JP4727356B2 - Medical stereoscopic observation device - Google Patents

Description

  The present invention relates to a medical stereoscopic observation apparatus used in surgery, particularly neurosurgery, otolaryngology, orthopedics / plastic surgery, obstetrics / gynecology, or ophthalmology.

  Conventionally, it is known to obtain a stereoscopic image by observing and fusing a binocular image with parallax using the binocular parallax principle. Such a stereoscopic observation apparatus generally includes an imaging unit that captures an image with parallax and a video display unit that displays an image with parallax captured by the imaging unit and causes the viewer to stereoscopically fuse it.

For example, as disclosed in Patent Document 1 below, the imaging unit generally has two imaging optical systems 51L and 51R for the left eye and the right eye, and is located at a position where observation on the observation target 52 is desired. An image with parallax is captured by adjusting the focus positions of the imaging optical systems for the left eye and the right eye. At this time, the focus positions PL and PR in the imaging optical systems 51L and 51R for the left eye and the right eye respectively coincide with the intersection point Q of the optical axes (see FIG. 13).
JP-A-8-201940

Also, various types of stereoscopic video display devices as video display units are known. For example, the following Patent Document 2 discloses a display device capable of observing a stereoscopic image without wearing an observation optical system or glasses having a shutter function on the face.
JP 2003-233031 A

In the video display device described in Patent Literature 2, left and right eye images are projected onto the display panel surface 54 by the left and right eye projection optical systems 53L and 53R, and the left and right eyes of the observer are projected. By condensing the left and right images at the positions of EL and ER, it is possible to perform stereoscopic observation by observing and fusing the condensed left and right images with parallax (see FIG. 14). ).
In this video display device, the optical axes of the left-eye and right-eye projection optical systems 53L and 53R intersect and reflect on the display panel surface 54. Then, the light of the left-eye and right-eye projection optical systems 53L and 53R reflected by the display panel surface 54 is condensed at the positions of the left and right eyes EL and ER of the observer. At this time, the focus positions PL and PR adjusted to the position where observation on the observation target imaged by the imaging unit is desired are reproduced on the display panel surface 54.

  On the other hand, conventionally, in a neurosurgery or the like, a surgical microscope is used to perform a magnified observation of a fine surgical site. Since organs composed of fine tissues such as the brain are difficult to identify with the naked eye, the organs are treated under a microscope. Moreover, in neurosurgery, not only observation of these very important and sensitive tissues such as blood vessels and nerves in a very narrow area, but also connecting blood vessels and nerves, avoiding blood vessels and nerves. In order to perform a treatment such as removing a tumor, it is important to enable stereoscopic observation. In such a medical environment, for example, as shown in FIG. 15, many observation objects such as a surgical part of the brain have a hole shape and a deep shape.

  Here, the case where this operation part is observed with the stereoscopic observation apparatus as described above is considered. When imaging is performed with the focus positions PL and PR aligned with the bottom of the hole in the surgical site, an image in front of the bottom surface of the hole in the surgical site is reproduced in front of the position of the display panel surface 54 as shown in FIG. Will be.

  In general, the parallax of the left-eye and right-eye images projected on the display panel has a limit that can be fused with the left and right eyes of the observer. The amount of parallax at a position away from the surface of the desired depth position (focus surface) in the observation target with the focus position in the depth direction increases as the distance from the focus surface increases. For this reason, in the three-dimensional space reproduced on the display panel, the space can be limited by the amount of parallax that becomes the fusion limit. When the fusion limit of the amount of parallax on the display panel surface is made to correspond to the space reproduced with respect to the display panel surface to be displayed, it is as shown in FIG.

  As shown in FIG. 17, in the conventional stereoscopic observation apparatus described above, when a hole-like surgical part is observed, the surgical part is reproduced only in front of the display panel 54. ) Cannot be used effectively. In addition, when a deep hole that reaches the deep part of the brain is observed, the vicinity of the entrance of the hole is reproduced at a position that exceeds the fusion limit. Cause.

Further, in the stereoscopic observation apparatus, when the electronic zoom is applied while observing a deep observation target, the left and right eye imaging optical systems captured by the imaging unit are separated from the focus position. The amount of parallax on the display panel surface to be observed increases in accordance with the electronic zoom, making it difficult for the observer to fuse.
In order to prevent this, conventionally, for example, as disclosed in the following Patent Document 3, the distance between the observation target and the focal position is calculated, and the position of the display image is moved easily according to the distance. There has been proposed a stereoscopic imaging apparatus capable of performing fusion.
JP 09-37302 A

  However, the electronic zoom such as the stereoscopic observation device disclosed in Patent Document 3 has a low resolution. However, when performing precise work such as surgery, it is required to be able to observe at high resolution. For this reason, in the conventional stereoscopic observation apparatus, there is a problem that it is not possible to perform a precise work even if magnified observation is performed using an electronic zoom like the stereoscopic observation apparatus disclosed in Patent Document 3.

  The present invention has been made in view of the above problems, and even if the site desired to be observed is a narrow hole-like region, the fusion possible range can be used effectively, and the fatigue given to the observer is reduced as much as possible. An object of the present invention is to provide a medical stereoscopic observation apparatus capable of stereoscopically observing a high-resolution magnified image.

  In order to achieve the above object, a medical stereoscopic observation apparatus according to the present invention includes an objective optical system, a variable magnification optical system, and an imaging optical system for enlarging an operation part and capturing an image as a stereoscopically observable image. In a medical stereoscopic observation apparatus that includes an imaging optical system for the left eye and an imaging optical system for the right eye that includes an imaging device, the intersection of the optical axes of the two imaging optical systems is desired to be observed on a deep observation object The focus position of the two imaging optical systems is positioned closer to the object side than the intersection of the optical axes of the two imaging optical systems at low magnification. In addition, the respective focus positions of the two imaging optical systems are linked to the magnification by the magnification optical system, and the intersection of the optical axes of the two imaging optical systems and the 2 at the time of the low magnification. Focus position of each imaging optical system With a predetermined amount of movement between, and is characterized in that so as to be positioned at a predetermined depth position of desired observation in the observation object with the depth.

  The medical stereoscopic observation apparatus of the present invention further includes an intersection position moving means for moving the intersection of the optical axes of the two imaging optical systems to the object side in conjunction with the magnification of the magnification optical system. Is preferred.

  Further, in the medical stereoscopic observation apparatus of the present invention, the intersection position moving means is caused by the movement of the focus position of each of the two imaging optical systems interlocked with the zooming of the zooming optical system. It is preferable to move the intersection of the optical axes of the two imaging optical systems so as to cancel out a deviation from a predetermined depth position where observation is desired on an object to be observed.

In the medical stereoscopic observation apparatus of the present invention, the angle at which the optical axes of the two imaging optical systems intersect in the first variable magnification state is θ, and the 2 from the respective focus positions of the two imaging optical systems. The distance on the optical axis to the intersection of the optical axes of the two imaging optical systems is l, the magnification of each variable magnification optical system of the two imaging optical systems is β, and the second is different from the first variable magnification state. The angle at which the optical axes of the two imaging optical systems intersect in the variable magnification state is θ ′, and the optical axis from the focus position of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems Is 1 ′, and the magnification of each variable magnification optical system of the two imaging optical systems is β ′, the respective focus positions of the two imaging optical systems satisfy the following formula, It is preferable to move in conjunction with zooming of the zooming optical system.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)

  Further, in the medical stereoscopic observation apparatus of the present invention, the imaging optical system movement for moving the imaging optical system along the optical axis of the imaging optical system in conjunction with the zooming of the zooming optical system. It is preferable to have a means.

In the medical stereoscopic observation apparatus of the present invention, the angle at which the optical axes of the two imaging optical systems intersect in the first variable magnification state is θ, and the 2 from the respective focus positions of the two imaging optical systems. The distance on the optical axis to the intersection of the optical axes of the two imaging optical systems is l, the magnification of each variable magnification optical system of the two imaging optical systems is β, and the second is different from the first variable magnification state. The angle at which the optical axes of the two imaging optical systems intersect in the variable magnification state is θ ′, and the optical axis from the focus position of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems Is 1 ′, and the magnification of each variable power optical system of the two imaging optical systems is β ′, the imaging optical system moving means satisfies the following expression while the two imaging optical systems Each focus position of the system is moved in conjunction with the zooming of the zooming optical system. It is preferred.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)

  Further, in the medical stereoscopic observation apparatus of the present invention, the intersection position moving means moves the two imaging optical systems to each of the two imaging optical systems in conjunction with zooming of the zooming optical system. It is preferable to move along a straight line connecting the focus positions.

In the medical stereoscopic observation apparatus of the present invention, the angle at which the optical axes of the two imaging optical systems intersect in the first variable magnification state is θ, and the 2 from the respective focus positions of the two imaging optical systems. The distance on the optical axis to the intersection of the optical axes of the two imaging optical systems is l, the magnification of each variable magnification optical system of the two imaging optical systems is β, and the second is different from the first variable magnification state. The angle at which the optical axes of the two imaging optical systems intersect in the variable magnification state is θ ′, and the optical axis from the focus position of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems Is 1 ′, and the magnification of each variable power optical system of the two image pickup optical systems is β ′, the two image pickup optical systems satisfy the following expression while satisfying the following expression: It is preferable to move in conjunction with zooming.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)

  In the medical stereoscopic observation apparatus of the present invention, it is preferable that the angle at which the optical axes of the two imaging optical systems intersect is fixed at a constant magnification from low to high magnification.

  Further, in the medical stereoscopic observation apparatus of the present invention, the intersection position moving means is on the optical axis up to the intersection of the observation optical axes of the two imaging optical systems corresponding to the magnification of the magnification optical system. When the distance l moves to l ′, it is preferable to move the position of the intersection of the optical axes of the two imaging optical systems by (l−1 ′) cos θ / 2.

  According to the present invention, even if the site desired to be observed is a narrow hole-like region, the fusion possible range can be used effectively, and fatigue given to the observer can be reduced as much as possible, and a high-resolution enlarged image can be obtained. A medical stereoscopic observation apparatus capable of stereoscopic observation is obtained.

As described above, in the conventional stereoscopic observation apparatus, when observing an observation target having a hole-like shape, such as a surgical part, an area within the fusion limit range cannot be effectively used.
Therefore, the applicant of the present invention firstly makes effective use of the area within the fusion limit range when the observation target has a hole-like shape so that the observer can always easily perform stereoscopic observation. In order to make it possible, the following method as shown in FIG. 18 was examined.

  FIG. 18 shows the positional relationship between the focus position of the imaging optical system for the left eye and the right eye in the imaging unit, the intersection of the optical axes of these imaging optical systems and the observation target, and the observation image reproduced in the video display unit. It is explanatory drawing which shows the positional relationship with a display panel, (a) is the focus position of the imaging optical system for left eyes and right eyes in the imaging part of the conventional stereoscopic observation apparatus, and the optical axis of these imaging optical systems. (B) is the positional relationship between the observation image reproduced in (a) and the display panel, (c) is the focusing position of the imaging optics for the left and right eyes, and these. (D) shows the relationship between the observation image and the display panel that are captured and reproduced by the imaging unit in the state of (c). The positional relationship is shown. In FIG. 18C, m is the intersection of the optical axes of the left-eye and right-eye imaging optical systems from the principal point of the objective lens located closest to the observation target in the left-eye and right-eye imaging optical systems. The distance to Q, M, indicates the distance (focal length) from the principal point of the objective lens to the respective focal points of the left-eye and right-eye imaging optical systems. FIG. 19 is an explanatory diagram showing the positional relationship between the focus position of the image reproduced on the display panel having the same configuration as that of FIG. 18C and the range where the fusion is easy and easy to see.

  As shown in FIGS. 18C and 18D, the focus positions PL and PR of the imaging optical systems for the left eye and the right eye are shifted from the intersection Q of the optical axes of the imaging optical system toward the observation target ( In other words, when M> n, the focused portion of the observation target is always reproduced on the back side of the display surface of the display panel. For this reason, as shown in FIG. 19, it is possible to make maximum use of the range in which fusion is easy and easy to see for the display panel.

  However, as shown in FIG. 18 (c), in the imaging unit, the focal positions PL and PR of the left-eye and right-eye imaging optical systems are observed from the intersection Q of the optical axes of these two imaging optical systems. When the configuration is shifted to the target side, zooming is performed via the left-eye and right-eye imaging optical systems around the focus positions PL and PR of the left-eye and right-eye imaging optical systems. It will be. Here, considering the case where the magnification is changed from low magnification to high magnification, as shown in FIG. 20B, the focus positions PL and PR of the two imaging optical systems on the observation target side do not change in the display unit. The image projected on the display panel surface is enlarged, and the image to be observed is reproduced outside the range where fusion is easy and easy to see. For this reason, the amount of parallax between the image for the left eye and the image for the right eye on the display panel surface increases, exceeds the fusion limit, and causes a problem that the observer becomes extremely tired.

  Therefore, in the case of observing a narrow hole area, the applicant of the present application determines the focal position of the left and right imaging optical systems as the intersection of the optical axes of the imaging optical systems in order to effectively use the fusion possible range. To achieve the medical stereoscopic observation apparatus of the present invention so that the observer can easily perform stereoscopic observation without fatigue even when zooming is performed as a configuration shifted to the observation object side. It came.

  That is, the medical stereoscopic observation apparatus of the present invention includes an objective optical system, a variable magnification optical system, an imaging optical system, and an imaging device for enlarging an operation part and capturing an image as a stereoscopically observable image. In a medical stereoscopic observation apparatus having an imaging optical system for the left eye and an imaging optical system for the right eye, the intersection of the optical axes of the two imaging optical systems is a predetermined depth for which observation with a deep observation object is desired. The focus position of the two imaging optical systems is positioned on the object side with respect to the intersection of the optical axes of the two imaging optical systems at the time of low magnification. The focus positions of the two image pickup optical systems are linked with the magnification change by the magnification change optical system, and the intersection of the optical axes of the two image pickup optical systems and the two image pickup optical systems at the time of low magnification. Move a certain amount between each focus position Rutotomoni, and were to be positioned at a predetermined depth position of desired observation in the observation object with the depth.

In this way, since the focal positions of the left and right imaging optical systems are shifted to the observation target side from the intersection of the optical axes of the imaging optical systems, fusion is possible when observing a narrow hole-like region. The range can be used effectively. Moreover, even when zooming is performed, the focus positions of the two imaging optical systems are linked to the zooming by the zooming optical system, and the intersection of the optical axes of the two imaging optical systems and the low Since it is moved by a predetermined amount between the respective focus positions of the two image pickup optical systems at the time of magnification, it is positioned at a predetermined depth position where observation on the object to be observed with a depth is desired. Even if the image projected on the panel surface is enlarged, the image to be observed can be reproduced within the range where the fusion is easy and easy to see, and the parallax between the image for the left eye and the image for the right eye on the display panel surface The amount can be kept within a range not exceeding the fusion limit.
Therefore, according to the medical stereoscopic observation apparatus of the present invention, the range in which fusion can be performed can be used effectively, and even when zooming is performed, the observer can easily perform stereoscopic observation without fatigue.

Hereinafter, the configuration and operational effects of the present invention described above will be described in detail using embodiments.
First Embodiment FIG. 1 is an explanatory view showing a basic configuration common to the medical stereoscopic observation apparatus of each embodiment of the present invention, and FIG. 2 is for the left eye and right used in the medical stereoscopic observation apparatus of the first embodiment. Optical structure of imaging optical system for eye and position of each optical member at low magnification, intersection of optical axes on observation side in imaging optical system for left eye and right eye, left eye and right eye with respect to focus surface It is explanatory drawing which shows each focus position of the imaging optical system for use. FIG. 3 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the first embodiment, the position of each optical member at the time of high magnification, and the imaging optics for the left eye and right eye. It is explanatory drawing which shows each intersection position of the optical axis by the side of the observation target in a system, and each focus position of the imaging optical system for left eyes and right eyes with respect to a focus surface. FIG. 4 is a diagram illustrating the focus positions of the left-eye and right-eye imaging optical systems by zooming in the medical stereoscopic observation apparatus of the first embodiment, and the positions of the intersections of the optical axes of the two imaging optical systems. (A) is the position at low magnification, (b) is the focal position on the left and right optical axes due to zooming (at high magnification) relative to the position of the intersection of the optical axes of the two imaging optical systems The moved state, (c) shows the position at high magnification. FIG. 5 is an explanatory diagram showing the relationship between the displayed panel surface and the reconstructed surgical part in the medical stereoscopic observation apparatus of the first embodiment, (a) is a state at low magnification, and (b) is The state at the time of high magnification is shown.

The medical stereoscopic observation apparatus of the present invention includes a stereoscopic image capturing apparatus 1 and a stereoscopic image display apparatus 2.
The stereoscopic image capturing apparatus 1 includes a mirror unit 11 including an imaging optical system for capturing left-eye and right-eye images, and a movably supported mirror unit 11, for example, an articulated arm. The support means 12 is provided.
The left-eye and right-eye imaging optical systems include an objective optical system, a variable magnification optical system, an imaging optical system, and an imaging device (not shown in FIG. 1), and are used for observing an observation target such as an operation site. It is configured to take an image as an electronic image that can be enlarged and observed three-dimensionally.

  The stereoscopic image display device 2 includes left-eye and right-eye image projectors 21L and 21R for projecting left-eye and right-eye images captured via the stereoscopic image imaging device 1, and displays. A support means 23 such as an articulated arm is provided for movably supporting the panel 22, the image projectors 21L and 21R, and the display panel 22.

The left-eye and right-eye image projectors 21L and 21R each incorporate a projection optical system (not shown) having an image display element and a projection lens. The emission optical axes OL and OR are arranged so as to coincide with the center S of the display surface of the display panel 22, and the observation images from the left-eye and right-eye image projectors 21L and 21R are arranged. Are matched and projected onto the display panel 22.
The display panel 22 includes, for example, a Fresnel concave mirror and a diffusion plate (not shown).
Then, the exit pupil of the projection optical system of the left-eye and right-eye image projectors 21L and 21R causes the display surface of the display panel 22 by the lens action of the Fresnel concave mirror of the display panel 22 and the light diffusion action of the diffusion plate. It is enlarged to a position away from the center S by a predetermined distance, and is formed in a state separated into left and right.
Then, the left and right eyes EL and ER of the observer (operator) D enter the left and right exit pupils, so that the left eye EL of the observer D watching the display panel 22 has a reflected optical axis. An observation image from the left-eye image projector 21L is guided around WL, and an observation image from the right-eye image projector 21R around the reflected optical axis WR is centered on the right eye ER of the observer D. Led.
As a result, the observation images projected on the display panel 22 from the left-eye and right-eye image projectors 21L and 21R are 3D (stereoscopically observed) by the observer D.
These configurations are common in each embodiment.

As shown in FIG. 2, the medical stereoscopic observation apparatus according to the first embodiment includes one objective optical system 11 a common to the left and right eyes, and a left eye for the left and right eyes inside a mirror unit 11 in the stereoscopic image capturing apparatus 1. And two variable magnification optical systems 11bL and 11bR for the right eye, two imaging optical systems 11cL and 11cR for the left eye and right eye, and two imaging elements 11dL and 11dR for the left eye and right eye An objective lens holding member 11e, variable magnification lens holding members 11f1 and 11f2, a guide member 11g, an objective lens guide shaft 11h, variable magnification lens guide shafts 11i and 11j, a cam shaft 11k, and a motor 11l. is doing.
The objective optical system 11a, the left-eye variable magnification optical system 11bL, the left-eye imaging optical system 11cL, and the left-eye imaging element 11dL constitute the left-eye imaging optical system 11L. The left-eye imaging optical system 11R is configured by the system 11a, the right-eye variable magnification optical system 11bR, the right-eye imaging optical system 11cR, and the right-eye imaging element 11dR.
Further, the variable magnification optical systems 11bL and 11bR, the imaging optical systems 11cL and 11cR, and the imaging elements 11dL and 11dR for the left eye and the right eye are light on the imaging side parallel to the central optical axis O1 of the objective optical system 11a. Arranged on axes O2 and O3.

The objective optical system 11a is composed of a convex lens and has a function of emitting incident light as parallel light.
The variable magnification optical systems 11bL and 11bR for the left eye and the right eye are configured to include lens groups 11bL1, 11bL2, 11bR1, 11bR2, 11bL3, and 11bR3, respectively.
The imaging optical systems 11cL and 11cR for the left eye and the right eye are each composed of an imaging lens. The left-eye and right-eye imaging optical systems 11cL and 11cR have a function of forming an observation image of the surgical site on the left-eye and right-eye imaging elements 11dL and 11dR.
The left-eye and right-eye imaging devices 11dL and 11dR are composed of a CCD or the like.

The objective lens holding member 11e holds the objective optical system 11a.
The variable magnification lens holding member 11f1 holds the second lens groups 11bL2 and 11bR2 for the left eye and the right eye. The variable power lens holding member 11f2 holds the third lens groups 11cL3 and 11cR3 for the left eye and the right eye.
The guide member 11g is composed of a rod-like member arranged in parallel with the optical axes 1, O2, and O3 on the imaging side of the objective optical system 11a. The guide member 11g is provided at a hole 11ea provided at one end of the objective lens holding member 11e, a hole 11f1a provided at one end of the variable magnification lens holding member 11f1, and one end of the variable magnification lens holding member 11f2. The objective lens holding member 11e, the objective lens held by the variable magnification lens holding members 11f1 and 11f2, and the variable magnification lens are inserted into the hole 11f2a along the central optical axis O1 of the objective optical system 11a (here, (In parallel).

The guide shafts 11h, 11i, and 11j are fixed to the other end portion 11eb of the objective lens holding member 11e and the other end portions 11f1b and 11f2b of the variable magnification lens holding members 11f1 and 11f2, respectively. The guide grooves 11k1, 11k2, and 11k3 provided in 11k are respectively inserted into predetermined portions. When the cam shaft 11k rotates, it is guided in a predetermined direction through the guide grooves 11k1, 11k2, and 11k3, and in combination with the guide member 11g, the objective lens holding member 11e and the variable power lens holding member 11f1 and 11f2 have a function of transmitting a force for moving (in parallel here) the central optical axis O1 of the objective optical system 11a.
The guide grooves 11k1, 11k2, and 11k3 respectively move the objective lens holding member 11e and the variable magnification lens holding members 11f1 and 11f2 by a predetermined amount in a predetermined direction (a direction to be observed, that is, a direction approaching or moving away from an operation target). Is formed in a spiral shape in a predetermined direction at a predetermined angle.
The motor 11l is configured to rotate the cam shaft 11k.
Then, by driving the motor 11l, the second and third lens groups 11bL2, 11bL3, 11bR2, and 11bR3 of the variable magnification optical systems 11bL and 11bR and the objective optical system 11a are parallel to the central optical axis O1 of the objective optical system 11a. The magnification is changed and the focus position is adjusted by a fixed amount of movement.

  The optical axes O2a and O3a on the observation target side of the imaging optical systems 11L and 11R for the left eye and the right eye intersect on the imaging side with respect to the focus plane in the observation target (the position where the observer desires to observe in the surgical site). is doing. In addition, the focus positions PL and PR of the two image pickup optical systems 11L and 11R are linked to the magnification change via the magnification change optical systems 11bL and 11bR, and the observation side of the two image pickup optical systems 11L and 11R It moves between the intersection point Q of the optical axes O2a and O3a and the focus positions PL0 and PR0 at the time of low magnification. The focus positions PL and PR are always located on the focus surface during zooming.

This point will be described in detail with reference to FIGS.
FIG. 2 shows a state at low magnification. The intersection Q of the optical axes on the observation target side in the imaging optical systems 11L and 11R for the left eye and the right eye is located on the imaging side with respect to the focal plane in the observation target. Further, the focus positions PL and PR of the left and right imaging optical systems 11L and 11R at this time are respectively located at predetermined positions PL0 and PR0 on the focus surface.
In this state, when the surgeon pushes a zoom switch (not shown), the motor 11l is driven to rotate the cam shaft 11k, and the guide shafts 11h, 11i, and 11j are moved in predetermined directions via the guide grooves 11k1, 11k2, and 11k3. As shown in FIG. 3, the second and third lens groups 11bL2, 11bL3, 11bR2, and 11bR3 in the objective optical system 11a and the variable magnification optical systems 11bL and 11bR are solid lines from the position of the broken line at low magnification. Move to the indicated position.

Here, let us consider a case where the magnification is changed by moving only a normal magnification-changing optical system. In that case, only the magnification is increased without changing the focus position at the time of low magnification. Then, as shown in FIG. 20, the amount of parallax between the image for the left eye and the image for the right eye tends to be too large to be fused.
On the other hand, in the medical stereoscopic observation apparatus of the first embodiment, as described above, the focus of each of the two imaging optical systems 11L and 11R is interlocked with the zooming via the zooming optical systems 11bL and 11bR. The positions PL and PR move between the intersection point Q of the optical axes O2a and O3a on the observation target side in the two imaging optical systems 11L and 11R and the focus positions PL0 and PR0 at the time of low magnification. The focus positions PL and PR are always located on the focus surface during zooming. For this reason, the amount of parallax on the display panel surface can be kept in a range where fusion is possible.

The relationship between the magnification and the focus position at the time of zooming will be described. The magnification at low magnification shown in FIG. 2 is β, the distance from the intersection point Q of the optical axes O2a, O3a on the observation object side in the two imaging optical systems 11L, 11R to l, and the high magnification shown in FIG. The magnification at this time is β ′, and the distance from the intersection point Q of the optical axes O2a, O3a on the observation object side in the two imaging optical systems 11L, 11R to the focal plane is l ′. If the angle at which the two optical axes O2a and O3a intersect is θ, the angle θ is constant regardless of zooming in the medical stereoscopic observation apparatus of the first embodiment. At this time, the following equation holds.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ / 2)
In the medical stereoscopic observation apparatus according to the first embodiment, the crossing point Q of the optical axes O2a and O3a on the observation object side in the two imaging optical systems 11L and 11R is set on the observation object side in the magnification from low magnification to high magnification. By moving, the focus positions PL and PR are always located on the focus surface.

The operation of adjusting the focus position by this zooming will be described in more detail with reference to FIGS.
In the low magnification state shown in FIG. 2, the focus positions PL and PR of the imaging optical systems 11L and 11R for the left eye and the right eye are the positions PL0, PL on the focus plane as shown in FIG. Located at PR0. When zooming from this state to a high magnification as shown in FIG. 3, the focus positions PL and PR move to predetermined positions PL1 and PR1 approaching the intersection point Q from the focus surface as shown in FIG. 4B. . As a result, it is possible to reproduce the image to be observed while maintaining the parallax amount on the panel surface at a fixed amount that can be fused. However, if the focus position is shifted before the focus surface, the observation image at the depth position where observation is desired is blurred. Therefore, in order to prevent the blur of the image, as shown in FIG. 4C, simultaneously with the zooming operation from low magnification to high magnification, as shown in FIG. By moving the objective optical system 11a to the observation target side, the focus positions PL and PR are brought into the focus plane while maintaining the relative positional relationship between the intersection point Q and the focus positions PL1 and PR1 shown in FIG. Match.
In order to eliminate this image blur, in the first embodiment, only the objective optical system 11a is moved in conjunction with zooming via the zooming optical systems 11bL and 11bR. You may make it move the whole.

A reproduction state on the display panel 22 of the image captured by changing the magnification from low magnification to high magnification will be described.
It is assumed that an image of the surgical site captured at the low magnification shown in FIG. 4A and reproduced on the surface of the display panel 22 is FIG. 5A. As shown by the solid line in FIG. 5 (b), the image of the surgical site taken at the high magnification shown in FIG. 4 (c) has the same focus position as that at the low magnification and the focus at the low magnification. Enlarged and reproduced in a state that matches the surface.
For this reason, according to the medical stereoscopic observation apparatus of the first embodiment, the captured left-eye and right-eye images can be displayed in the range of the fusion limit, even if the magnification of magnification during imaging is different. The image can be reproduced on the surface of the display panel 22 while being held inward, and the observer can easily fuse and observe.

  Further, according to the medical stereoscopic observation apparatus of the first embodiment, even if the objective optical system 11a is moved, the intersection angle of the optical axes O2 and O3 on the observation target side in the two imaging optical systems 11L and 11R does not change. An observation image with a constant stereoscopic effect can be obtained regardless of the change in magnification.

Second Embodiment FIG. 6 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the second embodiment of the present invention, the position of each optical member at low magnification, and the left It is explanatory drawing which shows each intersection position of the optical axis by the side of observation in the imaging optical system for eyes and the right eye, and each focus position of the imaging optical system for left eyes with respect to a focus surface. FIG. 7 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the second embodiment, the position of each optical member at low magnification, and imaging for the left eye and right eye. It is explanatory drawing which shows each intersection position of the optical axis by the side of the observation target in an optical system, and each focus position of the imaging optical system for left eyes and right eyes with respect to a focus surface.

  In the medical stereoscopic observation apparatus of the second embodiment, the objective optical system 11a inside the mirror unit 11 in the stereoscopic image capturing apparatus 1 is configured by a concave lens and has a function of emitting incident light as diverging light. ing. Further, the variable magnification optical systems 11bL and 11bR, the imaging optical systems 11cL and 11cR, and the imaging elements 11dL and 11dR for the left eye and the right eye are on the imaging side inclined with respect to the central optical axis O1 of the objective optical system 11a. Arranged on the optical axes O2 ′ and O3 ′. The objective optical system 11a, the left-eye variable magnification optical system 11bL, and the right-eye variable magnification optical system 11bR each include a guide, a guide shaft, a cam, a motor, and an encoder.

The objective optical system guide member 11ag is composed of a rod-shaped member disposed in parallel with the central optical axis O1 of the objective optical system 11a. The objective optical system guide member 11ag is inserted into a hole 11ea provided at one end of the objective lens holding member 11e, and the objective lens held in the objective lens holding member 11e is inserted into the central optical axis of the objective optical system 11a. It is comprised so that it can guide in parallel along O1.
The objective optical system guide shaft 11h is fixed to the other end portion 11eb of the objective lens holding member 11e, and the free end is fitted into a predetermined portion of the objective optical system guide groove 11ak1 provided in the objective optical system cam shaft 11ak. When the objective optical system cam shaft 11ak rotates, it is guided in a predetermined direction via the objective optical system guide groove 11ak1, and together with the objective optical system guide member 11ag, the objective lens holding member 11e has a function of transmitting a force for moving the lens 11e in parallel along the central optical axis of the objective optical system 11a.
The objective optical system guide groove 11ak1 moves the objective lens holding member 11e in a predetermined direction at a predetermined angle so that the objective lens holding member 11e can be moved by a predetermined amount in a predetermined direction (direction to be observed or moved away from the surgical site). It is formed in a spiral shape.
The objective optical system motor 11al is configured to rotate the objective optical system cam shaft 11ak.
The objective optical system encoder 11am is configured to detect the amount of rotation of the objective optical system cam shaft 11ak driven by the objective optical system motor 11al. The rotation amount signal detected by the objective optical system encoder 11am is fed back to a control unit (not shown), and is used for control such as driving stop of the objective optical system motor 11al, for example.

  The left-eye and right-eye variable magnification lens guide members 11gL and 11gR are configured by rod-like members arranged in parallel to the optical axes O2 'and O3' on the imaging side of the objective optical system 11a, respectively. The left-eye and right-eye zoom lens guide members 11gL and 11gR are respectively provided with holes 11f1aL and 11f1aR provided at one ends of the left-eye and right-eye zoom lens holding members 11f1L and 11f1R, and the left eye. And through the holes 11f2aL and 11f2aR provided at one end of the zoom lens holding members 11f2L and 11f2R for the right and right eyes, and the zoom lens holding members 11f1L, 11f2L, 11f1R and 11f2R for the left and right eyes. The left-eye and right-eye zoom lenses that are held are respectively optical axes of the left-eye and right-eye zoom optical systems 11bL and 11bR (here, optical axes O2 ′ and O3 on the imaging side of the objective optical system 11a). It is configured so that it can be guided along.

  The left-eye and right-eye zoom lens guide shafts 11iL, 11jL, 11iR, and 11jR are the left-eye and right-eye zoom lens holding members 11f1L, 11f2L, 11f1R, and 11f2R, and the other end portions 11f1bL, 11f2bL, 11f1bR, 11f2bR is fixed to the left-eye and right-eye zoom lens drive cam shafts 11kL and 11kR, and the left-eye and right-eye zoom lens guide grooves 11k2L, 11k3L, 11k2R, Each is inserted into a predetermined part of 11k3R. When the left-eye and right-eye zoom lens drive cam shafts 11kL and 11kR rotate, the left-eye and right-eye zoom lens guide grooves 11k2L, 11k3L, 11k2R, and 11k3R guide in a predetermined direction. Thus, in combination with the left-eye and right-eye zoom lens guide members 11gL and 11gR, the left-eye and right-eye zoom lens holding members 11f1L, 11f2L, 11f1R, and 11f2R are used for the left eye. And a function of transmitting a force to move along the optical axes of the variable magnification optical systems 11bL and 11bR for the right eye (which coincide with the optical axes O2 ′ and O3 ′ on the imaging side of the objective optical system 11a). I have.

The left-eye and right-eye zoom lens guide grooves 11k2L, 11k3L, 11k2R, and 11k3R move the left-eye and right-eye zoom lens holding members 11f1L, 11f2L, 11f1R, and 11f2R in a predetermined direction (observation target, ie, surgery). It is formed in a spiral shape in a predetermined direction at a predetermined angle so as to move a predetermined amount in a direction approaching or moving away from the part.
The left-eye and right-eye zoom lens drive motors 11lL and 11lR are configured to rotate the left-eye and right-eye zoom lens drive cam shafts 11kL and 11kR.
The left-eye and right-eye zoom amount detection encoders 11mL and 11mR are the left-eye and right-eye zoom lens drive cam shafts 11kL driven by the left-eye and right-eye zoom lens drive motors 11L and 11lR. , 11 kR is detected.

  Then, the second and third lens groups 11bL2, 11bL3, 11bR2, 11bR3 of the variable magnification optical systems 11bL, 11bR are driven by driving the variable power lens drive motors 11lL, 11lR for left eye and right eye, and the objective optical system motor 11ak. The objective optical system 11a is moved by a predetermined amount along the respective optical axes O2 ′, O3 ′, O1, so that zooming and focus position adjustment are performed.

  The optical axes O2a ′ and O3a ′ on the observation target side of the imaging optical systems 11R and 11L for the left eye and the right eye are on the imaging side with respect to the focus plane in the observation target (the position where the observer desires to observe in the surgical site). Cross at. In addition, the focus positions PL and PR of the two image pickup optical systems 11L and 11R are linked to the magnification change via the magnification change optical systems 11bL and 11bR, and the observation side of the two image pickup optical systems 11L and 11R It moves between the intersection point Q of the optical axes O2a ′ and O3a ′ and the focus positions PL0 and PR0 at the time of low magnification. The focus positions PL and PR are always located on the focus surface during zooming.

FIG. 6 shows a state at low magnification. The intersection point Q of the optical axes O2a ′ and O3a ′ on the observation target side in the imaging optical systems 11L and 11R for the left eye and the right eye is located on the imaging side with respect to the focus plane in the observation target. Further, the focus positions PL and PR of the imaging optical systems 11L and 11R for the left eye and the right eye at this time are respectively located at predetermined positions PL0 and PR0 on the focus surface.
In this state, when the surgeon presses a zoom switch (not shown), the left-eye and right-eye zoom lens drive motors 11lL and 11lR are driven, and the left-eye and right-eye zoom lens drive cam shaft 11kL. , 11kR rotate, and the left-eye and right-eye zoom lens guide shafts 11iL, 11jL, 11iR, and 11jR pass through the left-eye and right-eye zoom lens guide grooves 11k2L, 11k3L, 11k2R, and 11k3R. As shown in FIG. 7, the second and third lens groups 11bL2, 11bL3, 11bR2, and 11bR3 in the variable magnification optical systems 11bL and 11bR move from the position indicated by the broken line to the position indicated by the solid line at the time of low magnification. To do. As a result, zooming is performed.

  At this time, the left-eye and right-eye zoom amount detection encoders 11mL and 11mR detect the rotation amounts of the left-eye and right-eye zoom lens drive cam shafts 11kL and 11kR and send signals to a control unit (not shown). Send as. The control unit calculates the amount of movement of the objective optical system 11a according to the input signal, calculates the number of rotations of the objective optical system motor 11al necessary for the calculated predetermined amount of movement, and calculates the number of rotations. The signal is transmitted to the objective optical system motor 11al. The objective optical system motor 11al is driven based on the transmitted rotation amount, the objective optical system cam shaft 11ak is rotated, and the objective optical system guide shaft 11h is moved in a predetermined direction via the objective optical system guide groove 11ak1, As shown in FIG. 7, the objective optical system 11a moves from the position indicated by the broken line to the position indicated by the solid line at the time of low magnification.

Here, the movement amount of the objective optical system 11a in the medical stereoscopic observation apparatus of the second embodiment can be obtained as follows.
Also in the medical stereoscopic observation apparatus of the second embodiment, the focus positions PL and PR of the two imaging optical systems 11L and 11R are two imaging opticals in conjunction with the magnification of the magnification optical systems 11bL and 11bR. It moves between the intersection Q of the optical axes O2a ′ and O3a ′ on the observation object side in the systems 11L and 11R and the focus positions PL0 and PR0 at the time of low magnification. The focus positions PL and PR are always located on the focus surface during zooming. For this reason, the amount of parallax on the display panel surface can be kept in a range where fusion is possible.

The relationship between the magnification and the focus position at the time of zooming will be described.
In the medical stereoscopic observation apparatus of the second embodiment, the variable magnification optical systems 11bL and 11bR, the imaging optical systems 11cL and 11cR, and the imaging elements 11dL and 11dR for the left eye and the right eye are the center light of the objective optical system 11a. They are arranged on the optical axes O2 ′ and O3 ′ on the imaging side inclined with respect to the axis O1. Therefore, the angle at which the optical axes O2a ′ and O3a ′ on the observation target side intersect in the imaging optical systems 11L and 11R for the left eye and the right eye changes according to the magnification by the magnification optical systems 11bL and 11bR. . For example, the magnification at the low magnification shown in FIG. 6 is β, the distance from the intersection point Q of the optical axes O2a ′ and O3a ′ on the observation object side in the two imaging optical systems 11L and 11R to the focal plane is l, The angle at which the optical axes O2a ′ and O3a ′ intersect is θ, the magnification at the time of high magnification shown in FIG. 7 is β ′, and the intersection of the optical axes O2a ′ and O3a ′ on the observation object side in the two imaging optical systems 11L and 11R The distance from Q to the focal plane is l ′ and the angle at which the two optical axes O2′a and O3a ′ intersect is θ ′. At this time, the following equation holds.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)
In the medical stereoscopic observation apparatus according to the second embodiment, the intersection point Q of the optical axes O2a ′ and O3a ′ on the observation target side in the two imaging optical systems 11L and 11R is set on the object side in the magnification from low magnification to high magnification. The focus positions PL and PR are always positioned on the focus surface.

The adjustment operation of the focus position by this zooming is the same as that described with reference to FIGS.
In the low magnification state shown in FIG. 6, the focus positions PL, PR of the imaging optical systems 11L, 11R for the left eye and the right eye are positions PL0, PL on the focus plane as shown in FIG. Located at PR0. When zooming from this state to high magnification as shown in FIG. 7, the focus positions PL and PR move to predetermined positions PL1 and PR1 approaching the intersection point Q from the focus surface as shown in FIG. 4B. . Thereby, it is possible to reproduce the image of the observation object while keeping the parallax amount on the panel surface constant so that the image can be fused. However, if the focus position is shifted before the focus surface, the observation image at the depth position where observation is desired is blurred. Therefore, in order to prevent the blur of the image, as shown in FIG. 4C, simultaneously with the zooming operation from low magnification to high magnification, as shown in FIG. By moving toward the observation target side of the objective optical system 11a, the focus positions PL, PR are brought into focus while maintaining the relative positional relationship between the intersection point Q and the focus positions PL1, PR1 shown in FIG. Match.
In order to eliminate this image blur, in the second embodiment, only the objective optical system 11a is moved in conjunction with zooming via the zooming optical systems 11bL and 11bR, but the encoders 11mL and 11mR are used. The entire mirror unit 11 may be moved in accordance with the output.
According to the medical stereoscopic observation apparatus of the second embodiment, the left eye and right eye imaging are performed by changing the relative positions of the lenses constituting the variable magnification optical systems 11bL and 11bR and the objective optical system 11a. The intersection angle of the optical axes O2a ′ and O3a ′ on the observation object side in the elephant optical systems 11L and 11R changes. Therefore, compared to the first embodiment, the amount of movement of the intersection point Q of the two optical axes with respect to the movement of the objective optical system 11a can be increased (the effect of the objective optical system 11a is increased), and the movement of the objective lens The amount can be reduced.

Third Embodiment FIG. 8 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the third embodiment of the present invention, the position of each optical member at low magnification, and the left It is explanatory drawing which shows each intersection position of the optical axis by the side of observation in the imaging optical system for eyes and the right eye, and each focus position of the imaging optical system for left eyes with respect to a focus surface. FIG. 9 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the third embodiment, the position of each optical member at high magnification, and the imaging optics for the left eye and right eye. It is explanatory drawing which shows each intersection position of the optical axis by the side of the observation target in a system, and each focus position of the imaging optical system for left eyes and right eyes with respect to a focus surface.

  In the medical stereoscopic observation apparatus of the third embodiment, the variable magnification optical system 11b inside the mirror unit 11 in the stereoscopic image capturing apparatus 1 is configured using a single zoom lens shared by the left eye and the right eye. . The left-eye and right-eye imaging optical systems 11cL and 11cR are held by the imaging lens holding member 11n. A guide member 11g is inserted through a hole 11na provided at one end of the imaging lens holding member 11n. An imaging lens guide shaft 11o is fixed to the other end portion 11nb of the imaging lens holding member 11n. An imaging lens guide groove 11k4 is formed on the cam shaft 11k, and a free end of an imaging lens guide shaft 11o fixed to the imaging lens holding member 11n is fitted therein. When the cam shaft 11k rotates, it is guided in a predetermined direction via the imaging lens guide groove 11k4, and together with the guide member 11g, the imaging optical system for the left eye and the right eye. 11cL and 11cR are configured to move along optical axes O2 and O3 on the imaging side of the objective optical system 11a.

Then, when zooming from low magnification to high magnification due to movement of the zoom optical system 11b, the focus positions PL and PR for the left eye and right eye are set to the optical axes O2a and O3a on the observation target side of the imaging optical systems 11R and 11L. The imaging optical systems 11cL and 11cR move so as to approach the intersection Q. The focus positions PL and PR are always located on the focus surface during zooming. In addition, in order to eliminate the image blur caused by the movement of the focus position, the objective lens 11a is configured to move in conjunction with the zooming of the zooming optical system 11b as in the first embodiment. That is, the medical stereoscopic observation apparatus according to the third embodiment is configured such that the imaging optical systems 11cL and 11cR and the objective optical system 11a move in conjunction with zooming.
According to the medical stereoscopic observation apparatus of the third embodiment, a normal single zoom can be used, the configuration can be simplified, and it is necessary to make adjustments to the zoom optical system for the left eye and the right eye. Other configurations and operational effects are almost the same as those of the medical stereoscopic observation apparatus of the first embodiment.

Fourth Embodiment FIG. 10 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the fourth embodiment of the present invention, the position of each optical member at the time of low magnification, the left It is explanatory drawing which shows each intersection position of the optical axis by the side of observation in the imaging optical system for eyes and the right eye, and each focus position of the imaging optical system for left eyes with respect to a focus surface. FIG. 11 shows the optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the fourth embodiment, the position of each optical member at the time of high magnification, and the imaging optics for the left-eye and right-eye. It is explanatory drawing which shows each intersection position of the optical axis by the side of the observation target in a system, and each focus position of the imaging optical system for left eyes and right eyes with respect to a focus surface. FIG. 12 is a side view of FIGS. 10 and 11, where (a) is a right side view and (b) is a left side view.

In the medical stereoscopic observation apparatus according to the fourth embodiment, the mirror part in the stereoscopic image capturing apparatus 1 is configured separately for the left eye and for the right eye.
Inside the left-eye mirror unit 11x are a left-eye objective optical system 11aL, a left-eye variable magnification optical system 11bL, a left-eye imaging optical system 11cL, a left-eye imaging element 11dL, Magnifying lens holding members for eyes 11f1L and 11f2L, a magnifying lens guide member for left eye 11gL, magnifying lens guide shafts for left eye 11iL and 11jL, a magnifying lens driving cam shaft for left eye 11kL, and a left eye The zoom lens drive motor 11lL for zooming and the encoder 11mL for zooming amount detection for the left eye are included. The left-eye objective optical system 11aL, the left-eye variable magnification optical system 11bL, the left-eye imaging optical system 11cL, and the left-eye image pickup device 11dL are included in the left-eye mirror unit. It is arranged on the central optical axis O2 ″ of the optical system 11aL.
Inside the right-eye mirror unit 11y are a right-eye objective optical system 11aR, a right-eye variable magnification optical system 11bR, a right-eye imaging optical system 11cR, a right-eye imaging element 11dR, and a right Ocular zoom lens holding members 11f1R, 11f2R, right-eye zoom lens guide members 11gR, right-eye zoom lens guide shafts 11iR, 11jR, right-eye zoom lens drive camshafts 11kR, and the right eye The zoom lens driving motor 11lR for zooming and the encoder 11mR for zooming amount detection for the right eye are provided. The right-eye objective optical system 11aR, the right-eye variable magnification optical system 11bR, the right-eye imaging optical system 11cR, and the right-eye image pickup device 11dR are used for the right eye inside the right-eye lens unit 11y. It is arranged on the central optical axis O3 ″ of the objective optical system 11aR.
The optical axes O2 ″ and O3 ″ are inclined at an equal angle (θ / 2) with respect to an imaginary line O1 ′ perpendicular to the focus plane. Accordingly, the left-eye imaging optical system 11L and the right-eye imaging optical system 11R are arranged to be inclined with respect to the line target with respect to the virtual line O1 ′.
Left-eye magnification lens holding members 11f1L and 11f2L, left-eye magnification lens guide members 11gL, left-eye magnification lens guide shafts 11iL and 11jL, left-eye magnification lens drive cam shafts 11kL, and left Detailed configuration of the eye variable lens driving motor 11lL, right eye variable lens holding members 11f1R and 11f2R, right eye variable lens guide members 11gR, and right eye variable lens guide shafts 11iR and 11jR The detailed configurations of the right-eye variable lens driving cam shaft 11kR and the right-eye variable lens driving motor 11lR are substantially the same as the configurations of the medical stereoscopic observation devices of the first to third embodiments.

In addition, racks 13L and 13R and guide holes 14L and 14R are provided outside the left-eye and right-eye mirror parts 11x and 11y, respectively. The racks 13L and 13R are engaged with pinions 16a of a motor 16 fixed to the support portion 15. Further, the guide holes 14La and 14Ra of the guide holes 14L and 14R are inserted with a rod-shaped guide member 17 fixed to the support portion 15 via a guide fixing portion 17a provided in a part of the guide holes 14La and 14Ra.
Further, the left-eye mirror part and the right-eye mirror part are arranged obliquely so that the incident optical axes of the built-in imaging optical systems are inclined with respect to the focus surface. ing.
The left-eye mirror unit 11x and the right-eye mirror unit 11y are driven by the motor 16 in conjunction with the zooming of the zooming optical systems 11bL and 11bR. , 13R, guide hole portions 14L, 14R, and guide 16 so as to move in parallel with the focus surface.

FIG. 10 shows a state at low magnification. The intersection point Q of the optical axes O2a ″ and O3a ″ on the observation target side in the imaging optical systems 11L and 11R for the left eye and the right eye is located at a predetermined position Q0 on the imaging side with respect to the focus plane in the observation target. Further, the focus positions PL and PR of the imaging optical systems 11L and 11R for the left eye and the right eye at this time are respectively located at predetermined positions PL0 and PR0 on the focus surface.
In this state, when the surgeon presses a zoom switch (not shown), the left-eye and right-eye zoom lens drive motors 11lL and 11lR are driven, and the left-eye and right-eye zoom lens drive cam shaft 11kL. , 11kR rotate, and the left-eye and right-eye zoom lens guide shafts 11iL, 11jL, 11iR, and 11jR pass through the left-eye and right-eye zoom lens guide grooves 11k2L, 11k3L, 11k2R, and 11k3R. As shown in FIG. 11, the second and third lens groups 11bL2, 11bL3, 11bR2, and 11bR3 in the variable magnification optical systems 11bL and 11bR move from the position indicated by the broken line to the position indicated by the solid line at the time of low magnification. To do. As a result, zooming is performed.

At this time, the left-eye and right-eye magnification detection encoders 11mL and 11mR detect the rotation amounts 11kL and 11kR of the left-eye and right-eye magnification lens drive camshafts and send signals to a control unit (not shown). Send as. The control unit calculates the movement amount of the left-eye and right-eye mirror units 11x and 11y according to the input signal, and calculates the number of rotations of the motor 16 necessary for the calculated predetermined amount of movement. Then, a signal of the calculated rotation speed is transmitted to the motor 16.
The motor 16 is driven based on the transmitted rotational speed, and the pinion 16a rotates. As a result, the left and right eye mirror parts 11x and 11y are placed on the focus surface via the racks 13L and 13R, the guide hole parts 14L and 14R, and the guide 17, as indicated by broken lines in FIG. Move in directions that approach each other in parallel. Then, the observation at the two imaging optical systems 11L and 11R is performed while keeping the angle at which the focus positions PL and PR intersect the imaging optical systems 11L and 11R for the left eye and the right eye constant (set to θ). The intersection point Q of the optical axes O2a ″ and O3a ″ on the object side moves to a position Q1 shifted by (l′−l) · cos (θ / 2) in the focus plane direction.
As a result, the focus positions PL and PR appear to have moved to a position that matches the focus plane with respect to the intersection point Q of the optical axes O2a ″ and O3a ″ on the observation object side in the two imaging optical systems 11L and 11R. .
Therefore, according to the medical stereoscopic observation apparatus of the fourth embodiment, the amount of parallax on the display panel surface can be maintained within a range where fusion can be performed without changing the focus position. Further, since it is not necessary to change the crossing angle of the optical axes O2a ″ and O3a ″ on the observation object side in the two imaging optical systems 11L and 11R, an observation image with a certain stereoscopic effect can be obtained. Since the parallax amount can be freely set while maintaining the focus position, the image presentation position can be freely set to a desired position.
Other configurations and operational effects are almost the same as those of the medical stereoscopic observation apparatus of the first embodiment.

  The medical stereoscopic observation apparatus of the present invention is particularly useful in the technical field using an observation apparatus that displays an enlarged observation image of an operation part used in neurosurgery, ophthalmology, orthopedic surgery, and the like.

It is explanatory drawing which shows a basic structure common to the medical stereoscopic observation apparatus of each embodiment of this invention. Optical configuration of left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the first embodiment, positions of optical members at low magnification, in left-eye and right-eye imaging optical systems It is explanatory drawing which shows each intersection position of the optical axis by the side of observation, and each focus position of the imaging optical system for left eyes and right eyes with respect to a focus surface. Optical configuration of left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the first embodiment, position of each optical member at high magnification, observation in left-eye and right-eye imaging optical systems It is explanatory drawing which shows each focus position of the imaging optical system for left eyes and right eyes with respect to the intersection of the optical axis of the object side, and a focus surface. It is explanatory drawing which shows each focus position of the imaging optical system for left eyes and right eyes by magnification change in the medical stereoscopic observation apparatus of 1st embodiment, and the position of the intersection of the optical axis of two imaging optical systems. , (A) is the position at low magnification, and (b) is the state where the focus position on the left and right optical axes has moved relative to the position of the intersection of the optical axes of the two imaging optical systems. , (C) shows the position at high magnification. In the medical stereoscopic observation apparatus of the first embodiment, it is an explanatory diagram showing the relationship between the displayed panel surface and the reconstructed surgical part, (a) is a state at low magnification, (b) is at high magnification Indicates the state. The optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the second embodiment of the present invention, the position of each optical member at low magnification, the left-eye and right-eye use It is explanatory drawing which shows each intersection position of the optical axis by the side of an observation target in an imaging optical system, and each focus position of the imaging optical system for left eyes with respect to a focus surface. Optical configuration of left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the second embodiment, positions of optical members at low magnification, and left-eye and right-eye imaging optical systems It is explanatory drawing which shows each intersection position of the optical axis by the side of observation, and each focus position of the imaging optical system for left eyes and right eyes with respect to a focus surface. The optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the third embodiment of the present invention, the position of each optical member at the time of low magnification, the left-eye and right-eye use It is explanatory drawing which shows each intersection position of the optical axis by the side of an observation target in an imaging optical system, and each focus position of the imaging optical system for left eyes with respect to a focus surface. Optical configuration of left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the third embodiment, position of each optical member at high magnification, observation in left-eye and right-eye imaging optical systems It is explanatory drawing which shows each focus position of the imaging optical system for left eyes and right eyes with respect to the intersection of the optical axis of the object side, and a focus surface. The optical configuration of the left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus according to the fourth embodiment of the present invention, the position of each optical member at the time of low magnification, the left-eye and right-eye use It is explanatory drawing which shows each intersection position of the optical axis by the side of an observation target in an imaging optical system, and each focus position of the imaging optical system for left eyes with respect to a focus surface. Optical structure of left-eye and right-eye imaging optical systems used in the medical stereoscopic observation apparatus of the fourth embodiment, position of each optical member at high magnification, observation in left-eye and right-eye imaging optical systems It is explanatory drawing which shows each focus position of the imaging optical system for left eyes and right eyes with respect to the intersection of the optical axis of the object side, and a focus surface. It is a side view of FIG.10 and FIG.11, (a) is a right view, (b) is a left view. It is explanatory drawing which shows the relationship between the focus position of two imaging optical systems in the imaging part of the stereoscopic observation apparatus described in patent document 1, and the intersection of an optical axis. It is a principle explanatory view of the three-dimensional observation in the video display device described in Patent Document 2. It is explanatory drawing which shows the operation part of a brain as an example of the observation object which carried out the hole-shaped and deep shape in neurosurgery etc. FIG. It is explanatory drawing which shows the reproduction position with respect to the display panel surface of the image of the observation object (surgical part) in the shape of a depth in the conventional stereoscopic observation apparatus. It is explanatory drawing which shows the fusion limit of the amount of parallax on the display panel surface in the conventional stereoscopic observation apparatus corresponding to the space reproduced with respect to the display panel surface displayed. The positional relationship between the focus position of the imaging optical system for the left eye and the right eye in the imaging unit of the stereoscopic observation apparatus, the intersection of the optical axes of these imaging optical systems, and the observation target, and the observation image reproduced in the video display unit (A) is the focus position of the imaging optical system for the left eye and the right eye in the imaging unit of the conventional stereoscopic observation apparatus, and the optical axis of these imaging optical systems (B) is the positional relationship between the observation image reproduced in (a) and the display panel, and (c) is the focus position of the imaging optical system for the left and right eyes. The positional relationship in the state where the relative position of the optical axis crossing position of these imaging optical systems is shifted, (d) is the observation image and display panel captured and reproduced by the imaging unit in the state (c) The positional relationship is shown. FIG. 19 is an explanatory diagram illustrating a positional relationship between a focus position of an image reproduced on a display panel having the same configuration as that of FIG. 18C and a range where fusion is easy and easy to see. FIG. 18C is an explanatory diagram showing changes in the positional relationship between the focus position of the image reproduced on the display panel and the range in which fusion is easy and easy to see in the configuration shown in FIG. ) Shows the positional relationship before zooming (at low magnification), and (b) shows the positional relationship after zooming (at high magnification).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Medical stereoscopic observation apparatus 2 Stereoscopic image display apparatus 11 Mirror part 11a Objective optical system 11ag Objective optical system guide member 11ak Objective optical system cam shaft 11ak1 Objective optical system guide groove 11al Objective optical system motor 11am Objective optical system encoder 11aL Left eye Objective Optical System 11aR Right Eye Objective Optical System 11bL Left Eye Variable Optical System 11bL1 Left Eye Variable Optical System First Lens Group 11bL2 Left Eye Variable Optical System Second Lens Group 11bL3 Left Eye Variable Optical System third lens group 11bR right-eye zoom optical system 11bR1 right-eye zoom optical system first lens group 11bR2 right-eye zoom optical system second lens group 11bR3 right-eye zoom optical system third lens group 11cL Imaging optical system for left eye 11cR Imaging optical system for right eye 11dL Imaging device for left eye 11dR Imaging device for right eye 11e Objective lens holding unit 11ea hole 11f1, 11f2 variable magnification lens holding member 11f1a, 11f2a hole 11f1b, 11f2b other end portion 11f1L, 11f2L variable magnification lens holding member for left eye 11f1aL, 11f2aL hole 11f1bL, 11f2bL right end variable lens 11f1R11 Holding member 11f1aR, 11f2aR Hole 11f1bR, 11f2bR Other end 11g Guide member 11gL Left eye variable lens guide member 11gR Right eye variable lens guide member 11h Objective lens guide shaft 11i, 11j Variable lens guide shaft 11iL, 11jL Left Zoom lens guide shaft for eye 11iR, 11jR Guide lens shaft for right eye 11k Cam shaft 11k1 (Objective lens guide shaft) Guide groove 11k2, 11k3 (Variable lens guide shaft) Guide groove 11k Zoom lens drive cam shaft for left eye 11k2L, 11k3L Variable lens guide groove for left eye 11kR Variable lens drive cam shaft for right eye 11k2R, 11k3R Variable lens guide groove for right eye 11k4 Imaging lens guide groove 11l Motor 11lL Magnification lens drive motor for left eye 11lR Magnification lens drive motor for right eye 11mL Enlargement amount detection encoder for left eye 11mR Enlargement amount detection encoder for right eye 11n Imaging lens holding member 11na Hole 11nb Other end 11o Imaging lens guide shaft 11x Left-eye lens unit 11y Right-eye lens unit 11L Left-eye imaging optical system 11R Right-eye imaging optical system 12 Support means (multi-joint arm)
13L Left-eye lens unit rack 13R Right-eye lens unit rack 14L Left-eye lens unit guide hole 14La Guide hole 14R Right-eye lens unit guide hole 14Ra Guide hole 15 Support unit 16 Motor 16a Pinion 17 Guide member 17a Guide fixing part 21L Image projector for left eye 21R Image projector for right eye 22 Display panel 23 Support means PL Focus position of observation target for left eye PR Focus position of observation target for right eye Q Imaging optics for left eye Intersection of the optical axis on the observation target side of the imaging optical system for the right eye and the system O1 Central optical axis of the objective optical system O1 ′ Virtual lines perpendicular to the focus plane O2, O3 Imaging side parallel to the central optical axis O1 Optical axis O2 ', O3' Optical axis O2 "of the imaging side inclined with respect to the central optical axis O1 Central optical axis O2a, O2a ', O2a" of the left-eye objective optical system Observation target of the left-eye imaging optical system Side Axis O3a, O3a ', O3a "optical axis of an observation target side of the right-eye image pickup optical system O3" right-eye objective optical system central optical axis of the

Claims (10)

An imaging optical system for the left eye and an imaging optical system for the right eye, including an objective optical system, a variable magnification optical system, an imaging optical system, and an imaging device, for enlarging the surgical part and capturing it as a stereoscopically observable image In a medical stereoscopic observation apparatus having a system,
The intersection of the optical axes of the two imaging optical systems is located on the imaging side with respect to a predetermined depth position where observation on a deep observation object is desired,
The focus positions of the two imaging optical systems are positioned on the object side with respect to the intersection of the optical axes of the two imaging optical systems at low magnification,
The focus positions of the two image pickup optical systems are linked with the magnification change by the magnification change optical system, the intersection of the optical axes of the two image pickup optical systems, and the two image pickup optical systems at the time of low magnification. The medical stereoscopic observation apparatus is characterized in that it is moved by a predetermined amount between each of the focus positions and is located at a predetermined depth position where the observation of the object to be observed having a depth is desired. .   2. The medical use according to claim 1, further comprising: an intersection position moving unit configured to move an intersection of optical axes of the two imaging optical systems to the object side in conjunction with zooming of the zoom optical system. Stereoscopic observation device.   A predetermined depth at which the intersection position moving means desires to observe the object to be observed having the depth, which is caused by movement of the focus position of each of the two imaging optical systems interlocked with the zooming of the zooming optical system. The medical stereoscopic observation apparatus according to claim 2, wherein an intersection of optical axes of the two imaging optical systems is moved so as to cancel out a deviation from the position. The angle at which the optical axes of the two imaging optical systems intersect in the first variable magnification state is θ, and the optical axis from the focus position of each of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems The upper distance is l, the magnification of each variable magnification optical system of the two imaging optical systems is β, and the light of the two imaging optical systems in the second variable magnification state having a magnification different from the first variable magnification state The angle at which the axes intersect is θ ′, the distance on the optical axis from the focus position of each of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems is l ′, and the two imaging optical systems When the magnification of each variable power optical system is β ′,
4. The focus position of each of the two imaging optical systems moves in conjunction with zooming of the zooming optical system while satisfying the following expression. 5. Medical stereoscopic observation device.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)   4. An image forming optical system moving means for moving the image forming optical system along an optical axis of the image forming optical system in conjunction with zooming of the variable power optical system. The medical stereoscopic observation apparatus according to any one of the above. The angle at which the optical axes of the two imaging optical systems intersect in the first variable magnification state is θ, and the optical axis from the focus position of each of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems The upper distance is l, the magnification of each variable magnification optical system of the two imaging optical systems is β, and the light of the two imaging optical systems in the second variable magnification state having a magnification different from the first variable magnification state The angle at which the axes intersect is θ ′, the distance on the optical axis from the focus position of each of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems is l ′, and the two imaging optical systems When the magnification of each variable power optical system is β ′,
The imaging optical system moving means moves the respective focus positions of the two imaging optical systems in conjunction with the zooming of the zooming optical system while satisfying the following expression. Item 6. The medical stereoscopic observation device according to Item 5.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)   The intersection position moving means moves the two imaging optical systems along a straight line connecting the respective focus positions of the two imaging optical systems in conjunction with zooming of the zooming optical system. The stereoscopic image observation apparatus for surgery according to claim 2. The angle at which the optical axes of the two imaging optical systems intersect in the first variable magnification state is θ, and the optical axis from the focus position of each of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems The upper distance is l, the magnification of each variable magnification optical system of the two imaging optical systems is β, and the light of the two imaging optical systems in the second variable magnification state having a magnification different from the first variable magnification state The angle at which the axes intersect is θ ′, the distance on the optical axis from the focus position of each of the two imaging optical systems to the intersection of the optical axes of the two imaging optical systems is l ′, and the two imaging optical systems When the magnification of each variable power optical system is β ′,
The medical stereoscopic observation apparatus according to claim 7, wherein the two imaging optical systems are moved in conjunction with zooming of the zooming optical system while satisfying the following expression.
l · β · sin (θ / 2) = l ′ · β ′ · sin (θ ′ / 2)   The medical use according to any one of claims 1 to 8, wherein an angle at which the optical axes of the two imaging optical systems intersect with each other is fixed in a variable magnification state from low magnification to high magnification. Stereoscopic observation device.   When the intersection position moving means moves the distance l on the optical axis to the intersection of the observation optical axes of the two imaging optical systems to l ′ corresponding to the magnification of the magnification optical system, the 2 The medical stereoscopic observation apparatus according to claim 9, which is dependent on claim 2, wherein the position of the intersection of the optical axes of the two imaging optical systems is moved by (l-1 ') cosθ / 2.

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