WO2019186768A1 - Dispositif d'assistance peropératoire - Google Patents

Dispositif d'assistance peropératoire Download PDF

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Publication number
WO2019186768A1
WO2019186768A1 PCT/JP2018/012763 JP2018012763W WO2019186768A1 WO 2019186768 A1 WO2019186768 A1 WO 2019186768A1 JP 2018012763 W JP2018012763 W JP 2018012763W WO 2019186768 A1 WO2019186768 A1 WO 2019186768A1
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WIPO (PCT)
Prior art keywords
camera
image
subject
rotation
subject distance
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PCT/JP2018/012763
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English (en)
Japanese (ja)
Inventor
紘之 妻鳥
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株式会社島津製作所
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Priority to PCT/JP2018/012763 priority Critical patent/WO2019186768A1/fr
Publication of WO2019186768A1 publication Critical patent/WO2019186768A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present invention relates to an intraoperative support device, and more particularly, to an intraoperative support device that captures an image during surgery and performs intraoperative support.
  • an intraoperative support device that captures an image during surgery and performs intraoperative support is known.
  • Such an intraoperative support device is disclosed in, for example, Japanese Patent Application Laid-Open No. 2012-023492.
  • JP-A-2012-023492 discloses that an operation site to which a phosphor is administered is irradiated with a visible light and an excitation light while switching between the visible light and the excitation light.
  • a configuration for acquiring an image is disclosed.
  • the doctor may want to know the size of the surgical site.
  • a coronary artery bypass surgery there are cases where it is desired to grasp the blood vessel diameter of a transplanted blood vessel so that a doctor grasps the blood flow in the transplanted blood vessel after the operation.
  • a method for acquiring the subject distance is not disclosed in the above Japanese Patent Laid-Open No. 2012-023492, a method for acquiring the subject distance by attaching a dedicated distance measuring device such as an ultrasonic type to the intraoperative support device is generally known. It has been.
  • the “subject distance” is a distance between the subject and the front lens (lens closest to the subject) of the intraoperative support apparatus.
  • the present invention has been made to solve the above-described problems, and one object of the present invention is to acquire the subject distance without separately providing a dedicated device for measuring the subject distance. It is to provide a possible intraoperative support device.
  • an intraoperative support device detects a camera that images a subject, a rotation mechanism that rotates the camera, and a rotation angle when the camera is rotated.
  • a rotation angle detection unit that detects a shift amount of an image acquired by the camera, an image that is detected by the rotation angle detection unit, and an image that is detected by the image change amount detection unit.
  • a subject distance acquisition unit that acquires a subject distance based on the amount of deviation.
  • the intraoperative support device is configured to capture an image during surgery and perform surgical support.
  • the camera that images the subject the rotation mechanism that rotates the camera, the rotation angle when the camera is rotated, and before and after the rotation
  • a subject distance acquisition unit that acquires a subject distance based on the image shift amount; Accordingly, the subject distance can be acquired based on the geometric relationship between the rotation angle when the camera is rotated, the amount of image shift before and after the rotation, and the subject distance. As a result, the subject distance can be acquired without separately providing a dedicated device for measuring the subject distance.
  • the subject distance acquisition unit is preferably based on the number of pixels of the image and the number of pixels to which the image has moved before and after the rotation corresponding to the rotation angle as the image shift amount.
  • the subject distance is calculated.
  • the number of pixels of the image if the size of the field of view of the image captured by the camera is known, the number of pixels in that range can be acquired.
  • the size of the visual field range is an element determined by the angle of view of a lens provided in the camera. That is, the number of pixels of the image is a known value by design. Therefore, if configured as described above, in addition to the number of pixels of the known image, the subject distance can be easily obtained by obtaining the number of pixels that the image has moved before and after the rotation angle. Can do.
  • the camera preferably further includes a zoom lens
  • the subject distance acquisition unit is configured to calculate the subject distance based on the zoom magnification of the zoom lens.
  • the subject distance can be calculated even when the zoom magnification for imaging the subject is changed.
  • an actual scale such as the diameter of the blood vessel of the heart is acquired from the size of the field of view of the captured image, the number of pixels, the subject distance, etc. Therefore, usability (user convenience) can be improved.
  • the “real scale” is a size when an object in a captured image is actually viewed with the naked eye.
  • the subject distance acquisition unit is preferably configured to calculate the subject distance using the following formula (1).
  • WD is the subject distance between the subject and the lens closest to the subject of the camera.
  • M is the zoom magnification.
  • ⁇ P is the number of pixels that the image has moved before and after rotation.
  • K is a correction coefficient for taking an image with a lens being distorted.
  • P is the number of pixels of the image included in the visual field range of the camera.
  • ⁇ is the rotation angle of the camera.
  • D is the distance from the lens closest to the camera subject to the center of rotation.
  • ⁇ is the angle of view of the camera. If comprised in this way, a to-be-photographed object distance can be easily acquired using said Formula (1).
  • the intraoperative support apparatus preferably further includes a storage unit that stores a position of a pixel group within a predetermined range in an image before the camera rotates, and the subject distance acquisition unit is a predetermined unit before and after the camera rotates. Based on the position of the pixel group in the range, the number of pixels moved by the rotation of the camera is acquired. If comprised in this way, the pixel count of the image moved by rotation of a camera can be automatically acquired from the image before and behind rotation.
  • the intraoperative support device preferably further includes an installation unit in which the camera is installed, the installation unit has an installation surface on which the camera is installed, and the rotation mechanism rotates the installation unit.
  • the camera is configured to rotate up, down, left, and right with respect to the imaging direction of the camera.
  • the intraoperative support device preferably further comprises an excitation light source that irradiates the subject with excitation light for exciting a fluorescent dye administered into the body of the subject as the subject
  • the camera includes a near-infrared light detection unit that detects near-infrared light generated from the fluorescent dye by the irradiated excitation light. If comprised in this way, the near-infrared-light image which makes it possible to grasp
  • blood flow in a blood vessel that cannot be confirmed with a visible light image during surgery can be confirmed with a near-infrared light image by introducing a fluorescent dye.
  • the subject distance of the near-infrared light image can be acquired, the user can easily grasp the blood vessel diameter (actual scale) of the blood vessel of the heart.
  • the camera includes a visible light detection unit, and the visible light detection unit detects a visible light by a lens unit common to the near-infrared light detection unit, It is configured to detect visible light. If comprised in this way, the image of visible light and the image of near-infrared light can be acquired using a common lens unit. As a result, an increase in the number of components can be suppressed as compared with a case where a visible light image and a near-infrared light image are captured by separate lens units. In addition, it is possible to acquire the subject distance of the visible light image and the near-infrared light image at a time as compared with the case of separately capturing images with different lens units. Work efficiency can be improved.
  • the intraoperative support apparatus preferably further includes a housing and an arm mechanism that is provided in the housing and supports the camera via a rotation mechanism, and the subject distance acquisition unit is supported by the arm mechanism.
  • the camera is configured to acquire a subject distance between the camera and the subject, and is configured to output a captured image of the subject to an external display device. If comprised in this way, even when a housing
  • the subject distance between the camera after the movement and the subject can be acquired.
  • a captured image of the subject can be output to an external display device.
  • the degree of freedom of the location of the intraoperative support device is increased, so that usability (user convenience) can be improved.
  • the subject distance can be easily obtained regardless of the location of the intraoperative support device, and the usefulness as an intraoperative support system can be further improved.
  • an intraoperative support device that can acquire the subject distance without separately providing a dedicated device for measuring the subject distance.
  • 1 is a block diagram illustrating an outline of an imaging system including an intraoperative support device according to an embodiment of the present invention. It is a schematic diagram of the whole structure of an imaging system provided with the intraoperative assistance apparatus by one Embodiment of this invention. It is a schematic diagram of the captured image which an imaging system provided with the intraoperative assistance apparatus by one Embodiment of this invention displays. It is a perspective view of the intraoperative assistance apparatus by one Embodiment of this invention. 1 is a schematic view of a camera according to an embodiment of the present invention. It is the block diagram which showed the outline inside the camera by one Embodiment of this invention.
  • FIG. 4 is a schematic diagram (A) showing a positional relationship between a camera and a subject before rotation of the intraoperative support apparatus according to an embodiment of the present invention, and a schematic diagram (B) showing a positional relationship between the camera after rotation and the subject.
  • FIG. 4 is a schematic diagram (A) showing a positional relationship between a camera and a subject before rotation of the intraoperative support apparatus according to an embodiment of the present invention, and a schematic diagram (B) showing a positional relationship between the camera after rotation and the subject.
  • FIGS. 1 A configuration of an imaging system 100 including the intraoperative support device 1 according to an embodiment will be described with reference to FIGS.
  • the imaging system 100 including the intraoperative support device 1 includes the intraoperative support device 1 and a display device 30 as illustrated in FIG.
  • the intraoperative support device 1 is configured to capture an image during surgery and perform surgical support.
  • the intraoperative support device 1 captures the near infrared light IR image 32a (see FIG. 3) and the visible light Vis image 32b (see FIG. 3) of the subject S and the subject distance between the subject S and the intraoperative support device 1. It is configured to acquire a WD (see FIG. 2).
  • the detailed configuration of the intraoperative support device 1 will be described later.
  • the display device 30 is configured to display a captured image 32 (see FIG. 3) of the subject S output from the intraoperative support device 1.
  • the display device 30 is a monitor such as a liquid crystal display, for example.
  • the intraoperative support device 1 includes a camera 5 including a light receiving unit 2, a lens unit 3, and a light source unit 4, and an installation unit 6a in which the camera 5 is installed.
  • a rotation mechanism 6 that rotates the camera 5 by rotating 6a, an arm mechanism 7, and a housing 8 are provided.
  • the light receiving unit 2 includes a visible light detecting unit 9 and a near infrared light detecting unit 10.
  • the visible light detection unit 9 is configured to capture an image 32b (see FIG. 3) of the visible light Vis.
  • the near-infrared light detection unit 10 is configured to capture an image 32a (see FIG. 3) of the near-infrared light IR. Detailed configurations of the visible light detection unit 9 and the near infrared light detection unit 10 will be described later.
  • the lens unit 3 detects the positions of the optical system 11 including the focus lens 11a, the zoom lens 11b, and the prism 14, the lens driving unit 12 that drives the focus lens 11a and the zoom lens 11b, and the focus lens 11a and the zoom lens 11b. And a lens position detection unit 13 for performing the above.
  • the focus lens 11a and the zoom lens 11b are each shown as a single lens for convenience, but the focus lens 11a and the zoom lens 11b may each be an assembly constituted by a plurality of lenses.
  • the lens driving unit 12 is configured to move the focus lens 11a to a focus position when focusing.
  • the lens driving unit 12 is configured to move the zoom lens 11 b when changing the zoom magnification m of the captured image 32.
  • the lens position detector 13 is configured to acquire the current positions of the focus lens 11a and the zoom lens 11b.
  • the lens position detection unit 13 includes, for example, a potentiometer.
  • the lens position detector 13 is originally provided in the camera 5 for detecting the positions of the focus lens 11a, the zoom lens 11b, and the like, and does not need to include the lens position detector 13 separately.
  • the light source unit 4 emits visible light Vis (see FIG. 2) to a subject S (patient) as a subject, and excitation for exciting a fluorescent dye administered into the body of the subject S And an excitation light source 4b that irradiates the subject S with light EL (see FIG. 2).
  • the visible light source 4a and the excitation light source 4b include, for example, a light emitting diode (LED).
  • the fluorescent dye is, for example, indocyanine green (ICG).
  • the rotation mechanism 6 has an installation portion 6a where the camera 5 is installed.
  • the rotation mechanism 6 is configured to rotate the camera 5 up, down, left, and right with respect to the imaging direction of the camera 5 (in front of the lens of the camera 5) by rotating the installation portion 6a. .
  • a detailed configuration of the rotation mechanism 6 will be described later.
  • the housing 8 includes a storage unit 15, a rotation angle detection unit 16, an image change amount detection unit 17, and a subject distance acquisition unit 18.
  • the housing 8 is, for example, a cart with a built-in PC (personal computer).
  • the storage unit 15 also has a predetermined range 42 (see FIG. 9) in the image 32 before the rotation of the camera 5 used when calculating the subject distance WD (see FIG. 2) between the focus lens 11a and the subject S. ) Of the pixel group.
  • the storage unit 15 includes, for example, a nonvolatile memory or a hard disk drive.
  • the rotation angle detection part 16 is comprised so that rotation angle (theta) (refer FIG. 8) of the camera 5 at the time of rotating the camera 5 may be detected.
  • the rotation angle detection unit 16 is configured by, for example, a potentiometer. Further, the image change amount detection unit 17 is configured to detect a shift amount ⁇ P (see FIG. 9) of the image 32 acquired by the camera 5.
  • the image change amount detection unit 17 is configured by a processor such as a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) configured for image processing, for example.
  • the subject distance acquisition unit 18 acquires the subject distance WD based on the rotation angle ⁇ (see FIG. 8) when the camera 5 is rotated and the shift amount ⁇ P of the image 32 before and after the rotation. It is configured as follows. A detailed method for obtaining the subject distance WD will be described later.
  • the subject distance acquisition unit 18 is configured by a processor such as a CPU, for example.
  • the imaging system 100 is configured as an intraoperative support system that captures an image 32b of visible light Vis and an image 32a of near-infrared light IR of a subject S during surgery.
  • the intraoperative support device 1 is configured to image the subject S from above the subject S when the surgeon Q performs an operation on the subject S.
  • the heart 40 of the subject S is imaged.
  • FIG. 3A is a schematic diagram of an image 32 a of near-infrared light IR of the heart 40.
  • a blood vessel 41 in FIG. 3A is a blood vessel 41 transplanted by surgery.
  • FIG. 3B is a schematic diagram of an image 32b of visible light Vis.
  • FIG. 3C is a schematic diagram of an image 32c obtained by synthesizing the near-infrared light IR image 32a and the visible light Vis image 32b.
  • the intraoperative support apparatus 1 combines the near-infrared light IR image 32a of the heart 40 and the visible light Vis image 32b to generate a composite image 32c, and the near-infrared light IR image 32a,
  • the visible light Vis image 32 b and the composite image 32 c are configured to be output to the display device 30.
  • the display device 30 displays a near-infrared light IR image 32a, a visible light Vis image 32b, and a composite image 32c.
  • a blood vessel 41 is a blood vessel 41 transplanted in coronary artery bypass surgery. After the coronary artery bypass operation, it is confirmed by the transplanted blood vessel 41 whether the blood flow is flowing normally. At that time, ICG is administered to the blood vessel connected to the blood vessel 41, and the blood flow in the blood vessel 41 is confirmed by confirming the image 32a of the near-infrared light IR generated by the excitation light EL.
  • the blood flow volume can be obtained based on, for example, the blood vessel diameter of the blood vessel 41 and the blood flow velocity in the near infrared light IR image 32a.
  • the distance between the surgical site (blood vessel 41) of the subject S and the intraoperative support device 1 (camera 5) is the subject distance WD.
  • the display device 30 is disposed in the facing direction (arrow A1 direction side) of the surgeon Q (user), and when the surgeon Q performs a treatment on the subject S (patient), It arrange
  • FIG. 4 is a perspective view of the intraoperative support device 1 according to the present embodiment.
  • the intraoperative support device 1 includes a housing 8 having four wheels 80, an arm mechanism 7 provided near the front of the housing 8 in the traveling direction on the upper surface of the housing 8, and the arm mechanism 7 A rotation mechanism 6 provided via the sub arm 50, a camera 5 provided on the arm mechanism 7 via the rotation mechanism 6, and a monitor 82.
  • a handle 81 used when moving the housing 8 is provided behind the housing 8 in the traveling direction.
  • a recess 83 for mounting an operation unit (not shown) used for remote operation of the intraoperative support device 1 is formed on the upper surface of the housing 8.
  • the arm mechanism 7 is provided on the front side of the casing 8 in the traveling direction (the side opposite to the handle 81).
  • the arm mechanism 7 includes a first arm member 70 that is connected by a hinge portion 72 to a support portion 76 that is disposed on a support column 75 provided on the front side in the traveling direction of the housing 8.
  • the first arm member 70 is swingable with respect to the housing 8 through the support column 75 and the support portion 76 around the hinge portion 72.
  • the monitor 82 is installed on the support column 75.
  • a second arm member 71 is connected to the upper end of the first arm member 70 by a hinge portion 73.
  • the second arm member 71 can swing with respect to the first arm member 70 via the hinge portion 73.
  • the 1st arm member 70 and the 2nd arm member 71 are comprised so that an angle can be adjusted freely.
  • the support portion 52 is connected to the lower end of the second arm member 71 by a hinge portion 74.
  • the support portion 52 can swing with respect to the second arm member 71 via the hinge portion 74.
  • the support portion 52 is provided with a rotating shaft 51. Then, the sub arm 50 that supports the camera 5 via the rotation mechanism 6 rotates around the rotation shaft 51 provided at the tip of the second arm member 71. For this reason, the camera 5 moves with respect to the arm mechanism 7, which is the position when the housing 8 is moved, and the position of the front side of the housing 8 with respect to the arm mechanism 7 by the rotation of the sub arm 50.
  • the housing 8 moves between positions on the rear side (handle 81 side) in the traveling direction.
  • FIG. 5 is a schematic diagram of the camera 5 according to the present embodiment.
  • the camera 5 accommodates the light receiving unit 2, the lens unit 3, and the light source unit 4 therein.
  • the visible light source 4a and the excitation light source 4b are each composed of six LEDs.
  • the visible light source 4a irradiates the subject S with visible light Vis.
  • the visible light Vis is, for example, white light including a plurality of wavelengths in the visible region.
  • the excitation light source 4b irradiates the subject S with excitation light EL for exciting the ICG.
  • the excitation light source 4b irradiates, for example, near infrared light having a center wavelength of 760 nm as the excitation light EL.
  • the central wavelength of the excitation light source 4b is not limited to 760 nm, and may be any wavelength as long as ICG can be excited.
  • FIG. 6 is a schematic diagram of the light receiving unit 2 and the lens unit 3 of the intraoperative support device 1 according to the present embodiment.
  • the visible light detection unit 9 is configured to detect the visible light Vis irradiated from the visible light source 4a and reflected by the subject S.
  • the near-infrared light detection unit 10 is configured to detect the near-infrared light IR generated from the ICG administered into the body of the subject S by the excitation light EL emitted from the excitation light source 4b.
  • the visible light detection unit 9 and the near-infrared light detection unit 10 are each composed of an image sensor such as a CMOS (complementary metal oxide semiconductor) or a CCD (charge coupled device), for example.
  • the visible light detection unit 9 is capable of photographing the visible light Vis image 32b as a color image.
  • the visible light detection unit 9 and the near infrared light detection unit 10 detect the visible light Vis and the near infrared light IR by the common lens unit 3 when detecting the visible light Vis and the near infrared light IR. It is configured.
  • the visible light Vis and the near-infrared light IR incident on the light receiving unit 2 along the optical axis OA pass through the focus lens 11a and the zoom lens 11b, and then reach the prism 14.
  • the visible light Vis is reflected by the prism 14 and enters the visible light detector 9.
  • the near infrared light IR passes through the prism 14 and enters the near infrared light detection unit 10.
  • the visible light detection unit 9 captures the visible light image as a color image at a predetermined frame rate.
  • the near infrared light detection unit 10 captures a near infrared light image at a predetermined frame rate.
  • the rotation mechanism 6 includes a first rotation shaft portion 6b where the camera 5 is installed and a second rotation shaft portion connected to the first rotation shaft portion 6b via the arm 6d. 6c.
  • the first rotation shaft portion 6 b is configured to rotate around the rotation shaft 19. That is, the first rotation shaft portion 6b is configured to rotate the camera 5 left and right with respect to the imaging direction.
  • the left-right direction with respect to the imaging direction is a direction perpendicular to the arrow A1 shown in FIG.
  • the second rotation shaft portion 6c is configured to rotate around the rotation shaft 20.
  • the second rotation shaft portion 6c is connected to the first rotation shaft portion 6b via the arm 6d. Accordingly, when the second rotation shaft portion 6c rotates, the first rotation shaft portion 6b rotates. At that time, the camera 5 installed on the first rotation shaft portion 6b also rotates in the same manner as the first rotation shaft portion 6b. That is, the second rotation shaft portion 6c is configured to rotate the camera 5 up and down with respect to the imaging direction.
  • the up and down direction with respect to the imaging direction is a direction parallel to the arrow A1 shown in FIG.
  • the rotation mechanism 6 is configured to be able to rotate the camera 5 within a range of plus or minus 15 degrees, for example, up, down, left, and right.
  • the rotation shafts 19 and 20 are orthogonal to each other in a plane perpendicular to the shooting direction of the camera 5.
  • each of the first rotation shaft portion 6b and the second rotation shaft portion 6c includes a drive unit (not shown).
  • Each of the first rotation shaft portion 6b and the second rotation shaft portion 6c includes, for example, a motor.
  • the subject distance acquisition unit 18 is configured to automatically rotate the camera 5 via the first rotation shaft portion 6b and the second rotation shaft portion 6c. Further, each of the first rotation shaft portion 6b and the second rotation shaft portion 6c is configured to output a rotation angle ⁇ (see FIG. 8).
  • Each of the first rotation shaft portion 6b and the second rotation shaft portion 6c includes, for example, a potentiometer.
  • the subject distance acquisition unit 18 is configured to acquire the rotation angle ⁇ of the first rotation shaft portion 6b and the second rotation shaft portion 6c and use it for calculation of the subject distance WD.
  • the subject distance acquisition unit 18 is configured to acquire the movement distance ⁇ L (the number of moving pixels ⁇ P) of the image 32 before and after the rotation of the camera 5 in order to acquire the subject distance WD.
  • a region 42 in FIG. 9 is a predetermined range 42 to which attention is paid when the moving distance ⁇ L (moving pixel number ⁇ P) of the image 32 is acquired.
  • the subject distance acquisition unit 18 is configured to automatically set the predetermined range 42 where the position can be specified before and after the camera 5 is rotated.
  • the predetermined range 42 is a range including a color boundary in the captured image, and is defined by a range of several pixels ⁇ several pixels, for example. In the example shown in FIG. 9, the predetermined range 42 is indicated by a rectangle. However, if the movement distance ⁇ L (the number of moving pixels ⁇ P) of the image 32 before and after the rotation can be acquired, the shape of the predetermined range 42 is Any shape is acceptable.
  • the intraoperative support device 1 is configured to acquire the subject distance WD based on the rotation angle ⁇ when the camera 5 is rotated and the shift amount ⁇ P of the image 32 before and after the rotation.
  • the subject distance acquisition unit 18 is based on the number of pixels P of the image 32 and the number of pixels ⁇ P that the image 32 has moved before and after the rotation by the rotation angle ⁇ as the shift amount ⁇ P of the image 32.
  • the subject distance WD is calculated.
  • the moving distance ⁇ L of the image 32 when the camera 5 is rotated is set such as the distance between the camera 5 and the subject S (subject distance WD), the zoom magnification m, etc., even if the rotational angle ⁇ is the same. Therefore, it is different. Therefore, the subject distance acquisition unit 18 is configured to set the rotation angle ⁇ such that the predetermined range 42 set in the image 32 before the rotation is an angle that can be confirmed in the image 32 after the rotation. Has been.
  • the size L of the visual field range is the length of the image 32 taken by the camera 5 in the rotation direction.
  • the camera 5 is rotated in the horizontal direction (left and right with respect to the imaging direction), and the size L of the visual field range corresponds to the horizontal width (the length in the horizontal direction) of the image 32.
  • the moving distance ⁇ L of the image 32 is the moving distance of the image 32 in the horizontal direction of the image 32 in the example illustrated in FIG. 9.
  • the unit of the size L of the visual field range and the moving distance ⁇ L of the image 32 before and after the rotation is, for example, mm.
  • the number of pixels P included in the size L of the visual field range is the number of pixels in the horizontal direction of the image 32 in the example illustrated in FIG.
  • the moved pixel number ⁇ P is the number of pixels that the image 32 has moved in the horizontal direction in the example illustrated in FIG. 9.
  • the unit of the pixel number P of the image 32 and the moved pixel number ⁇ P is a pixel.
  • the camera 5 includes a zoom lens 11b.
  • the surgeon Q captures the image 32
  • the surgeon Q can capture the subject S (surgical site) at an arbitrary zoom magnification m.
  • the subject distance acquisition unit 18 is configured to calculate the subject distance WD based on the zoom magnification m of the zoom lens 11b.
  • the rotation mechanism 6 rotates the camera 5 by an angle ⁇ .
  • equation (2) is defined by the tangent theorem.
  • the size L of the visual field range of the image 32, the number P of pixels included in the size L of the visual field range, the correction coefficient k for the actual visual field being distorted by the lens, the predetermined range 42 moved by the rotation of the camera 5 The relationship between the movement distance ⁇ L of the pixel group and the number of movement pixels ⁇ P of the pixel group in the predetermined range 42 moved by the rotation is expressed by the following equation (3).
  • the size L of the field of view range of the image 32 is defined by the following equation (4).
  • WD is a subject distance between the subject S and the lens closest to the subject of the camera 5.
  • M is the zoom magnification.
  • ⁇ is the angle of view of the camera 5.
  • the subject distance acquisition unit 18 is configured to acquire the subject distance WD using the following equation (1) derived from the above equations (2) to (4).
  • the image change amount detection unit 17 acquires the number of pixels ⁇ P moved by the rotation of the camera 5 based on the movement of the pixel group in the predetermined range 42 before and after the rotation of the camera 5. It is configured. Specifically, as illustrated in FIG. 9, the image change amount detection unit 17 stores, in the storage unit 15, the position of the pixel group in the predetermined range 42 of the image 32 d before rotation. After the camera 5 is rotated by the rotation mechanism 6, the image change amount detection unit 17 acquires the position of the pixel group in the predetermined range 42 of the rotated image 32e.
  • the image change amount detection unit 17 stores the position of the pixel group in the predetermined range 42 in the image 32d before the rotation of the camera 5 stored in the storage unit 15 and the pixel group in the predetermined range 42 acquired after the rotation.
  • the number of pixels ⁇ P moved by the rotation of the camera 5 is acquired on the basis of the position.
  • the image change amount detection unit 17 is configured to automatically determine the predetermined range 42 and acquire the moved pixel number ⁇ P.
  • the intraoperative support device 1 is configured to automatically acquire the subject distance WD when the camera 5 is moved. Specifically, when the camera 5 is moved, the intraoperative support apparatus 1 captures the subject S before rotating the camera 5 and stores the position of the predetermined range 42 in the storage unit 15. Further, the rotation angle detection unit 16 acquires the current zoom magnification m from the position of the zoom lens 11 b acquired by the lens position detection unit 13 and stores it in the storage unit 15. Next, the rotation angle detection unit 16 rotates the camera 5 via the rotation mechanism 6 and acquires the rotation angle ⁇ .
  • the subject distance acquisition unit 18 acquires the number of pixels ⁇ P moved by the rotation from the position of the predetermined range 42 before the rotation stored in the storage unit 15 and the position of the predetermined range 42 after the rotation. Then, the subject distance acquisition unit 18 acquires the subject distance WD from the above equation (1), the zoom magnification m, and the rotation angle ⁇ .
  • the intraoperative support apparatus 1 is configured to automatically acquire the subject distance WD by the above method every time the camera 5 moves.
  • the subject distance acquisition unit 18 includes the acquired subject distance WD, the image 32 of the heart 40, the size L of the visual field range of the image 32, and the number P of pixels included in the size L of the visual field range. From this, the actual scale of the blood vessel diameter of the blood vessel 41 is calculated.
  • the intraoperative support device 1 includes the camera 5 that images the subject S and the installation unit 6a in which the camera 5 is installed, and rotates the installation unit 6a to rotate the camera 5.
  • a subject distance acquisition unit 18 that acquires a subject distance WD based on a rotation angle ⁇ when the camera 5 is rotated and a shift amount ⁇ P of the image 32 before and after the rotation.
  • the subject distance WD is acquired based on the geometrical relationship between the rotational angle ⁇ when the camera 5 is rotated, the shift amount ⁇ P of the image 32 before and after the rotation, and the subject distance WD. Can do.
  • the subject distance WD can be acquired without separately providing a dedicated device for measuring the subject distance WD.
  • the subject distance acquisition unit 18 moves the image 32 before and after the rotation by the rotation angle ⁇ as the number of pixels P of the image 32 and the shift amount ⁇ P of the image 32.
  • the subject distance WD is calculated based on the number of pixels ⁇ P.
  • the size L of the visual field range of the image 32 captured by the camera 5 is known, the pixel number P of the image 32 can be acquired.
  • the size L of the visual field range is an element determined by the angle of view ⁇ of the lens provided in the camera 5. That is, the number of pixels P of the image 32 is a known value by design. Therefore, in addition to the pixel number P of the known image 32, the subject distance WD can be easily acquired by acquiring the pixel number ⁇ P to which the image 32 has moved before and after the rotation angle ⁇ .
  • the camera 5 further includes the zoom lens 11b, and the subject distance acquisition unit 18 further calculates the subject distance WD based on the zoom magnification m of the zoom lens 11b. It is configured. Thereby, even when the zoom magnification m for imaging the subject S is changed, the subject distance WD can be calculated.
  • the blood vessel 41 of the heart 40 is determined based on the size L of the field of view of the image 32, the number of pixels P, the subject distance WD, and the like. Since it is possible to acquire a real scale having a size such as a blood vessel diameter (actual scale of the blood vessel diameter of the blood vessel 41), usability (user convenience) can be improved.
  • the subject distance acquisition unit 18 is configured to calculate the subject distance WD using the following equation (1).
  • WD is the subject distance between the subject S and the lens (focus lens 11a) closest to the subject S of the camera 5.
  • M is the zoom magnification of the zoom lens 11b.
  • k is a correction coefficient for the image 32 being photographed with distortion by the lens.
  • ⁇ P is the number of pixels that the image 32 has moved before and after the rotation.
  • P is the number of pixels of the image included in the visual field range of the camera 5 (the horizontal width of the image 32).
  • ⁇ is the rotation angle of the camera 5.
  • D is the distance from the lens (focus lens 11a) closest to the subject S of the camera 5 to the center of rotation, and the unit is, for example, mm.
  • the intraoperative support device 1 further includes the storage unit 15 that stores the position of the pixel group in the predetermined range 42 in the image 32 before the camera 5 is rotated, and the subject distance acquisition unit 18 is configured to acquire the number of pixels ⁇ P moved by the rotation of the camera 5 based on the position of the pixel group in the predetermined range 42 before and after the rotation of the camera 5.
  • the number of pixels ⁇ P of the image 32 moved by the rotation of the camera 5 can be automatically acquired from the images 32 before and after the rotation.
  • the intraoperative support device 1 further includes the installation unit 6a on which the camera 5 is installed.
  • the installation unit 6a has an installation surface on which the camera 5 is installed, and rotates.
  • the mechanism 6 is configured to rotate the camera 5 up, down, left, and right with respect to the imaging direction of the camera 5.
  • usability user convenience
  • the subject distance WD can be easily acquired regardless of the orientation of the camera 5, so that the usefulness as an intraoperative support system can be further improved.
  • the intraoperative support device 1 irradiates the subject S with the excitation light EL for exciting the fluorescent dye administered into the body of the subject S that is the subject.
  • the excitation light source 4b is further provided, and the camera 5 includes a near-infrared light detection unit 10 that detects near-infrared light IR generated from the fluorescent dye by the irradiated excitation light EL.
  • the image 32a of near-infrared light IR that makes it possible to grasp the state inside the body from outside the body can be acquired by the fluorescence of the fluorescent dye introduced into the body of the subject S.
  • blood flow in the blood vessel 41 that cannot be confirmed by the visible light Vis image 32b can be confirmed by the near infrared light IR image 32a by introducing a fluorescent dye during surgery.
  • the surgeon Q can easily grasp the blood vessel diameter (actual scale) of the blood vessel 41 of the heart 40.
  • the camera 5 includes the visible light detection unit 9, and the visible light detection unit 9 is common to the near-infrared light detection unit 10 when detecting the visible light Vis.
  • the lens unit 3 is configured to detect visible light Vis.
  • the image 32b of the visible light Vis and the image 32a of the near infrared light IR can be acquired using the common lens unit 3.
  • an increase in the number of components can be suppressed as compared with the case where the image 32b of the visible light Vis and the image 32a of the near-infrared light IR are captured by separate lens units 3.
  • the subject distance WD of the visible light Vis image 32b and the near-infrared light IR image 32a can be acquired at a time as compared with the case where the separate lens units 3 capture images separately.
  • the work efficiency when acquiring the distance WD can be improved.
  • the intraoperative support device 1 further includes the housing 8 and the arm mechanism 7 that is provided in the housing 8 and supports the camera 5 via the rotation mechanism 6.
  • the subject distance acquisition unit 18 is configured to acquire a subject distance WD between the camera 5 supported by the arm mechanism 7 and the subject S, and outputs a captured image 32 of the subject S to the external display device 30. It is configured. Thereby, for example, even when the housing 8 cannot be arranged near the operating table 31, the camera 5 can be moved near the subject S by the arm mechanism 7. In addition, the subject distance WD between the camera 5 and the subject S after movement can be acquired. In addition, the captured image 32 of the subject S can be output to the external display device 30.
  • the degree of freedom of the location of the intraoperative support device 1 is increased, so that usability (user convenience) can be improved.
  • the subject distance WD can be easily acquired regardless of the location of the intraoperative support apparatus 1, and the usefulness as an intraoperative support system can be further improved.
  • the present invention is not limited to this.
  • the relationship between the rotation angle ⁇ of the rotation mechanism 6, the number of pixels ⁇ P to which the image 32 has moved before and after the rotation, and the subject distance WD is stored in the storage unit 15 as a data table, and the acquired rotation is stored.
  • the subject distance WD may be acquired based on the angle ⁇ , the number of moved pixels ⁇ P, and the data table.
  • the subject distance WD is acquired by rotating the camera 5 in the horizontal direction (left and right direction with respect to the imaging direction) is shown, but the present invention is not limited to this.
  • the subject distance WD may be acquired by rotating the camera 5 in the vertical direction (vertical direction with respect to the imaging direction).
  • the present invention is not limited to this.
  • the number of moved pixels ⁇ P may be acquired from the entire still image captured before and after the rotation.
  • a potentiometer is used as the detection position material for the rotation angle ⁇ of the lens position detection unit 13 and the rotation mechanism 6, but the present invention is not limited to this. Any member that can output the position of the zoom lens 11b and the rotation angle ⁇ of the rotation mechanism 6 as a quantitative value may be used.
  • the case 8 includes the storage unit 15, the rotation angle detection unit 16, the image change amount detection unit 17, and the subject distance acquisition unit 18, but the present invention is not limited thereto.
  • the camera 5 may be provided with a storage unit 15, a rotation angle detection unit 16, an image change amount detection unit 17, and a subject distance acquisition unit 18.
  • the optical system 11 including the focus lens 11a and the zoom lens 11b is provided has been described, but the present invention is not limited to this.
  • the zoom lens 11b may not be included.
  • the present invention is not limited to this.
  • it may be used to confirm the position of the sentinel lymph node during a sentinel lymph node biopsy performed to examine cancer metastasis of a breast cancer patient.
  • you may use when confirming the state of the blood vessel of digestive organs, such as stomach, small intestine, and large intestine.
  • you may use when confirming the state of perfusion in the case of plastic surgery.
  • the intraoperative support device 1 has shown an example in which the subject distance WD is automatically acquired when the camera 5 is moved, but the present invention is not limited to this.
  • a subject distance acquisition start button may be further provided so that the subject distance WD can be acquired at an arbitrary timing.
  • the rotation mechanism 6 showed the example containing the 1st rotation shaft part 6b and the 2nd rotation shaft part 6c, this invention is not limited to this. As long as the camera 5 can be rotated up, down, left and right in the imaging direction, the rotation mechanism 6 may be configured in any manner.
  • the imaging system 100 including the intraoperative support device 1 is used for intraoperative support
  • the present invention is not limited to this.
  • it may be used in a field related to aviation.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

L'invention concerne un dispositif d'assistance peropératoire (1) équipé : d'une caméra (5) servant à imager un sujet d'imagerie (S) ; d'un mécanisme de rotation (6) servant à faire tourner la caméra (5) ; et d'une unité d'acquisition de distance (16) du sujet d'imagerie servant à acquérir la distance (WD) du sujet d'imagerie sur la base de l'angle de rotation (θ) quand la caméra (5) a été tournée et la quantité de décalage (ΔP) de l'image avant et après la rotation.
PCT/JP2018/012763 2018-03-28 2018-03-28 Dispositif d'assistance peropératoire WO2019186768A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000022480A1 (it) * 2020-09-23 2022-03-23 Giacomo Rozzi Apparato per il rilevamento di almeno un parametro, in particolare cinetico, relativo al cuore, o miocardio, di un essere umano o animale

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Publication number Priority date Publication date Assignee Title
JPS63246716A (ja) * 1986-11-13 1988-10-13 Olympus Optical Co Ltd 内視鏡画像取込み方法および内視鏡装置
US20050129305A1 (en) * 1999-08-25 2005-06-16 Eastman Kodak Company Method for forming a depth image
JP2012090725A (ja) * 2010-10-26 2012-05-17 Fujifilm Corp 電子内視鏡システム、電子内視鏡システムのプロセッサ装置、及び画像処理方法
JP2014504228A (ja) * 2010-12-08 2014-02-20 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング 車両の停車中にカメラ方式で距離を求めるための方法
WO2016208246A1 (fr) * 2015-06-24 2016-12-29 ソニー・オリンパスメディカルソリューションズ株式会社 Dispositif d'observation en trois dimensions à usage médical, procédé d'observation en trois dimensions à usage médical, et programme

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63246716A (ja) * 1986-11-13 1988-10-13 Olympus Optical Co Ltd 内視鏡画像取込み方法および内視鏡装置
US20050129305A1 (en) * 1999-08-25 2005-06-16 Eastman Kodak Company Method for forming a depth image
JP2012090725A (ja) * 2010-10-26 2012-05-17 Fujifilm Corp 電子内視鏡システム、電子内視鏡システムのプロセッサ装置、及び画像処理方法
JP2014504228A (ja) * 2010-12-08 2014-02-20 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング 車両の停車中にカメラ方式で距離を求めるための方法
WO2016208246A1 (fr) * 2015-06-24 2016-12-29 ソニー・オリンパスメディカルソリューションズ株式会社 Dispositif d'observation en trois dimensions à usage médical, procédé d'observation en trois dimensions à usage médical, et programme

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000022480A1 (it) * 2020-09-23 2022-03-23 Giacomo Rozzi Apparato per il rilevamento di almeno un parametro, in particolare cinetico, relativo al cuore, o miocardio, di un essere umano o animale
WO2022064390A1 (fr) * 2020-09-23 2022-03-31 Rozzi Giacomo Dispositif de détection d'au moins un paramètre, en particulier cinétique, en relation avec le cœur, ou le myocarde, d'un être humain ou d'un animal.

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