JP2001112704A - Endoscope system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope system of good controllability such that an endoscopic image can always be set in the correct vertical position for display to an operator, irrespective of variation in the direction of insertion of an endoscope. SOLUTION: A scope holder 7 is provided with an encoder 8 for detecting the insertion angle of a scope 2 with respect to a horizontal direction and a motor 6 for rotating an image pickup means in a CCD camera 5 about the image pickup axis thereof according to angle information obtained by the encoder 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope system used for performing a remote operation while observing an observation image from a scope such as an endoscope.

[0002]

2. Description of the Related Art Conventionally, an endoscope system has been developed in which a remote operation is performed using a manipulator including a master device operated by an operator and a slave device operated according to the operation of the master device. Here, the operator performs a remote operation while viewing an observation image from a scope such as an endoscope.

Further, for example, US Pat. No. 5,797,835.
According to the specification, a first cannula for inserting an endoscope and a second cannula for inserting a treatment tool are connected via a connecting member, and the movement of the endoscope and the movement of the treatment tool are determined. An endoscopic surgical system in an interlocked configuration is shown.

[0004]

In the above-mentioned conventional configuration, since the observation image from the scope such as an endoscope is always constant in the up-down direction, the insertion direction of the endoscope with respect to the horizontal direction must be controlled. If it changes with respect to the patient, there is a problem for the operator that the vertical position of the observation image from the endoscope is inverted and displayed. Therefore, when observing the observation image from the endoscope, it is difficult to grasp the positional relationship between the observation images, so that it is difficult to understand and there is a problem in improving the operability of the entire system.

[0005] The present invention has been made in view of the above circumstances, and its object is to provide an endoscope that can be used regardless of a change in the insertion direction.
It is an object of the present invention to provide an endoscope system which can always display an up-down direction of an endoscope image in a correct position to an operator and has good operability.

[0006]

SUMMARY OF THE INVENTION The present invention provides an endoscope system having a scope inserted into a body cavity, imaging means for capturing an observation image from the scope, and a scope holder supporting the scope. Angle detection means for detecting the insertion angle of the scope with respect to the horizontal direction,
An endoscope system, wherein the scope holder is provided with a rotation unit for rotating the imaging unit in a direction around the imaging axis in accordance with the angle information obtained by the angle detection unit. Then, when the endoscope system of the present invention is used, when the insertion angle of the scope with respect to the horizontal direction is changed, the insertion angle of the scope with respect to the horizontal direction can be detected by the angle detection means. The imaging means is rotated about the imaging axis by the rotation means according to the angle information. Thus, regardless of a change in the insertion direction of the endoscope, the operator can always correctly align the vertical direction of the endoscope image and display the image.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIG. FIG. 1 shows a schematic configuration of the entire endoscope system 1 of the present embodiment. The endoscope system 1 is provided with a scope 2 such as a rigid endoscope for observing an operation field. The scope 2 is provided with an elongated insertion portion 3 to be inserted into a patient's body, and an eyepiece 4 on the proximal side connected to a base end of the insertion portion 3.

Further, a CCD camera 5 is connected to the eyepiece 4. The CCD camera 5 is connected to a motor (rotating means) 6 for rotating and driving a CCD (imaging means) (not shown) incorporated in the camera body.

The scope 2 is mounted on a scope holder 7. The scope holder 7 is attached to a rail of an operating table (not shown). Further, the scope holder 7 is provided with an encoder (angle detection means) 8 for detecting a rotation angle of the scope holder 7.

[0010] The encoder 8 is connected to a controller 9. Further, a driver 10 of the motor 6 is connected to the controller 9. Then, a detection signal from the encoder 8 is input to the controller 9, and the controller 9 detects the insertion angle of the scope 2 with respect to the horizontal direction based on the detection data of the rotation angle of the scope holder 7. Further, in accordance with the angle information of the insertion angle of the scope 2 with respect to the horizontal direction, a control signal for rotating a CCD (not shown) in the CCD camera 5 around the imaging axis is output from the controller 9 to the driver 10. I have.

When using the endoscope system 1 according to the present embodiment, the trocar mantle tube 11 is inserted into the patient H in advance. Then, the insertion portion 3 of the scope 2 is inserted into the trocar mantle tube 11, and the insertion portion 3 of the scope 2 is inserted into the patient through the trocar mantle tube 11.
Is to be inserted.

Next, the operation of the above configuration will be described.
When the operator moves the scope 2 when using the endoscope system 1 according to the present embodiment, the scope holder 7 moves in conjunction with the movement.

At this time, the rotation angle of the scope holder 7 is detected by the encoder 8. The detection signal from the encoder 8 is input to the controller 9, and the controller 9 detects the insertion angle of the scope 2 with respect to the horizontal direction based on the detection data of the rotation angle of the scope holder 7. The driver 9 is controlled by the controller 9 based on the angle information.
Further, the motor 6 is driven by the driver 10, and the motor 6 rotates a CCD (not shown) in the CCD camera 5 in a direction around its imaging axis.

Therefore, the above configuration has the following effects. That is, in this embodiment, when the operator moves the scope 2 when using the endoscope system 1, the rotation angle of the scope holder 7 linked thereto is detected by the encoder 8, and a detection signal from the encoder 8 is transmitted to the controller 8. The controller 9 detects the insertion angle of the scope 2 with respect to the horizontal direction based on the detection data of the rotation angle of the scope holder 7 which is input to the controller 9. Therefore, the driver 10 is controlled by the controller 9 based on this angle information, and the motor 6 driven by the driver 10
The CCD (not shown) in the CD camera 5 is rotated around its imaging axis, so that the vertical direction of the endoscope image is always correctly aligned with the operator regardless of the change in the insertion direction of the scope 2. Can be displayed.
As a result, even if the operator moves the scope 2, an image in which the vertical direction is always correct for the operator can be obtained, so that the endoscopic surgery can be performed smoothly and in a short time.

FIG. 2 shows a second embodiment of the present invention. In the present embodiment, the configuration of the endoscope system 1 of the first embodiment (see FIG. 1) is changed as follows.

That is, in the present embodiment, the first gear 2 of the transmission gear mechanism 21 is attached to the rotating shaft 7a of the scope holder 7.
1a are connected. One end of a torque shaft 22 is connected to a transmission gear 21b of the transmission gear mechanism 21. The rotation of the rotation shaft 7 a of the scope holder 7 is shifted by the transmission gear mechanism 21, and the rotation after the shift is transmitted to one end of the torque shaft 22.

The other end of the torque shaft 22 has C
The first gear 23a of the second transmission gear mechanism 23 attached to the CD camera 5 is connected. The transmission gear 23b of the second transmission gear mechanism 23 is connected to a rotating shaft of a driving mechanism for rotating a CCD (not shown) incorporated in the camera body of the CCD camera 5.

Next, the operation of the above configuration will be described.
When the operator moves the scope 2 when using the endoscope system 1 according to the present embodiment, the scope holder 7 moves in conjunction with the movement.

At this time, the rotating shaft 7a of the scope holder 7
Is rotated by the transmission gear mechanism 21, and the rotation after the transmission is transmitted to the second transmission gear mechanism 23 via the torque shaft 22. The CCD (not shown) in the CCD camera 5 is rotated by the second transmission gear mechanism 23 around the imaging axis.

Therefore, the above configuration has the following effects. That is, in the present embodiment, when the operator moves the scope 2 when using the endoscope system 1, the transmission gear mechanism 21 and the torque shaft 2
2, a second transmission gear mechanism 23 is driven, and the second transmission gear mechanism 23 rotates a CCD (not shown) in the CCD camera 5 around its imaging axis. Therefore, in the present embodiment, as in the first embodiment, regardless of the change in the insertion direction of the scope 2, the operator can always display the endoscopic image with the vertical direction correctly aligned and displayed. it can. As a result, even if the operator moves the scope 2, an image in which the vertical direction is always correct for the operator can be obtained, so that the endoscopic surgery can be performed smoothly and in a short time.

FIGS. 3A to 3D show a third embodiment of the present invention.
1 shows an embodiment of the present invention. FIG. 3A shows a platform-type manipulator 31 of the present embodiment. The manipulator 31 includes a plurality of manipulators 32, and in this embodiment, three manipulators 32a and 32.
b and 32c, and an end effector 33 such as an endoscope for observing the inside of a body cavity and a grasping forceps for performing a treatment.

At the base end of the end effector 33, a platform 34 is provided. The platform 34 is provided with a plurality of, in this embodiment, three opening / closing arms 35. Further, a platform opening / closing actuator 36 is connected to the end effector 33.

The manipulators 32a, 32b,
32c is provided with elongated insertion portions 32a1, 32b1, 32c1, respectively, which are inserted into the body cavity through the inside of the trocar mantle 37 pierced in the body wall H1 of the patient H in advance. Further, each of the insertion portions 32a1, 32b1, 32c1
Actuators 32a2, 32
b2 and 32c2 are connected. And each insertion part 3
The distal ends of the open / close arms 35 of the platform 34 are detachably connected to the distal ends of 2a1, 32b1, and 32c1.

Next, the operation of the above configuration will be described.
When the platform-type manipulator 31 of the present embodiment is used, first, as shown in FIG. 3B, the end effector 33 is inserted into the body cavity through the inside of the trocar mantle tube 37 pierced in advance in the body wall H1 of the patient H. You.

Subsequently, an actuator 36 for opening and closing the platform of the end effector 33 is driven,
As shown in FIG. 3 (C), the end effector 3
The opening / closing arms 35 of the third platform 34 are opened and assembled.

Thereafter, as shown in FIG. 3D, the insertion portions 32 of the manipulators 32a, 32b and 32c are inserted into the body cavity.
a1, 32b1, and 32c1 are inserted into the body cavity through the inside of the trocar mantle tube 37 previously punctured in the body wall H1 of the patient H. Subsequently, each insertion portion 32a1,
The end portions of 32b1 and 32c1 are end effectors 33
3A, the platform-type manipulator 31 of the present embodiment shown in FIG. 3A is configured.

In this state, each manipulator 32a,
32b, 32c actuators 32a2, 32b
2, 32c2, and the insertion portions 32a1, 32b1,
By operating 32c1, the end effector 33 is operated. At this time, each of the insertion portions 32a1, 32b
Since the inclination and height position of the platform 34 of the end effector 33 can be freely changed by the independent forward and backward movements of the end effectors 33 and 32c1, the selection range of the approach direction of the end effector 33 with respect to the target can be increased. Opening / closing actuator 3
6 to open and close each open / close arm 35 of the platform 34 of the end effector 33.

Therefore, the above configuration has the following effects. That is, in the present embodiment, the operation range of the end effector 33 is expanded and the approach to the affected part is diversified by the above operation.

Further, in this embodiment, three manipulators 32a and 32 inserted independently into the body are provided.
b, 32c, each manipulator 32a, 32c
Insertion parts 32a1, 32b1, 32c1 of 32b, 32c
Diameter can be reduced. Therefore, a minimally invasive and smooth endoscopic surgery can be performed.

FIG. 4 shows a fourth embodiment of the present invention. The manipulator device 41 of the present embodiment includes a master device 42 operated by an operator and a slave device 43 operated according to the operation of the master device 42.
Are provided.

Further, the manipulator device 41 of the present embodiment is provided with a forceps 44 inserted into a body cavity. The forceps 44 are connected to the slave device 43. The forceps 44 in the body cavity is operated by the slave device 43.

The master device 42 and the slave device 43 are connected to a port position calculator 45, respectively. The port position calculation device 45 includes a display device 46.
Is connected.

Next, the operation of the above configuration will be described.
In the manipulator device 41 of the present embodiment, when the operator operates the master device 42, the slave device 43 operates according to the operation of the master device 42, and the forceps 44 in the body cavity are operated by the slave device 43 to operate the operator. It is reflected and operated.

At this time, the position information of the master device 42 and the slave device 43 is input to the port position calculation device 45. In this port position calculation device 45, the master device 4
2 and the ideal forceps 44 from the position information of the slave device 43
Is calculated, and a port position for realizing the movement of the forceps 44 is calculated and output to the display device 46. Then, on the display device 46, a port position for realizing the movement of the forceps 44 is displayed.

Therefore, the above configuration has the following effects. That is, in the manipulator device 41 of the present embodiment, the above operation allows the forceps 44 to display information on the position of the port at which the lesion 47 in the patient's body is easily treated on the display device 46. Therefore, since the operator can select a more effective port position by viewing the display screen of the display device 46, the endoscopic surgical operation can be performed smoothly in a short time with minimally invasiveness. it can.

FIG. 5 shows a fifth embodiment of the present invention. The manipulator device 51 of the present embodiment is provided with a master device 52 operated by an operator. An operator standing position estimating device 53 is connected to the master device 52. Further, a monitor moving means 54 is connected to the operator standing position estimating device 53. A monitor 55 is connected to the monitor moving means 54.

Next, the operation of the above configuration will be described.
In the manipulator device 51 of the present embodiment, when the operator operates the master device 52, the position information of the master device 52 is input to the operator standing position estimation device 53.

At this time, the surgeon standing position estimating device 53 calculates the surgeon's standing position from the position information of the master device 52, and calculates the position of the monitor 55 facing the surgeon's standing position. The position information of the monitor 55 is output. Thereby, the monitor moving means 54
Moves the monitor 55 according to the position information of the monitor 55 input here, and moves the monitor 5 to a position facing the operator.
5 is automatically placed.

Therefore, the above configuration has the following effects. That is, in the manipulator device 51 of the present embodiment, the monitor 55 is always automatically moved and arranged in front of the surgeon even if the surgeon moves by the above-described operation. There is an effect that the operation can be performed without fatigue.

Further, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows. (Additional Item 1) In an endoscope system having a scope to be inserted into a body cavity, imaging means for capturing an image from the scope, and a scope holder supporting the scope, a horizontal direction of the scope provided on the scope holder is provided. An endoscope system comprising: an angle detection unit that detects an angle; and a rotation unit that rotates the imaging unit around an imaging axis according to angle information obtained by the angle detection unit.

(Additional Item 2) A manipulator having an end effector, a plurality of insertion portions for performing observation and treatment, and a connecting means for connecting the end effector and the plurality of insertion portions.

(Additional Item 3) A master device operated by an operator, a slave device operated in accordance with the operation of the master, forceps attached to the slave device, and a port which is easy to approach a diseased part based on movement of the master and the slave. A manipulator having a device for calculating a position and a device for displaying the calculation result.

(Supplementary Item 4) A master device operated by the operator, a slave device operated according to the operation of the master, a monitor for displaying an operation field, and a device for estimating a standing position of the operator from the movement of the master device A device for moving the monitor to a position opposite to the position of the inferred operator.

(Prior Art in Appendix 1) Conventionally, remote surgery has been performed using a manipulator composed of a master device operated by an operator and a slave device operated according to the operation of the master.

(Problem to be solved by Additional Item 1) However, since the vertical position of the image of the endoscope is always constant, when the horizontal direction in which the endoscope is inserted with respect to the operator changes, For the surgeon, there is a problem that the image is turned upside down, making it difficult to understand.

Therefore, the present invention provides an endoscope with good operability by always displaying an image in which the up-down direction is correct to the operator, regardless of the method of inserting the endoscope. I do.

(Means for Solving the Problem in Additional Item 1)
In an endoscope system including a scope to be inserted into a body cavity, imaging means for capturing an image from the scope, and a scope holder supporting the scope, angle detection for detecting a horizontal angle of the scope provided in the scope holder Means, and rotating means for rotating the imaging means around the imaging axis according to the angle information obtained by the angle detection means,
It is an endoscope system having.

With this endoscope system, when the horizontal angle of the scope is changed, the angle of the scope in the horizontal direction can be detected by the angle detecting means, and the image capturing means can be rotated by the rotating means in accordance with the angle information. Rotate around. Thereby, an image whose vertical direction is correct can be obtained.

(Effect of Additional Item 1) An image in which the up-down direction is always correct for the operator can be obtained, so that the endoscopic surgery can be performed smoothly and in a short time.

[0050]

According to the present invention, there is provided an angle detecting means for detecting an insertion angle of a scope with respect to a horizontal direction, and a rotation for rotating an imaging means in a direction around an imaging axis in accordance with angle information obtained by the angle detecting means. Because the means and the scope holder are provided, regardless of the change in the insertion direction of the endoscope,
The vertical direction of the endoscope image can always be correctly aligned and displayed to the operator, the operability is good, and the endoscopic surgery can be performed smoothly and in a short time.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an entire endoscope system according to a first embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of an entire endoscope system according to a second embodiment of the present invention.

FIG. 3 shows a third embodiment of the present invention;
(A) is a perspective view showing a set state of the manipulator,
(B) is a perspective view showing a state in which the end effector is inserted into the body cavity, (C) is a perspective view showing a state in which the end effector is opened in the body cavity, and (D) is a view showing insertion portions of three endoscopes. The perspective view which shows the state each inserted in the body cavity.

FIG. 4 is a schematic configuration diagram of an entire endoscope system according to a fourth embodiment of the present invention.

FIG. 5 is a schematic configuration diagram of an entire endoscope system according to a fifth embodiment of the present invention.

[Explanation of symbols]

 2 Scope 5 CCD camera 6 Motor (rotation means) 7 Scope holder 8 Encoder (angle detection means)

Continued on the front page (72) Inventor Katsumi Sasaki 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. (72) Inventor Hiroshi Takahashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Within Kogyo Co., Ltd. (72) Inventor Nobuaki Yasuku 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Kenichi Kimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Inside Optical Industry Co., Ltd. (72) Inventor Yuichi Ikeda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industry Co., Ltd. (72) Takeaki Nakamura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Ori (72) Inventor Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo F-term (reference) in Olympus Optical Co., Ltd. 4C061 AA00 BB02 CC07 DD01 FF02 FF50 GG13 HH60 JJ17 LL03 NN01 PP09

Claims (1)

[Claims] 1. An endoscope system comprising: a scope to be inserted into a body cavity; imaging means for capturing an observation image from the scope; and a scope holder for supporting the scope. An insertion angle of the scope with respect to a horizontal direction. An endoscope provided with: an angle detecting means for detecting the angle of rotation; and a rotating means for rotating the imaging means in a direction around its imaging axis in accordance with the angle information obtained by the angle detecting means. system.