JP2012075508A - Surgical camera - Google Patents

Abstract

An object of the present invention is to make it easier to recognize a sense of distance in a display image of a surgical camera and to improve usability.
To achieve this object, the present invention synthesizes a pair of left and right imaging units 12a and 12b having binocular parallax with respect to a subject and video signals from the left and right imaging units 12a and 12b. And a display control unit 14 for displaying a stereoscopic image on the display unit 13, and based on the video signals from the imaging units 12a and 12b, the distal end position of the treatment instrument and the extending direction of the distal end position of the treatment instrument are determined. A treatment instrument detection unit 15 to detect, a stereoscopic image distance calculation unit 16 to calculate distance information from the distal end position of the treatment instrument detected by the treatment instrument detection unit 15 to a subject existing in the extension direction of the distal end position; The display control unit 14 is configured to display the distance information from the stereoscopic image distance calculation unit 16 on the display unit 13 by combining the distance information with the stereoscopic image.
[Selection] Figure 5

Description

  The present invention relates to a surgical camera that displays, for example, a surgical image three-dimensionally.

  The configuration of this conventional surgical camera has the following configuration.

  In other words, a pair of left and right imaging units having binocular parallax with respect to the subject at the distal end of the insertion unit, and display control for displaying a stereoscopic image on the display unit by combining the left and right video signals from the left and right imaging units (For example, the following patent document 1).

JP 7-104193 A

  The problem with the conventional example is that it is difficult to recognize the sense of distance of the display image of the surgical camera and the usability is poor.

  That is, in the above-described conventional example, the stereoscopic image displayed on the display unit depends on the size of the binocular parallax between the left and right imaging units, the size of the display unit, and the distance between the display unit and the user. The sense of distance is different from the actual distance, and as a result, for example, for a surgeon who monitors a three-dimensional display image of a surgical microscope or endoscope during surgery, the sense of distance of the affected area to be operated is It will be difficult to recognize and will be unusable.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to make it easy to recognize a sense of distance in a display image of a surgical camera and to make it easy to use.

  In order to achieve this object, the present invention combines a pair of left and right imaging units having left and right binocular parallax with respect to a subject and video signals from the left and right imaging units to display a stereoscopic image on the display unit. A display control unit that detects the distal end position of the treatment instrument and the extension direction of the distal end position of the treatment instrument from the video signal from the imaging unit, and the treatment instrument detection unit detects A stereoscopic image distance calculation unit that calculates distance information from the distal end position of the treatment tool to a subject existing in the extension direction of the distal end position, and the display control unit The distance information is combined with a stereoscopic image and displayed on the display unit.

  This achieves the intended purpose.

  As described above, the present invention provides a pair of left and right imaging units having binocular parallax with respect to a subject, and a display control unit that synthesizes video signals from the left and right imaging units and displays a stereoscopic image on the display unit. And a treatment instrument detection unit for detecting a distal end position of the treatment instrument and an extension direction of the distal end position of the treatment instrument from a video signal from the imaging unit, and a treatment instrument detected by the treatment instrument detection unit. A stereoscopic image distance calculation unit that calculates distance information from a tip position to a subject that exists in the extension direction of the tip position, and the display control unit calculates the distance information from the stereoscopic image distance calculation unit, Since it is configured to be combined with a stereoscopic image and displayed on the display unit, it is possible to easily recognize the sense of distance of the display image of the surgical camera and to make it easy to use.

  That is, in the present invention, since the distance information of the stereoscopic display image can be combined with the stereoscopic display image of the surgical camera and displayed, it is easy to recognize the sense of distance of the display image of the surgical camera and is easy to use. It can be made.

The perspective view which shows one Embodiment of this invention Illustration of the display screen Illustration of the display screen Illustration of the display screen Functional block diagram of surgical camera

  Hereinafter, an embodiment in which an embodiment of the present invention is applied to a surgical microscope apparatus will be described with reference to the accompanying drawings.

  FIG. 1 is a diagram showing an embodiment of the present invention, and shows a state in which an operation of the inner ear is performed using a surgical microscope that is a surgical camera.

  As shown in FIG. 1, the surgeon 1 performs an operation in a state in which the patient 2 is fixed so that the ear 3 of the patient 2 does not move with respect to the surgical microscope 4 after the patient 2 is general anesthetized.

  The surgical microscope 4 is fixed with the eyepiece 5 close to the ear 3 so that the vicinity of the inner ear in the back of the ear 3 of the patient 2 can be enlarged. In this state, the surgeon 1 Since the forceps 6 is inserted from between the eyepiece 5 and the ear 3 to the vicinity of the inner ear behind the ear 3 as the affected part, the forceps 6 can be inserted between the eyepiece 5 and the ear 3. Fixed in a separated state.

  Here, as a treatment tool used for surgery, a forceps 6 or a tool having a rod-like shape in the longitudinal direction provided with a treatment means at the tip and a gripping part for holding by hand, such as a drill or a laser knife, is used. Assumed.

  Next, the eyepiece lens 5 of the surgical microscope 4 is composed of a pair of left and right lenses in order to take a three-dimensional image of the affected part, and by synthesizing the image due to the left and right parallax generated between these lenses, An image of the affected area is displayed on the display panel 7 as a three-dimensional image. The surgeon 1 performs the operation while viewing the video image displayed on the display panel 7.

  Next, the video displayed on the display panel 7 will be described.

  FIG. 2 shows the affected area projected on the display panel 7. As an example of the operation of the embodiment of the present invention, a cochlear implant operation will be described as an example, but this operation can “hear” for a highly deaf person who can hardly hear even using a hearing aid. In this way, a thin electrode is inserted into the inner ear to directly stimulate the auditory nerve so that a sound can be felt.

  In actual surgery, an incision is made in the back of the ear to make a hole, and the inner ear in the hole is enlarged and monitored with a microscope.

  In FIG. 2, since 12 electrodes are inserted into the spiral inner ear 8 inside the ear canal using the forceps 6, the surgeon 1 is required to accurately recognize the sense of distance of the affected area.

  However, since this operation is an operation of a very small part, the image actually viewed on the display monitor 7 is enlarged and displayed, so the surgeon 1 can feel the distance to the movement of the tip of the forceps 6. It feels like it has moved more than it actually is. In particular, immediately after the surgery is started, the surgeon 1 often does not have a sense of distance between the forceps 6 and the distance between the forceps 6 and the affected part in an actual sense. In such a case, the surgeon 1 feels unusable.

Next, FIG. 3 shows a display image in which means for notifying the image of distance information of a stereoscopic image is applied as means for facilitating recognition of the sense of distance between the forceps 6 and the affected part.

  FIG. 3 shows distance information to the subject existing in the extending direction of the tip position 6 a of the forceps 6, the marking 9 of the subject measurement point, the straight line 10 connecting the tip position 6 a of the forceps 6, and the tip of the forceps 6. The distance 11 to the subject existing in the extending direction of the position 6a is combined with the stereoscopic video and displayed on the display panel 7.

  In this manner, the distance information 9, 10, 11 described above in association with the distal end 6a of the forceps 6 and the longitudinal direction of the forceps 6, that is, the direction indicated by the forceps 6, can be arranged on the stereoscopic image, so that the surgeon 1, by operating the forceps 6, disposing the distance information 9, 10, 11 at a position where the distance information 9, 11 can be easily seen, and recognizing the sense of distance when using the forceps 6 while viewing it, the usability is improved. is there.

  Next, this three-dimensional coordinate axis can be fixed and displayed at a position that the surgeon 1 thinks is easy to see. Specifically, the surgeon 1 displays the measurement point 9 of the subject and the straight line 10 connecting the distal end position 6a of the forceps 6 in accordance with the position of the forceps 6 while operating the position of the forceps 6 by hand. At a position where the surgeon 1 is most likely to see, a foot switch (not shown) as an operation unit is pushed, and a measurement point marking 9 of the subject and a straight line 10 connecting the tip position 6a of the forceps 6 are connected. After fixing, the forceps 6 can be moved to an arbitrary position.

  Furthermore, as shown in FIG. 4, when the forceps 6 are moved in the forward direction (A arrow direction), the measurement point marking 9 of the subject, the straight line 10 connecting the tip positions of the forceps 6, and the forceps 6 Since the distance 11 to the subject existing in the extension direction of the distal end position 6a is also displayed while changing with respect to the position of the forceps 6, the surgeon 1 can always recognize the sense of distance between the forceps 6 and the affected area. , It improves usability.

  In addition, the surgeon 1 adjusts the video from the surgical microscope and then combines the distance information 9, 10, and 11 with the video as described above to learn and recognize the sense of distance of the video. Thereafter, when the distance information 9, 10, 11 is no longer needed, the distance information 9, 10, 11 can be hidden by pressing a foot switch (not shown) as an operation unit. It is configured as follows.

  It should be noted that the straight line 10 connecting the measurement point marking 9 of the subject and the tip position 6a of the forceps 6 is generated with a semi-transparent marking and a line so that the affected part can be visually recognized even when displayed. Is displayed.

  FIG. 5 shows a functional block diagram of the surgical microscope in the embodiment of the present invention.

  First, a pair of left and right imaging units 12a and 12b each having a pair of left and right objective lenses 5 and having left and right binocular parallax with respect to a subject, and video signals from these left and right imaging units 12a and 12b are synthesized to display a display unit. The display control unit 14 that displays a stereoscopic video image 13 displays a surgical site image.

  Next, the treatment instrument detection unit 15 takes in the left and right video signals from the imaging units 12a and 12b, detects the forceps from the video signals, and detects the tip position of the forceps and the extending direction of the tip position of the forceps. .

  Next, the stereoscopic image distance calculation unit 16 takes in the distal end position of the treatment instrument detected by the treatment instrument detection unit 15 and the extension direction of the distal end position of the treatment instrument, and the forceps detected by the treatment instrument detection unit 15 is detected. The distance information from the tip position to the subject existing in the extending direction of the tip position is calculated from the left and right video signals from the imaging units 12a and 12b.

  As a method for calculating the distance of this stereoscopic image, a stereo image method for obtaining the distance from the camera to the subject using the principle of triangulation from the parallax image is known, and two images taken by two imaging units are obtained. Used to find the same object in the left and right images and obtain the distance to the target from the difference in position on each image. Since this method is a well-known method described in, for example, a patent document (Japanese Patent Laid-Open No. 2001-12944), no further explanation is given in order to avoid complicated explanation.

  Next, based on the distance information of the stereoscopic image calculated by the stereoscopic image distance calculation unit 16, the stereoscopic image distance notification unit 17 generates the above-described distance information 9, 10, and 11, and sends it to the display control unit 14. The distance information of the distance information 9, 10, 11 and the display address are transferred. In the display control unit 14, the information on the distance information 9, 10, 11 is combined with the stereoscopic video and displayed on the display unit 13.

  Further, the distance information 9, 10, and 11 can be fixedly displayed at a position that the surgeon 1 thinks is easy to see.

  As shown in FIG. 4, the surgeon 1 displays the distance information 9, 10, and 11 according to the position of the forceps 6 while manually operating the position of the forceps 6, so that the surgeon 1 is most easily seen. When a foot switch (not shown) as the operation unit 18 is pressed at the position where the operation is performed, the display control unit 14 captures an instruction from the operation unit 18, and the display control unit 14 The distance information 9, 10, 11 is instructed to be fixed.

  The stereoscopic video distance calculation unit 16 calculates the distance information of the stereoscopic video space related to the distance information 9, 10, 11 so that the distance information 9, 10, 11 at this time is fixedly displayed, and the stereoscopic video distance notification unit In 17, distance information 9, 10, and 11 is generated from the distance information and transferred to the display control unit 14. After that, the surgeon 1 can operate the forceps 6 while referring to the distance information 9, 10, 11 displayed in a fixed manner in this way, so the surgeon 1 uses the forceps 6. Thus, the distance information 9, 10, and 11 can be arranged at easy-to-see positions.

  Further, the surgeon 1 adjusts the video from the surgical microscope, then synthesizes the distance information 9, 10, and 11 with this video as described above, learns the sense of distance of the video, and after recognition, the operation unit Since the distance information 9, 10, 11 can be hidden by pressing a foot switch (not shown) as 18, the distance information 9, 10, 11 can be hidden.

  In addition, the surgical microscope of the present embodiment includes a zoom control unit 19 that adjusts an enlargement rate of the image from the imaging units 12a and 12b, and the zoom control unit 19 calculates the enlargement rate of the image as a stereoscopic image distance calculation unit. 16, the stereoscopic video distance calculation unit 16 calculates the distance of the stereoscopic video based on the video enlargement rate, so that even if the video enlargement rate changes, a sense of distance corresponding to the enlargement rate is displayed. It becomes possible to do.

  As described above, the surgical microscope according to the embodiment of the present invention is capable of combining and displaying the distance information with the stereoscopic display image of the surgical microscope. Can be made easier to recognize, which improves usability.

  As described above, the present invention provides a pair of left and right imaging units having binocular parallax with respect to a subject, and a display control unit that synthesizes video signals from the left and right imaging units and displays a stereoscopic image on the display unit. And a treatment instrument detection unit for detecting a distal end position of the treatment instrument and an extension direction of the distal end position of the treatment instrument from a video signal from the imaging unit, and a treatment instrument detected by the treatment instrument detection unit. A stereoscopic image distance calculation unit that calculates distance information from a tip position to a subject that exists in the extension direction of the tip position, and the display control unit calculates the distance information from the stereoscopic image distance calculation unit, Since it is configured to be combined with a stereoscopic image and displayed on the display unit, it is possible to easily recognize the sense of distance of the display image of the surgical camera and to make it easy to use.

  That is, in the present invention, since the distance information of the stereoscopic display image can be combined with the stereoscopic display image of the surgical camera and displayed, it is easy to recognize the sense of distance of the display image of the surgical camera and is easy to use. It can be made.

  Therefore, it is highly expected to be applied to a surgical camera such as a surgical microscope that is required to display an image of an affected part during surgery in a three-dimensional manner.

DESCRIPTION OF SYMBOLS 1 Surgeon 2 Patient 3 Ear 4 Surgery microscope 5 Eyepiece 6 Forceps 7 Display panel 8 Inner ear 9 Subject measurement point marking 10 Straight line connecting treatment tool tip position and subject measurement point 11 Treatment tool tip position and subject Distance information to measurement points 12a, 12b Imaging unit 13 Display unit 14 Display control unit 15 Treatment instrument detection unit 16 Stereo image distance calculation unit 17 Stereo image distance notification unit 18 Operation unit 19 Zoom control unit

Claims (5)

A pair of left and right imaging units having binocular parallax with respect to the subject;
A display control unit that synthesizes video signals from the left and right imaging units and displays a stereoscopic video on the display unit,
From a video signal from the imaging unit, a treatment instrument detection unit that detects a distal end position of the treatment instrument and an extension direction of the distal end position of the treatment instrument,
A stereoscopic image distance calculation unit for calculating distance information from the distal end position of the treatment instrument detected by the treatment instrument detection unit to a subject existing in the extending direction of the distal end position, and the display control unit A surgical camera configured to synthesize distance information from a stereoscopic video distance calculation unit into a stereoscopic video and display it on the display unit. The stereoscopic image distance calculation unit detects the position of the measurement point of the subject in the distance information from the distal end position of the treatment tool to the subject existing in the extension direction of the distal end position, and the display control unit The surgical camera according to claim 1, wherein the measurement points are marked and displayed. The stereoscopic image distance calculation unit detects a linear position connecting the measurement point of the subject and the distal end position of the treatment instrument in the distance information from the distal end position of the treatment instrument to the subject existing in the extension direction of the distal end position. The operation camera according to claim 1, wherein the display control unit is configured to mark and display the linear position. The surgical camera according to any one of claims 1 to 3, further comprising an operation unit configured to set the distance information calculated by the stereoscopic video distance notification unit to be non-display setting with respect to the display control unit. A zoom control unit that adjusts an enlargement rate of an image from the imaging unit is provided, and the stereoscopic image distance calculation unit calculates distance information based on an enlargement rate of the image adjusted by the zoom control unit. Item 5. The surgical camera according to any one of Items 1 to 4.

Images