JPH0894966A - Image pickup device - Google Patents

Abstract

PURPOSE: To make it possible to easily operate the change in depth of a steady gaze or the change of a stereoscopic feel on an image pickup side by providing the above image pickup device with an optical axis changing means for changing the spacings of image taking-in means by deforming an image transmission system and operating means. CONSTITUTION: A regulator 40 is a frame consisting of four sides 41 to 44 and is freely expandable and shrinkable by the stresses applied thereon as this regulator has four joints. A rod 8 which is threaded with left-hand screw threads 24 at the front end and right-hand screw threads at the rear end is screwed to guides 20, 22. The regulator 40 operates according to manipulated variable when an observer operates the rod 8 during observation of an object to be observed with a stereoscopic endoscope. The regulator 40 adjusts the inter-camera distance or angle of convergence of the image pickup device. The distance between the image pickup device and the subject changes and the steady gaze point is changed if the inter-camera distance is controlled by keeping the angle of convergence constant. The region where stereoscopic viewing is possible is changeable as well by adjusting the angle of convergence. Then, the operator is able to adjust the angle of convergence meeting the operator's individual difference by operating the angle of convergence while viewing the stereoscopic images.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image pickup device for an endoscope, and more particularly to an image pickup device for an endoscope capable of changing the baseline (distance between cameras) or the convergence angle of the endoscope on the image pickup side. Is.

[0002]

2. Description of the Related Art Conventionally, an endoscope has been widely used as a means for observing a luminal organ, an abdominal cavity or a thoracic cavity. Most of these endoscopes have only one image observing means, and the observer can observe only with a single eye. Therefore, the observation target cannot be stereoscopically observed, and accurate diagnosis is difficult. In addition, there is a problem in that treatment cannot be easily performed because a sense of distance cannot be obtained when treating an observation target with an instrument used in combination with an endoscope.

On the other hand, there is an endoscope in which at least two objective lenses of an image transmission optical system and an observation point are arranged so that the convergence angle is a stereoscopically visible angle and stereoscopic vision is possible. , These have a fixed vergence angle, and it is possible to observe stereoscopic images near the optical axes of both image transmission optical systems. However, it is difficult to obtain a stereoscopic image, and it is known that it is necessary to arbitrarily change the vergence angle according to the distance of the observation target. In addition, if the vergence angle is fixed, there is a problem that unnatural stereoscopic vision must be performed due to inconsistency with individual differences in vergence angle of the operator.

In order to solve this problem, two rigid endoscopes are arranged at a certain angle of convergence, and the amount of positional deviation between the point where the optical axes of the two rigid endoscopes intersect and the observation site is detected. A device having means for adjusting the vergence angle of a rigid endoscope has been proposed (Japanese Patent Laid-Open No. 05-341206). However, the present invention has the disadvantage that the device is complicated, such as using a laser beam to detect the displacement and requiring a 3D-CCU. Furthermore, with this method, it is difficult to determine whether the observation point is located in front of or behind the intersection of the optical axes, and when automatic correction is applied, appropriate correction is not performed and it may be difficult to use. . Further, even with this method, it is considered difficult to solve the problem of individual differences in the vergence angle of the operator.

[0005]

The depth of the gazing point can be changed by shifting the degree of overlap between the images on the left and right displays on the display device side. The visible area is limited. An object of the present invention is to propose an image pickup apparatus for an endoscope, which can easily realize a change in the depth of gaze or a change in stereoscopic effect on the image pickup side.

Another object of the present invention is to propose an image pickup apparatus for a stereoscopic endoscope in which the operator can change the distance to the object or the stereoscopic effect by operating the operator himself while observing the stereoscopic image. Especially.

[0007]

SUMMARY OF THE INVENTION An object of the present invention is to provide an image capturing means for capturing an image, and flexibility for transmitting the captured image to an image processing section by being combined with the image capturing means. An image transmission system, and an optical axis changing unit for changing the distance between the image capturing units by deforming the image transmission system,
The present invention is achieved by an image pickup device for an endoscope, which is provided with an operating unit for operating the optical axis changing unit.

Here, the optical axis changing means is an articulated body having at least three joints, and follows the movement of at least one joint in the axial direction, and intersects the second and third joint points as axes. It is characterized in that the image capturing means is displaced by moving the image capturing means. Further, the optical axis changing means is screwed with the rotary drive body at the first joint, and the second and third joints are axially moved by following the movement of the first joint in the axial direction by the rotation of the rotary drive body. It is characterized in that the image capturing means is displaced by moving the image capturing means in a direction intersecting with. Further, the optical axis changing means is an articulated body having at least four joints, and is screwed to the rotation driving body at the first joint and the fourth joint to move the first and fourth joints in the axial direction. The image capturing means is displaced by following the movement of the second and third joints in the direction intersecting the axis.

Another object of the present invention is an image capturing means for capturing an image, and a flexible image transmission system which is coupled to the image capturing means and transmits the captured image to an image processing section. A joint body having a multi-joint structure in which a joint formed by another joint is displaced in a direction intersecting an axis following movement of at least one joint in the axial direction, and a joint formed by the joint body 2
The side supports the image capturing means at an arbitrary angle of convergence, and a rotary driving body that transmits an external force is screwed into one joint of the joint body, and the joint is rotated by the rotation driving body. This is achieved by an image pickup apparatus for an endoscope, characterized in that the angle of convergence is adjusted by changing the support angles of the two sides formed by other joints by moving in the axial direction.

Here, one side formed by the two joints of the joint body determines the interval between the pair of image capturing means.

[0011]

According to the present invention, when the observer operates the rod while observing the observation object with the stereoscopic endoscope, the adjuster operates according to the operation amount. The adjuster adjusts the inter-camera distance or the convergence angle of the imaging device. If the distance between the cameras is controlled while the congestion is kept constant, the distance between the image pickup device and the subject is changed, and the gazing point can be changed. Also, the area that can be viewed stereoscopically can be changed by adjusting the angle of convergence. Of course, the operator can adjust the vergence angle in accordance with the individual difference of the operator by performing an operation while viewing the stereoscopic image. Since the flexibility of the image fiber of the image transmission optical system can be utilized to soften the endoscope, the use of the observation site can be expanded by this characteristic.

The material of the image fiber in the present invention is formed of a flexible material such as multi-component glass, quartz, plastic or the like. The power of the present invention is a rotational force transmitted from the outside.

The present invention can be applied to all endoscopes regardless of whether they are flexible endoscopes or rigid endoscopes.

[0014]

Next, embodiments of the present invention will be described. Prior to the description of the embodiment, the first embodiment shown in FIGS. 2 to 5 and FIG.
As an introduction to the description of the second embodiment of the above, the overall system configuration will be described with reference to FIG. The stereoscopic endoscope system shown in FIG. 1 receives a pair of images transmitted by a stereoscopic endoscope 10 and two image transmission optical systems (image fiber 1) through an imaging lens 15 and converts them into TV signals. A pair of image pickup devices 12 including CCDs, a stereo image display device 13 for displaying the obtained pair of TV signals as a stereoscopic image, and an operation for adjusting a camera-to-camera distance (baseline) vergence angle. And a section 50.

The image pickup section at the tip of the stereoscopic endoscope 10 forms an image of a subject on an image fiber by the objective lens 2, which is transmitted by the fiber and further connected to the image pickup element 12 via the image pickup lens 15. Image. The TV signal output from the image sensor 12 is input to the stereo image display device 13. The light guide 60 (FIG. 4) that illuminates the subject is connected to the light source device through the light guide connection port 14 and receives light supply from the light source device.

The covering material 31 of the endoscope is made of a flexible material such as latex or an elastomer which is easily bent. The covering material 30 at the tip portion is made of the same kind of material with a further increased shrinkability, and is made deformable according to the stress from the inside. Reference numeral 32 is a member that cooperates with the covering materials 30 and 31 to form a lumen for accommodating an image fiber, and the material and its characteristics correspond to the covering materials 30 and 31, respectively.

To illuminate the observation object, a light guide 60 is connected to the light source to guide light and emit light from the open end of the light guide to illuminate the observation object. (Embodiment 1) Next, in the present embodiment, the configuration and operation of the adjuster 40 for adjusting the distance between cameras will be described with reference to the accompanying drawings.

First, as shown in FIG.
A frame consisting of sides (41, 42, 43 and 44), 4
Since it has two joints, it can be expanded and contracted by the applied stress. Of the four joints, two floating joints 29 facing each other in the axial direction 3 of the endoscope 10 are provided with guides 20 and 22 each having a thread groove formed inside so as to be movable. The force from the rod 8 is transmitted to the adjuster 40 by the guide. The guides 20 and 22 have a left-hand thread 2 at the tip.
4. A rod 8 having a right-hand screw 25 cut at the rear end is screwed. On the other hand, the other joint 27 is fixed to the lumen member 32 with an adhesive material 28.

Reference numeral 80 denotes a rotating nut attached to the outside for the operator to manually rotate the rod 8, and the rod rotates clockwise and counterclockwise according to the rotating direction of the nut. 82 is a rod 8 for rotating the nut 80.
It is a screw to tell. FIG. 4 shows the arrangement of an image window in which the image capturing element at the tip of the endoscope is housed, an adjuster 40 for adjusting the distance between the image windows, and a light guide 60 for illuminating a subject. This figure shows the regulator 40 closed and the image windows at the shortest distance.

The operation of the endoscope thus configured will be described. FIG. 3 shows a stage in which the frame-shaped adjuster 40 is closed and the baseline is not adjusted. Here, when the operator rotates the nut 80 and rotates the rod, for example, to the right, the guide 2
Since 0 and 22 move the joints of those attachment parts in a direction to bring them closer to each other, the frame gradually deforms into a rhombus,
The joint 27, which is fixed to the lumen member 32, projects outward, and the lumen member 32, the image fiber 1,
The dressing 30 is expanded outwardly about the joint 27. As a result, the outer shape of the distal end portion of the endoscope is expanded, and the distance between the image capturing means (camera) formed by the image fiber 1 and the objective lens 2 is widened.

On the other hand, when the rod 8 is rotated counterclockwise, the guide 2
0 and 22 move on the rod 8 in the directions away from each other, the adjuster 4 is deformed flat, and the joint 27 is dented.
The distance between 7 and 27 narrows. Therefore, the distance between the image capturing means (camera) formed by the image fiber 1 and the objective lens 2 becomes short. FIG. 5 is a schematic diagram showing a state where the distance between the cameras is maximized. As can be seen from the figure, the distance between the objective lenses (image fibers) when the adjuster is closed is actually different from that of the objective lens (image fiber). 2.5 times (theoretically about 3
Double) spacing can be made. By changing the distance between the two objective lenses (image fibers), that is, the distance between the cameras, the distance to the subject can be changed to change the gazing point.

In the embodiment shown in FIG. 2, an observer observes a subject illuminated by the illumination light guided by the ride guide 60 under a certain gazing point. If you want to change the gazing point on the subject you want to shoot, turn the rod and
7 and 27 are projected outward, the covering material 31 is expanded, and the inter-camera distance is increased. When the gazing point is set to the proximal position, the rod may be turned so as to reduce the pushing out of the joints 27, 27.

(Embodiment 2) FIG. 6 shows an embodiment in which another regulator 70 is used to change the convergence angle. First, as shown in FIG. 6, the regulator 70 includes five sides (71 to 75),
The base 71 is a fixed frame. This frame has five joints and is assembled so that it can be expanded and contracted. The side 71 is fixed, and the sides 72 and 73 and the sides 74 and 75 form the joint 27. The side 73 and the side 75 form the joint 29. The joint 27 is floating (non-fixed). The guide 22 having a thread groove formed in the joint 29 is freely attached to the joint. An operation rod 8 having a threaded end is screwed into the guide 22. The objective lens 2 and the image fiber 1 are fixed to the sides 72 and 74, and the optical axes thereof are determined by the inclination angles of the sides 72 and 74. The intersection of these two optical axes forms the angle of convergence. Fixed length side 7
1 fixes the stroke (distance between cameras).

In the embodiment of FIG. 6, when the nut 80 is rotated and the operator transmits the rod, for example, right rotation, the guide 22 moves the joint 29 to the left by the rod 8, so that the frame body is crushed inward, The joint 27 is pushed outward. By this extrusion, the covering material 31 image fiber 1 is deformed around the joint 27 and an angle is formed. Therefore, the intersection angle of the sides 72 and 74 becomes large, and the convergence angle of the image pickup system becomes large.

On the other hand, when the rod is rotated in the opposite direction, the guide 22 moves to the right on the rod 8 to reduce the outward expansion of the joint 27 and reduce the angle formed by the sides 72 and 74. As a result, the convergence angle of the image pickup system, which is determined by the intersection angle of the sides 72 and 74, becomes small. Thus, by operating the rod, it is possible to capture and display a stereoscopic image having a stereoscopic effect desired by the operator.

In the embodiment shown in FIG. 6, the rod 8 is rotated to change the degree of protrusion of the joints 27, 27 and the inclination of the sides 72, 74. In this way, the vergence angle of the endoscope depending on the inclination of the sides 72 and 74 can be freely controlled, so that the stereoscopic effect can be easily changed. Also, the image area that can be viewed stereoscopically can be changed. Specifically, when attempting to stereoscopically view a proximal observation target, if the joints 27, 27 are greatly projected,
The vergence angle θ becomes large and becomes a vergence angle suitable for stereoscopically observing the proximal part. When observing at a distance, retract the regulator flat.

It should be noted that the range of the convergence angle θ for adjustment is 0 ° to
It is preferably 60 degrees, and the optimum value is 10 to 20 degrees. As a result, optimal stereoscopic viewing is possible regardless of the position of the observation target, the position of the endoscope, and the individual differences in the vergence angle of the observer.

[0028]

As described above, according to the present invention, the gazing point of the subject observed by the endoscope can be freely controlled from the outside. Also, regardless of individual differences in the position of the observation target, the position of the endoscope, and the vergence angle of the observer, optimum depth can be achieved by changing the depth of the vergence point.

[Brief description of drawings]

FIG. 1 is a diagram showing a system configuration of a stereoscopic endoscope showing a first embodiment of the present invention.

FIG. 2 is a partial cross-sectional view of the essential parts of an embodiment for adjusting the distance between cameras.

FIG. 3 is a partial cross-sectional view showing a state where the regulator of the first embodiment of FIG. 2 is substantially closed.

FIG. 4 is a diagram showing an arrangement configuration of main elements of a distal end portion of a stereoscopic endoscope.

FIG. 5 is an operation explanatory diagram showing a state in which the distal end portion of the stereoscopic endoscope is deformed as the distance between the cameras is expanded.

FIG. 6 is a partial cross-sectional view of a main part of a second embodiment for adjusting the convergence angle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 image fiber 2 objective lens 3 axis of stereoscopic endoscope 4 adjuster 8 rod 9 image transmission optical system optical axis 10 stereoscopic endoscope 12 image pickup device 13 stereo image display device 14 light guide introduction port 15 image pickup lens 27, 29 joints 30, 31 Coating material 32 Lumen member 40 Adjuster 41-44 Adjuster side 70 Adjuster 71-75 Adjuster side 60 Light guide

Claims (6)

[Claims] 1. An image capturing means for capturing an image, a flexible image transmission system coupled to the image capturing means for transmitting the captured image to an image processing section, and the image transmission system being modified. An image pickup apparatus for an endoscope, comprising: an optical axis changing means for changing an interval of the image capturing means; and an operating means for operating the optical axis changing means. 2. The optical axis changing means is a joint body having at least three joints, and follows the movement of at least one joint in the axial direction, and intersects the second and third joint points with the axis. The image pickup apparatus for an endoscope according to claim 1, wherein the image capturing unit is displaced by moving the image capturing unit in a direction. 3. The optical axis changing means includes a rotation driving body and a first driving means.
The image capturing means is screwed at a joint, and the second and third joints are moved in a direction intersecting the axis by following the movement of the first joint in the axial direction by the rotation of the rotary drive body. The imaging device for an endoscope according to claim 1, wherein the imaging device is displaced. 4. The optical axis changing means is an articulated body having at least four joints, which is screwed to the rotary drive body at the first joint and the fourth joint, and is arranged in the axial direction of the first and fourth joints. The endoscope image pickup apparatus according to claim 1, wherein the image capturing means is displaced by moving the second and third joints in a direction intersecting the axis following the movement of the image. apparatus. 5. An image capturing means for capturing an image, a flexible image transmission system coupled to the image capturing means for transmitting the captured image to an image processing section, and an axial direction of at least one joint. And a joint body having multiple joints whose joints formed by other joints are displaced in a direction intersecting with the axis following the movement of the image. The image capturing means is arbitrarily defined by two sides formed by the joints of the joint body. Supported by the vergence angle of, and screwing a rotary drive that transmits an external force to one joint of the joint body, and by rotating the rotary drive to move the joint in the axial direction, The 2 that the joint makes
An image pickup apparatus for an endoscope, wherein the angle of convergence is adjusted by changing a side support angle. 6. The side formed by the two joints of the joint body is
The imaging device for an endoscope according to claim 1, wherein an interval between the pair of image capturing means is determined.