JP4383188B2 - Stereoscopic observation system - Google Patents

Description

  The present invention relates to a stereoscopic observation system suitable for stereoscopic observation of medical images.

  In recent years, procedures using a stereoscopic observation system using a stereoscopic endoscope or the like are becoming widespread in the medical field, particularly in the surgical field. According to a technique using an endoscope and a treatment instrument, it is possible to treat a disease or the like that originally required an open surgery in a minimally invasive manner under an endoscope. Furthermore, since the observation with the endoscope can be stereoscopically viewed, image information in the depth direction can be obtained, and the treatment tool can be operated and guided reliably.

  According to such a stereoscopic observation system, it is possible to perform a more delicate and advanced treatment in a shorter time than a treatment under a conventional endoscope. Further, this stereoscopic endoscopic surgery is an excellent technique in that the damage given to the patient is small and minimally invasive. Therefore, it is a system that can be expected to develop greatly in the future.

  By the way, as shown in Patent Document 1, the observation system in this type of stereoscopic observation system is a twin-lens type. Specifically, as shown in FIG. 1, a stereoscopic imaging unit 1 incorporating an imaging optical system and an imaging element for capturing right and left images with parallax from the observation object O, and the stereoscopic imaging unit 1, respectively. A stereoscopic video signal processing device 2 that generates a stereoscopic video signal by processing imaging signals of the captured left and right images, and a stereoscopic image that displays a stereoscopic image on a display element using the video signal transmitted from the stereoscopic video signal processing device 2. And a display device 3. In addition, the stereoscopic video signal processing device 2 and the stereoscopic display device 3 constitute a stereoscopic display unit 4.

  In such a stereoscopic observation system, the left and right images having the parallax of the observation object O are respectively captured by the imaging optical system and the imaging element of the stereoscopic imaging unit 1, and the imaging signal acquired by the imaging element is a stereoscopic video signal processing device. 2 is transmitted. The stereoscopic video signal processing device 2 performs necessary signal processing corresponding to the stereoscopic display device 3 at the subsequent stage. The stereoscopic display device 3 generates left and right images on the display element based on the stereoscopic image signal sent from the stereoscopic video signal processing device 2. In the stereoscopic display device 3, the left and right images are separated and transmitted to the eyes of the observer.

  There are various methods for the stereoscopic display device 3 that separates the left and right images and transmits them to the eyes of the observer. As a typical example, first, right and left images are projected directly to the left and right pupils (eyes) of the observer corresponding to each image by an optical system arranged very close to the observer's face, This is a virtual image stereoscopic observation type in which image information on a large screen is equivalently stereoscopically observed as a virtual image. Advantages of this virtual image stereoscopic observation method include that the size of the visual field (the size of the image reflected in the eye) is fixed during use, and that the size of the visual field can be arbitrarily selected in design.

  As another example, images with parallax are sequentially displayed on the TV monitor at the same position, and the observer has a shutter function that sequentially switches left and right in synchronization with the sequential switching operation of the images on the TV monitor. This is a stationary TV monitor system in which the left and right images with parallax displayed alternately on the TV monitor can be stereoscopically observed by sequentially observing with the left and right eyes. In this stationary TV monitor system, the size of the visual field is not fixed because the size of the visual field depends on the observation distance. Moreover, in this stationary TV monitor system, when the field of view is increased, the screen of the TV monitor must be enlarged, and there is a problem in space when the apparatus is installed in an operating room or the like. For this reason, it has been a difficult system in practice to obtain a larger field of view.

  However, the virtual image stereoscopic observation method described above has an advantage that a large visual field that cannot be obtained by the stationary TV monitor method can be obtained by selecting a display element size such as a liquid crystal display element and an eyepiece optical system. It was.

Therefore, in stereoscopic endoscopic surgery, it is considered that the virtual image stereoscopic observation type will become more widespread in the future. In particular, fixing the size of the field of view and the high degree of freedom of selection, which are the advantages of the virtual image stereoscopic observation method described above, are important for achieving a natural sense of reality in stereoscopic vision. It seems that many virtual image stereoscopic observation formulas will be adopted.
JP-A-8-313828 (columns “0006” and “0008” and description of FIG. 6)

  As described above, in the conventional stereoscopic observation system, stereoscopic observation with a natural sense of reality is almost realized. However, when the stereoscopic observation system is actually used, there are various causes of observer fatigue during stereoscopic observation.

There are several items that can be considered as fatigue factors during the stereoscopic observation.
First, it is possible to observe that the depth of the observer does not follow the rapid depth movement of a stereoscopic imaging unit such as a stereoscopic endoscope, and the normal depth perception may not be obtained, and that the convergence changes greatly. The observer is likely to be fatigued.

  Also, when the direction of a stereoscopic imaging unit such as a stereoscopic endoscope is changed in order to move the field of view, the observer's sense of position and orientation is confused, causing psychological instability and pressure. Feeling, these are the fatigue factors of the observer.

Both of these two factors are likely to cause fatigue because they are stereoscopic observations with a natural presence.
Furthermore, in stereoscopic observation, the arrangement of the stereoscopic imaging unit and the stereoscopic display unit is often free. For this reason, the positional relationship between the moved stereoscopic imaging unit and the stereoscopic display unit changes as the imaging unit is moved in order to view the observation object from the direction that the observer wants to see. So-called hand-eye coordination (coincidence between the coordinates of the observation object visible with the eye and the coordinates of the observer itself) cannot be obtained, and this causes fatigue of the observer.

  The above-mentioned points relating to the fatigue factor have not been solved in the conventional example, and as a result, stereoscopic observation with a natural sense of realism with little fatigue during observation has not been realized.

  The present invention has been made in view of the above circumstances, and by setting a preferable relationship between a stereoscopic imaging unit and a stereoscopic display unit, a stereoscopic observation with a natural sense of realism with less fatigue during observation is obtained. An object of the present invention is to provide a stereoscopic observation system that can handle such a situation.

In order to achieve the above object, the invention according to claim 1 displays an image pickup unit for picking up a first image for the left eye and a second image for the right eye having parallax, and an image picked up by the image pickup unit. Display unit, a holding unit that movably holds the imaging unit, and when the imaging unit is moved relative to the observation object, the image is displayed on the display unit as a planar image, and the imaging unit is observed. A stereoscopic observation system comprising: a display controller configured to display the image as a stereoscopic image on the display unit when fixed to an object.
According to this configuration, while the imaging unit is moving (moving), the display unit displays a two-dimensional image with less burden on the observer than the stereoscopic image (three-dimensional image). Less fatigue.

According to a second aspect of the present invention, there is provided an imaging unit that captures a first image for the left eye and a second image for the right eye that have parallax, a display unit that displays an image captured by the imaging unit, and the imaging Two types of holding states can be selected: a holding unit that holds the unit, a stopped state in which the imaging unit held by the holding unit is fixed so as not to move with respect to the observation object, and a fixed release state in which the imaging unit can be moved. The holding type switching means and the holding state information selected by the holding type switching means are received and the display unit is controlled to transmit the first image to the left eye of the observer when the imaging unit is stopped. And providing a stereoscopic observation in which the second image is transmitted to the right eye of the observer. When the imaging unit is in the unlocked state, one of the first image and the second image is viewed. Who is obtained; and a display controller to provide a planar observation for transmitting at least one eye.
According to this configuration, while the imaging unit is moving (moving), the display unit displays a two-dimensional image with less burden on the observer than the stereoscopic image (three-dimensional image). Less fatigue.

According to a third aspect of the present invention, the first image for the left eye, the second image for the right eye, and the observation object in a wider range than the first image and the second image can be observed. An imaging unit that captures the image of the image, a display unit that displays the image captured by the imaging unit, a holding unit that holds the imaging unit, and the imaging unit that the holding unit holds do not move relative to the observation object The holding type switching means that can select two types of holding states, that is, a stopped state that is fixed (locked) and a fixed released state that can move the imaging unit (free), and a holding state selected by the holding type switching means When receiving the information and controlling the display unit to stop the imaging unit, the first image is transmitted to the left eye of the observer and the second image is transmitted to the right eye of the observer. View Providing, when the imaging unit is in the unlocking state is characterized in that it has and a display controller which provides an observation in a wide range to transmit to the eye of the observer the third image.
According to this configuration, while the imaging unit is moving (moving), the display unit displays a two-dimensional image with less burden on the observer than the stereoscopic image (three-dimensional image). Prevents you from feeling tired. Furthermore, while the imaging unit is moving (moving), the observation object can be observed in a wider range than the observation object that can be observed with a stereoscopic image (three-dimensional image), and thus the observer can efficiently observe from this wide field of view. You can find the next place you want to watch.

According to a fourth aspect of the present invention, in the observation in which the display unit transmits the third image to an observer's eye, the imaging range of the first image and the second image is shown in the third image. The stereoscopic observation system according to claim 3, wherein the observation is performed by overlapping the marks.
According to this configuration, the observer can clearly confirm the visual field range that can be observed when the imaging unit is fixed and switched to stereoscopic image observation while observing the wide visual field obtained by observing the third image. There is no sense of incongruity in observation before and after image switching.

According to a fifth aspect of the present invention, a vector connecting the centers of both entrance pupils of the pair of imaging optical systems included in the imaging unit and a vector connecting the centers of both exit pupils of the pair of image observation optical systems included in the display unit are formed. The movement of the imaging unit with respect to the display unit is regulated by regulation means of the holding unit so that the angle is 45 ° or less. Alternatively, the stereoscopic observation system according to claim 4.
According to this configuration, the degree of freedom in the positional relationship between the stereoscopic imaging unit and the stereoscopic display unit is limited to a range in which hand eye coordination with a good degree can be maintained. Therefore, the observer can continue observation without getting tired.

  According to the present invention, by setting a preferable relationship between the stereoscopic imaging unit and the stereoscopic display unit, it is possible to obtain stereoscopic observation with a natural sense of realism without the required feeling of fatigue during observation.

(First embodiment)
A stereoscopic observation system according to the first embodiment of the present invention will be described with reference to FIGS.

  FIG. 2 is a schematic explanatory view showing a stereoscopic observation system. The stereoscopic observation system of this embodiment includes a stereomicroscope (imaging unit) 6 held by a stereomicroscope holding arm 5 as a microscope holding device (means) and a display device holding arm 7 as a display device holding device (means). A display device 8 held at the tip and a display device controller 9 for controlling the display form of the display device 8 are provided. The display device controller 9 is incorporated in the display unit 10 including the display device 8.

  Here, the weights of the stereomicroscope holding arm 5 and the stereomicroscope 6 held thereon are offset by the weight of a balance weight (not shown) provided on the stereomicroscope holding arm 5. For this reason, when the stereomicroscope 6 is placed at an arbitrary position, the stereomicroscope 6 is held in such a state as if it floated in the air. The weight of the display device holding arm 7 and the display device 8 held by the display device holding arm 7 is offset by the weight of a balance weight (not shown) provided on the display device holding arm 7. For this reason, when the display device 8 is placed at an arbitrary position, the display device 8 is held in such a state as if it floated in the air.

  Next, the structure of each part and its function will be described with reference to FIGS. As shown in FIGS. 3 and 4, the stereomicroscope 6 as an imaging unit includes a housing 11, and the housing 11 captures left and right images with parallax when the observation object 12 is viewed from the left and right. For this purpose, two left and right imaging optical systems 13a and 13b and two right and left imaging optical systems CCDs 14a and 14b as imaging elements are incorporated. Image signals picked up by the two CCDs 14 a and 14 b are transmitted to the display controller 9 via the transmission cable 15. The display controller 9 incorporates a processing circuit (not shown) that individually processes signals picked up by the CCDs 14a and 14b and converts them into a video signal for the right eye and a video signal for the left eye. The display device controller 9 has a function of switching and controlling the display form of the display device 8 as will be described later.

  As shown in FIG. 4, the stereomicroscope holding arm 5 includes a base 16, and a holding type switching device (holding type switching means) 17 is built in the base 16. The holding type switching device 17 receives an operation type selection command by an operating means such as a foot switch (not shown), for example, and causes the stereomicroscope holding arm 5 to attach the stereomicroscope 6 to the observation object 12 according to the switching command. There are two types of holding modes: a stationary state where the observer is fixed at the held position and a fixed state where the observer can arbitrarily move the stereomicroscope 6. Further, the holding type switching device 17 transmits information indicating which holding type the stereomicroscope holding arm 5 is currently holding the stereomicroscope 6 to the display device controller 9, and the display device controller 9 transmits the information. Based on this, the observation state of the display device 8 is switched.

  Further, as shown in FIGS. 3 and 4, the display device 8 of the display unit 10 is provided with two left and right display device sections in a housing 18, and here, two right and left liquid crystal display devices (hereinafter referred to as LCDs). .) 19a, 19b, and two left and right eyepiece optical systems 20a, 20b for magnifying and observing images displayed on the display surfaces of the two left and right LCDs 19a, 19b are provided.

  The display device controller 9 receives holding state information from the holding type switching device 17 and switches the observation state of the display device 8 based on this information as follows.

  First, when the stereomicroscope holding arm 5 is holding the stereomicroscope 6 in a fixed state, the observer 21 can observe it as a three-dimensional image. That is, as shown in FIG. 3, the display device controller 9 transmits the right-eye video signal of the observer 21 input from the stereomicroscope 6 to the right-eye LCD 19 a built in the display device 8, and the left-eye video. By transmitting the signal to the left-eye LCD 19b, an image viewed from the right side is displayed on the right-eye LCD 19a, and an image viewed from the left side is displayed on the left-eye LCD 19b. Therefore, the observer 21 can observe the left and right images with parallax with the right eye and the left eye, respectively, and stereoscopically observe the image.

  Next, when the stereomicroscope holding arm 5 holds the stereomicroscope 6 in the unlocked state, as shown in FIG. 4, the display device controller 9 displays the holding state information from the holding type switching device 17. Based on this, the video signal for the right eye of the observer 21 inputted from the stereomicroscope 6 is transmitted to both the right-eye LCD 19a and the left-eye LCD 19b built in the display device 8. That is, both the right eye LCD 19a and the left eye LCD 19b display an image viewed from the right side. Therefore, the observer 21 observes the same image with the right eye and the left eye, and observes the image captured by the stereomicroscope 6 as a two-dimensional image.

  Therefore, when the stereomicroscope holding arm 5 is holding the stereomicroscope 6 in a fixed state, the observer 21 stereoscopically observes the image captured by the stereomicroscope 6 while the stereomicroscope holding arm 5 is When the stereomicroscope 6 is held in the unlocked state, the observer 21 observes as a two-dimensional image.

  According to this stereoscopic observation system, when the stereomicroscope 6 is in a fixed state, the display unit 10 displays a three-dimensional image. However, in the unlocked state in which the stereomicroscope 6 is moved to change the visual field range, the display device controller By the control of 9, the display is switched to the two-dimensional image display. Therefore, the display unit 10 displays a two-dimensional image while the stereoscopic microscope holding arm 5 is moved and the stereoscopic microscope 6 is actually moved (moved).

  As described above, since the two-dimensional image is displayed on the display unit 10 while the stereomicroscope 6 is moved (moved), the observer is also compared with the case where a stereoscopic image (three-dimensional image) is displayed during that time. The burden of 21 is reduced, and the eyes do not feel tired to the left.

  If the stereoscopic microscope 6 is moved (moved) while being displayed as a stereoscopic image (three-dimensional image), in addition to making the observer's eyes tired, there are various types as described below. It was a factor. First, if the stereoscopic microscope 6 is displayed on a stereoscopic image (three-dimensional image) while moving (moving), the observer's convergence becomes difficult to follow. In particular, when the motion speed in the depth direction increases, the tendency is remarkable, and the observer's fatigue is increased. In addition, if the depth movement is continuously performed for a long time even within the convergence tracking range, the observer's convergence frequently changes, and the screen with a sudden change in the sense of distance changes suddenly. Adjustment of the eye cannot be caught up, and the adjustment action of the observer's eye is overreacting. Furthermore, when the observation direction changes suddenly, the observer is confused in the sense and recognition of his / her position and observation direction, and it is easy to cause the observer to feel instability and pressure by zooming. All of these are burdens on the observer himself, and the eyes of the observer are easily fatigued.

  However, in the stereoscopic observation system of the present embodiment, since the stereoscopic microscope 6 is moved (moved), at least the display unit 10 displays a two-dimensional image. This is advantageous in that it reduces the burden on the viewer and makes it difficult for the observer 21 to feel fatigue.

  It should be noted that control may be performed so that the display unit 10 displays a two-dimensional image only when the stereomicroscope 6 is actually moved, not in the stopped state, in the unlocked state in which the stereomicroscope 6 can be moved. .

  Further, in the stereomicroscope holding arm 5, the movement of the joint portion of the arm holding the stereomicroscope 6 is locked, and the entire arm portion is set in a fixed stop state where the posture is determined to be hard, while in the unlocked state, The system is switched to a state in which the stereomicroscope 6 can be moved by loosening the joint portion. However, if the stereomicroscope 6 is moved, the stereomicroscope holding arm 5 is deformed by the moving force and the stereomicroscope 6 is moved to an arbitrary position. It may be of a form that can be moved freely. In this latter type, a sensor for immediately detecting when the stereomicroscope 6 is moved is provided, and the holding type switching means is provided to detect the stopped state of the stereomicroscope 6 and the unlocked state of the stereomicroscope 6. It is better to switch the observation state.

(Second Embodiment)
A stereoscopic observation system according to a second embodiment of the present invention will be described with reference to FIGS.

  FIG. 5 is an explanatory diagram schematically showing the entire stereoscopic observation system. The stereoscopic observation system according to the present embodiment includes a display unit 25 including a display device 23 and a display device controller 24 held by a display device holding arm 22, and a stereoscopic as an imaging unit held by a stereoscopic endoscope holding arm 26. The endoscope 27 is configured.

  Next, the configuration and function of each part will be described with reference to FIGS. The stereoscopic endoscope 27 has a housing 28, and the housing 28 has stereoscopic imaging optical systems 30 a and 30 b for forming left and right images having parallax as viewed from the left and right, and CCDs 31a and 31b, which are imaging elements as two imaging units on the left and right, are built in. Further, in the housing 28 of the stereoscopic endoscope 27, a wide-angle imaging optical system 32 capable of imaging the observation object 29 in a wider range than the stereoscopic imaging optical systems 30a and 30b, and an imaging means for wide-angle imaging. A CCD 33 as an image sensor is also incorporated. All the video signals of the images picked up by the three CCDs 31a, 31b, and 33 are transmitted to the display device controller 24.

  As shown in FIGS. 6 and 7, a holding type switching device 36 is built in the base 35 of the stereoscopic endoscope holding arm 26. The stereoscopic endoscope holding arm 26 is in a stopped state in which the position of the stereoscopic endoscope 27 is fixed with respect to the observation object 29 and in a fixed release state in which the observer can arbitrarily move the stereoscopic endoscope 27. The stereoscopic endoscope 27 can be held in two types of holding formats, and the holding state is switched by the holding format switching device 36. Then, when a type of operation is selected by an operating means such as a foot switch (not shown), and a holding type switching command is given to the holding type switching device 36, a stereoscopic endoscope holding arm according to the switching command. Reference numeral 26 denotes two types of a stop state in which the stereoscopic endoscope 27 is fixed to the observation object 29 and a fixed release state in which the observer can arbitrarily move the stereoscopic endoscope 27. Switch to one of the retention formats.

  Further, the holding format switching device 36 transmits information indicating which holding format the stereoscopic endoscope holding arm 26 currently holds the stereoscopic endoscope 27 to the display device controller 24.

  Further, as shown in FIGS. 6 and 7, two display devices on the left and right sides are provided in the housing 37 of the display device 23. Here, two liquid crystal display devices on the left and right sides (hereinafter referred to as LCDs). 38a, 38b and two left and right eyepiece optical systems 39a, 39b for magnifying and observing images displayed on the display screens of the two left and right LCDs 38a, 38b are provided.

  The display device controller 24 switches the observation state based on the holding state information input from the holding type switching device 36 of the stereoscopic endoscope holding arm 26. That is, when the stereoscopic endoscope holding arm 26 is in a fixed state and holds the stereoscopic endoscope 27, as shown in FIG. The right-eye video signal is transmitted to the right-eye LCD 38a of the display device 23, and the left-eye video signal is transmitted to the left-eye LCD 38b. The observer holds the stereoscopic endoscope holding arm 26 in a fixed state. Thus, while the stereoscopic endoscope 27 is held, the image captured by the stereoscopic endoscope 27 can be stereoscopically observed.

  As shown in FIG. 7, when the stereoscopic endoscope holding arm 26 holds the stereoscopic endoscope 27 in the unlocked state, the display device controller 24 uses the stereoscopic endoscope holding arm 26. The video signal of the image captured by the wide-angle imaging optical system 32 and the wide-angle imaging CCD 33 of the stereoscopic endoscope 27 based on the information on the holding state input from the holding type switching device 36 is displayed on the right side of the display device 23. The data is transmitted to the eye LCD 38a and the left eye LCD 38b. Therefore, when the stereoscopic endoscope holding arm 26 holds the stereoscopic endoscope 27 in the unlocked state, the observer captures an image captured by the wide-angle imaging optical system 32 of the stereoscopic endoscope 27. Can be enlarged and observed as a two-dimensional image.

  With the above configuration, in the stereoscopic observation system of the present embodiment, at least while the stereoscopic endoscope 27 is moving (moving), the display unit 25 is closer to the observer than the stereoscopic image (three-dimensional image). A two-dimensional image with less burden is displayed so that the observer 40 does not feel tired. Furthermore, while the stereoscopic endoscope 27 is moving (moving), the observation object 29 can be observed in a wider range than the observation object 29 that can be observed with the stereoscopic image (three-dimensional image). The person 40 can efficiently find a place to be watched next from a wide field of view.

(Third embodiment)
A stereoscopic observation system according to a third embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 8, the stereoscopic observation system of the present embodiment includes a Fresnel display type display device 42 held by a holding arm 41, a display device controller 43, a display unit 45 including a video editing device 44, And a stereoscopic endoscope 47 held by the endoscope holding arm 46.

  Next, the configuration and function of each apparatus will be described with reference to FIGS. 9 and 10. As shown in FIG. 9, the stereoscopic endoscope 47 includes a housing 48, and the housing 48 is used for stereoscopic imaging to capture left and right images having parallax when the observation object 49 is viewed from the left and right. The systems 50a and 50b and stereoscopic imaging CCDs 51a and 51b, which are imaging devices as two imaging units on the left and right sides, are incorporated. Further, the housing 48 of the stereoscopic endoscope 47 has a wide-angle imaging optical system 52 for imaging the observation object 49 in a wider range than the stereoscopic imaging optical systems 50a and 50b, and the wide-angle imaging optical system. A wide-angle imaging CCD 53 serving as an imaging device as an imaging means for imaging through 52 is also incorporated. Of the three CCDs 51a, 51b, and 53, the signal of the image captured by the stereoscopic CCDs 51a and 51b is transmitted to the display controller 43, and the signal of the image captured by the remaining wide-angle imaging CCD 53 is a video signal. It is transmitted to the editing device 44.

  Further, the stereoscopic endoscope holding arm 46 shown in FIG. 9 is in a stopped state in which the position of the stereoscopic endoscope 47 is fixed with respect to the object to be observed 49, and the observer arbitrarily holds the stereoscopic endoscope 47. The stereoscopic endoscope 47 can be held in two types of holding formats: a fixed release state that can be moved. As shown in FIG. 9, a holding type switching device 57 is built in the base 56 of the stereoscopic endoscope holding arm 46, and information on the holding state selected by the holding type switching device 57 is stored in the display device controller 43. Is transmitted.

  Furthermore, as shown in FIG. 9, the display device 42 includes two left and right LCDs 59a and 59b and two left and right projection optical systems 60a for projecting images displayed on the display surfaces of the two left and right LCDs 59a and 59b. , 60b and a Fresnel concave mirror 61 on which an image is projected by the projection optical systems 60a, 60b. The Fresnel concave mirror 61 has a function (function) for guiding the light beams emitted from the left and right projection optical systems 60a and 60b to the eyes of the corresponding observer 62, respectively.

  The display device controller 43 selects the display format of the display device 42 based on the holding state information input from the holding format switching device 57 of the stereoscopic endoscope holding arm 46. That is, if it is determined that the stereoscopic endoscope holding arm 46 holds the stereoscopic endoscope 47 in a fixed state, the video signal for the right eye of the observer 62 input from the stereoscopic endoscope 47 is obtained. The display device 42 is transmitted to the right-eye LCD 59a and the left-eye video signal is transmitted to the left-eye LCD 59b so that the observer 62 can perform stereoscopic observation.

  On the other hand, when the stereoscopic endoscope holding arm 46 is holding the stereoscopic endoscope 47 in the unlocked state, the display device controller 43 controls the holding type switching device 57 of the stereoscopic endoscope holding arm 46. The video signal is input from the video editing device 44 on the basis of the holding state information input from, and transmitted to both the right-eye LCD 59a and the left-eye LCD 59b built in the display device. In this latter case, that is, when the stereoscopic endoscope holding arm 46 is holding the stereoscopic endoscope 47 in the unlocked state, the observer 62 is for wide-angle imaging of the stereoscopic endoscope 47. An image captured by the optical system 52 is observed as a two-dimensional image.

  In addition, the video editing device 44 has a mark 63 (see FIG. 10) that indicates a field of view range captured by the stereoscopic imaging optical systems 50a and 50b on an image captured by the wide-angle imaging optical system 52 of the stereoscopic endoscope 47. Display).

  In the stereoscopic observation system of the present embodiment, while the stereoscopic endoscope 47 is moving (moving), the display unit 45 has a burden on the observer compared to the stereoscopic image (three-dimensional image). A small two-dimensional image is displayed, and the observer 62 is not made tired. Further, while the stereoscopic endoscope 47 is moving (moving), the observation object can be observed in a wider range than the observation object that can be observed with the stereoscopic image (three-dimensional image). It is possible to efficiently find a place to be watched next from within a wide range of visual fields.

  Furthermore, the stereoscopic observation system is optimal for a series of operations as will be described later. That is, the observer 62 fixes the stereoscopic endoscope 47 while switching to stereoscopic image observation while observing the image by the wide-angle imaging optical system 52, and before and after switching the image while clearly confirming the visual field range that can be observed. This is a case where the observation is performed without a sense of incongruity.

  This series of operations will be specifically described with reference to FIGS. 11 (A), (B), and (C). 11A, 11B, and 11C show states of a screen 65 that displays an image that can be observed by a display device (not shown) captured by the stereoscopic endoscope 64. FIG. The stereoscopic endoscope 64 is held by a stereoscopic endoscope holding arm (not shown), and the stereoscopic endoscope 64 can be fixed and moved. The stereoscopic endoscope 64 can stereoscopically observe a range imaged by a stereoscopic imaging optical system (not shown).

In the case illustrated in FIG. 11A, the object 66 (see FIG. 11B) that the observer wants to see has deviated to the right of the field of view of the screen 65.
Therefore, the observer moves the stereoscopic endoscope 64 to the right side with the stereoscopic endoscope holding arm in the unlocked state, and as shown in FIG. Operate to come to the center. The image that can be observed while the stereoscopic endoscope 64 is moved is the screen 67 shown in FIG. 11B. At this time, the wide-angle imaging optical system (not shown) that the stereoscopic endoscope 64 has. The observation object imaged at can be observed at a wide angle. The image at this time is displayed by a video editing apparatus (not shown) with a mark 68 indicating the range captured by the stereoscopic imaging optical system of the stereoscopic endoscope 64 superimposed on the image.

  Therefore, the observer moves the stereoscopic endoscope so that the range desired to be observed in more detail falls within the mark indicating the range captured by the stereoscopic imaging optical system, and then fixes the stereoscopic endoscope. To do.

  Further, an image that can be observed when the stereoscopic endoscope holding arm is fixed is the screen 69 shown in FIG. 11C, and the entire range that the observer wants to see is within the visual field range displayed on the screen 69. It can be observed as a magnified image.

(Fourth embodiment)
A stereoscopic observation system according to the fourth embodiment of the present invention will be described with reference to FIGS. 12 and 13.

  FIG. 12 is an explanatory diagram schematically showing a stereoscopic observation system according to the present embodiment. The stereoscopic observation system includes a movable display device 71 held by a holding arm 70, a display device controller 72 installed separately from the display device 71, and a movable display device held by a stereoscopic endoscope holding arm 73. A stereoscopic endoscope 74, a position detection camera array 75 installed separately from these, and a position detection device 76 for detecting the position of an object based on information from the position detection camera array 75 are provided. .

  The position detection camera array 75 images the marker 77 attached to the stereoscopic endoscope 74 and transmits the captured signal or imaging signal to the position detection device 76. Then, the position detection device 76 has the centers of the entrance pupils 78a and 78b of a pair of imaging optical systems (not shown) included in the stereoscopic endoscope 74 based on the signal transmitted from the position detection camera array 75. The direction of the vector 80 connecting 79a to 79b is detected.

  Further, the position detection camera array 75 captures an image of the marker 81 attached to the display device 71 and transmits the image signal or the imaging signal to the position detection device 76. The position detection device 76 has centers 83a to 83b of exit pupils 82a and 82b of a pair of observation optical systems (not shown) of the display device 71 based on the signals transmitted from the position detection camera array 75. The direction of the vector 84 connecting the two is also detected.

  The position detection device 76 always calculates the angle α formed by the two vectors 80 and 84 from the directions of the detected two vectors 80 and 84, and when the angle α becomes a limit angle, for example, 45 ° or more, A control signal is transmitted to the holding type switching device 85 built in the base 73 a of the stereoscopic endoscope holding arm 73.

  The stereoscopic endoscope holding arm 73 is in a stopped state in which the position of the stereoscopic endoscope 74 is fixed with respect to the object to be observed by the holding type switching device 85, and the observer arbitrarily selects the stereoscopic endoscope 74. The stereoscopic endoscope 74 is held in two types of holding formats, ie, a fixed release state that can be moved to a fixed position.

  When the holding type switching device 85 receives a control signal from the position detecting device 76, the stereoscopic endoscope holding arm 73 is set in a fixed state and the stereoscopic endoscope 74 is not moved. By fixing in this way, the angle α formed by the two vectors 80 and 84 is prevented from being 45 ° or more.

  In this fixed state, it can be released by a switch or the like (not shown), and the stereoscopic endoscope 74 can be moved again within a restricted range having an angle of less than 45 °.

  According to such a configuration, the degree of freedom of the positional relationship between the stereoscopic endoscope 74 and the display device 71 is limited within a range in which hand-eye coordination can be maintained well, and observation can be continued without causing fatigue.

  Note that FIG. 13 illustrates a vector 89 that connects the entrance pupil centers 88a to 88b of the pair of imaging optical systems included in the stereoscopic endoscope 87 and the exit pupil centers 91a to 91b of the pair of observation optical systems included in the display device 91. The angle α formed by the connecting vector 92 is 45 ° or more, which is an example of a state in which good hand eye coordination cannot be maintained. Here, a vector 89 that connects the entrance pupil centers 88a to 88b of a pair of imaging optical systems (not shown) built in the stereoscopic endoscope 87 held by the stereoscopic endoscope holding arm 86 and the holding arm 90 holds the vector 89. An angle α formed by a vector 92 connecting exit pupil centers 91a to 91b of a pair of observation optical systems (not shown) built in the display device 91 is 90 °. Similarly, as shown in FIG. 13, the stereoscopic endoscope 87 simultaneously images the object to be observed 93, the treatment tool 95 held by the observer 94 on the right hand, and the treatment tool 96 held by the observer 94 on the left hand. Like to do.

  As shown in FIG. 13, in the image 97 observed by the observer 94 with the display device 91, the observed object 93 is visible, and at the same time, the distal end 101 of the treatment instrument 95 held by the observer 94 on the right hand and the observer The distal end 102 of the treatment instrument 96 held in the left hand can also be seen. In this situation, the distal end 101 of the treatment instrument 95 held in the right hand of the observer 94 and the distal end 102 of the treatment instrument 96 held in the left hand of the observer 94 in the observation image are actually observed. The right and left directions of the observer 94 are not coincident. In such a state, it can be said that the hand eye coordination is not well maintained, and it is not easy to follow the work.

  However, such a state can be prevented in the stereoscopic observation system according to the fourth embodiment. Further, it is possible to obtain natural stereoscopic observation without a feeling of fatigue during observation.

  In the first embodiment described above, a so-called virtual image stereoscopic observation type is shown. However, the first image for the left eye and the second image for the right eye, which have a parallax captured by the imaging unit, are displayed on the display unit. As an image with parallax alternately displayed on the screen at the same position on the TV monitor, the observer wears spectacles having a shutter function that sequentially switches the images in the left and right in synchronization with the switching, It may be of a stationary TV monitor type in which the left and right images with parallax displayed alternately when viewed from the TV monitor are observed with the left and right eyes of the observer so that stereoscopic observation is possible.

(Fifth embodiment)
A stereoscopic observation system according to a fifth embodiment of the present invention will be described with reference to FIGS. 14 to 16.

As illustrated in FIG. 14, the stereoscopic endoscope 111 according to the present embodiment is configured to be able to separate a 3D (stereoscopic) camera head 113 from a 3D (stereoscopic) scope 112 in a stereoscopic view format. The casing 114 of 112 and the casing 115 of the 3D camera head 113 can be combined coaxially by a mechanism (not shown) and are detachable. The 3D camera head 113 is held by a stereoscopic endoscope holding arm (not shown).
As the stereoscopic endoscope holding arm, for example, the holding arm shown in the above-described embodiment can be used.

Further, as shown in FIG. 14, the housing 114 of the 3D scope 112 has an area between the pair of stereoscopic image optical systems 124 a and 124 b that can obtain parallax and the pair of stereoscopic image optical systems 124 a and 124 b. And a wide-angle image optical system 125 disposed at the same position. Similarly, as shown in FIG. 14, the housing 115 of the 3D camera head 113 includes stereoscopic image forming optical systems 126 a and 126 b for forming left and right images having parallax, and respective imaging elements. The CCDs 127a and 127b, the wide-angle image forming optical system 128 disposed in a region between the stereoscopic image forming optical systems 126a and 126b, and the CCD 129 that is a wide-angle image pickup device are provided, and the three CCDs 127a are provided. , 127b, and 129, the imaging signals of the respective images are transmitted to a display device controller (not shown).
In addition, as a display apparatus controller, what was shown to embodiment mentioned above, for example can be used.

  FIG. 15 is a longitudinal sectional view showing the stereoscopic converter 130. The stereoscopic converter 130 includes a main body 131 including a housing that is detachable from the 3D camera head 113 by means similar to the mechanism for connecting the 3D scope 112 and the 3D camera head 113.

  The incident side cover glass 132 is installed on the front surface of the main body 131 of the stereoscopic converter 130, and the above-described stereoscopic image forming optical systems 126 a and 126 b of the 3D camera head 113 and the rear surface of the main body 131. The exit-side cover glasses 133a, 133b, and 133c that are positioned and disposed to face the wide-angle image forming optical system 128 are bonded and fixed, and the objective lens 134 is fixed inside the main body 131. .

  Further, as shown in FIG. 15, a substantially cylindrical light guide fixing portion 135 is attached to an outer portion of the main body portion 131 in the stereoscopic converter 130. The position of the axis L of the light guide fixing part 135 has an angle α with the center line of the stereoscopic converter 130. Further, when the α is mounted on the 3D camera head 113 and used, the optical axes of the stereoscopic image forming optical systems 126a and 126b are bent by the objective lens 134 of the stereoscopic converter 130 and intersect. The axis L of the light guide fixing part 135 passing through the intersection 0 is an angle formed with the center line of the stereoscopic converter 130.

  A male screw 136 is provided on the outer periphery of the light guide fixing portion 135, and a connector of a light guide cable for illumination (not shown) attached to a light source device (not shown) is screwed into the male screw 136, and the light guide is inserted into the light guide fixing portion 135. A cable connector is detachably attached. When a light guide cable connector is attached to the light guide fixing portion 135, the optical axis of the light guide cable coincides with the axis L of the light guide fixing portion 135.

  Further, as shown in FIG. 16, the incident side cover glass 132 of the stereoscopic converter 130 is arranged in the direction in which the emission side cover glasses 123a, 123b, 123c of the 3D camera head 113 are aligned when viewed from the front side of the main body 131. It is a rectangle with a long side, and is configured by a flat transparent plate whose inner and outer surfaces are parallel.

The stereoscopic endoscope 111 of the present embodiment has the following operations in addition to the same operations as those of the second to fourth embodiments described above.
When the 3D scope 112 is removed from the 3D camera head 113 of the stereoscopic endoscope 111 and the stereoscopic converter 130 is attached to the 3D camera head 113, the same configuration as the stereoscopic microscope (imaging unit) 6 in the first embodiment described above is obtained. Become. At this time, if the wide-angle image forming optical system 128 of the 3D camera head 113 is configured to form an image having a wider angle than the stereoscopic image forming optical systems 126a and 126b on the CCD 129, a wide range of 2D images can be obtained. A stereomicroscope that can also transmit a video signal is obtained, and has a magnifying glass action as in the first embodiment.

  Further, by attaching a light guide cable connector for illumination to the male screw 136 of the light guide fixing part 135, it is possible to irradiate illumination light toward the observation object, and to easily illuminate the subject. .

  According to the present embodiment, before and after the operation by the stereoscopic endoscope, the one that has been treated by magnifying and observing the surgical site and blood vessels using a magnifying glass removes the 3D scope 113 and the stereoscopic converter 130 is removed. By attaching it, you can see and treat the same display unit. Further, since the incident-side cover glass 132 is a common sheet for the stereoscopic image forming optical system and the wide-angle image forming optical system, each of the three light beams overlaps on the incident side cover glass 132. Even if there is a problem, the image can be taken in without being lost.

  For example, when used for cardiac bypass surgery, the collected venous blood vessels are viewed with a stereoscopic converter while the ligation of the side branch and the end of the blood vessel are shaped, and then the heart is under the endoscope instead of the stereoscopic endoscope. If a stereoscopic converter becomes necessary during the procedure, it is possible to continue the operation by replacing the endoscope with the stereoscopic converter again.

(Sixth embodiment)
A stereoscopic observation system according to a sixth embodiment of the present invention will be described with reference to FIG.

  In the stereoscopic observation system of the present embodiment, a detachable variable stereoscopic converter 140 is provided at the end located on the subject side of the stereoscopic converter 130 of the fifth embodiment described above. As shown in FIG. 17, the variable stereoscopic converter 140 includes a substantially cylindrical moving ring 142 having a second objective lens 141 and an attaching / detaching portion that is detachable from the stereoscopic converter 130 by a mechanism (not shown). The movable ring 142 and the fixed ring 144 are coupled to each other by a screw portion 145 so as to be movable in the axial direction.

  In the stereoscopic observation system of this embodiment, when the stereoscopic converter 130 to which the variable stereoscopic converter 140 is attached is attached to the 3D camera head 113, the stereoscopic microscope (imaging unit) in the first embodiment described above is formed. At this time, the distance from the second objective lens 141 and the objective lens 134 to the intersection O of the optical axes of the stereoscopic image forming optical systems 126a and 126b is shortened. Further, when the moving ring 142 is rotated and the second objective lens 141 is moved in the axial direction, the distance to the intersection point O changes, and the distance to the intersection point O can be adjusted.

  According to the stereoscopic observation system of this embodiment, several types of variable stereoscopic converters 140 having the second objective lens 141 having different designs are prepared in accordance with the surgical procedure, and the variable stereoscopic converter 140 is replaced, By rotating the moving ring 142, it is possible to perform an operation at a distance / magnification rate from the surgical site as necessary.

  It should be noted that it is possible to prepare several types without the moving ring 142 and provide the second objective lens 141 on the fixed ring 144, and simply replace it with the stereoscopic converter 130 as necessary, or the variable stereoscopic converter 140. May be fixed to the stereoscopic converter 130 and integrated, and the second objective lens 141 may be moved only in the axial direction.

  The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be configured by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, you may delete some components from all the components shown by the said embodiment. Furthermore, the structure which combined the component covering different embodiment suitably may be sufficient.

  According to the above description, the items shown in the following supplementary notes or the items obtained by combining these items can be obtained.

<Appendix>
1. An imaging unit having a pair of imaging optical systems for capturing left and right images having parallax with each other, and a display having a pair of image observation optical systems for displaying an image captured by the imaging unit so as to be stereoscopically viewable In a stereoscopic observation system having a unit and a holding unit that holds the imaging unit,
An angle formed by a vector connecting the centers of both entrance pupils of the pair of imaging optical systems included in the imaging unit and a vector connecting the centers of both exit pupils of the pair of image observation optical systems included in the display unit is within a restricted range, for example, A stereoscopic observation system characterized in that movement of the imaging unit relative to the display unit is restricted by a restricting means included in the holding unit so as to be 45 ° or less.

  2. The stereoscopic observation system according to item 1, wherein a display controller is provided for displaying on the display unit a warning to warn of the situation when the imaging unit is moved near the limit of the regulation range.

  3. 2. The stereoscopic observation system according to item 1, further comprising a control unit that automatically moves the display unit when the imaging unit is moved near a limit of a restriction range.

Schematic structure explanatory drawing of the conventional stereoscopic observation system. Explanatory drawing which showed roughly the three-dimensional observation system which concerns on 1st Embodiment of this invention. Explanatory drawing at the time of the stereoscopic observation which shows each part of the stereoscopic observation system which concerns on the said 1st Embodiment concretely. Explanatory drawing at the time of plane observation which shows each part of the stereoscopic observation system which concerns on the said 1st Embodiment concretely. Explanatory drawing which showed roughly the stereoscopic observation system which concerns on 2nd Embodiment of this invention. Explanatory drawing at the time of the stereoscopic observation which shows each part of the stereoscopic observation system which concerns on the said 2nd Embodiment concretely. Explanatory drawing at the time of plane observation which shows each part of the stereoscopic observation system which concerns on the said 2nd Embodiment concretely. Explanatory drawing which showed roughly the three-dimensional observation system which concerns on 3rd Embodiment of this invention. Explanatory drawing at the time of the stereoscopic observation which shows each part of the stereoscopic observation system which concerns on the said 3rd Embodiment concretely. Explanatory drawing at the time of the expansion plane observation which shows each part of the stereoscopic observation system which concerns on the said 3rd Embodiment concretely. Explanatory drawing of the observation visual field state of the three-dimensional observation system which concerns on the said 3rd Embodiment. Explanatory drawing which showed roughly the three-dimensional observation system which concerns on 4th Embodiment of this invention. Explanatory drawing in the case of the stereoscopic observation system which cannot maintain favorable hand eye coordination. Explanatory drawing of the stereoscopic endoscope of the stereoscopic observation system which concerns on 5th Embodiment of this invention. Explanatory drawing of the stereoscopic vision converter of the stereoscopic observation system which concerns on the said 5th Embodiment. The front view of the stereoscopic converter of the stereoscopic observation system which concerns on the said 5th Embodiment. Explanatory drawing of the variable stereoscopic vision converter of the stereoscopic observation system which concerns on 6th Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Stereo imaging unit, 2 ... Stereo image signal processing device, 3 ... Stereoscopic display device 4 ... Stereoscopic display unit, 5 ... Stereo microscope holding arm, 6 ... Stereo microscope 7 ... Display device holding arm, 8 ... Display device, 9 ... Display device controller 10 ... display unit, 11 ... housing, 12 ... observed object 13a. 13b ... Imaging optical system, 14a. 14b CCD
17 ... Holding type switching device, 19a ... LCD for right eye, 19b ... LCD for left eye

Claims (8)

An imaging unit that captures a first image for the left eye and a second image for the right eye that have a parallax;
A display unit for displaying an image captured by the imaging unit;
A holding unit that movably holds the imaging unit;
When moving the imaging unit relative to the observation object, the image is displayed on the display unit as a planar image, and when fixing the imaging unit relative to the observation object, the image is displayed on the display unit as a stereoscopic image. A display controller to display with
A stereoscopic observation system comprising: An imaging unit that captures a first image for the left eye and a second image for the right eye that have a parallax;
A display unit for displaying an image captured by the imaging unit;
A holding unit for holding the imaging unit;
A holding type switching means capable of selecting two types of holding states, a stopped state in which the imaging unit held by the holding unit is fixed so as not to move with respect to the observation object, and a fixed release state in which the imaging unit can be moved;
The display unit is controlled in response to information on the holding state selected by the holding type switching means, and when the imaging unit is in a stopped state, the first image is transmitted to the left eye of the observer and the second 3D observation is provided to transmit an image to the right eye of the observer, and when the imaging unit is in the unlocked state, one of the first image and the second image is displayed on at least one eye of the observer A display controller that provides planar observation to communicate to,
A stereoscopic observation system comprising: An imaging unit that captures a first image for the left eye having a parallax, a second image for the right eye, and a third image capable of observing the observation object in a wider range than the first image and the second image. When,
A display unit for displaying an image captured by the imaging unit;
A holding unit for holding the imaging unit;
A holding type switching means capable of selecting two types of holding states, a stopped state in which the imaging unit held by the holding unit is fixed so as not to move with respect to the observation object, and a fixed release state in which the imaging unit can be moved;
When the information on the holding state selected by the holding type switching means is received and the display unit is controlled to stop the imaging unit, the first image is transmitted to the left eye of the observer and the second A display controller for providing a stereoscopic observation for transmitting an image to the right eye of the observer, and for providing a wide-range observation for transmitting the third image to the eye of the observer when the imaging unit is in the unlocked state; ,
A stereoscopic observation system comprising: In the observation in which the third image is transmitted to the observer's eyes, the display unit causes the third image to be observed with a mark indicating the imaging range of the first image and the second image superimposed on the third image. The stereoscopic observation system according to claim 3, wherein the stereoscopic observation system is characterized. An angle between a vector connecting the centers of both entrance pupils of the pair of imaging optical systems included in the imaging unit and a vector connecting the centers of both exit pupils of the pair of image observation optical systems included in the display unit is approximately 45 ° or less. The movement of the imaging unit with respect to the display unit is regulated by regulation means possessed by the holding unit as described in claim 1, 2, 3, or 4. Stereoscopic observation system. The imaging unit includes a stereoscopic scope including two left and right imaging optical systems that form a first image for the left eye and a second image for the right eye that have parallax, and a first image for the left eye. And a camera head provided with two right and left imaging means for capturing a second image for the right eye, wherein the stereoscopic scope and the camera head are detachably combined. The three-dimensional observation system according to claim 3, claim 4, or claim 5. The imaging unit includes a stereoscopic converter including two left and right imaging optical systems that form a first image for the left eye and a second image for the right eye, which have parallax, instead of the stereoscopic scope. The stereoscopic observation system according to claim 6, wherein the stereoscopic observation system can be used in combination with the camera head. 8. The stereoscopic observation system according to claim 7, wherein a light guide fixing portion for attaching an illumination light guide cable for irradiating the observation object with illumination light is provided on the stereoscopic converter.

Images