WO2010079817A1 - Stereo-endoscope - Google Patents

Stereo-endoscope Download PDF

Info

Publication number
WO2010079817A1
WO2010079817A1 PCT/JP2010/050123 JP2010050123W WO2010079817A1 WO 2010079817 A1 WO2010079817 A1 WO 2010079817A1 JP 2010050123 W JP2010050123 W JP 2010050123W WO 2010079817 A1 WO2010079817 A1 WO 2010079817A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical system
pair
image
stereoscopic
objective optical
Prior art date
Application number
PCT/JP2010/050123
Other languages
French (fr)
Japanese (ja)
Inventor
勝重 中村
正雄 土居
勝之 中村
Original Assignee
三鷹光器株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三鷹光器株式会社 filed Critical 三鷹光器株式会社
Publication of WO2010079817A1 publication Critical patent/WO2010079817A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00188—Optical arrangements with focusing or zooming features
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G02B23/2415—Stereoscopic endoscopes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G02B23/2423—Optical details of the distal end
    • G02B23/243—Objectives for endoscopes
    • G02B23/2438—Zoom objectives
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera

Definitions

  • the present invention relates to a stereoscopic endoscope.
  • Endoscopic devices that can observe a test site that cannot be directly viewed by inserting an elongated insertion portion into a body cavity or the like are widely used.
  • the test site can be viewed only as a flat surface with no perspective, so it is difficult to observe, for example, minute irregularities on the surface of the body cavity wall.
  • Various treatments were difficult to perform.
  • a stereoscopic endoscope apparatus has been conventionally proposed in which a plurality of observation optical systems are provided in parallel, and the optical axes of these optical systems are set to form an angle of convergence, so that the region to be inspected can be observed stereoscopically. Yes.
  • This type of stereoscopic endoscope includes an objective optical system that forms a subject image and a pair of left and right relay optical systems that transmit an image from the objective optical system, as disclosed in JP-A-6-160730. And an imaging optical system for forming an image transmitted by the relay optical system, and a pair of electronic images having binocular parallax imaged by the imaging optical system are displayed on a display panel and stereoscopically observed is doing.
  • the objective optical system has a fixed focal point, and in order to observe a portion different from the focal position, the stereoscopic endoscope itself is used. It had to be moved back and forth, which was inconvenient.
  • the present invention has been made paying attention to such a conventional technique, and according to the present invention, a stereoscopic endoscope capable of changing an observation position without moving back and forth. Can be provided.
  • an objective optical system that forms an object image, a pair of left and right relay optical systems that transmit an image from the objective optical system, and an image that is transmitted by the relay optical system are combined.
  • the objective optical system has a variable focus structure.
  • FIG. 1 is an overall view showing a usage state of a stereoscopic endoscope according to an embodiment of the present invention.
  • Sectional drawing which shows the structure of a stereoscopic endoscope.
  • Sectional drawing which shows an objective optical system.
  • Sectional drawing which shows an illumination optical system.
  • Explanatory drawing which shows the state which permeate
  • FIGS. 1 to 9 are diagrams showing a preferred embodiment of the present invention.
  • the patient P is in a state of sleeping on the bed 1, and the abdomen is exposed.
  • a floor-mounted holding arm 2 is provided, and a stereoscopic endoscope 3 is held at the tip of the holding arm 2.
  • Two articulated arms 4 are also installed in the bed 1 and extend to the abdomen. The tip of the stereoscopic endoscope 3 is inserted into the abdomen of the patient P.
  • a separate holding arm 5 is also provided around the bed 1, and a stereo viewer (stereoscopic image display device) 6 is held at the tip of the holding arm 5.
  • the stereo viewer 6 is supported on the head of the doctor D by a band 7 so that an internal stereoscopic image can be observed from the eyepiece 8 of the stereo viewer 6.
  • the stereo viewer 6 always moves integrally with the head of the doctor D. Since the weight of the stereo viewer 6 is offset by the counterweight 42 of the holding arm 5, the doctor D does not feel the weight of the stereo viewer 6.
  • the stereoscopic image displayed on the stereo viewer 6 is an image inside the abdomen of the patient P taken from the tip of the stereoscopic endoscope 3, and the doctor D uses the tool 9 based on the stereoscopic image displayed on the stereo viewer 6. Can be used to treat the abdomen of the patient P.
  • the stereoscopic endoscope 3 is a rigid endoscope having two optical systems for the left eye and the right eye, and two imaging optical systems 11 are formed at the proximal end portion of the elongated insertion portion 10. ing.
  • the imaging optical system 11 is connected to a single camera (imaging device) 12 including a single two-dimensional solid-state image sensor, and can capture a pair of left and right electronic images having binocular parallax using a single solid-state image sensor. it can. With such a configuration, a pair of left and right electronic images can be simultaneously acquired by a single solid-state imaging device. In addition, since the left and right images are not misaligned or rotated, the burden on the eyes of the observer is reduced.
  • a zoom 13 is provided, which can be magnified 1 to 8 times.
  • a notch filter 14 as an optical filter that transmits only light of a specific wavelength is further provided in a removable manner.
  • the electronic image having binocular parallax photographed by the camera 12 is displayed on a pair of display panels (liquid crystal) 16 provided inside the stereo viewer 6 via the controller 15.
  • the display panel 16 is divided by a partition wall 17, and the doctor D can observe the pair of left and right electronic images stereoscopically from the eyepiece 8.
  • the display panel 16 may be a liquid crystal panel separated by a partition wall 17.
  • An objective optical system 18 that forms a subject image in the abdomen is provided at the distal end of the insertion unit 10, and a pair of relay optical systems that transmit the subject image are provided behind the objective optical system 18.
  • a rod lens 19 is provided.
  • a prism 20 that reflects the optical axis by 90 degrees is provided behind the rod lens 19, and a similar prism 21 is provided immediately before the camera 12.
  • the objective optical system 18 includes a fixed lens 22 and a movable lens 23, and a screw 25 driven by a motor 24 is screwed into an end portion of the movable lens 23 where a light beam traveling toward the rod lens 19 does not pass. (See FIG. 5). Therefore, the focal length of the objective optical system 18 can be changed by changing the distance between the movable lens 23 and the fixed lens 22 by rotating the screw 25 in the forward and reverse directions by the motor 24. Therefore, the variable focus mechanism of the objective optical system 18 can be configured in a small size and housed in the insertion portion 10.
  • control of the motor 24 can adjust the focal point of the objective optical system 18 by operating the foot switch 41 installed on the floor by the doctor D with his / her foot. Therefore, both hands of Doctor D can concentrate on the operation.
  • An illumination optical system 26 is provided in the space opposite to the screw 25 in the insertion portion 10.
  • the illumination optical system 26 is composed of a relay lens, and the illumination light L is supplied from the optical fiber 28 of the light source device 27 and can be irradiated from the tip of the insertion portion 10.
  • the light source device 27 is provided with a xenon lamp 29 as a light source.
  • a heat ray preventing filter 30 as a transmission type optical filter is fixed by a fixing plate 31.
  • the heat ray prevention filter 30 is for removing infrared components (heat rays) from the illumination light L of the xenon lamp 29.
  • a condensing lens 32 is provided in front of the heat ray prevention filter 30, and the base end of the optical fiber 28 is fixed to the condensing point.
  • a rotating plate 33 is provided between the heat ray preventing filter 30 and the condenser lens 32, and four holes 34 to 37 are formed in the rotating plate 33.
  • One hole 34 is open, and the other three holes 35 to 37 are provided with a first excitation filter 38, a second excitation filter 39, and a third excitation filter 40 as optical filters.
  • These first to third excitation filters 38 to 40 are band-pass filters that are used for fluorescence observation and selectively transmit a necessary wavelength according to a fluorescent substance administered to a patient.
  • Known fluorescent substances to be administered to patients include 5-aminolevulinic acid (5-ALA), talaporfin sodium (registered trademark Rezaphyrin), indocyanine green (ICG), and the like.
  • 5-ALA 5-aminolevulinic acid
  • talaporfin sodium registered trademark Rezaphyrin
  • ICG indocyanine green
  • any one of the first to third excitation filters 38 to 40 is selected and the illumination light L having the most preferable wavelength is irradiated with the excitation light.
  • the excitation light is irradiated to the affected area, the fluorescent material previously administered to the patient emits fluorescence. Therefore, the necessary notch filter 14 is inserted into the imaging optical system 11 so as to capture only the fluorescence wavelength. By doing so, a stereoscopic fluorescent image is displayed in the stereo viewer 6.
  • the focus of the objective optical system 18 can be changed only by operating the foot switch 41. Therefore, when the doctor D is operating the holding arm 2 and slightly changing the direction of the stereoscopic endoscope 3 to observe the periphery of the patient P while observing one point in the abdomen of the patient P, the change is made. Even if the previous observation point is not in focus, the foot switch 41 can immediately focus and observation is easy.
  • the doctor D is a stereoscopic endoscope. Without being constrained by position 3, it is possible to see a clear three-dimensional image of the surgical site while maintaining a natural surgical posture. Therefore, the physical burden during the operation of the doctor D is reduced, and fatigue is reduced.
  • the wavelength of the illumination light L from the xenon lamp 29 is controlled by the optical filter, observation and imaging using a fluorescent material that emits fluorescence when excited by light of a specific wavelength can be performed.
  • the camera 12 is connected to a normal television set (such as a liquid crystal display panel) installed in the operating room.
  • the pair of electronic images picked up in (2) may be displayed so as to have different polarizations, and the doctor D and other observers may observe them with polarized glasses.
  • the objective optical system since the objective optical system has a variable focus structure, it is possible to observe a part having a different focus without moving the stereoscopic endoscope itself back and forth.
  • the stereoscopic image display device installed at a position away from the stereoscopic endoscope can A clear stereoscopic image can be observed in a free state without being restricted by the position of the endoscope.
  • the wavelength of illumination light from the light source is controlled by an optical filter, observation and imaging using a fluorescent substance that emits fluorescence when excited by light of a specific wavelength can be performed.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Optics & Photonics (AREA)
  • General Health & Medical Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Medical Informatics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

A pair of left and right rod lenses (19) is disposed in the insertion part (10) of a stereo-endoscope (3), and an objective optical system (18), consisting of a stationary lens (22) and a moveable lens (23), is disposed at the tip thereof. The moveable lens (23) is moved by a motor (24) to change the distance to the stationary lens (22). Consequently, the focal length of the objective optical system (18) can be changed, whereby sites with different focal points can be observed without shifting the stereo-endoscope (3) forward and back as a whole.

Description

立体内視鏡Stereoscopic endoscope
　本発明は、立体内視鏡に関するものである。 The present invention relates to a stereoscopic endoscope.
　細長の挿入部を体腔内等に挿入して、直接目視できない被検部位を観察可能な内視鏡装置が広く用いられている。通常の内視鏡装置では、被検部位を遠近感のない平面としてしか見ることができないため、例えば体腔壁表面の微細な凹凸等を観察することが困難であり、内視鏡観察による診断や各種処置が行いにくかった。 Endoscopic devices that can observe a test site that cannot be directly viewed by inserting an elongated insertion portion into a body cavity or the like are widely used. In a normal endoscopic device, the test site can be viewed only as a flat surface with no perspective, so it is difficult to observe, for example, minute irregularities on the surface of the body cavity wall. Various treatments were difficult to perform.
　そこで、複数の観察光学系を並列に設け、これらの光学系の光軸が輻輳角をなすように設定して、被検査部位を立体的に観察できる立体内視鏡装置が従来より提案されている。 In view of this, a stereoscopic endoscope apparatus has been conventionally proposed in which a plurality of observation optical systems are provided in parallel, and the optical axes of these optical systems are set to form an angle of convergence, so that the region to be inspected can be observed stereoscopically. Yes.
　この種の立体内視鏡は、特開平６－１６０７３０号公報に開示されるように、被写体像を結像する対物光学系と、この対物光学系からの像を伝達する左右一対のリレー光学系と、前記リレー光学系で伝達された像を結像させる撮像光学系とを有し、撮像光学系にて撮像した両眼視差を有する一対の電子映像を表示パネルに表示して立体的に観察している。 This type of stereoscopic endoscope includes an objective optical system that forms a subject image and a pair of left and right relay optical systems that transmit an image from the objective optical system, as disclosed in JP-A-6-160730. And an imaging optical system for forming an image transmitted by the relay optical system, and a pair of electronic images having binocular parallax imaged by the imaging optical system are displayed on a display panel and stereoscopically observed is doing.
発明が解決しようとする課題
　しかしながら、このような従来の技術にあっては、対物光学系は焦点が固定されたものであり、焦点位置と異なる部分を観察するには、立体内視鏡自体を前後に移動させなければならず、不便であった。 However, in such a conventional technique, the objective optical system has a fixed focal point, and in order to observe a portion different from the focal position, the stereoscopic endoscope itself is used. It had to be moved back and forth, which was inconvenient.
課題を解決するための手段
　本発明はこのような従来の技術に着目してなされたものであり、本発明によれば前後に移動させなくても観察位置を変化させることができる立体内視鏡を提供することができる。 Means for Solving the Problems The present invention has been made paying attention to such a conventional technique, and according to the present invention, a stereoscopic endoscope capable of changing an observation position without moving back and forth. Can be provided.
　本発明の技術的側面によれば、被写体像を結像する対物光学系と、該対物光学系からの像を伝達する左右一対のリレー光学系と、該リレー光学系で伝達された像を結像させる撮像光学系とを備えた立体内視鏡において、前記対物光学系が可変焦点構造であることを特徴とする。 According to the technical aspect of the present invention, an objective optical system that forms an object image, a pair of left and right relay optical systems that transmit an image from the objective optical system, and an image that is transmitted by the relay optical system are combined. In a stereoscopic endoscope provided with an imaging optical system for imaging, the objective optical system has a variable focus structure.
本発明の一実施形態に係る立体内視鏡の使用状態を示す全体図。1 is an overall view showing a usage state of a stereoscopic endoscope according to an embodiment of the present invention. 立体内視鏡の構造を示す断面図。Sectional drawing which shows the structure of a stereoscopic endoscope. 立体内視鏡の先端部を示す図。The figure which shows the front-end | tip part of a stereoscopic endoscope. 対物光学系の可動レンズを示す図。The figure which shows the movable lens of an objective optical system. 対物光学系を示す断面図。Sectional drawing which shows an objective optical system. 照明光学系を示す断面図。Sectional drawing which shows an illumination optical system. 熱線防止フィルターを示す図。The figure which shows a heat ray prevention filter. 回転板に設けられた励起フィルターを示す図。The figure which shows the excitation filter provided in the rotating plate. 種類の異なる励起フィルターにより必要な波長成分だけを透過させる状態を示す説明図。Explanatory drawing which shows the state which permeate | transmits only a required wavelength component with a different excitation filter.
　図１～図９は、本発明の好適な一実施形態を示す図である。患者Ｐはベッド１の上に寝た状態になっており、腹部を露出している。ベッド１の近くには、フロア設置型の保持アーム２が設けられ、その保持アーム２の先端に立体内視鏡３が保持されている。ベッド１には多関節式アーム４も２台設置されて腹部に延びている。立体内視鏡３の先端は患者Ｐの腹部に差し込まれた状態になっている。 1 to 9 are diagrams showing a preferred embodiment of the present invention. The patient P is in a state of sleeping on the bed 1, and the abdomen is exposed. Near the bed 1, a floor-mounted holding arm 2 is provided, and a stereoscopic endoscope 3 is held at the tip of the holding arm 2. Two articulated arms 4 are also installed in the bed 1 and extend to the abdomen. The tip of the stereoscopic endoscope 3 is inserted into the abdomen of the patient P.
　ベッド１の周囲には、別の保持アーム５も設置され、その保持アーム５の先端にはステレオビュアー（立体映像表示装置）６が保持されている。ステレオビュアー６はバンド７によりドクターＤの頭部に支持され、ステレオビュアー６の接眼部８から内部の立体映像を観察できるようになっている。ステレオビュアー６は常にドクターＤの頭部と一体的に移動する。ステレオビュアー６の重量は保持アーム５のカウンタウェイト４２により相殺されているため、ドクターＤはステレオビュアー６の重さを感じることがない。ステレオビュアー６に表示される立体映像は、立体内視鏡３の先端から撮影された患者Ｐの腹部内の映像で、このステレオビュアー６に表示された立体映像に基づいて、ドクターＤはツール９を利用して患者Ｐの腹部に対して処置を行うことができる。 A separate holding arm 5 is also provided around the bed 1, and a stereo viewer (stereoscopic image display device) 6 is held at the tip of the holding arm 5. The stereo viewer 6 is supported on the head of the doctor D by a band 7 so that an internal stereoscopic image can be observed from the eyepiece 8 of the stereo viewer 6. The stereo viewer 6 always moves integrally with the head of the doctor D. Since the weight of the stereo viewer 6 is offset by the counterweight 42 of the holding arm 5, the doctor D does not feel the weight of the stereo viewer 6. The stereoscopic image displayed on the stereo viewer 6 is an image inside the abdomen of the patient P taken from the tip of the stereoscopic endoscope 3, and the doctor D uses the tool 9 based on the stereoscopic image displayed on the stereo viewer 6. Can be used to treat the abdomen of the patient P.
　この実施形態に係る立体内視鏡３は、左目用及び右目用の２つの光学系を有する硬性内視鏡であり、細長の挿入部１０の基端部に２つの撮像光学系１１が形成されている。撮像光学系１１は一枚の２次元固体撮像素子を備える一台のカメラ（撮像装置）１２に接続され、一枚の固体撮像素子により両眼視差を有する左右一対の電子映像を撮像することができる。このような構成により、一枚の固体撮像素子により左右一対の電子映像を同時に取得することができる。さらに左右画像の位置ズレや回転が生じないため観察者の目の負担が軽減される。 The stereoscopic endoscope 3 according to this embodiment is a rigid endoscope having two optical systems for the left eye and the right eye, and two imaging optical systems 11 are formed at the proximal end portion of the elongated insertion portion 10. ing. The imaging optical system 11 is connected to a single camera (imaging device) 12 including a single two-dimensional solid-state image sensor, and can capture a pair of left and right electronic images having binocular parallax using a single solid-state image sensor. it can. With such a configuration, a pair of left and right electronic images can be simultaneously acquired by a single solid-state imaging device. In addition, since the left and right images are not misaligned or rotated, the burden on the eyes of the observer is reduced.
　撮像光学系１１中にはズーム１３が設けられており、１～８倍に拡大することができる。撮像光学系１１中には、更に特定の波長の光だけ透過する光学フィルターとしてのノッチフィルター１４が出し入れ自在に設けられている。 In the imaging optical system 11, a zoom 13 is provided, which can be magnified 1 to 8 times. In the imaging optical system 11, a notch filter 14 as an optical filter that transmits only light of a specific wavelength is further provided in a removable manner.
　カメラ１２で撮影された両眼視差を有する電子映像は、コントローラー１５を介して、ステレオビュアー６の内部に設けられた一対の表示パネル（液晶）１６に表示される。表示パネル１６は仕切壁１７にて区切られており、ドクターＤはその左右一対の電子映像を接眼部８から立体的に観察することができる。表示パネル１６は一枚の液晶パネルを仕切壁１７で区切ったものとしてもよい。一枚の固体撮像素子により取得された両眼視差を有する電子映像を一枚の表示パネルで表示することにより、撮像装置１２や表示パネル１６に起因する左右一対の電子画像の位置ズレや回転が全くない立体映像を構成することができる。 The electronic image having binocular parallax photographed by the camera 12 is displayed on a pair of display panels (liquid crystal) 16 provided inside the stereo viewer 6 via the controller 15. The display panel 16 is divided by a partition wall 17, and the doctor D can observe the pair of left and right electronic images stereoscopically from the eyepiece 8. The display panel 16 may be a liquid crystal panel separated by a partition wall 17. By displaying an electronic image having binocular parallax acquired by a single solid-state imaging device on a single display panel, a positional shift or rotation of a pair of left and right electronic images caused by the imaging device 12 or the display panel 16 is prevented. It is possible to construct a stereoscopic image that is completely absent.
　挿入部１０の先端部には、腹部内の被写体像を結像する対物光学系１８が設けられており、対物光学系１８の後方には、それぞれ被写体像を伝達するリレー光学系としての一対のロッドレンズ１９が配設されている。ロッドレンズ１９の後方には、光軸をそれぞれ９０度反射するプリズム２０が設けられており、カメラ１２の直前にも同様のプリズム２１が設けられている。 An objective optical system 18 that forms a subject image in the abdomen is provided at the distal end of the insertion unit 10, and a pair of relay optical systems that transmit the subject image are provided behind the objective optical system 18. A rod lens 19 is provided. A prism 20 that reflects the optical axis by 90 degrees is provided behind the rod lens 19, and a similar prism 21 is provided immediately before the camera 12.
　対物光学系１８は、固定レンズ２２と可動レンズ２３から構成され、可動レンズ２３におけるロッドレンズ１９に向かう光束が通らない端部には、モータ２４にて駆動されるネジ２５が螺合されている（図５参照）。従って、モータ２４によりネジ２５を正逆方向へ回転させることにより、可動レンズ２３と固定レンズ２２の距離を変えて、対物光学系１８の焦点距離を変えることができる。したがって、対物光学系１８の可変焦点機構を小型に構成して挿入部１０に収納することができる。 The objective optical system 18 includes a fixed lens 22 and a movable lens 23, and a screw 25 driven by a motor 24 is screwed into an end portion of the movable lens 23 where a light beam traveling toward the rod lens 19 does not pass. (See FIG. 5). Therefore, the focal length of the objective optical system 18 can be changed by changing the distance between the movable lens 23 and the fixed lens 22 by rotating the screw 25 in the forward and reverse directions by the motor 24. Therefore, the variable focus mechanism of the objective optical system 18 can be configured in a small size and housed in the insertion portion 10.
　さらに、モータ２４の制御はフロアに設置されたフットスイッチ４１をドクターＤが足で操作することによって対物光学系１８の焦点を調整することができる。従って、ドクターＤの両手は手術に専念することができる。 Furthermore, the control of the motor 24 can adjust the focal point of the objective optical system 18 by operating the foot switch 41 installed on the floor by the doctor D with his / her foot. Therefore, both hands of Doctor D can concentrate on the operation.
　挿入部１０内におけるネジ２５とは反対側のスペースには照明光学系２６が設けられている。照明光学系２６はリレーレンズから構成され、光源装置２７の光ファイバー２８から照明光Ｌが供給され、挿入部１０の先端から照射することができる。 An illumination optical system 26 is provided in the space opposite to the screw 25 in the insertion portion 10. The illumination optical system 26 is composed of a relay lens, and the illumination light L is supplied from the optical fiber 28 of the light source device 27 and can be irradiated from the tip of the insertion portion 10.
　光源装置２７には、光源としてのキセノンランプ２９が設けらている。キセノンランプ２９の前には、透過式の光学フィルターとしての熱線防止フィルター３０が固定板３１により固定されている。この熱線防止フィルター３０は、キセノンランプ２９の照明光Ｌの中から赤外成分（熱線）を除去するためのものである。 The light source device 27 is provided with a xenon lamp 29 as a light source. In front of the xenon lamp 29, a heat ray preventing filter 30 as a transmission type optical filter is fixed by a fixing plate 31. The heat ray prevention filter 30 is for removing infrared components (heat rays) from the illumination light L of the xenon lamp 29.
　熱線防止フィルター３０の前には、集光レンズ３２が設けられ、その集光点に光ファイバー２８の基端が固定されている。熱線防止フィルター３０と集光レンズ３２の間には回転板３３が設けられ、その回転板３３には４つの孔３４～３７が形成されている。１つの孔３４は開いており、その他の３つの孔３５～３７には光学フィルターとしての第１励起フィルター３８、第２励起フィルター３９、第３励起フィルター４０が設けられている。これらの第１～３励起フィルター３８～４０は蛍光観察用で、患者に投与する蛍光物質に応じて必要な波長を選択的に透過するバンドパスフィルターである。 A condensing lens 32 is provided in front of the heat ray prevention filter 30, and the base end of the optical fiber 28 is fixed to the condensing point. A rotating plate 33 is provided between the heat ray preventing filter 30 and the condenser lens 32, and four holes 34 to 37 are formed in the rotating plate 33. One hole 34 is open, and the other three holes 35 to 37 are provided with a first excitation filter 38, a second excitation filter 39, and a third excitation filter 40 as optical filters. These first to third excitation filters 38 to 40 are band-pass filters that are used for fluorescence observation and selectively transmit a necessary wavelength according to a fluorescent substance administered to a patient.
　患者に投与する蛍光物質としては、５－アミノレブリン酸（５－ＡＬＡ）、タラポルフィンナトリウム（登録商標レザフィリン）、インドシアニングリーン（ＩＣＧ）などが知られている。使用する蛍光物質により、第１～３励起フィルター３８～４０のいずれかを選択して最も好ましい波長の照明光Ｌを励起光照射する。励起光を患部に照射すると、予め患者に投与された蛍光物質が蛍光を発するため、この蛍光の波長だけを撮影するように、撮像光学系１１内に必要なノッチフィルター１４を挿入する。このようにすることにより、ステレオビュアー６内には立体的な蛍光映像が表示される。 Known fluorescent substances to be administered to patients include 5-aminolevulinic acid (5-ALA), talaporfin sodium (registered trademark Rezaphyrin), indocyanine green (ICG), and the like. Depending on the fluorescent substance to be used, any one of the first to third excitation filters 38 to 40 is selected and the illumination light L having the most preferable wavelength is irradiated with the excitation light. When the excitation light is irradiated to the affected area, the fluorescent material previously administered to the patient emits fluorescence. Therefore, the necessary notch filter 14 is inserted into the imaging optical system 11 so as to capture only the fluorescence wavelength. By doing so, a stereoscopic fluorescent image is displayed in the stereo viewer 6.
　この実施形態によれば、以上説明したように、フットスイッチ４１を操作するだけで、対物光学系１８の焦点を変えることができる。そのため、ドクターＤが患者Ｐの腹部内の一点を観察中に、その周辺も観察するために、保持アーム２を操作して立体視内視鏡３の向きを僅かに変えた場合に、その変えた先の観察点に焦点が仮に合っていなかったとしても、すぐにフットスイッチ４１により焦点を合わせることができるため観察が容易である。 According to this embodiment, as described above, the focus of the objective optical system 18 can be changed only by operating the foot switch 41. Therefore, when the doctor D is operating the holding arm 2 and slightly changing the direction of the stereoscopic endoscope 3 to observe the periphery of the patient P while observing one point in the abdomen of the patient P, the change is made. Even if the previous observation point is not in focus, the foot switch 41 can immediately focus and observation is easy.
　また、カメラ１２により撮像された一対の電子映像を、ドクターＤの頭部に固定したステレオビュアー６の表示パネル１６に表示して接眼部８より観察するため、ドクターＤは立体視内視鏡３の位置に拘束されずに、自然な手術の体勢のままで明瞭な手術部位の立体映像を見ることができる。従って、ドクターＤの手術中における肉体的な負担が軽減され疲労が少ない。 In addition, since the pair of electronic images captured by the camera 12 is displayed on the display panel 16 of the stereo viewer 6 fixed to the head of the doctor D and observed from the eyepiece unit 8, the doctor D is a stereoscopic endoscope. Without being constrained by position 3, it is possible to see a clear three-dimensional image of the surgical site while maintaining a natural surgical posture. Therefore, the physical burden during the operation of the doctor D is reduced, and fatigue is reduced.
　更に、立体視用の両眼視差を有する一対の電子映像を、１つのカメラ１２により撮像するため、２つのカメラを用いる場合のように、カメラ間での感度調整を行う必要がなく、撮像が容易である。 Furthermore, since a pair of electronic images having binocular parallax for stereoscopic viewing are captured by one camera 12, there is no need to adjust sensitivity between the cameras as in the case of using two cameras, and imaging is possible. Easy.
　そして、キセノンランプ２９からの照明光Ｌの波長を光学フィルターにより制御するため、特定の波長の光により励起して蛍光を発する蛍光物質を用いた観察及び撮像を行うことができる。 Further, since the wavelength of the illumination light L from the xenon lamp 29 is controlled by the optical filter, observation and imaging using a fluorescent material that emits fluorescence when excited by light of a specific wavelength can be performed.
　尚、以上の説明では、立体視内視鏡３で撮像した電子映像をステレオビュアー６で観察する例を示したが、手術室内に設置された通常のテレビ（液晶表示パネル等）に、カメラ１２で撮像された一対の電子映像を互いに相違した偏光となるように表示し、それをドクターＤ及びその他の観察者が偏光メガネをかけて観察しても良い。 In the above description, an example in which an electronic image captured by the stereoscopic endoscope 3 is observed by the stereo viewer 6 has been shown. However, the camera 12 is connected to a normal television set (such as a liquid crystal display panel) installed in the operating room. The pair of electronic images picked up in (2) may be displayed so as to have different polarizations, and the doctor D and other observers may observe them with polarized glasses.
発明の効果
　本発明によれば、対物光学系が可変焦点構造であるため、立体視内視鏡自体を前後に移動させなくても、焦点の異なる部位を観察することができる。 Effects of the Invention According to the present invention, since the objective optical system has a variable focus structure, it is possible to observe a part having a different focus without moving the stereoscopic endoscope itself back and forth.
　また、立体視用の両眼視差を有する一対の電子映像を、一枚の撮像素子を用いて撮像するため、２つの撮像手段を用いる場合のように、撮像手段間での感度調整を行う必要がなく、撮像が容易である。 In addition, since a pair of electronic images having binocular parallax for stereoscopic viewing is captured using a single image sensor, it is necessary to perform sensitivity adjustment between the imaging units as in the case of using two imaging units. Therefore, imaging is easy.
　さらに、１つの撮像手段により撮像された一対の電子映像を立体映像表示装置の表示パネルに表示して観察するため、立体視内視鏡から離れた位置に設置した立体映像表示装置により、立体視内視鏡の位置に拘束されない自由な状態で明瞭な立体映像の観察を行うことができる。 Furthermore, in order to display and observe a pair of electronic images captured by one imaging means on the display panel of the stereoscopic image display device, the stereoscopic image display device installed at a position away from the stereoscopic endoscope can A clear stereoscopic image can be observed in a free state without being restricted by the position of the endoscope.
　さらに、光源からの照明光の波長を光学フィルターにより制御するため、特定の波長の光により励起して蛍光を発する蛍光物質を用いた観察及び撮像を行うことができる。 Furthermore, since the wavelength of illumination light from the light source is controlled by an optical filter, observation and imaging using a fluorescent substance that emits fluorescence when excited by light of a specific wavelength can be performed.
（米国指定）
　本国際特許出願は米国指定に関し、２００９年１月８日に出願された日本国特許出願第２００９－２３６５（２００９年１月８日出願）について米国特許法第１１９条（ａ）に基づく優先権の利益を援用し、当該開示内容を引用する。 (US designation)
This international patent application is based on US designation 119 (a) with respect to designation in the United States of Japan patent application No. 2009-2365 (filed Jan. 8, 2009) filed on Jan. 8, 2009. The disclosure content is cited with the benefit of.

Claims (4)

  1. 　被写体像を結像する対物光学系と、該対物光学系からの像を伝達する左右一対のリレー光学系と、該リレー光学系で伝達された像を結像させる撮像光学系とを備えた立体内視鏡において、
    　前記対物光学系が可変焦点構造であることを特徴とする立体内視鏡。     3D provided with an objective optical system that forms a subject image, a pair of left and right relay optical systems that transmit an image from the objective optical system, and an imaging optical system that forms an image transmitted by the relay optical system In an endoscope,
    A stereoscopic endoscope characterized in that the objective optical system has a variable focus structure.
  2. 　撮像光学系で結像された両眼視差を有する一対の電子映像を１つの撮像素子により撮像することを特徴とする請求項１記載の立体内視鏡。 2. The stereoscopic endoscope according to claim 1, wherein a pair of electronic images having binocular parallax imaged by an imaging optical system are imaged by one imaging element.
  3. 　内蔵された表示パネルに表示される一対の電子映像を一対の接眼部から立体観察可能な立体映像表示装置を備え、
    　１つの撮像素子により撮像された一対の電子映像を前記立体映像表示装置の表示パネルに表示することを特徴とする請求項２記載の立体内視鏡。     A stereoscopic image display device capable of stereoscopically observing a pair of electronic images displayed on a built-in display panel from a pair of eyepieces,
    3. The stereoscopic endoscope according to claim 2, wherein a pair of electronic images picked up by one image sensor is displayed on a display panel of the stereoscopic image display device.
  4. 　光源からの照明光を照射可能な照明光学系を備え、該照明光の波長を光学フィルターにより制御することを特徴とする請求項１～３のいずれか１項に記載の立体内視鏡。 The stereoscopic endoscope according to any one of claims 1 to 3, further comprising an illumination optical system capable of irradiating illumination light from a light source, wherein the wavelength of the illumination light is controlled by an optical filter.
PCT/JP2010/050123 2009-01-08 2010-01-08 Stereo-endoscope WO2010079817A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009002365 2009-01-08
JP2009-002365 2009-01-08

Publications (1)

Publication Number Publication Date
WO2010079817A1 true WO2010079817A1 (en) 2010-07-15

Family

ID=42316582

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2010/050123 WO2010079817A1 (en) 2009-01-08 2010-01-08 Stereo-endoscope

Country Status (1)

Country Link
WO (1) WO2010079817A1 (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8882662B2 (en) 2012-06-27 2014-11-11 Camplex, Inc. Interface for viewing video from cameras on a surgical visualization system
US9642606B2 (en) 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9782159B2 (en) 2013-03-13 2017-10-10 Camplex, Inc. Surgical visualization systems
EP3267235A1 (en) * 2016-07-08 2018-01-10 OLYMPUS Winter & Ibe GmbH Optical system of a stereo video endoscope, stereo video endoscope and method for operating an optical system of a stereo video endoscope
US10028651B2 (en) 2013-09-20 2018-07-24 Camplex, Inc. Surgical visualization systems and displays
US10568499B2 (en) 2013-09-20 2020-02-25 Camplex, Inc. Surgical visualization systems and displays
US10702353B2 (en) 2014-12-05 2020-07-07 Camplex, Inc. Surgical visualizations systems and displays
US10918455B2 (en) 2017-05-08 2021-02-16 Camplex, Inc. Variable light source
US10966798B2 (en) 2015-11-25 2021-04-06 Camplex, Inc. Surgical visualization systems and displays
WO2021131921A1 (en) * 2019-12-27 2021-07-01 国立大学法人浜松医科大学 Rigid mirror device
US11154378B2 (en) 2015-03-25 2021-10-26 Camplex, Inc. Surgical visualization systems and displays

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06194580A (en) * 1992-12-24 1994-07-15 Olympus Optical Co Ltd Stereoscopic viewing endoscope and its device
JP2001269306A (en) * 2000-03-27 2001-10-02 Fuji Photo Optical Co Ltd Endoscope
JP2003005096A (en) * 2001-06-27 2003-01-08 Olympus Optical Co Ltd Endoscopic apparatus
JP2008023044A (en) * 2006-07-20 2008-02-07 Olympus Medical Systems Corp Endoscopic apparatus
JP2008110061A (en) * 2006-10-30 2008-05-15 Olympus Medical Systems Corp Endoscope

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06194580A (en) * 1992-12-24 1994-07-15 Olympus Optical Co Ltd Stereoscopic viewing endoscope and its device
JP2001269306A (en) * 2000-03-27 2001-10-02 Fuji Photo Optical Co Ltd Endoscope
JP2003005096A (en) * 2001-06-27 2003-01-08 Olympus Optical Co Ltd Endoscopic apparatus
JP2008023044A (en) * 2006-07-20 2008-02-07 Olympus Medical Systems Corp Endoscopic apparatus
JP2008110061A (en) * 2006-10-30 2008-05-15 Olympus Medical Systems Corp Endoscope

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9936863B2 (en) 2012-06-27 2018-04-10 Camplex, Inc. Optical assembly providing a surgical microscope view for a surgical visualization system
US11129521B2 (en) 2012-06-27 2021-09-28 Camplex, Inc. Optics for video camera on a surgical visualization system
US9492065B2 (en) 2012-06-27 2016-11-15 Camplex, Inc. Surgical retractor with video cameras
US9615728B2 (en) 2012-06-27 2017-04-11 Camplex, Inc. Surgical visualization system with camera tracking
US9629523B2 (en) 2012-06-27 2017-04-25 Camplex, Inc. Binocular viewing assembly for a surgical visualization system
US9642606B2 (en) 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9681796B2 (en) 2012-06-27 2017-06-20 Camplex, Inc. Interface for viewing video from cameras on a surgical visualization system
US10925472B2 (en) 2012-06-27 2021-02-23 Camplex, Inc. Binocular viewing assembly for a surgical visualization system
US10925589B2 (en) 2012-06-27 2021-02-23 Camplex, Inc. Interface for viewing video from cameras on a surgical visualization system
US9216068B2 (en) 2012-06-27 2015-12-22 Camplex, Inc. Optics for video cameras on a surgical visualization system
US9723976B2 (en) 2012-06-27 2017-08-08 Camplex, Inc. Optics for video camera on a surgical visualization system
US10022041B2 (en) 2012-06-27 2018-07-17 Camplex, Inc. Hydraulic system for surgical applications
US11389146B2 (en) 2012-06-27 2022-07-19 Camplex, Inc. Surgical visualization system
US10231607B2 (en) 2012-06-27 2019-03-19 Camplex, Inc. Surgical visualization systems
US11166706B2 (en) 2012-06-27 2021-11-09 Camplex, Inc. Surgical visualization systems
US10555728B2 (en) 2012-06-27 2020-02-11 Camplex, Inc. Surgical visualization system
US8882662B2 (en) 2012-06-27 2014-11-11 Camplex, Inc. Interface for viewing video from cameras on a surgical visualization system
US11889976B2 (en) 2012-06-27 2024-02-06 Camplex, Inc. Surgical visualization systems
US9782159B2 (en) 2013-03-13 2017-10-10 Camplex, Inc. Surgical visualization systems
US10932766B2 (en) 2013-05-21 2021-03-02 Camplex, Inc. Surgical visualization systems
US10568499B2 (en) 2013-09-20 2020-02-25 Camplex, Inc. Surgical visualization systems and displays
US10881286B2 (en) 2013-09-20 2021-01-05 Camplex, Inc. Medical apparatus for use with a surgical tubular retractor
US11147443B2 (en) 2013-09-20 2021-10-19 Camplex, Inc. Surgical visualization systems and displays
US10028651B2 (en) 2013-09-20 2018-07-24 Camplex, Inc. Surgical visualization systems and displays
US10702353B2 (en) 2014-12-05 2020-07-07 Camplex, Inc. Surgical visualizations systems and displays
US11154378B2 (en) 2015-03-25 2021-10-26 Camplex, Inc. Surgical visualization systems and displays
US10966798B2 (en) 2015-11-25 2021-04-06 Camplex, Inc. Surgical visualization systems and displays
US10288866B2 (en) 2016-07-08 2019-05-14 Olympus Winter & Ibe Gmbh Optical system of a stereo video endoscope, stereo video endoscope and method for operating an optical system of a stereo video endoscope
EP3267235A1 (en) * 2016-07-08 2018-01-10 OLYMPUS Winter & Ibe GmbH Optical system of a stereo video endoscope, stereo video endoscope and method for operating an optical system of a stereo video endoscope
US10918455B2 (en) 2017-05-08 2021-02-16 Camplex, Inc. Variable light source
WO2021131921A1 (en) * 2019-12-27 2021-07-01 国立大学法人浜松医科大学 Rigid mirror device
US20230029750A1 (en) * 2019-12-27 2023-02-02 National University Corporation Hamamatsu University School Of Medicine Rigid Scope Device
EP4082420A4 (en) * 2019-12-27 2024-01-31 National University Corporation Hamamatsu University School of Medicine Rigid mirror device

Similar Documents

Publication Publication Date Title
WO2010079817A1 (en) Stereo-endoscope
JP6254186B2 (en) Endoscope with multi-camera system for minimally invasive surgery
JP4721981B2 (en) Stereo microscope
US20160357003A1 (en) Surgical microscope for generating an observation image of an object region
JP4398352B2 (en) Medical stereoscopic imaging device
JP4509668B2 (en) Fundus photography system
JP2006158452A5 (en)
JP6469292B1 (en) Dental 3D digital microscope system and dental display support mechanism for stereoscopic viewing of observed images
JP3625906B2 (en) Surgical microscope equipment
JP2015518398A (en) 360 degree panning stereoscope
JP2014110910A (en) Stereoscopic endoscope apparatus
JP2002315721A (en) Stereoscopic system for enucleation of cancer tissue
JP2009098570A (en) Head-mount type binocular loupe device
JP3717893B2 (en) Surgical microscope
JP2001133696A (en) Microscope device for surgery
JP2004320722A (en) Stereoscopic observation system
JPH11318936A (en) Microscopic device for operation
WO2017221491A1 (en) Control device, control system, and control method
JPH10248807A (en) Endoscope device
JPH05341207A (en) Stereoscopic endoscope device
JP5802869B1 (en) Surgical device
JPH09248276A (en) Sight line variable hard mirror device
JP4674094B2 (en) Stereoscopic observation device
WO2019198293A1 (en) Microscope system and medical light source device
JP6502785B2 (en) MEDICAL OBSERVATION DEVICE, CONTROL DEVICE, CONTROL DEVICE OPERATION METHOD, AND CONTROL DEVICE OPERATION PROGRAM

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10729237

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10729237

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP