternately passing through the openings 10a and 10b of the rotary shutter 10 is received by the CCD 12 via the imaging optical system 11, converted into left and right video signals, and output. Is done. At this time, the rotation speed and the rotation angle position of the rotation shutter 10 are detected by the rotation shutter speed and position detection means 14 provided near the drive motor 13, and the opening 1 of the rotation shutter 10 is detected.
By synchronizing the exposure timing of the left and right images transmitted from the objective optical system 6 side with the rotation of 0a and 10b on the CCD 12 with the right and left image switching timing displayed on the monitor 5 by the left and right image switching device 4, The left and right observation images are alternately displayed on the monitor 5 at a fixed timing.

On the other hand, the apparatus of this embodiment can perform 2D observation well. Opening 10 of rotary shutter 10
An opening 10 a ′ is provided at the terminal end of “a” from the terminal end toward the rotation axis direction of the rotary shutter 10. The openings 10a 'are provided with the openings 9a, 9a of the pupil division stop 9.
b has a size that allows all the light beams emitted from b to pass through. Therefore, when performing 2D observation, the rotation of the rotary shutter 10 is stopped, the position of the opening 10a 'is aligned with the positions of the openings 9a and 9b, and the rotary shutter 10 is moved in the direction of the arrow shown in FIG. By moving together with the drive motor 13 in the direction along the line connecting the openings 9a and 9b, the light beams from the openings 9a and 9b are all transmitted through the opening 10a '.
Is set to pass through. Since the apparatus of the present embodiment is provided with the rotary shutter 10 configured as described above, all the light beams from the openings 9a and 9b can be taken into the CCD 12 in 2D observation. Therefore, the amount of light that can be used for 2D observation also increases, and a bright observation image can be obtained.

Further, FIGS. 2 (a) to 2 (c) all show FIG.
It is a figure showing the modification of rotation shutter 10 shown to (b). In the rotating shutter 10 shown in FIG. 2A, the area of the opening 10a is formed larger than that shown in FIG. 1B, and the opening 10a can be formed without providing the opening 10a 'as described above. By simply moving the rotary shutter 10 in the direction of the arrow in accordance with the positions of the openings 9a and 9b of the pupil division stop 9, the opening 10a 'can pass all the light beams from the openings 9a and 9b. In the rotary shutter 10 shown in FIG. 2B, a third opening 10c having an area that allows all the light beams from the openings 9a and 9b to pass is provided between the opening 10a and the rotation axis. And
When performing 2D observation, the rotary shutter 10 may be stopped, and the rotary shutter 10 may be moved in the direction of the arrow in the figure so that the opening 10c and the incident position of the light beam from the openings 9a and 9b match. The rotary shutter 10 shown in FIG. 2C is a modified example of the rotary shutter shown in FIG.
That is, in the rotary shutter 10 shown in FIG. 3B, the outer edge portion of the opening 10b is omitted to simplify the manufacturing.

Second Embodiment FIG. 3 is a front view showing the structure of a rotary shutter 20 used in the apparatus according to the second embodiment . This rotary shutter 2
0 is also formed in a disk shape, and a fan-shaped opening 20a is provided in a part thereof. Then, as shown in FIG. 4, the rotary shutter 20 is mounted on the TV camera unit 2.
It is connected via a wire 15 to a drive motor 13 provided therein, and is disposed between the pupil division stop 9 and the imaging optical system 11. At this time, the position of the rotation axis of the rotary shutter 20 is on the optical axis, and the rotary shutter 20 is arranged so as to be slightly inclined with respect to the pupil division stop 9. Other configurations are the same as those of the first embodiment. The opening 20a is formed in a fan shape and its size is appropriately determined so that the light beams of the left and right images are simultaneously incident on the CCD and the left and right images of one object are not seen at the same time. That is, when the rotary shutter 20 switches from a state in which one light beam is transmitted to a state in which the other light beam is transmitted, the state is such that the light beams of the left and right images are simultaneously blocked. This prevents the left and right images of one object from being viewed at the same time, which is effective in preventing image quality from deteriorating.

In the apparatus of the present embodiment, 3D observation is performed by rotating the rotary shutter 20 by the drive motor 13. CCD of images of right and left regions transmitted from the objective optical system 6 side with the rotation of the rotary shutter 20
The method of synchronizing the exposure timing at 12 with the timing of switching between the left and right images displayed on the monitor 5 by the left and right image switching device 4 is the same as that of the device of the first embodiment.

On the other hand, when performing 2D observation, first, as shown in FIG. 5 (a), the opening 20a of the rotary shutter 20 is moved to the position of incidence of light beams from both the openings 9a and 9b of the pupil splitting aperture 9. Stop after almost matching with. Next, the wire 15 or the drive motor 13 is moved in the direction of the arrow shown in FIG. 4 so that the light beams from the openings 9a and 9b can all pass through the opening 20a as shown in FIG. 5B. I do. With such a method, the same effect as the device shown in the first embodiment can be obtained also in the device of the present embodiment.

Third Embodiment FIG. 6A is a diagram for explaining the internal configuration of the TV camera unit 2 of the device according to the present embodiment. This embodiment is a modification of the second embodiment. As shown in FIG.
In this embodiment, instead of the rotary shutter 20 of the device of the second embodiment, a light-shielding portion 2 as shown in FIG.
2a is provided, and the filter 22 is rotated about a rotation axis aligned with the optical axis.
Observation is possible. The light transmitting portion 22b of the filter 22 is configured as an optical low-pass filter or an infrared light cut filter. The rotor 21 is provided with a stator 23 so that the filter 22 can be accurately stopped at a desired position. Further, in the apparatus of the present embodiment, by driving an unillustrated ultrasonic motor provided together with the stator 23, the filter 22 is moved together with the rotor 21 in the up-down direction in the figure to obtain a left-right image from the pupil division stop. Can be simultaneously made incident on the imaging optical system 11. Therefore, 2D observation can be performed well.

On the other hand, FIG. 7A is a view showing an example in which the image forming optical system and the rotary shutter are combined. The rotor 21 is provided with an imaging lens 24 provided with a light-shielding portion 24a as shown in FIG. 2B, and enables 3D observation by rotating about a rotation axis aligned with the optical axis. . or,
At the time of 2D observation, as in the case shown in FIG. 6A, by driving an ultrasonic motor (not shown) provided together with the stator 23, the imaging lens 24 is moved vertically in the drawing.
Is moved together with the rotor 21. With this configuration, the size of the apparatus can be further reduced. The imaging lens 24 shown here has a configuration in which even if the incident position of the light beam fluctuates slightly, the imaging state on the CCD does not change. Also, in FIGS. 6 and 7, if the shape of the opening of the rotary shutter is the same as that shown in FIGS. 3 and 5, it is possible to prevent the left and right light beams from simultaneously forming an image on the CCD.

Fourth Embodiment At the time of 2D observation, it is preferable to guide a light beam having a diameter as large as possible to the CCD in order to secure a bright image. Therefore, in the present embodiment, the apertures of the pupil division stop used for 3D observation and 2D observation are respectively dedicated, so that a bright observation image can be obtained particularly in 2D observation.

FIG. 8 is a front view showing the configuration of a pupil division stop used in the apparatus of this embodiment. This pupil division aperture 25
Include openings 25a ₁ and 25a ₂ for use in 3D observation.
And an opening 25b used for 2D observation. The pupil division stop 25 is disposed between the adjustment lens 8 and the rotary shutter 10 as shown in FIG. Then, a pupil division stop 25 is driven by driving means (not shown).
Is slid in the horizontal direction (vertical direction with respect to the drawing). Therefore, at the time of 3D observation, the aperture 2
The openings 5a ₁ and 25a ₂ are inserted into the optical path during 2D observation, and the openings used are limited for each observation state. Therefore, in the apparatus of the present embodiment, the light beam from the adjusting lens 8 passes through the opening 25b having a large diameter especially during 2D observation, so that a brighter observation image is obtained as compared with the apparatuses described in the above embodiments. Is obtained. In the configuration shown in FIG. 9A, the members other than the pupil division stop 25 are the same as those used in the apparatus of the first embodiment.

Further, in the apparatus of this embodiment, as shown in FIG. 9B, the pupil division stop 25 may be tilted in the direction along the optical axis during 2D observation. Even in this case, it is possible to increase the amount of light taken into the CCD. When this configuration is adopted, it is not necessary to provide the aperture 25b in the pupil division stop 25, and it is also possible to use the pupil division stop 9 provided in the apparatus of the first embodiment.

Note that the TV camera unit may not be formed as a single unit, but may be a combination of mutually detachable adapters. For example, as shown in FIG. 10, if the diaphragm unit, the shutter unit, and the imaging optical system unit are each configured as a separate adapter, by attaching and detaching these to and from the endoscope 1 and the TV camera head TU, the shooting mode is changed. Can be changed. In this case, two apertures A ₁ and A ₁ for 3D observation are provided in the aperture section.
Either a 3D aperture unit AS ₁ with an aperture 17 with ₂ or a 2D aperture unit AS ₂ with an aperture 18 with a single aperture B is used. Further, the shutter unit, a liquid crystal shutter unit SU ₂ with a rotating shutter unit SU ₁ or the liquid crystal shutter 19 provided with a rotary shutter 10 similar to that shown in FIG. LCD shutter 1
Reference numeral 9 denotes switching between transmission and blocking so that light that has passed through only one of the two apertures A ₁ and A ₂ of the aperture 17 provided in the 3D aperture unit AU ₁ can be selectively transmitted when mounted. It has two possible areas. In addition, these two regions can be controlled so as to be in a transmitting or blocking state at the same time.

The state shown in FIG. 10 is such that the 3D aperture unit AU ₁ and the rotary shutter unit S
U ₁ , imaging lens unit LU, TV camera head TU
Are sequentially mounted. In this state, the rotary shutter 1
By rotating 0, a 3D image can be obtained. When performing 2D observation, a rotating shutter 10 in the same manner as shown in FIG. 1 is moved in the rotating shutter unit SU _1, 2 one opening A ₁ provided on the diaphragm 17, A
_{This is} made possible by allowing the light beams from ₂ to reach the imaging lens 11 at the same time. In this way, by moving the rotary shutter 10, switching between 2D observation and 3D observation becomes possible. When 3D observation is not required, the rotary shutter unit SU _{1 is} moved from the eyepiece of the endoscope _1.
, And the 2D aperture unit AS ₂ , the imaging lens unit LU, and the TV camera head TU may be attached thereto.

[0031] When using the liquid crystal shutter unit SU ₂ instead of rotating shutter unit SU ₁ switches becomes possible between 2D observation and 3D viewing without providing a movable portion. That is, resulting in a state shown, wearing the liquid crystal shutter unit SU ₂ instead of rotating shutter unit SU _1, is controlled such that the two regions of the liquid crystal shutter 19 is transmissive and shielding state alternately, 3D images Can be
Further, if both areas of the liquid crystal shutter 19 are in the transmission state, a 2D image can be obtained. At this time, if the aperture 17
In the case where the light amount is insufficient only by the light transmitted through the _two openings A ₁ and A ₂ , the 3D aperture unit AS ₁ may be replaced with the 2D aperture unit AS ₂ . Also, various combinations of adapter types are possible, and conventional TV camera heads, imaging lens units and the like can be used as they are, which is very convenient.

Fifth Embodiment FIGS. 11A and 11B are front views showing the configuration of a diaphragm used in the apparatus of the present embodiment, as viewed from the adjustment lens side. First, the aperture 26 shown in FIG.
Is provided. The opening 26a is large enough to supply a light beam having a large diameter sufficient to obtain a bright image during 2D observation to the imaging optical system and thereafter. Meanwhile, 3
Also in the case of performing the D observation, since it is used together with the image dividing means (for example, the rotary shutter 10 shown in the first embodiment), the parallax between the left subject image and the right subject image is formed without any problem, and a stereoscopic image is provided. can do. In the aperture 26a of the aperture 26, the relationship between the length A of the major axis and the length B of the minor axis satisfies B / A> 1. The apparatus of the present embodiment is configured similarly to the apparatus of the first embodiment except for the diaphragm 26.

The aperture 26a of the stop 26 is shown in FIG.
May be formed as a gourd-shaped opening 26a 'as shown in FIG. In this case, the strength of the diaphragm 26 is increased as compared with the case shown in FIG. Also in this case, the relationship between the length A 'of the major axis and the length B' of the minor axis in the opening 26a 'satisfies B' / A '> 1.

As described above, the stereoscopic observation rigid endoscope apparatus according to the present invention has the following features (1) to (5) in addition to the features described in the appended claims. ing.

(1) The image dividing means comprises a disk formed in a concentric shape such that two substantially semicircular openings having different radii oppose each other around the rotation axis and do not overlap with each other. The stereoscopic observation rigid endoscope apparatus according to claim 1, wherein:

(2) The three-dimensional object according to (1), wherein the rotary shutter is provided with an opening having a size larger than a size through which all light beams emitted from the rigid endoscope can pass. Observation rigid endoscope device.

(3) The pupil division stop has a plurality of apertures and is arranged near the exit pupil position of the rigid endoscope, and the image division means substantially centers the optical axis during three-dimensional observation. A rotary shutter that rotates and allows light beams emitted from the plurality of apertures of the pupil division stop to pass through one by one, and the size of the opening of the rotary shutter is at least equal to or larger than the size of the opening of the pupil division stop. The stereoscopic observation rigid endoscope apparatus according to the above (1) or (2), wherein

(4) The image is divided by the rotary shutter and the pupil division stop, and the opening of the pupil division stop is formed in a shape long in one direction. Rigid endoscope for stereoscopic observation.

(5) The rigid endoscope apparatus for stereoscopic observation according to any one of (1) to (4), wherein the pupil division stop is movable or detachable.

[0040]

As described above, according to the rigid endoscope apparatus for stereoscopic observation of the present invention, it is possible to form both a two-dimensional image and a three-dimensional image of an object to be observed with one apparatus, and particularly to a two-dimensional image. Can provide a bright and good image.

[Brief description of the drawings]

FIG. 1A is a diagram showing a schematic configuration of a stereoscopic observation rigid endoscope device according to a first embodiment, and FIG. 1B is a front view showing a configuration of a rotary shutter used in the device shown in FIG. FIG.

FIGS. 2A to 2C are diagrams each showing an example of a rotary shutter used in the apparatus of the first embodiment.

FIG. 3 is a front view showing a configuration of a rotary shutter used in the device of the second embodiment.

FIG. 4 is a diagram for explaining a configuration of a TV camera unit of the device of the second embodiment.

FIGS. 5 (a) and 5 (b) are diagrams for explaining a method of setting a rotational shutter when performing two-dimensional observation by the apparatus of the second embodiment.

FIG. 6A is a diagram for explaining the configuration inside the TV camera unit of the device according to the third embodiment, and FIG. 6B is a diagram illustrating the configuration of a filter used in the TV camera unit shown in FIG. FIG.

7A is a diagram for explaining the configuration inside a TV camera unit of the device according to the third embodiment, and FIG. 7B is a diagram illustrating the configuration of a filter used in the TV camera unit shown in FIG. FIG.

FIG. 8 is a front view showing the configuration of a pupil division stop used in the device of the fourth embodiment.

9A is a diagram for explaining an operation of the pupil division stop shown in FIG. 8, and FIG. 9B is a diagram for explaining a state of the pupil division stop during two-dimensional observation.

FIG. 10 is a diagram showing another example of the device configuration of the fourth embodiment.

FIGS. 11A and 11B are front views showing the configuration of a diaphragm used in the apparatus of the fifth embodiment.

12A is a diagram showing a schematic configuration of a conventional oblique rigid endoscope, and FIG. 12B is a front view showing a configuration of a shutter used in the rigid endoscope shown in FIG. is there.

FIG. 13 is a view showing another example of the shutter used in the device shown in FIG.

FIG. 14 is a diagram showing a schematic configuration of a conventional stereoscopic endoscope.

[Explanation of symbols]

1 the rigid endoscope 2 TV camera unit 3 CCU 4 handedness switching device 5,39 monitor 6, 36 the objective optical system 7 relay optical system 8 adjustment lens 9 and 25 the pupil division diaphragm _{9a, 9b, 25a 1, 25a} 2, 25b , 26a, 2
_{6a ', A 1, A 2} , B opening 10, 20 rotating shutter 10a, 10a'10b, 10c, 20a, 42,43
Aperture 11, 24 Imaging optical system 12, 37, 56 CCD (Imaging element) 13 Drive motor 14 Rotating shutter speed and position detecting means 15 Wire 16 Light flux 17, 18, 26 Stop 19 Liquid crystal shutter 21 Rotor 22 Filter 22a, 24a Shielding part 22b Transmission part 23 Stator 31, 51 Endoscope 32 Insertion part 33 Operation part 34 Inclined surface 35 Observation window 38 Left-right direction switching circuit 40, 41 Left-right optical path switching shutter 40a, 40b Dividing area 52 Objective lens 53 Relay lens part 54 Pupil splitting shutter 55 Imaging lens 57 Relay lens system AS ₁ 3D aperture unit AS ₂ 2D aperture unit SU ₁ rotation shutter unit SU ₂ liquid crystal shutter unit LU Imaging lens unit TU TV camera head

Claims (3)

[Claims] A rigid endoscope including an objective optical system and a transmission optical system for transmitting an object image formed by the objective optical system;
Stereoscopic observation having one imaging optical system for imaging a light beam emitted from the rigid endoscope, image dividing means for temporally dividing an image to perform three-dimensional observation, and one imaging device In the rigid endoscope apparatus, the image dividing unit is configured to be capable of switching between three-dimensional observation and two-dimensional observation, and a light beam having a larger diameter than the three-dimensional observation is applied to the image sensor during two-dimensional observation. A rigid endoscope apparatus for stereoscopic observation, characterized in that a bright object image can be observed upon incidence. 2. The rigid endoscope apparatus according to claim 1, wherein the switching between the three-dimensional observation and the two-dimensional observation is performed by moving the image dividing means. 3. A TV camera unit is constituted by said image dividing means, one image forming optical system and one image pickup device.
The stereoscopic observation rigid endoscope apparatus according to claim 1, wherein the TV camera unit is detachable from the rigid endoscope. 4.