TW201921034A - Endoscope system - Google Patents

Abstract

Pixels of a solid-state image sensing device 1311 of a rigid endoscope 10, said pixels having a quantity number corresponding to 8K resolution, are divided into visible light pixels and excitation light pixels. A filter for passing blue wavelengths, a filter for passing green wavelengths, and a filter for passing red wavelengths are each disposed between photoelectric conversion elements of the visible light pixels and an insertion part. A filter for passing wavelengths of the excitation light is disposed between the excitation light pixels and the insertion part. According to this configuration, the convenience of an endoscope system including an 8K endoscope is further enhanced.

Description

Endoscope system

The invention relates to an endoscope system using an 8K high-resolution endoscope.

Various techniques related to soft endoscopes have been proposed for inserting an elongated insertion portion into a body cavity and photographing the inside of the body cavity to perform microtrauma surgery. As a document that discloses an invention related to such an endoscope, there is Patent Document 1. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2008-43763

[Problems to be Solved by the Invention]

However, due to the development of image processing technology or optical technology, high-resolution image technologies called 4K and 8K have been put into practical use. The evolution of the so-called 2K → 4K → 8K imaging technology is also causing technological innovation in the field of medical equipment using endoscopes and in the field of microtrauma surgery. When 8K high-resolution imaging technology is applied to the endoscope, for example, it is easy to recognize thin lines for surgery or fine affected parts of the organs, the boundaries between organs and tissues, and it is also possible to observe at the cell level. As a result, the reliability and reliability of surgery are improved, and further development of medical technology is expected. That is, the visibility of the affected part of the organ becomes higher, and there is less concern that the part other than the affected part may be accidentally damaged. In addition, the surgical field of view can be enlarged, and the operation can be easily performed even in a wide range of operation, and it is also convenient to confirm the position of the surgical machine or avoid interference between the surgical machines. Furthermore, large-screen observation can be performed, and all the persons involved in the surgery can share the same image, and communication becomes smooth. In this way, the use of 4K and 8K high-resolution imaging technology has great development potential.

However, there is room for improvement in the protection of capillaries during surgery by the conventional high-resolution endoscope system.

The present invention has been made in view of such problems, and an object thereof is to further improve the convenience of an endoscope system including an 8K endoscope. [Means for solving problems]

In order to solve the problem, the present invention provides an endoscope system, which includes: an endoscope, which photographs a subject in a body cavity of a patient and outputs an image signal; and a control device, which controls the endoscope The output signal is subjected to a predetermined 3D (3D) processing, and the 3D image signal obtained by the 3D processing is output to the display device as a dynamic image signal with a predetermined frame rate; The endoscope system is characterized in that the endoscope includes: a casing; an inserting portion that extends the casing as a base end; an irradiation portion that extends from an end of the insertion portion toward a body cavity of a patient. The object irradiates light including visible light and excitation light; and a solid-state imaging element is housed in the casing, and a predetermined number of pixels having photoelectric conversion elements are arranged in a matrix, and the photoelectric conversion elements The light guided by the subject into the insertion portion undergoes photoelectric conversion; a predetermined number of pixels of the solid-state imaging element are divided into pixels for visible light and pixels for excitation light, and light for pixels for visible light A filter for transmitting a blue wavelength, a filter for transmitting a green wavelength, and a filter for transmitting a red wavelength are provided between the electric conversion element and the insertion portion, respectively. A filter that transmits the wavelength of the excitation light is provided between the pixel and the insertion portion, and the control device generates a picture of an output signal of a pixel for visible light in the solid-state imaging element and a picture for the excitation light. A composite image obtained by synthesizing the output signals of the pixels, and performing the 3D processing on the composite image.

In this endoscope system, the endoscope is an 8K endoscope whose pixel number of solid-state imaging elements is equivalent to 8K, and the distance between adjacent pixels in the solid-state imaging element is comparable to that of an irradiation unit. The longest wavelength among the wavelengths of light in the illumination of the subject is large.

In addition, the housing may have a mounting portion and a holding portion, and the mounting portion has a larger area in a cross section orthogonal to the optical axis of the light passing through the insertion portion, and a cross sectional area of the holding portion It is smaller than the mounting portion, and the solid-state imaging element is housed in the mounting portion.

In addition, the insertion portion may have a hollow rigid lens barrel, and a plurality of lenses may be provided in the rigid lens barrel, the plurality of lenses including an objective lens.

In addition, it may include: an air supply pipe and an air exhaust pipe connected to the casing; an air supply and exhaust device forcibly supplying air into the casing via the air supply pipe; and an air supply pipe and an air exhaust pipe from the air exhaust pipe. Forced discharge of air in the casing; and an air cooling device for cooling the air flowing in the air supply pipe; the casing, the air supply pipe, and the air discharge pipe are connected to form a closed space A first heat sink is disposed in the casing, and the second image heat sink is provided on the solid-state imaging element, and a field programmable gate array (FPGA) for image processing is provided. A cover member provided on the FPGA and covering the second heat sink and connected to the air exhaust pipe, and generating a first air flow and a pair of air cooled the first heat sink in the casing; A second air stream cooled by the second radiator, the first air stream is blown to the first radiator with cooling air supplied from the air supply pipe, and is directed toward the first radiator. Around Configuration scattered manner, around said second air stream from the second heat sink member via the lid to flow into the tube in such a way constituting the air outlet.

In addition, the insertion portion may have a hollow soft lens barrel, and an objective lens, a multi-core fiber, and reflection of the light from the subject once or multiple times and toward the objective lens may be provided in the soft lens barrel. One or more mirrors guided, at least one of the one or more mirrors can be tilted around a first axis and a second axis, and the first axis is relative to each of the cores passing through the multi-core fiber The direction of the optical axis of the light has a slope, the second axis is orthogonal to the first axis, and the control device periodically switches at a time interval shorter than a frame switching time interval of the frame rate. The inclination angle of the mirror generates a segmented area image of parts of the subject that are different from each other, and synthesizes the generated segmented area images, thereby generating a dynamic image of a frame.

<First Embodiment> FIG. 1 is a diagram showing a configuration of an endoscope system including an endoscope as a first embodiment of the present invention. The endoscope system includes a rigid endoscope 10, a lighting device 20, a display device 30, a control device 40, polarized glasses 50, an air intake and exhaust device 60, and an air cooling device 70.

FIG. 2 is a view showing a single-hole laparoscopic operation as an example of an operation performed with the support of the endoscope system of the present embodiment. In single-hole laparoscopic surgery, a hole of about 2 cm is cut in the patient's abdomen (in most cases, the position of the navel), and a port (resin frame) is installed in the hole to send carbon dioxide. To expand the body cavity. The operator of the operation inserts an endoscope, a scalpel, and pliers (a surgical tool for clamping or traction) into the body cavity from the port, and observes the photographed image of the endoscope displayed on the display device 30 while facing The affected area in the body cavity is treated.

In this embodiment, a near-infrared excitation agent is injected into a patient's vein before surgery. When the drug is spread throughout the patient's body, the blood vessels irradiated with excitation light of a certain wavelength emit near-infrared light. The surgeon wears polarized glasses 50 for stereoscopic observation of 3D images. As shown in FIG. 3, the control device 40 obtains an image of the visible light of the affected part in the body cavity of the patient and an image of infrared light from the capillaries inside the rigid endoscope 10, and uses these images as A 3D moving image is displayed on the display device 30. In addition, the control device 40 determines the line of sight of the surgeon in the display image of the display device 30 based on the relationship between the detection signal of the sensor in the polarized glasses 50 and the detection signal of the sensor in the display device 30. Fixation point FP and zoom in around the fixation point FP.

In FIG. 1, a rigid endoscope 10 is a device that performs a function of photographing the inside of a body cavity of a patient. The rigid endoscope 10 includes a camera body 130, an insertion portion 110, and an eyepiece mounting portion 120. The casing 131 of the camera body 130 has a shape that is as wide as the thickness of the cross section of the front portion of the cylinder.

FIG. 4 is a view of the casing 131 of FIG. 1 as viewed from a direction of an arrow A. FIG. The casing 131 includes a front mounting portion 1131 and a rear holding portion 1132. A round opening is provided on the front surface of the mounting portion 1131. The cross-sectional area of the mounting portion 1131 of the casing 131 is larger than the area of the holding portion 1132 of the casing 131. A ring-shaped frame is fitted in an opening in the front surface of the mounting portion 1131 of the casing 131. A solid-state imaging element 1311 and an analog / digital (A / D) conversion unit 1319 are provided on a front surface of the housing 131 facing the frame. The solid-state imaging device 1311 is a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) image sensor. The solid-state imaging element 1311 is a matrix in which pixels PX _ij (i = 1 to 4320, j = 1 to 7680) corresponding to a number of 8K are arranged. Here, i is the index of the pixel row, and j is the index of the pixel row. The pixels PX _ij (i = 1 to 4320, j = 1 to 7680) of the solid-state imaging element 1311 respectively have a photoelectric conversion element EL and an amplifier AMP. The amplifier AMP will obtain a signal obtained by the photoelectric conversion of the photoelectric conversion element EL. Charge amplification.

In FIG. 4, the pixels PX _ij (i = 1 to 4320, j = 1 to 7680) of 4320 columns and 7680 rows in the solid-state imaging device 1311 become blocks of four pixels PX _ij of 2 rows and 2 columns. Filters of red, green, blue, and near-infrared light are pasted into the four pixels PX _ij of each block. Specifically, the filter of the pixel PX _ij at the upper left of the block becomes a red filter (a filter that transmits only a red wavelength). The filter of the pixel PX _ij at the lower left of the block becomes a green filter (a filter that transmits only green wavelengths). The filter of the pixel PX _ij at the upper right of the block becomes a blue filter (a filter that transmits only blue wavelengths). The filter of the pixel PX _ij at the lower right of the block becomes a near-infrared light filter (a filter that transmits only the wavelength of near-infrared light).

Further, the adjacent pixels of the solid-state image pickup element 1311 PX _ij distance (more specifically, the distance D between the center of the light receiving area of the photoelectric conversion element EL of the adjacent pixels PX _ij) than the irradiated subject The longest wavelength among the wavelengths of light is large. If the light irradiating the subject includes only visible light, the pitch of the pixels PX _ij is preferably 2.8 μm to 3.8 μm. If the light irradiating the subject includes visible light and near-infrared light, the pitch of the pixels PX _ij is preferably 3.8 μm or more.

The A / D conversion section 1319 performs A / D conversion on the signal charges amplified by the amplifier AMP using the pixels PX _ij (i = 1 to 4320, j = 1 to 7680) in dot order, and applies A / D The converted data is output as the image signal SD. Inside the housing 131, in addition to the solid-state imaging element 1311 and the A / D conversion unit 1319, a heat sink 1316, a duct 1318, an image processing FPGA 1331, a heat sink 1336, a cover member 1338, a duct 166B, and the like are stored (refer to the figure) 14). The details of each section will be described later.

A button 139IN and a button 139OUT are provided on a rear portion of a side surface of the casing 131. The buttons 139IN and 139OUT function as trigger generation units. When the button 139IN is pressed once, an enlargement trigger signal for instructing the image displayed on the display device 30 to be enlarged is sent from the rigid endoscope 10 to the control device 40. When the button 139OUT is pressed once, a zoom-out trigger signal for zooming out of the image displayed on the display device 30 is sent from the rigid endoscope 10 to the control device 40.

In FIG. 1, the eyepiece mounting portion 120 has a shape such that a part of the outer periphery of the cylindrical body is recessed inward. An eyepiece 1201 is embedded in the eyepiece mounting portion 120. The insertion portion 110 is a portion that is inserted into a body cavity of a patient. The insertion portion 110 includes a rigid lens barrel 111 and an eyepiece 112. A connection joint 113 for an illuminating device is provided on the outer periphery of the insertion portion 110 at a position more distal than the eyepiece 112.

5 is a cross-sectional view taken along the line BB ′ of the insertion portion 110 of FIG. 1. As shown in FIG. 5, a hollow light guide region 1112 is provided in the insertion portion 110. The hollow light guide region 1112 is a cavity having a diameter slightly smaller than the diameter of the insertion portion 110 itself. Hundreds to thousands of optical fibers 1901 are embedded in a housing surrounding the hollow light guide region 1112 in the insertion portion 110. In FIG. 5, for simplicity, only sixteen optical fibers 1901 are shown. A diffusion lens (not shown) is provided in front of the front end of the optical fiber in the insertion section 110. An objective lens 1111 is embedded at a position slightly inside the front end of the hollow light guide region 1112 of the insertion portion 110. A relay lens 1113 is embedded between the objective lens 1111 and the eyepiece 112 in the hollow light guide region 1112. The eyepiece 112 of the insertion portion 110 is connected to the eyepiece mounting portion 120. The eyepiece mounting portion 120 is connected to a frame on the front surface of the casing 131.

In FIG. 1, the lighting device 20 includes a light-emitting element that emits light having a wavelength of visible light and a wavelength of near-infrared light, and a driving circuit that drives the light-emitting element. The lighting device 20 is connected to a connection joint 113 of the insertion portion 110. Illumination light (light having wavelengths of visible light and near-infrared light) of the lighting device 20 passes through the optical fiber 1901 of the insertion portion 110 and is irradiated into the body cavity through a diffusion lens in front of the insertion light.

In FIG. 1, the display device 30 is a liquid crystal display having a display pixel equivalent to 8K (a display pixel of 4320 columns and 7680 rows). The display device 30 is provided with a position detection sensor 36 and a direction detection sensor 37. The position detection sensor 36 detects the position of the display device 30. Specifically, the position detection sensor 36 outputs a direction parallel to the ground axis direction as the Z axis direction, a direction orthogonal to the Z axis direction as the Y axis direction, and two directions orthogonal to the Z axis direction and the Y axis direction. The orthogonal direction is set to the X-axis direction, and when the reference point (for example, the center of the room) in the room where the operation is performed is set to the origin (0.0.0), the position of the display device 30 on the X-axis, Coordinate signals SD _X , coordinate signals SD _Y , and coordinate signals SD _Z at positions on the Y axis and positions on the Z axis.

The direction detection sensor 37 detects the direction of the display device 30. Specifically, the direction detection sensor 37 sets a plane parallel to the X-axis direction and the Y-axis direction as a reference plane, and sets a slope around the X-axis direction of the display screen of the display device 30 with respect to the reference plane as a display. The elevation angle of the screen, and an angle signal SD _θX indicating the elevation angle of the display screen is output. In addition, the direction detection sensor 37 sets an inclination of the display screen 30 with respect to the reference plane of the display screen 30 around the Z axis direction as the azimuth of the display screen, and outputs an angle signal SD _θZ indicating the azimuth of the display screen.

In FIG. 1, the polarizing glasses 50 are passive (circular polarizing filter) polarizing glasses. As shown in FIG. 6, a left lens 55L and a right lens 55R are embedded in the eyeglass frame 54 of the polarized glasses 50. The left lens 55L guides the left-eye image of the 3D image into the left-eye retina of the surgeon. The right lens 55R guides the right-eye image of the 3D image into the right-eye retina of the surgeon.

A position detection sensor 56 is embedded in the upper left of the left lens 55L in the eyeglass frame 54 of the polarized glasses 50. The position detection sensor 56 detects the position of the polarized glasses 50. Specifically, the position detection sensor 56 outputs the position of the polarized glasses 50 on the X axis, the position on the Y axis when the reference point (the center of the room) is set to the origin (0.0.0), and The coordinate signal SG _X , the coordinate signal SG _Y , and the coordinate signal SG _Z at the position on the Z axis.

A direction detection sensor 57 is embedded in the upper right of the right lens 55R in the eyeglass frame 54 of the polarized glasses 50. The direction detection sensor 57 detects the directions of the lenses 55L and 55R of the polarized glasses 50. Specifically, the direction detection sensor 57 sets the inclination of the lens 55L and the lens 55R of the polarized glasses 50 with respect to the reference plane (a plane parallel to the X-axis direction and the Y-axis direction) around the X-axis direction as the lens 55L. And the elevation angle of the lens 55 and output an angle signal SG _θX indicating the elevation angle of the lens 55L and the lens 55R. In addition, the direction detection sensor 57 sets the inclination around the Z axis direction with respect to the reference plane as the azimuth angle of the lens 55L and the lens 55, and outputs an angle signal SG _θZ indicating the azimuth angle of the lens 55L and the lens 55R.

A first potential sensor 51 is embedded in a nose pad on the left side of the eyeglass frame 54 of the polarized glasses 50. A second potential sensor 52 is embedded in a nose pad on the right side of the eyeglass frame 54 of the polarized glasses 50. A third potential sensor 53 is embedded in a bridge in the center of the frame 54 of the polarized glasses 50. The potential sensor 51 detects the potential of the portion contacted by the left nose pad in the face of the surgeon, and outputs a left potential signal SG _V1 indicating the detected potential. The potential sensor 52 detects the potential of the portion contacted by the right nose pad in the face of the surgeon, and outputs a detected right potential signal SG _V2 . The potential sensor 53 detects the potential of the portion in contact with the bridge in the face of the surgeon, and outputs an upper potential signal SG _V3 indicating the detected potential.

A wireless communication unit 58 is embedded in the right leg of the eyeglass frame 54 of the polarized glasses 50. The wireless communication unit 58 uses the output signal SG _X , the output signal SG _Y , and the output signal SG _Z of the position detection sensor 56, the output signal SG _θX and the output signal SG _{θZ of the} direction detection sensor 57, and a potential sensor. _Vl output signal SG 51, SG _V2 output signal of the potential sensor 52, and the potential of the sensor output signal SG _V3 53 to modulate the carrier wave, and transmits a radio signal by the modulated SG 'obtained.

In FIG. 1, the control device 40 is a device which functions as a control center of an endoscope system. As shown in FIG. 7, the control device 40 includes a wireless communication section 41, an operation section 42, an input / output interface 43, an image processing section 44, a memory section 45, and a control section 46. The wireless communication unit 41 receives the wireless signal SG 'and demodulates the signal SG _X , signal SG _Y , signal SG _Z , signal SG _θX , signal SG _θZ , signal SG _V1 , and signal SG _V2 And a signal SG _{V3 are} supplied to the control unit 46.

The operation unit 42 is a various operator who performs a keyboard, a mouse, a button, a touch panel, and the like. The input / output interface 43 is a medium for transmitting and receiving data between the display device 30 and the rigid endoscope 10 and the control device 40. The image processing unit 44 is an image processor. The memory unit 45 is a non-volatile memory such as a random access memory (Random Access Memory, RAM), and an electronically erasable programmable read-only memory (EEPROM). Memory. The storage unit 45 stores an operation program PRG of the control unit 46 or the image processing unit 44. In addition, the memory unit 45 provides the control unit 46 and the image processing unit 44 with a reception buffer 45S, a left-eye image buffer 45L, a right-eye image buffer 45R, a drawing frame buffer 45D, and a display frame buffer 45E. Wait for a memory area or work area.

The control unit 46 includes a central processing unit (CPU). The control unit 46 executes the lighting drive process, the imaging element drive process, the display control process, and the zoom control process by the operation of the motion program PRG in the storage unit 45. The lighting driving process is a process of supplying a driving signal for driving a driver in the lighting device 20 to the lighting device 20 via the input / output interface 43. The imaging element driving process is a process of supplying a driving signal that drives the solid-state imaging element 1311 in the rigid endoscope 10 to the endoscope 10 through the input-output interface 43.

The display control process is to perform a 3D processing on the image signal SD sent from the rigid endoscope 10, and a 3D image obtained by the 3D processing is a dynamic image with a frame rate of 59.94 frames / 1 second The process of outputting the image signal SD _3D to the display device 30.

The zoom control process is a process in which, when a trigger signal for zoom-in or zoom-out is generated, a potential waveform and a potential sense shown by the detection signal SG _V1 of the potential sensor 51 of the polarized glasses 50 when the trigger signal is generated The potential waveform shown by the detection signal SG _V2 of the detector 52 and the potential waveform shown by the detection signal SG _{V3 of the} potential sensor 53 are obtained from the lens 55L and the lens 55R of the polarized glasses 50 and the operator. The position of the line of sight corresponding to the line of sight, and based on the position of the line of sight, the position of the display device 30 and the position of the polarized glasses 50, and the relationship between the direction of the display device 30 and the direction of the polarized glasses 50, determine the gaze point FP of the operator The image around the fixation point FP is enlarged or reduced.

To explain in more detail, as shown in FIG. 8, in the display control process, the control unit 46 stores the image signal SD (the image of visible light and the image of near-infrared light) in the storage unit as photographic image data. 45 receiving buffer 45S. Then, the control unit 46 generates left-eye image data and right-eye image data having two-eye parallax based on the photographic image data in the receiving buffer 45S, and converts the left-eye image data and the right-eye image. The image data is stored in the left-eye image buffer 45L and the right-eye image buffer 45R. Then, the control unit 46 synthesizes the left-eye image data and the right-eye image data, and stores the synthesized image data in the drawing frame buffer 45D of the storage unit 45. The control unit 46 interchanges the drawing frame buffer 45D of the memory unit 45 with the display frame buffer 45E every 1 / 59.94 seconds (≈0.17 seconds), and uses the image data in the display frame buffer 45E as the image signal SD _3D. Output to the display device 30.

Output shown in Figure 9, the zoom control process, the control unit 46 based on the output signal potential of the sensor output signal 51 of the polarizing glasses 50 SG _V1, the potential sensor 52 SG _V2, the potential sensor 53 and The signal SG _V3 determines the potential of the potential sensor 51 (the absolute value of the amplitude and the sign of the positive and negative signs) when the potential of the potential sensor 53 is used as the reference potential, and the potential when the potential of the potential sensor 53 is used as the reference potential. The potential of the potential sensor 52 (the absolute value of the amplitude and the sign of the sign).

Then, the control unit 46 refers to the left eye sight position determination table of the memory unit 45 to determine the X coordinate value and Y coordinate value of the left eye sight position of the surgeon on the lens 55L of the polarized glasses 50 (parallel to the lens 55L and the potential is The position of the sensor 53 is set to the X coordinate value and the Y coordinate value at the intersection position of the XY plane of the origin (0.0) and the sight line of the left eye). In addition, the control unit 46 refers to the right eye sight position determination table of the memory unit 45 to determine the X coordinate value and Y coordinate value of the right eye sight position of the operator on the lens 55R of the polarized glasses 50 (parallel to the lens 55R and the potential The position of the sensor 53 is set to the X coordinate value and the Y coordinate value at the intersection position of the XY plane of the origin (0.0) and the line of sight of the right eye).

Here, the human eye is positively charged on the corneal side and negatively charged on the retinal side. Therefore, as shown in the waveform of FIG. 10, if the operator performs the line of sight from the front side, the potential of the potential sensor 53 is used as a reference at the time point (time t _{U in} FIG. 10) where the line of sight is up. The potential (left-eye potential) of the potential sensor 51 and the potential (right-eye potential) of the potential sensor 52 using the potential of the potential sensor 53 as a reference are both negative.

As shown in FIG. 11, if the operator performs the line of sight from the front to the down, the potential sensor using the potential of the potential sensor 53 as a reference at the time point (time t _{D in} FIG. 11) when the line of sight is down. The potential (left-eye potential) of 51 and the potential (right-eye potential) of the potential sensor 52 using the potential of the potential sensor 53 as a reference become positive.

As shown in FIG. 12, if the operator performs a line of sight from the front to the left, the potential sensor using the potential of the potential sensor 53 as a reference at a time point (time t _{L in} FIG. 12) when the line of sight is turned to the left The potential (left-eye potential) of 51 becomes positive, and the potential (right-eye potential) of the potential sensor 52 using the potential of the potential sensor 53 as a reference becomes negative.

As shown in FIG. 13, if the operator performs a line of sight from the front to the right, the potential sensor using the potential of the potential sensor 53 as a reference at a time point (time t _{R in} FIG. 13) when the line of sight is directed to the left. The potential (left-eye potential) of 51 becomes negative, and the potential (right-eye potential) of the potential sensor 52 using the potential of the potential sensor 53 as a reference becomes positive.

In the left-eye sight position determination table, the first potential sensor 51, the second potential sensor 52, and the third potential are set when the subject's sight is directed to each point on the left lens 55L of the polarized glasses 50. The actual measured value of the potential of the sensor 53 is recorded in correspondence with the X coordinate and the Y coordinate of each point. In the right-eye sight position determination table, the first potential sensor 51, the second potential sensor 52 when the subject's eyes wearing the polarized glasses 50 are directed to the respective points on the right lens 55R, and The actual measured value of the potential of the third potential sensor 53 is recorded in correspondence with the X coordinate and the Y coordinate of each point. Therefore, by referring to the table based on the output signal SG _V1 , output signal SG _V2 , and output signal SG _V3 of the sensor of the polarizing glasses 50 of the surgical performer, the surgical performer's lens on the lens of the polarizing glasses 50 can be determined. Line of sight.

In FIG. 9, the control unit 46 obtains the differences SD _X -SG _X between the output signal SD _X of the position detection sensor 36 of the display device 30 and the output signal SG _X of the position detection sensor 56 of the polarized glasses 50, respectively. a display device position detection sensor 30 of the SD output signal _Y and _the polarizing glasses 36 of the position detecting sensor 50 outputs the _Y signal difference SG 56 SD _Y -SG _Y, the display position detecting sensor 36 of the means 30 the SD output signal _Z and the polarizing glasses 50 of the position detecting sensor output signal SG 56 _Z of difference SD _Z -SG _Z, the direction of the display device 30 detects the direction of the output signal _SD θX polarizing glasses 37 of the sensor 50 for detecting Difference SD _θX- SG _θX between the output signal SG _θX of the sensor 57 and the difference between the output signal SD _θZ of the direction detection sensor 37 of the display device 30 and the output signal SG _θZ of the direction detection sensor 57 of the polarizing glasses 50 SD _θZ- SG _θZ .

The control unit 46 generates, based on the difference SD _X- SG _X , the difference SD _Y- SG _Y , the difference SD _Z- SG _Z , the difference SD _θX- SG _θX , and the difference SD _θZ- SG _θZ , for the left and right eyes. The X-coordinate value and Y-coordinate value of the line-of-sight position are converted into a transformation matrix of the X-coordinate value and Y-coordinate value of the gaze point FP on the display screen of the display device 30, and the transformation matrix is applied to the left and right eyes. The X-coordinate value and Y-coordinate value of the line-of-sight position are used to obtain the X-coordinate value and Y-coordinate value of the fixation point FP. The control unit 46 supplies the X-coordinate value and the Y-coordinate value of the fixation point FP to the image processing unit 44 as fixation point data. When an enlargement trigger signal is generated, the image processing unit 44 rewrites the image in the drawing frame buffer 45D into an enlarged image of a predetermined rectangular area centered on the fixation point FP when receiving the fixation point data. Processing. In addition, when a zoom-out trigger signal is generated, when the image processing unit 44 receives the fixation point data, the image processing unit 44 rewrites the image in the drawing frame buffer 45D into a predetermined rectangular area centered on the fixation point FP. Image processing.

In FIG. 1, one end of the cable 165, the air supply pipe 164A, and the air discharge pipe 164B are connected to the rear end of the grip portion 1132 of the housing 131 of the endoscope. The cable 165 is connected to the control device 40. The air supply pipe 164A is connected to the intake / exhaust device 60 via the air cooling device 70. The air exhaust pipe 164B is connected to the air intake and exhaust device 60. The suction / exhaust device 60 is a device having both a function of forcibly supplying air into the casing 131 through the air supply pipe 164A and a function of forcibly discharging air from the casing 131 through the air exhaust pipe. The air cooling device 70 is a device that performs a function of cooling the air flowing through the air supply pipe 164A.

The housing 131, the air supply pipe 164A, and the air exhaust pipe 164B of the rigid endoscope 10 form a closed space, and a flow of air for cooling the inside of the housing 131 is generated in the closed space. This air flow will be described. FIG. 14A is a diagram showing the details of the structure inside the casing 131. FIG. 14B is a diagram showing details of the configuration of the suction and exhaust device 60, the air cooling device 70, the air supply pipe 164A, and the air discharge pipe 164B.

As shown in FIG. 14A, a solid-state imaging element 1311 and a substrate 1312 supporting the object are provided at a position facing the eyepiece 1201 in the front of the housing 131. Electronic components such as an A / D conversion section 1319 are mounted on the substrate 1312. FIG. 15 is an enlarged view of the periphery of the solid-state imaging device 1311 and the substrate 1312 in FIG. 14 (A). An anti-reflection glass 1315 is pasted on the solid-state imaging device 1311. A multi-ball grid 1313 is interposed between the solid-state imaging element 1311 and the substrate 1312.

A heat sink 1316 is provided on the back surface of the substrate 1312. The heat sink 1316 is a so-called needle-type heat sink in which a plurality of heat sinks 1316B are erected from the flat plate 1316A. An opening having the same size as the flat plate 1316A of the heat sink 1316 is provided at the center of the substrate 1312. A flat plate 1316A of the heat sink 1316 is embedded in the opening. The flat plate 1316A of the heat sink 1316 is adhered to the solid-state imaging element 1311 via a thermally conductive adhesive 1314. A duct 1318 is provided at a position inside the grip portion 1132 in the casing 131. One end of the duct 1318 faces the heat sink 1316B of the heat sink 1316. The other end of the duct 1318 is connected to the air supply pipe 164A.

A structure including an image processing FPGA (Field Programmable Gate Array) 1331, a substrate 1332, a heat sink 1336, a cover member 1338, and a conduit 166B is provided below the conduit 1318 inside the grip portion 1132 of the housing 131. FIG. 16 is an enlarged view of the periphery of the image processing FPGA 1331, the substrate 1332, the cover member 1338, the heat sink 1336, and the duct 166B of FIG. 14 (A). The multi-ball grid 1333 is interposed between the image processing FPGA 1331 and the substrate 1332.

A heat sink 1336 is provided on the substrate 1332. The heat sink 1336 is a so-called needle-type heat sink in which a plurality of heat sinks 1336B are erected from the flat plate 1336A. The size of the flat plate 1336A of the heat sink 1336 is approximately the same as that of the image processing FPGA 1331. The flat plate 1336A of the heat sink 1336 is adhered to the image processing FPGA 1331 via a thermally conductive adhesive 1334.

A cover member 1338 is provided on the heat sink 1336. The cover member 1338 has a shape in which the lower surface of the thin box body 1338A is opened, the tube 1338B protrudes from the center of the surface opposite to the open side, and the tube 1338B is gradually oriented in a direction orthogonal to the base end surface of the tube bending. The opening of the cover member 1338 covers the heat sink 1336. The front end of the barrel 1338B of the cover member 1338 is connected to the duct 166B. The other end of the duct 166B is connected to the air exhaust pipe 164B.

In the above structure in the casing 131, if the air supply device 160A, the air discharge device 160B, and the air cooling device 70 in the suction / exhaust device 60 are operated, the air supply device 160A manufactures a +10 hPa to +20 hPa Positive pressure sends air sucked from the outside to the air supply pipe 164A by this pressure. The air exhaust device 160B produces a negative pressure of -10 hPa to -20 hPa, and the air sucked from the air exhaust pipe 164B164B is sent to the outside by this pressure.

The air sent from the air supply device 160A to the air supply pipe 164A is cooled by the air cooling device 70 when passing through the air cooling device 70. The cooled air passes through the air supply pipe 164A and the duct 1318, and is blown and attached to the radiator 1316 as a first air flow from the opening at the front end of the duct 1318. The first air flow passes through the radiator 1316 and flows toward the side thereof, and circulates in the casing 131. The first air flow removes its heat as it passes through the radiator 1316. The air flowing toward the lower part after passing through the radiator 1316 is blown to the lower radiator 1336 in the casing 131 as a second air flow. After the second air flow passes through the radiator 1336, it is drawn into the opening of the cover member 1338. The second air flow removes its heat as it passes through the radiator 1336. The air drawn into the cover member 1338 after passing through the radiator 1336 passes through the duct 166B and the air exhaust pipe 164B, and is exhausted to the outside by the air exhaust device 160B.

The above is the details of this embodiment. According to this embodiment, the following effects can be obtained. First, in the present embodiment, the solid-state imaging element 1311 of the rigid endoscope 10 has a number of pixels PX _ij (i = 1 to 4320, j = 1 to 7680) corresponding to a number of 8K. Here, in the conventional 2K or 4K endoscope, the endoscope must be taken close to the subject for photography, and it may also occur when surgical instruments such as scalpels or forceps in the body cavity interfere with the endoscope. This leads to stagnant surgery. However, the endoscope of the present embodiment can sufficiently obtain a fine photographic image even if the subject is photographed from a position about 8 cm to 12 cm away from the subject in the body cavity. Therefore, a wide field of view and a surgical space can be secured in the body cavity, and a smoother operation can be realized.

Second, in the present embodiment, a red filter and a green filter are stuck to the pixels PX _ij (i = 1 to 4320, j = 1 to 7680) of the solid-state imaging element 1311 of the rigid endoscope 10. , A blue filter, and a near-infrared light filter, and an image obtained by superimposing an RGB image of visible light and an image of near-infrared light is displayed on the display device 30. Here, when an infrared excitation drug is injected into a patient's vein, the drug binds to a protein in the blood. When excitation light is irradiated from outside the blood vessel, near-infrared light is emitted, and the near-infrared light is reflected on the image. Therefore, the surgeon can simultaneously grasp the appearance of the affected part and the appearance of the distribution of blood vessels in the body by viewing one image displayed on the display device 30.

Third, in the present embodiment, the captured image of the rigid endoscope 10 is displayed on the display device 30 as a 3D moving image. Therefore, the operator of the operation can accurately grasp the positional relationship or distance between the organ of the subject of the operation in the body cavity and the surgical instrument.

Fourth, in the present embodiment, the control device 40 determines the display of the display device 30 according to the relationship between the detection signal of the sensor in the polarized glasses 50 and the detection signal of the sensor in the display device 30 when the trigger signal is generated. The gaze point FP of the surgeon in the image is displayed enlarged around the gaze point FP. The performer of the operation can specify a range of enlargement or reduction according to his own intention without performing cumbersome input operations.

Fifth, in the present embodiment, the pitch of adjacent pixels PX _ij in the solid-state imaging element 1311 of the rigid endoscope 10 is larger than the longest wavelength among the wavelengths of light in the illumination that irradiates the subject. Here, the 8K solid-state imaging device 1311 is a pixel PX _ij (i = 1 to 4320, j = 1 to 7680) arranged in 4320 columns and 7680 rows. Therefore, if the pixel PX _ij is not increased (i = 1 to 4320) , J = 1 to 7680), it is difficult to make the casing 131 into a size that is easy to handle. On the other hand, if the integration degree of the pixels PX _ij (i = 1 to 4320, j = 1 to 7680) of the solid-state imaging device 1311 is excessively increased, the distance between adjacent pixels PX _ij of the solid-state imaging device 1311 and The relationship between the wavelength of light becomes pitch <wavelength, and the photographed image becomes blurred due to the diffraction effect of light. By making the pitch of the adjacent pixels PX _ij in the solid-state imaging element 1311 larger than the longest wavelength among the wavelengths of light in the illumination that irradiates the subject, a clear and compact image can be provided. Endoscope.

Sixth, the housing 131 of the rigid endoscope 10 has a mounting portion 1131 having a large cross-sectional area that is orthogonal to the optical axis of the light passing through the insertion portion 110 and a grip having a smaller area than the mounting portion 1131. The holding portion 1132. The 8K solid-state imaging device 1311 has 4320 columns and 7680 pixels of pixels PX _ij (i = 1 to 4320, j = 1 to 7680), so it is difficult to become the same size as a 4K solid-state imaging device. There are some limits. If the thickness of the entire body of the 8K endoscope is added to the vertical and horizontal dimensions of the solid-state imaging element 1311, it becomes impossible to hold it with one hand. In this embodiment, since the cross-sectional area of the holding portion 1132 is smaller than the cross-sectional area of the mounting portion 1131, it is possible to provide an endoscope that has a high resolution and can be fully operated by holding with one hand.

Seventh, in the present embodiment, the casing 131 of the rigid endoscope 10 is provided with a first heat sink 1316, which is provided on the solid-state imaging element 1311, an image processing FPGA 1331, and a second heat sink 1336. A cover member 1338 is provided on the FPGA 1331 and covers the second heat sink 1336 and is connected to the air exhaust pipe 164B. Furthermore, in this embodiment, a first air flow for cooling the first radiator 1316 and a second air flow for cooling the second radiator 1336 are generated, and the first air flow is supplied from the air supply pipe 164A. The cooling air is blown to the first radiator 1316 and diffuses toward the periphery of the first radiator 1316. The second air flow flows into the air exhaust pipe 164B from the periphery of the second radiator 1336 via the cover member 1338. Way composition. Therefore, it is possible to efficiently cool the solid-state imaging element 1311 and the image processing FPGA 1331 that are the main heat sources in the housing 131 of the endoscope.

<Second Embodiment> FIG. 17 is a diagram showing a configuration of an endoscope system including a flexible endoscope 10 'as a second embodiment of the present invention. The endoscope system of the present embodiment is a surgeon who supports insertion of a soft endoscope 10 'from the mouth or anus to perform treatment on organs in a body cavity. In this embodiment, the rigid endoscope 10 of the endoscope system of the first embodiment is replaced with a flexible endoscope 10 '. The solid-state imaging element in the housing 131 of the flexible endoscope 10 ′ has fewer pixels than the solid-state imaging element in the housing 131 of the rigid endoscope 10 of the first embodiment (for example, a solid 300,000 pixel solid) Camera element).

In FIG. 17, the same reference numerals are assigned to the same components as those in FIG. 1, and different reference numerals are assigned to the different components from FIG. 1. FIG. 18 (A) is a view of the insertion portion 110 ′ of FIG. 1 as viewed from a direction of an arrow A. FIG. FIG. 18 (B) is a cross-sectional view taken along the line BB ′ of the insertion portion 110 ′ of FIG. 1. The insertion portion 110 ′ of the flexible endoscope 10 ′ includes a flexible lens barrel 111 ′ and an eyepiece 112. The flexible lens barrel 111 'contains a soft raw material.

A hollow light guide region 1112 'is provided in the flexible lens barrel 111' of the insertion portion 110 '. The hollow light guide region 1112 'is a cavity having a diameter of about half of the diameter of the insertion portion 110' itself. The center of the cross section of the hollow light guide region 1112 'is offset from the center of the cross section of the insertion portion 110' itself. The thickness of the portion near the center of the hollow light guide region 1112 in the housing surrounding the hollow light guide region 1112 ′ of the insertion portion 110 ′ is reduced, and the portion near the center of the hollow light guide region 1112 ′ is thickened. An optical fiber 1901 is embedded in a wall thickness portion of the housing of the insertion portion 110 '. A diffusion lens (not shown) is embedded in front of the front end of the optical fiber 1901 in the insertion portion 110 '.

An objective lens 1111 is embedded in the hollow light guide region 1112 ′ of the insertion portion 110 at a position remote from the front end. A multi-core fiber 1116 is housed between the objective lens 1111 and the eyepiece 112 in the hollow light guide region 1112 '. The light guide direction of each core CR of the multi-core fiber 1116 is parallel to the extending direction of the insertion portion 110 ′.

The cross section of the portion on the front end side of the insertion position of the objective lens 1111 in the hollow light guide region 1112 ′ of the insertion portion 110 is larger than the cross section of the portion having the objective lens 1111 and the multi-core fiber 1116. A movable mirror 1114 is supported at a position facing the objective lens 1111 in a portion on the front side of the hollow light guide region 1112 '. The movable mirror 1114 is a micro electro mechanical systems (MEMS) mirror. The movable mirror 1114 is supported so as to be swingable about two axes of the first axis ψ1 and the second axis ψ2. The first axis ψ1 is an axis that has a slope with respect to an optical axis (optical axis of the objective lens 1111) of light passing through the cores of the multi-core fiber 1116 and crosses the optical axis. The second axis ψ2 is an axis orthogonal to both the optical axis of the objective lens 1111 and the first axis ψ1. The fixed mirror 1115 is fixed between the movable mirror 1114 and the optical fiber 1901 in a portion on the front end side of the hollow light guide region 1112 '. The reflecting surface of the movable mirror 1114 faces the objective lens 1111 and the fixed mirror 1115. The reflection surface of the fixed mirror 1115 faces the opening 1801 of the front end of the movable mirror 1114 and the insertion portion 110 ′.

In this embodiment, the control unit 46 of the control device 40 performs the lighting drive process, the imaging element drive process, the display control process, the zoom control process, and the mirror drive process by the actions of the action program PRG in the memory unit 45. The mirror driving process is a process of supplying a driving signal for driving the movable mirror 1114 to the movable mirror 1114 via the input / output interface 43. The control unit 46 periodically switches the movable unit at intervals of a time T (for example, T = 1/120 second) shorter than the frame switching of the frame of the moving image by supplying a driving signal to the movable mirror 1114. The inclination angles of the orbiting axis ψ1 and the orbiting axis ψ2 of the mirror 1114 generate segmented area images of different parts of the subject in the body cavity, and synthesize the generated segmented area images to generate a map Image of box.

To explain more specifically, as shown in FIG. 19, the control unit 46 performs M on the imaging range of the soft endoscope 10 ′ in the body cavity (M is a natural number of 2 or more, and M = 9 in the example of FIG. 19) Divide equally and perform the following processing with reference to time t ₁ and time t _{2 in} time T ₍ time t _{M (= 9 ))} .

At time t ₁ , the control unit 46 uses the light self-interpolation unit 110 ′ of the first area AR-1 of the M areas AR-k (k = 1 to 9) obtained by dividing the entire imaging range by M equally. The opening 1801 at the front end of the lens is guided into the multi-core fiber 1116 through the fixed mirror 1115 and the movable mirror 1114 to control the inclination of the movable mirror 1114. The light in the area AR-1 passes through the multi-core fiber 1116 and reaches the solid-state imaging element 1311. The light in the area AR-1 undergoes photoelectric conversion in the solid-state imaging element 1311 and is stored as image data in the receiving buffer 45S of the memory unit 45. When the image data of the area AR-1 is stored in the receiving buffer 45S, the control unit 46 stores the image data in the storage area corresponding to the area AR-1 in the drawing frame buffer 45D.

At time t ₂ , the control unit 46 uses the light from the opening 1801 at the front end of the insertion unit 110 ′ of the second area AR-2 of the M areas AR-k (k = 1 to 9) through the fixed mirror 1115 and the movable portion. The manner in which the mirror 1114 is guided to the multi-core fiber 1116 controls the tilt of the movable mirror 1114. The light in the area AR-2 passes through the multi-core fiber 1116 and reaches the solid-state imaging element 1311. The light in the area AR-2 undergoes photoelectric conversion in the solid-state imaging device 1311 and is stored as image data in the receiving buffer 45S of the storage unit 45. When the image data of the area AR-2 is stored in the receiving buffer 45S, the control unit 46 stores the image data in a storage area corresponding to the area AR-2 in the drawing frame buffer 45D.

The control unit 46 performs the same processing at time t ₃ , time t ₄ , time t ₅ , time t ₆ , time t ₇ , time t ₈ , and time t ₉ , and will perform the processing for the areas AR-3, AR-4, and area AR-4. The image data generated by each of the AR-5, the area AR-6, the area AR-7, the area AR-8, and the area AR-9 is stored in individual storage areas of the drawing frame buffer 45D. According to the next frame switching time, the drawing frame buffer 45D is interchanged with the display frame buffer 45E, and the areas AR-1, AR-2, AR-3, AR-4, The image data of the area AR-5, the area AR-6, the area AR-7, the area AR-8, and the area AR-9 are output to the display device 30 as a frame moving image signal SC _3D .

The above is the details of this embodiment. Here, although the 8K solid-state imaging element can be stored in the housing 131 of the flexible endoscope 10 'of the insertion portion 110', if the number of cores of the multi-core fiber 1116 is increased to the same number of pixels as the solid-state imaging element If the number is smaller, the flexibility is impaired. The upper limit of the number of cores capable of maintaining flexibility is about 10,000.

In contrast, in the present embodiment, a movable mirror 1114 and a fixed mirror 1115 are provided in the flexible lens barrel 111 ′ of the insertion portion 110, and the movable mirror 1114 can surround light having a core CR passing through the multi-core fiber 1116. The two axes of the first axis ψ1 and the second axis ψ2 orthogonal to the first axis ψ1 are tilted and moved in the optical axis direction. Furthermore, the control device 40 periodically switches the tilt angle of the movable mirror 1114 at intervals of time T shorter than the frame switching time interval of the frame rate of the moving image, thereby generating divisions of different parts of the subject. Area image, and the generated divided area image is synthesized, thereby generating a moving image of a frame. Therefore, according to this embodiment, a 8K photographic image can be obtained in a state where the multicore fiber 1116 is suppressed to the same thickness as that of a conventional multi-core fiber (less than 2K). Therefore, according to this embodiment, a flexible endoscope 10 ′ having a resolution of 8K can be realized by using a solid-state imaging element under 2K.

Although the first and second embodiments of the present invention have been described above, the following modifications may be added to the embodiments.

(1) In the first and second embodiments, as shown in FIG. 20 (A), the optical system (objective lens 1111, eyepiece 1201, relay lens) in the insertion section 110 of the endoscope may be used. In the manner in which the image circle of the lens 1113, etc., and the light receiving area of the solid-state imaging element 1311 are externally connected, the focal length (the distance between the solid-state imaging element 1311 and the optical system) is set short, as shown in FIG. 20 (B). As shown, the focal length (solid-state imaging) of the optical system (objective lens 1111, eyepiece 1201, relay lens 1113, etc.) in the endoscope insertion section 110 and the light receiving area of the solid-state imaging element 1311 are internally connected. The distance between the element 1311 and the optical system is set to be long.

(2) In the first and second embodiments, a position detection sensor 56 and a direction detection sensor 57 are embedded in the polarized glasses 50, and a position detection sensor is also embedded in the display device 30.器 36 和 directional detection sensor 375. However, the display device 30 may be a non-position detection sensor 36 and a direction detection sensor 37. In this case, the control unit 46 may also use the fixed values of the X coordinate value, Y coordinate value, and Z coordinate value, the azimuth angle, and the elevation angle of the position of the display device 30 with the position detection sensor 56 of the polarized glasses 50 and The detection signal of the detection signal of the direction detection sensor 57 generates a conversion matrix.

(3) In the first embodiment, the pixels PX _ij of 4320 columns and 7680 rows in the solid-state imaging device 1311 become blocks of four pixels PX _ij of 2 columns and 2 rows. The four pixels PX _ij are pasted with red, green, blue, and near-infrared light filters. However, the red, green, blue, and near-infrared light filters may not be pasted in each of the four blocks as described. For example, the 4320 can be of every four blocks, the red filter paste to the whole pixels PX _{ij of} block rows in the first column, _{ij of} the pixel PX in the second column of Bank in green filter paste, paste blue filter to the pixel PX _ij whole row of the third column, pixel-wide line in the fourth column PX _ij in sticky close to infrared light.

(4) In the first and second embodiments, the housing 131 includes a button 139IN and a button 139OUT, and the button 139IN and the button 139OUT are pressed once to generate a trigger signal. However, the opportunity to generate a trigger signal can also be other ways. For example, a microphone may be mounted in the casing 131, and a trigger signal may be generated by an operator who speaks the word "zoom" as an opportunity. In addition, if the operation of pressing the button 139IN for a short time is performed, an enlargement trigger signal indicating that the image displayed on the display device 30 is enlarged is generated. If the operation of pressing the button 139IN for a long time is generated, an instruction is generated. De-enlarges the de-trigger signal without generating a reduced-trigger signal.

(5) In the first and second embodiments, the solid-state imaging device 1311 is a CMOS image sensor. However, a solid-state imaging element 1311 may be configured using a charge coupled device (Charge Coupled Device, CCD) image sensor.

(6) In the second embodiment, one multi-core fiber 1116 is housed in the insertion portion 110 ′. However, a plurality of multicore fibers 1116 may be accommodated.

(7) In the second embodiment, the insertion section 110 ′ includes two mirrors, a fixed mirror 1115 and a movable mirror 1114. However, the number of mirrors may be one or three or more. In addition, all of one or more mirrors can be set as movable mirrors. In short, as long as the light is guided from the subject to the multi-core fiber 1116 through one or more mirrors, it is only necessary to make the scanning area variable.

(8) In the second embodiment, the first axis ψ1 may be inclined with respect to the optical axis of light passing through the cores of the multi-core fiber 1116, and does not need to be related to the light of the light passing through the cores of the multi-core fiber 1116 The axes cross. In this case, it is preferable to control the surrounding of the movable mirror 1114 so that the inclination with respect to the optical axis direction of the light passing through the cores CR of the multi-core fiber 1116 in the first axis ψ1 becomes 45 degrees ± a predetermined angle. Inclined movement of the second axis ψ2. In addition, it is preferable to control the surrounding of the first axis of the movable mirror 1114 so that the inclination with respect to the optical axis direction of the light passing through the cores CR of the multi-core fiber 1116 on the second axis ψ2 becomes 90 degrees ± a predetermined angle. The tilt movement of ψ1.

10‧‧‧ rigid endoscope

10'‧‧‧Soft Endoscope

20‧‧‧Lighting device

30‧‧‧ display device

36‧‧‧Position detection sensor

37‧‧‧Direction detection sensor

40‧‧‧control device

41‧‧‧Wireless Communication Department

42‧‧‧Operation Department

43‧‧‧I / O interface

44‧‧‧Image Processing Department

45‧‧‧Memory Department

45D‧‧‧Draw frame buffer

45E‧‧‧Display frame buffer

45L‧‧‧Buffer for left eye image

45R‧‧‧Right-eye image buffer

45S‧‧‧Receive buffer

46‧‧‧Control Department

50‧‧‧ polarized glasses

51‧‧‧The first potential sensor

52‧‧‧Second potential sensor

53‧‧‧The third potential sensor

54‧‧‧ glasses frame

55L‧‧‧Left lens

55R‧‧‧Right lens

56‧‧‧Position detection sensor

57‧‧‧direction detection sensor

58‧‧‧Wireless Communication Department

60‧‧‧ Suction and exhaust device

70‧‧‧air cooling device

110, 110'‧‧‧ Insertion section

111‧‧‧ rigid tube

111'‧‧‧ soft lens tube

112‧‧‧eyepiece

113‧‧‧Connector

120‧‧‧ Eyepiece Mounting Section

130‧‧‧ camera body

131‧‧‧Cage

139IN, 139OUT‧‧‧ button

160A‧‧‧Air supply device

160B‧‧‧Air exhaust device

164A‧‧‧Air Supply Pipe

164B‧‧‧Air exhaust pipe

165‧‧‧cable

166B‧‧‧ Catheter

1111‧‧‧ Objective

1112, 1112'‧‧‧ Hollow light guide area

1113‧‧‧ relay lens

1114‧‧‧movable mirror

1115‧‧‧Fixed mirror

1116‧‧‧Multi-core fiber

1131‧‧‧Mounting Department

1132‧‧‧Grip

1201‧‧‧ Eyepiece

1311‧‧‧Solid-state image sensor

1312, 1332‧‧‧ substrate

1313, 1333‧‧‧‧Ball

1314, 1334‧‧‧ Thermally Conductive Adhesive

1315‧‧‧Anti-reflective glass

1316‧‧‧ Radiator

1316A, 1336A‧‧‧ Flat

1316B, 1336B‧‧‧ heat sink

1318‧‧‧ Catheter

1319‧‧‧A / D Conversion Department

1331‧‧‧Image Processing FPGA

1336‧‧‧ Radiator

1338‧‧‧ cover member

1338A‧‧‧Box

1338B‧‧‧ tube

1801‧‧‧ opening

1901‧‧‧optical fiber

A‧‧‧arrow

AMP‧‧‧amplifier

AR-1 ～ AR-9‧‧‧area

B‧‧‧ blue

CR‧‧‧ core

D‧‧‧distance

EL‧‧‧photoelectric conversion element

FP‧‧‧Gaze Point

G‧‧‧Green

PRG‧‧‧Action Program

PX‧‧‧Pixels

R‧‧‧ red

SD‧‧‧Image signal

SD _3D ‧‧‧Motion Picture Signal

SD _X , SD _Y , SD _Z , SG _X , SG _Y , SG _Z ‧‧‧ coordinate signals

SD _θX , SD _θZ , SG _θX , SG _θZ ‧‧‧ angle signals

SG'‧‧‧Wireless Signal

SG _V1 ‧‧‧Left potential signal

SG _V2 ‧‧‧Right potential signal

SG _V3 ‧‧‧ Upper potential signal

t ₁ ～ t ₉ ‧‧‧time

t _D , t _U , t _L , t _R ‧‧‧

ψ1‧‧‧ 1st axis

ψ2‧‧‧ 2nd axis

FIG. 1 is a diagram showing the overall configuration of an endoscope system as an embodiment of the present invention. FIG. 2 is a diagram showing a state of an operation using an endoscope system. FIG. 3 is a diagram showing features of an endoscope system. FIG. 4 is a view of the casing 131 of FIG. 1 as viewed from a direction of an arrow A. FIG. 5 is a cross-sectional view taken along the line BB ′ of the insertion portion 110 of FIG. 1. FIG. 6 is a diagram showing the polarized glasses 50 of FIG. 1. FIG. 7 is a diagram showing a configuration of the control device 40 of FIG. 1. FIG. 8 is a diagram showing processing of the control device 40 of FIG. 1. FIG. 9 is a diagram showing processing by the control device 40 of FIG. 1. FIG. 10 is a diagram showing an example of a waveform of a sensor of the polarized glasses 50 of FIG. 1. FIG. 11 is a diagram showing an example of a waveform of a sensor of the polarized glasses 50 of FIG. 1. FIG. 12 is a diagram showing an example of a waveform of a sensor of the polarized glasses 50 of FIG. 1. FIG. 13 is a diagram showing an example of a waveform of a sensor of the polarized glasses 50 of FIG. 1. (A) and (B) of FIG. 14 show the structure inside the housing 131 of the endoscope of FIG. 1, and the structure of the suction and exhaust device 60, the air cooling device 70, the air supply pipe 164A, and the air discharge pipe 164B Illustration. FIG. 15 is an enlarged view of the periphery of the solid-state imaging device 1311 and the substrate 1312 in FIG. 14 (A). FIG. 16 is an enlarged view of the periphery of the image processing FPGA 1331, the substrate 1332, the cover member 1338, and the duct 166B in FIG. 14 (A). FIG. 17 is a diagram showing a configuration of an endoscope system including a flexible endoscope 10 ′ as a second embodiment of the present invention. 18 (A) and 18 (B) are views of the insertion portion 110 ′ of FIG. 17 and a cross-sectional view taken along the line BB ′ of the insertion portion 110 ′ as viewed from the direction of the arrow A. FIG. FIG. 19 is a diagram illustrating processing of the control device 40 of FIG. 17. 20 (A) and 20 (B) are diagrams showing characteristics of a modification of the present invention.

Claims (6)

An endoscope system includes: an endoscope that takes an image of a subject in a patient's body cavity and outputs an image signal; and a control device that performs a prescribed three-dimensional processing on the output signal of the endoscope, The three-dimensional image signal obtained by the three-dimensional processing is output to a display device as a dynamic image signal with a predetermined frame rate. The endoscope system is characterized in that the endoscope includes: a casing; an insert; An irradiating unit that irradiates light including visible light and excitation light from the end of the inserting unit toward the subject in the body cavity of the patient; and a solid-state imaging element Is stored in the housing, and a predetermined number of pixels having photoelectric conversion elements are arranged in a matrix, and the photoelectric conversion elements perform photoelectric conversion on light guided from the subject into the insertion portion; A predetermined number of pixels of the solid-state imaging element are divided into pixels for visible light and pixels for excitation light, and blue is provided between the photoelectric conversion element for the pixels for visible light and the insertion portion. A wavelength-transmitting filter, a green-wavelength-transmitting filter, and a red-wavelength-transmitting filter are provided between the pixel for the excitation light and the insertion portion, the wavelength of the excitation light is provided. A transmission filter, and the control device generates a composite image obtained by combining an output signal of a pixel for visible light and an output signal of a pixel for excitation light in the solid-state imaging element, and The image is subjected to the three-dimensional processing. The endoscope system according to item 1 of the scope of patent application, wherein the endoscope is an 8K endoscope whose pixel number of the solid-state imaging element is equivalent to 8K, and in the solid-state imaging element, The pitch of adjacent pixels is larger than the longest wavelength among the wavelengths of light in the illumination that irradiates the subject. The endoscope system according to item 2 of the scope of patent application, wherein the housing has a mounting portion and a holding portion, and the mounting portion has a cross section orthogonal to an optical axis of light passing through the insertion portion. The area is larger, the cross-sectional area of the gripping portion is smaller than the mounting portion, and the solid-state imaging element is housed in the mounting portion. The endoscope system according to item 3 of the scope of patent application, wherein the insertion portion has a hollow rigid lens barrel, and a plurality of lenses are provided in the rigid lens barrel, and the plurality of lenses include an objective lens. The endoscope system according to item 4 of the scope of patent application, comprising: an air supply pipe and an air exhaust pipe connected to the casing; an air supply and exhaust device forcibly supplying the air into the casing via the air supply pipe Air, and forcibly exhaust air from the casing through the air exhaust pipe; and an air cooling device that cools air flowing in the air supply pipe; the casing, the air supply pipe, and the air The air exhaust pipe is connected to form a closed space, and a first radiator is provided in the casing, the solid-state imaging element is provided, a field programmable gate array for image processing, and a second radiator, And a cover member installed on the field programmable gate array and covering the second radiator and connected to the air exhaust pipe, and generates a first heat sink in the housing to cool the first radiator. An air flow and a second air flow for cooling the second radiator, the first air flow is blown onto the first radiator with cooling air supplied from the air supply pipe, and is directed toward the first radiator. Mentioned first radiator Diverging manner around configuration around the second air stream from the second heat sink member via the lid to flow into the tube in such a way constituting the air outlet. The endoscope system according to item 1 of the scope of patent application, wherein the insertion portion has a hollow flexible lens barrel, and an objective lens, a multi-core fiber, and a lens from the subject are provided in the flexible lens barrel. Light reflected one or more mirrors once or multiple times and guided towards the objective lens, at least one of the one or more mirrors can be tilted around the first axis and the second axis, the first axis The direction of the optical axis of the light passing through the cores of the multi-core fiber has a slope, the second axis is orthogonal to the first axis, and the control device switches between frames with a frame rate higher than the frame rate. The tilt angle of the mirror is periodically switched at a short time interval, thereby generating divided area images of parts of the subject that are different from each other, and synthesizing the generated divided area images, thereby Generate a moving image of the frame.