JP2006102100A - Imaging device and illuminator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an imaging device where the orientations of a camera and an illuminator can be adjusted individually and automatically. <P>SOLUTION: The imaging device provided with the camera 9 and a projector 23 on a common support table 7 is provided with: a plurality of sensors for detecting an indication light source 59 at a position separated from the camera 9 and the projector 23 respectively corresponding to the camera 9 and the projector 23; a camera direction control means for orientating the camera 9 to the direction of the light source 59 based on the detection of each sensor; and a projector direction control means for orientating the projector 23 in the direction of the light source 59. The camera 9 and the projector 23 are provided within a spherical body 41 supported rotatably on the support table 7, and the spherical body 41 is provided with the sensor. The sensor is provided with a incident light reflection member 57 for reflecting incident light to a prescribed position. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a camera such as a TV camera and an imaging device having a common support with an illumination device for illuminating a location imaged by the camera, and more specifically to a location indicated by a point light source. The present invention relates to an imaging device having a configuration in which the camera and the lighting device are automatically oriented and the lighting device.

  2. Description of the Related Art Conventionally, an illumination device has been developed for illuminating a surgical section of a patient when performing surgery on a patient on an operating table. Since the illuminating apparatus generally includes a plurality of illuminating lamps, it is difficult to manually adjust each of the illuminating lamps so that the illuminating lamps are directed to the surgical site of the patient. .

In view of this, there has been proposed a medical illumination device having a configuration in which light from a light emitter disposed at a position corresponding to a patient's surgical section is detected, and a plurality of illumination lamps automatically point the direction of the light emitter ( For example, see Patent Document 1). According to the above configuration, it is not necessary to individually adjust the directivity directions of the plurality of illumination lamps, and the patient's surgical unit can be easily illuminated.
Japanese Patent Application Laid-Open No. 60-119996

  In the configuration of the illumination device described in Patent Document 1, a ring-shaped Y-axis rotating body disposed in a large rotating body-receiving hole provided in the center of the fixed plate is arranged in the Y-axis direction with respect to the fixed plate. A ring-shaped X-axis rotating body disposed in the Y-axis rotating body is supported so as to be rotatable about an axis, and is supported to be rotatable about an axis in the X-axis direction with respect to the Y-axis rotating body. It is. And it is the structure which provided the illumination lamp and the reflector in the center part of the said X-axis rotary body.

  That is, the above-described configuration is a configuration in which an X-axis rotating body is provided inside the Y-axis rotating body, and an illumination lamp or the like is provided in the center of the X-axis rotating body. There is a problem in planning.

  Moreover, in the structure of the said patent document 1, since it is the structure which attaches an illuminating device to the ceiling of an operating room, for example, the installation position of an operating table is restricted to the immediate vicinity of an illuminating device, and lacks versatility. In addition, there is a problem that a cameraman is necessary when imaging a patient's surgical part with a camera.

  The present invention has been made in view of the above-described problems, and is an imaging apparatus having a configuration in which a camera and a projector are provided on a common support base, and detects an indication light source at a position away from the camera and the projector. A plurality of sensors corresponding to the camera and the projector, respectively, and a camera direction control means for directing the camera in the direction of the indicated light source based on detection of each sensor, and the projector in the direction of the indicated light source And a projector direction control means for directing the projector.

  According to the present invention, in the imaging apparatus, the support base is movable in a horizontal direction, and the camera and the projector are provided in a spherical body rotatably supported by the support base. The body is provided with the sensor.

  In the image pickup apparatus according to the present invention, the sensor includes an incident light reflecting member for reflecting incident light to a predetermined position.

  According to another aspect of the present invention, there is provided an illuminating device in which a projector is provided so as to be rotatable with respect to a support base. One arm of a rotating support is provided rotatably on the support base, and a projector is provided in a spherical body rotatably supported on the other arm of the rotating support. It is what.

  According to the present invention, the camera and the projector provided on the common support stand detect the pointing light source at a distant position and direct the direction of the pointing light source individually. Therefore, the pointing direction of the camera and the projector is individually set. There is no need to adjust, and the directionality of the camera and projector can be easily set. In other words, it is easy to point the camera to the place to be photographed and to direct the projector to the place to be photographed, and it is possible to easily photograph the place to be photographed.

  Referring to FIGS. 1, 2, and 3, an imaging apparatus 1 according to an embodiment of the present invention is supported by a support member 3 such as an operating room wall through a link mechanism 5 so as to be horizontally movable. A support base 7 is provided, and a camera 9 such as a TV camera or a CCD camera is provided at the center of the support base 7 in the longitudinal direction (left-right direction). An appropriate number of illumination devices 11 are provided on both sides of the camera 9. The camera 9 is configured to have an autofocus function or a remote-controlled focus function, and images (photographs) a patient's surgical part or a dedicated anatomical part on a movable table 13 such as an operating table or a dissecting table. The illumination device 11 illuminates the shooting location.

  As shown in detail in FIG. 3, the link mechanism 5 includes a pair of first links 15 </ b> A and 15 </ b> B pivotally supported by the support member 3 so that the base end side can be horizontally rotated. A second parallel link including a mechanism 15 and having the base side of the pair of second links 17A and 17B pivotally connected to the distal ends of the first links 15A and 15B in the first parallel link mechanism 15 so as to be horizontally rotatable. The configuration includes a mechanism 17. Both end portions of the intermediate link 19 are pivotally connected to the pivot connecting portion between the first links 15A and 15B and the second links 17A and 17B. The support base 7 is pivotally supported at the distal ends of the second links 17A and 17B, and a handle 21 is provided on the support base 7.

  By holding the handle 21 provided on the support base 7 and appropriately moving the support base 7, the support base 7 is located above the mobile base 13 as shown in FIGS. 3 and 4. In contrast, it can move horizontally in the front-rear and left-right directions (X and Y directions). At this time, the directivity of the support base 7 is always kept constant by the action of the first and second parallel link mechanisms 15 and 17 and translated.

  Therefore, even when the support base 7 is moved in response to the change of the shooting location, the height position of the camera 9 is constant, and the directionality in the front-rear and left-right directions is constant. When observing with a monitor at a position away from the monitor, the directionality of the image on the monitor is always kept constant.

  In addition, as a structure which can move the said support stand 7 horizontally in the left-right direction, it is not restricted to the said parallel link mechanism, For example, the guide member of the front-back direction (or left-right direction) is provided in the said support member 3, and this guide member It is also possible to adopt a configuration in which the support base 7 is supported by a slider that can be moved along the left and right sides so as to be movable in the left-right direction (or front-rear direction). That is, an XY table may be disposed above the movable table 13 and the support table 7 may be provided on the XY table.

  Since the support structure of the camera 9 and the illumination device 11 by the support base 7 is the same, the case of the support structure of the illumination device 11 will be described, and the description of the support structure of the camera 9 will be omitted.

  The illuminating device 11 includes a projector 23 (see FIG. 6) such as a xenon lamp so as to be rotatable (swingable) about the X axis and the Y axis.

  That is, referring to FIG. 5 and FIG. 6, a rotation support 27 is supported on the support frame 25 mounted on the support base 7 so as to be rotatable about the axis in the X-axis direction (left-right direction). . The rotating support 27 is formed by bending the respective arms of the plate formed in a cross shape into a substantially spherical shape, and thereby the first arms 29A and 29B facing in the X-axis direction and the second arm facing in the Y-axis direction. The arm 31A, 31B is provided.

  More specifically, the first arm 29A, 29B and the second arm 31A, 31B are curved (bent) so that the tip ends become the lower end, and the tip ends (lower ends) of the first arms 29A, 29B. Is supported by a support shaft 35 in the X-axis direction that is rotatably supported by a bearing 33 provided to face the support frame 25. An X-axis motor 37 for rotating the support shaft 35 is attached to the one bearing 33. Note that the configuration for rotating the support shaft 35 by driving the X-axis motor 37 may be the same as the configuration described in Patent Document 1, and thus the description thereof is omitted.

  With the above configuration, the rotation support body 27 can be rotated around the axis of the support shaft 35 by driving the X-axis motor 37. That is, the rotation support body 27 can be rotated around the axis in the X-axis direction.

  A hollow spherical body (spherical casing) 41 is provided at the tip (lower end) of the second arms 31A and 31B via a support shaft 39 in the Y-axis direction (front-rear direction) orthogonal to the X-axis direction. It is supported rotatably. The second arm 31A is provided with a Y-axis motor 43 for rotating the spherical body 41 via the support shaft 39. With the configuration described above, the spherical body 41 can be rotated around the axis of the support shaft 39, that is, around the axis in the Y-axis direction by driving the Y-axis motor 43.

  As already understood, by driving the X-axis motor 37, the rotation support 27 can be rotated around the X-axis axis with respect to the support frame 25 and the Y-axis motor 43 is driven. Thus, the spherical body 41 can be rotated around the axis of the Y axis with respect to the rotation support body 27. That is, the spherical body 41 which is a spherical casing can rotate about the X axis and the Y axis about the support frame 25.

  By the way, the rotation support frame 27 is provided with a pair of first arms 29A and 29B and a pair of second arms 31A and 31B, and a spherical body 41 is supported on the second arms 31A and 31B. Thereby, it is possible to make the distance dimension of the tip part in the first arms 29A and 29B and the distance dimension of the tip part in the second arms 31A and 31B substantially equal. That is, in the configuration in which the spherical body 41 is supported so as to be rotatable around the X axis and the Y axis, the overall configuration can be made compact.

  The spherical body 41 has a form in which cut surfaces parallel to a horizontal virtual plane passing through the center (center of gravity) of the sphere are provided on the upper side and the lower side. The support shaft 35 and the support shaft 39 are arranged in the same plane that passes through substantially the center of the spherical body 41. In other words, the extension of the shaft center of each of the support shafts 35 and 39 passes through substantially the center of the spherical body 41.

  A lower side of the spherical body 41 protrudes downward from a round hole 45 formed in the support frame 25. The projector 23 is attached to the central portion of the plate-like support member 47 provided at a substantially central position in the spherical body 41 so as to be substantially orthogonal to the support member 47. Further, a face plate 49 is attached to the lower part of the spherical body 41, and a pair of sensors 51A and 51B in the X-axis direction and a pair of sensors 53A and 53B in the Y-axis direction are provided inside.

  According to the above configuration, the distance between the spherical body 41 and the round hole 45 can be reduced, and the distance does not increase greatly even when the spherical body 41 rotates in an arbitrary direction. The appearance is improved.

  The configuration of the sensors 51A and 51B: 53A and 53B will be described. Since the respective sensors have the same configuration, the configuration of the sensor 51A will be described.

  As shown in FIG. 7, the sensor 51A includes a holder 56 that is horizontally provided with a light detecting element 55 such as a photodiode or a phototransistor, and the lower end portion is lower than a slit 49S formed in the face plate 49. An incident light reflecting member 57 protruding in the direction is provided.

  The incident light reflecting member 57 has a lower end 57A curved outward so that the lower side is outward, and protrudes downward from the slit 49S, so that the face plate 49 has a lower end 57A. A dead zone is formed on the center side (left side in FIG. 7), and light outside (right side in FIG. 7) from the end of the lower end 57A is allowed to enter the slit 49S. The incident light reflecting member 57 is curved so as to reflect the incident light incident on the slit 49S from an arbitrary direction toward the light detecting element 55. Therefore, the range in which the incident light enters the slit 49S can be widened.

  The camera 9 is a camera in which a camera such as a CCD camera or a TV camera is mounted in the spherical casing instead of the projector 23 in the illumination device 11 as described above.

  In the configuration as described above, for example, after the support base 7 is moved to a position above the moving base 13, an instruction light source 59 (see FIG. 1) such as an infrared light emitting diode is disposed at a desired position on the moving base 13 to emit light. The light such as infrared rays from the instruction light source 59 is incident on the X-axis direction sensors 51A and 51B and the Y-axis direction sensors 53A and 53B provided in the camera 9 and the illumination device 11, respectively. The position corresponding to the indication light source 59 may be irradiated with a laser beam such as a laser pointer, and the reflected light of the irradiated laser beam may be detected by the sensors. In this case, The spot of the irradiated laser beam corresponds to the instruction light source.

  As described above, when the light from the instruction light source 59 enters the sensors 51A and 51B: 53A and 53B in the camera 9, the Y-axis motor 43 is controlled to rotate under the control of the camera direction control means (not shown). Then, the spherical body 41 is rotated so that the amounts of incident light on the pair of sensors 51A and 51B in the X-axis direction are equal, that is, the camera 9 is directed toward the instruction light source 59. Similarly, the rotation of the X-axis motor 37 is controlled so that the amounts of incident light on the sensors 53A and 53B are equal. In the illuminating device 11, the rotation of the X-axis motor 37 and the Y-axis motor 43 is similarly controlled under the control of a projector direction control means (not shown).

  That is, the camera 9 is controlled so that the camera 9 is directed in the direction of the instruction light source 59, and the lighting device 11 is controlled so that the projector 23 is directed in the direction of the instruction light source 59. Note that the camera direction control unit and the projector direction control unit may be the same as the configuration described in Patent Document 1, for example, and thus detailed description of the bidirectional control unit is omitted.

  As described above, when the desired position is indicated by the instruction light source 59, the orientation of the camera 9 and the illumination device 11 is automatically controlled so that the camera 9 and the illumination device 11 are oriented in the direction of the instruction light source 59. It is possible to illuminate a portion to be photographed without individually adjusting the image and to photograph with the camera 9. Therefore, according to the said structure, illumination and imaging | photography of a required location can be performed easily.

  Further, according to the above configuration, the incident light reflecting member 57 can be provided to widen the incident light incident range. Therefore, the indication light source 59 may be turned on at a desired position. For example, the direction of the camera 9 and the illumination device 11 is directed. It is not necessary to move the instruction light source 59 from the position corresponding to the desired position to guide the camera 9 and the illumination device 11 to point at the desired position, and the operation is easy.

  Moreover, in the said structure, since it is the structure which provided the camera 9, the projector 23, and each sensor 51A, 51B: 53A, 53B in the spherical body 41, a required wiring can be collected in the spherical body 41, Wiring routing can be suppressed.

  Furthermore, according to the said structure, the setting of the directivity direction of the projector 23 in the illuminating device 11 is easy, for example, when performing illumination in a patient's oral cavity in dentistry, avoiding a patient's eyes and illuminating the oral cavity. It is possible to eliminate the discomfort of the patient due to lighting.

  FIG. 8 shows a second embodiment of the sensor 51A. In the second embodiment, in the spherical body 41, a sensor casing 61 is provided on the face plate 49, and in the sensor casing 61, a holder case 63 having a light detection element 55 vertically is provided. An incident light reflecting member 65 for reflecting a part of incident light incident from the slit 49S of the face plate 49 in the direction of the light detection element 55 is provided inside.

  The lower side of the holder case 63 is bent inward to form a light shielding portion 63A, and the sensor casing 61 shields extra light incident from the slit 49S of the face plate 49. A light shielding plate 67 is provided. The light-shielding part 63A and the light-shielding plate 67 are formed on the light-reflecting surface on the surface facing the incident light reflecting member 65, and the surface on the opposite side is formed on the light-absorbing surface so as to attenuate the reflected light. It is.

  Further, in the second embodiment of the sensor 51A, the incident light 100A in a narrow region restricted by the inner end edge portion 49A of the slit 49S and the lower end edge portion 63L of the light shielding portion 63A is applied to the light detection element 55. It is configured to be directly incident. Further, even if the incident oblique light 100B in a narrow region restricted by the inner edge portion 49A and the outer edge portion 49B of the slit 49S is incident on the light detecting element 55 due to the reflection of the incident light reflecting member 65. It is comprised so that it may do.

  With the above configuration, the sensor 51 </ b> A according to the second embodiment can achieve the same effects as the above-described sensor. Since the incident light 100A in a narrow region is directly incident on the light detecting element 55, the incident light 100A is incident on the light detecting element 55 without being attenuated. Therefore, the directivity with respect to the instruction light source 59 is further improved. Further, the appearance of the appearance is further improved by providing the incident light reflecting member 65 inside.

  The present invention is not limited to the configuration as described above, and as a configuration for rotating the spherical body (spherical casing) 41 in an arbitrary direction, for example, the spherical body is provided in a round hole 45 provided in the support frame 25. 41 is swingably supported, and an operation pin provided long above the spherical body 41 is moved in the X and Y directions according to the configuration of the X and Y tables provided movably in the X and Y directions. The spherical body 41 can be rotated in a desired direction by adopting an inclined configuration. That is, it can be implemented in various modes by making appropriate changes.

It is front explanatory drawing of the imaging device and illuminating device which concern on embodiment of this invention. It is side explanatory drawing same as the above. It is a plane explanatory view same as the above. It is operation | movement explanatory drawing same as the above. It is explanatory drawing which shows the structure of an illuminating device. It is explanatory drawing which shows the structure of an illuminating device. It is a section explanatory view showing the composition of a sensor. It is a section explanatory view showing a 2nd embodiment of a sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Imaging device 3 Support member 5 Link mechanism 7 Support stand 9 Camera 11 Illumination device 15 1st parallel link mechanism 17 2nd parallel link mechanism 23 Light projector 27 Rotating support body 29A, B 1st arm 31A, B 2nd arm 37 X-axis motor 41 Spherical body (spherical casing)
43 Y-axis motor 49 Face plate 49S Slit 51A, B X-axis direction sensor 53A, B-axis direction sensor 55 Light detecting element 57 Incident light reflecting member 59 Indicator light source

Claims (4)

  An image pickup apparatus having a configuration in which a camera and a projector are provided on a common support stand, each of which includes a plurality of sensors corresponding to the camera and the projector to detect an instruction light source at a position away from the camera and the projector. A camera direction control means for directing the camera in the direction of the indication light source based on detection of each sensor, and a projector direction control means for directing the projector in the direction of the indication light source. A characteristic imaging device.   The imaging apparatus according to claim 1, wherein the support base is movable in a horizontal direction, and the camera and the projector are provided in a spherical body that is rotatably supported by the support base. An imaging apparatus comprising the sensor.   The imaging device according to claim 1, wherein the sensor includes an incident light reflecting member for reflecting incident light to a predetermined position.   One of the rotation support bodies provided with the 1st arm which opposes the X-axis direction, and the 2nd arm which opposes the Y-axis direction in the illuminating device which provides a light projector with respect to a support stand so that rotation is possible The illumination device is provided with a projector in a spherical body rotatably provided on the support base and rotatably supported on the other arm of the rotation support.

Images