JP3328911B2 - Stereoscopic device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic apparatus using a photographing apparatus and a two-dimensional display, and more particularly, but not exclusively, to a stereoscopic apparatus inside a living body viewed through an endoscope.

[0002]

2. Description of the Related Art Conventionally, as a method for obtaining a stereoscopic image by binocular parallax, there is a stereoscopic endoscope having a structure in which two endoscopes are provided at an appropriate interval. In the stereoscopic endoscope of this method, a delicate difference in the position of the two endoscopes, a difference in lighting equipment, and a difference in the image pickup device inevitably cause a slight difference in an obtained image. I felt uncomfortable. For this reason, stereoscopic viewing using such images requires an image correction mechanism, an endoscope positioning mechanism, and the like, and the structure and handling thereof are complicated. In order to solve this problem, Japanese Patent Application Laid-Open No. 63-262613 discloses a method for obtaining an image having parallax for stereoscopic viewing using a single endoscope. The wire is pulled by rotating the rotating drum that is in close contact with the outer periphery, and stereoscopic vision is realized from the parallax obtained by bending the tip of the endoscope fixed to the wire tip. On the other hand, in Japanese Patent Laid-Open Publication No. 1-112216, an observation unit including a solid-state imaging device and an optical system is moved so that parallax can be obtained for the same subject.

[0003]

However, in these methods, the moving mechanism of the image pickup device becomes complicated, so that it takes a long time to obtain a parallax image, and a real-time stereoscopic image of the object to be observed is obtained. Reproduction was difficult. In addition, since the shape of the endoscope insertion portion becomes large (approximately 6 mm to 10 mm in outer diameter), observation in a fine region is difficult, and the application range of the endoscope is limited only by that. In addition, stereoscopic vision using a ready-made endoscope (endoscope not specially made for stereoscopic vision) cannot be performed.

[0004] The present invention enables real-time stereoscopic vision of a fast-moving observation object with a single endoscope, and it is possible to use an off-the-shelf (not special stereoscopic) endoscope. It is an object of the present invention to provide a stereoscopic device that is compact and has a simple vibration mechanism.

[0005]

The present invention provides a two-dimensional photographing means (25), an objective optical system (6) for guiding object image light to the two-dimensional photographing means (25).
Two-dimensional display means for displaying a captured image of the two-dimensional imaging means (25)
(23) means for reciprocally driving between a first position (right) and a second position (left) in a direction intersecting at least the objective end (7) of the objective optical system (6) with the optical axis ( 3, 8), and the display image of the two-dimensional display means (23) enters the left eye of the observer when the objective end (7) is at the first position (right) in synchronization with the reciprocating drive. In the right eye of the observer, and when the objective end is in the second position (left), the display image of the two-dimensional display means (23) is blocked from entering the right eye of the observer and left. A stereoscopic device comprising shutter means (19, 22) for allowing entry into the eye, wherein said reciprocating drive means (3, 8) is provided with an internal pressure containing a working fluid that expands / contracts in response to temperature. Containers that expand and contract in response to
a, 4a) and means for heating the working fluid in the vessel (9, 5, 1)
4), and the objective end (7) of the objective optical system (6) is located at a first position.
(Right) and a thermal expansion microactuator (3a-3c) driven to one (left) of the second position (left) and return drive means (8) driven to the other. Features.

[0006] In the parentheses, for easy understanding, symbols and the like attached to corresponding elements or corresponding items in the embodiments described later are added for reference.

[0007]

[Function] An image having parallax is obtained by reciprocating drive of a single objective optical system (6), so that there is no difference in image quality between an image viewed by the right eye and an image viewed by the left eye, so that clear stereoscopic viewing is possible. is there.
The use of the thermal expansion microactuator makes the reciprocating drive mechanism simple and compact, and the thermal expansion microactuator has a fast expansion / contraction response to ON / OFF of the heating means, so that even a fast-moving observation object moves. Can be observed stereoscopically. Since the reciprocating drive means (3, 8) can be attached to the tip of a ready-made (not special stereoscopic) endoscope, the ready-made endoscope can be used for stereoscopic vision. Reciprocating drive means
The tip shape of (3, 8) can be changed to a shape adapted to the size of the stereoscopic object and the position environment. Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0008]

【Example】

First Embodiment FIG. 1 shows a general outline of a first embodiment of the present invention, and FIGS. 2 and 3 show enlarged cross sections of the vibrating section 1. This stereoscopic device is equipped with a vibrating unit 1 which is detachably attached to the distal end of the endoscope 6 and has a mechanism for reciprocatingly driving the holding tube 7 at the distal end of the endoscope 6. A tube 2 for communicating the signal line 5 is mounted on the rear end of the rear end (in the direction opposite to the front end facing the observation body 20), and the reciprocating movement of the holding tube 7 is controlled by the stereoscopic control device (10 + 24). It is controlled by a synchronization control section 10 by a laser on (lighting) and off (light off) signals given to a laser driver 14 containing a semiconductor laser (hereinafter referred to as a laser). That is, the laser driver 14 turns on the laser while the synchronization control unit 10 gives the ON signal, and the light is sent to the vibrating unit 1 via the signal line 5 (optical fiber), and this light causes The thermal expansion type micro actuators 3a to 3c expand and drive the holding tube 7 to the left as shown in FIG. This left drive causes the leaf spring 8
Is pressed. When the synchronization control section 10 gives an off signal, the laser driver 14 turns off the laser, whereby the thermal expansion type micro-actuators 3a to 3c of the vibrating section 1 contract, and as shown in FIG. The return drive (right drive) is performed by the repulsive force of the leaf spring 8. That is, the holding tube 7 of the endoscope 6 is moved in the left-right direction inside the vibrating unit 1 due to the reduction of the optical signal (FIGS. 2 and 3).

FIG. 4 shows an enlarged cross section of one element 3a of the thermal expansion type microactuators 3a to 3c. Element 3a
The container of (the other elements 3b and 3c also have the same structure) is made of silicon, and the two halves in which the working space f1 and the diaphragm 4a closing it are formed by etching and vapor deposition,
The working space f1 is filled with an ultrafine carbon fiber mass 9 having a high light absorption (light / heat conversion capability) and an inert gas, and the tip end of the signal line 5 (optical fiber) is exposed in the space f1.
They are joined. The diaphragm 4a has a metal film formed on the surface of SiO ₂ . Space f from signal line 5
When the light is irradiated on 1, the carbon fiber mass 9 generates heat, the pressure in the space f1 rises, and the diaphragm 4a swells.
When the light irradiation stops, the heat in the space f1 flows to the outside through the diaphragm and the container, the pressure in the space f1 decreases, and the diaphragm 4a contracts. This bulging / degenerating vibration can be performed, for example, at a cycle of 20 to 30 Hz.

Referring again to FIG. The light image of the observation target 20 is captured by the video camera 25 via the endoscope 6 to which the vibration unit 1 is attached, and is converted into an image signal.
The image signal obtained by the video camera 25 is input to the image input unit 13 inside the signal processing unit 24, and further input to the A / D converter 15. At this time, a synchronizing signal is output to the image input unit 13 and the A / D converter 15 according to an on / off signal sent to the laser driver 14 from the input synchronizing unit 11 in the synchronizing control unit 10, and the analog signal of the image signal is , Is converted into a digital signal in synchronization with the vibration of the vibration unit 1, and is divided into a right image data signal and a left image data signal. A digital image signal of the video signal of the video camera 25 when the holding tube 7 is at the left position shown in FIG. 2 is a left image data signal, and a digital image signal when the holding tube 7 is at the right position shown in FIG. Data signal.

The right image data signal output from the A / D converter 15 is temporarily stored in the right image memory 16 and the left image data signal is temporarily stored in the left image memory 17, and is read out and displayed on the display unit 1.
At 8, a monitor which reversely converts the image data signal into an image signal (analog signal) in accordance with the synchronization signal sent from the output synchronization unit 12 in the synchronization control unit 10 and displays the reproduced image as a right image and a left image, respectively. Output to TV23. That is, the read signals are alternately applied to each field, that is, the right image is applied to the odd fields, and the left image signal is applied to the even fields by the interlaced monitor TV.
23. Thus, the right image A and the left image B are displayed on the screen 21 of the monitor TV 23 as shown in FIG.
And are alternately displayed at minute time intervals.

When the data of the right image and the left image are inversely converted into image signals, the synchronization signal output from the output synchronization unit 12 is:
The shutter driver 19 is sent. Upon receiving the synchronization signal, the shutter driver 19 alternately shuts off the right shutter 22a and the left shutter 22b of the liquid crystal shutter glasses 22 according to the synchronization signal. That is, the left shutter 22b is shut off when displaying the right image on the monitor TV 23, and the right shutter 22a is shut off when displaying the left image.

The right shutter 22a of the liquid crystal shutter glasses 22
The left shutter 22b and the left shutter 22b are alternately shut off by the shutter driver 19 at minute time intervals corresponding to the respective display times of the previous right image A and left image B (FIG. 6) and in synchronization with them. ing. FIG. 7 shows the relationship between the display of the right image A and the left image B (FIG. 6) on the monitor TV screen 21 and the interruption of the right shutter 22a and the left shutter 22b. The right shutter 22a is open when the right image A is displayed, and the left shutter 2 when the left image B is displayed.
2b is open. That is, a minute time during which the right image A (odd field) is displayed on the screen 21 of the monitor TV 23,
The left liquid crystal shutter 22b is shut off, the observer observes only the image from the right eye, and the right shutter 22a is shut off for a short time during which the next left image B (even field) is displayed, and the left shutter 22b is shut off. Only the image will be observed. Therefore, the observer can perform stereoscopic recognition based on binocular parallax, and as a result, can view the image on the screen 21 of the monitor TV 23 in three dimensions.

A series of these processes, that is, an image signal is read out from the image memories 16 and 17 by the read-out display unit 18, displayed on the monitor TV screen 21 in an interlaced manner, and the monitor driver
Opening and closing the right and left shutters of the liquid crystal shutter glasses 22 in synchronization with the image on the V screen 21 is performed by the output synchronization unit 12 of the synchronization control unit 10 in accordance with predetermined timing. 2 and 3 show an enlarged longitudinal section of the vibrating section 1 of the first embodiment. FIG. 2 shows a state where the thermal expansion type micro-actuators 3a to 3c in the vibrating part 1 are expanded. In FIG. 3, the actuators 3a to 3c are shown.
c shows a contracted state. The vibrating section 1 has a hollow cylindrical shape, and has thermal expansion microactuators 3a to 3a at rear ends (in a direction opposite to an end face facing the object 20).
A tube 2 for fixing a signal line 5 for transmitting a signal for expanding / contracting c to a base end is fixed. A plate for applying a force from the left to the right in order to detachably hold the holding tube 7 at the distal end of the endoscope 6 between the thermal expansion type micro actuators 3a to 3c inside the vibrating section 1. A spring 8 is fixed to the inner surface of the vibrating part 1. Further, between the leaf spring 8 and the thermal expansion type micro-actuators 3a to 3c, a cylindrical holding tube 7 which directly holds the endoscope 6 and has a larger radius than the endoscope 6 and has both ends open. Exists, the endoscope 6 is supported by the leaf spring 8 and the holding tube 7 against vibration displacement in the left-right direction acting from the vibration block, and has a restoring force. On the right side surface of the holding tube 7, three thermal expansion type micro-actuators 3a to 3c are stacked in the left-right direction to form one block column. This vibration block is positioned at a position corresponding to the right direction of the endoscope 6 tip,
The right side surface of the thermal operation element 3a located on the rightmost side of the vibration block is in contact with the right inner side surface of the vibration section 1.

FIG. 5 shows a state where the thermal expansion type micro-actuators 3a to 3c are expanded by broken lines and a state where they are contracted by solid lines. In the contracted state, the length (thickness) of the actuators 3a to 3c in the left-right direction is W2, but when expanded, it becomes W1, and the holding tube 7 of the endoscope 6 moves the distance Wd = W1-W2. Moving.

Second Embodiment FIG. 8 shows a portion of the second embodiment different from the above-described first embodiment. The vibrating section 1 is a substantially hollow cylindrical shape, and a tip end surface facing the observation target 20 is inclined so as to be substantially parallel to the surface (inclined surface) of the skin 20a on which the observation target 20 exists. Other structures and operations are the same as those in the first embodiment. Since the shape of the tip of the vibrating section 1 facing the observation target 20 is formed in accordance with the inclined surface (the surface of the skin 20a) where the observation target 20 exists, the state of the observation target 20 (for example, Optimal observation is possible when the object to be observed 20 is on the inclined skin 20a as in the example.

[0017]

According to the present invention, since the stereoscopic vision is realized by the single objective optical system (6), the input parallax image has no difference in position or image quality. Since the thermal expansion type microactuator is used for the reciprocating drive mechanism for obtaining binocular parallax, the drive mechanism can be simplified and the appearance can be reduced. The vibration cycle of the thermal expansion type micro-actuator is fast (20-30h
z), a real-time stereoscopic image can be observed even with a fast-moving observation object.

In the above embodiment of the present invention, since the vibrating section 1 is mounted on the endoscope 6, an endoscope without a stereoscopic mechanism can be used for stereoscopic observation. By changing the shape of the vibrating part 1, observation suitable for the state of the object to be observed (large or small, or the environment in which it is located) can be performed. Further, since the drive signal of the vibrating section 1 uses light flashing, the danger of electric shock (microshock) to the living body can be avoided. Also, if an image fiber is used for an endoscope, a stereoscopic endoscope device having high electrical insulation can be realized.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing an overall configuration of a first embodiment of the present invention.

FIG. 2 is an enlarged longitudinal sectional view when thermal expansion type micro-actuators 3a to 3c are expanded inside a vibration unit 1 shown in FIG.

FIG. 3 is an enlarged longitudinal sectional view when the thermal expansion type micro actuators 3a to 3c contract inside the vibrating section shown in FIG.

FIG. 4 is an enlarged longitudinal sectional view of one of the thermal expansion type micro actuators 3a to 3c shown in FIG.

FIG. 5 is an enlarged vertical sectional view showing a stroke of the thermal expansion type micro actuators 3a to 3c shown in FIG.

FIG. 6 is a plan view showing a display screen of the monitor TV23 shown in FIG.

7 is a plan view showing the correlation between the display screen shown in FIG. 6 and the closing of the left and right shutters of the liquid crystal shutter shown in FIG.

FIG. 8 is a longitudinal sectional view showing a main part of a second embodiment of the present invention.

[Explanation of symbols]

1: Vibrating part 2: Tube 3a, 3b, 3c: Thermal expansion type micro actuator 4: Diaphragm 5: Signal line 6: Endoscope 7: Holding tube 8: Leaf spring 9: Carbon fiber lump 10: Control Unit 11: Input synchronization unit 12: Output synchronization unit 13: Image input unit 14: Laser driver 15: A / D converter 16: Right image memory 17: Left image memory 18: Readout display unit 19: Liquid crystal shutter driver 20: Observed Body 21: Monitor screen 22: Liquid crystal shutter 22a: Right liquid crystal shutter 22b: Left liquid crystal shutter 23: Monitor TV 24: Signal processing circuit 25: Video camera f1: Space

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-23731 (JP, A) JP-A-1-316716 (JP, A) JP-A-6-105806 (JP, A) JP-A-63- 265215 (JP, A) JP-A-6-129341 (JP, A) JP-A-7-139521 (JP, A) JP-A-6-257556 (JP, A) JP-A-7-120683 (JP, A) (58) Field surveyed (Int.Cl. ⁷ , DB name) G02B 23/24 A61B 1/00 300 A61B 1/04 370 G02B 23/26

Claims (3)

(57) [Claims] An object optical system for guiding object image light to the two-dimensional photographing means, and a photographed image of the two-dimensional photographing means is displayed.
Dimensional display means, means for reciprocating between at least a first position and a second position in a direction intersecting at least the objective end of the objective optical system with the optical axis, and the objective end in synchronization with the reciprocating drive When in the first position, the display image of the two-dimensional display means is blocked from entering the left eye of the observer and allowed to enter the right eye,
A stereoscopic device comprising: shutter means for blocking a display image of the two-dimensional display means from entering the right eye of the observer and allowing the display image to enter the left eye when the objective end is at the second position; The objective optical system includes a container that contains a working fluid that expands / contracts in response to a temperature and that expands and contracts in response to an internal pressure, and a unit that heats the working fluid in the container. 3. A stereoscopic apparatus comprising: a thermal expansion type micro-actuator for driving the objective end to one of a first position and a second position; and return drive means for driving the other end to the other position. 2. The return driving means is a return spring.
A stereoscopic device as described. 3. The heating means of the thermal expansion type micro-actuator includes an optical fiber for guiding light into the container and a light absorber for converting light entering the container into heat.
Or the stereoscopic device according to claim 2.