阅读说明：本技术 医疗观察设备 (Medical observation apparatus ) 是由 广瀬宪志 于 2019-01-30 设计创作，主要内容包括：[问题]提供一种医疗观察设备,能够在使用者使用该医疗观察设备时增强便利性。[解决方案]提供了一种医疗观察设备,配备有：臂,通过多个连杆经由关节彼此耦接而形成,并且该臂具有通过绕旋转轴的旋转移动而实现的至少三个自由度；成像装置,由臂支撑；以及臂控制单元,控制臂的操作。当臂的姿态处于规定状态时,并且当检测到使臂绕与第二轴和第三轴两者正交的旋转轴移动的规定输入时,臂控制单元使与第三轴相对应的连杆绕第三轴旋转,该第二轴是从支撑有成像装置的臂的一侧开始的第二旋转轴,第三轴是从支撑有成像装置的臂的一侧开始的第三旋转轴。([ problem ] to provide a medical observation apparatus capable of enhancing convenience when a user uses the medical observation apparatus. [ solution ] Provided is a medical observation apparatus equipped with: an arm formed by coupling a plurality of links to each other via joints, and having at least three degrees of freedom by rotational movement about a rotational axis; an imaging device supported by the arm; and an arm control unit controlling an operation of the arm. When the posture of the arm is in a prescribed state, and when a prescribed input to move the arm about a rotation axis orthogonal to both a second axis, which is a second rotation axis from the side of the arm on which the imaging device is supported, and a third axis, which is a third rotation axis from the side of the arm on which the imaging device is supported, is detected, the arm control unit rotates the link corresponding to the third axis about the third axis.)

1. A medical viewing device comprising:

an arm including a plurality of links connected to each other via joints, the arm having at least three or more degrees of freedom achieved by a rotational operation about a rotational axis;

an imaging device supported by the arm; and

an arm controller configured to control operation of the arm, wherein,

when the posture of the arm is in a predetermined state, and when a predetermined input for moving the arm about a rotation axis orthogonal to a second axis which is a second rotation axis from a side of the arm on which the imaging device is supported and a third axis which is a third rotation axis from the side of the arm on which the imaging device is supported is detected, the arm controller rotates one of the links corresponding to the third axis about the third axis.

2. The medical scope of claim 1, wherein,

the predetermined state is:

a state in which a first axis, which is a first rotation axis from the side of the arm on which the imaging device is supported, exists on a plane defined by the second axis and the third axis, or

The first axis exists on a plane parallel to the plane defined by the second and third axes.

3. The medical scope of claim 1 wherein the predetermined input is an external force applied to the arm, the external force being detected by a sensor configured to detect the external force.

4. The medical scope of claim 3 wherein the sensor is placed between a joint corresponding to a first axis and a joint corresponding to the second axis, the first axis being a first axis of rotation from the side of the arm on which the imaging device is supported.

5. The medical observation apparatus according to claim 1, wherein the predetermined input is an operation signal corresponding to an operation for an external operation device.

6. The medical scope of claim 1, wherein,

when the link corresponding to the third axis is rotated about the third axis, the arm controller controls the operation of the arm such that the orientation of the medical captured image captured by the imaging device after the rotation about the third axis and the orientation of the medical captured image captured by the imaging device before the rotation about the third axis are kept unchanged.

7. The medical scope apparatus according to claim 6 wherein the arm controller effects rotation about a first axis to counteract rotation of the medical captured image due to rotation about the third axis, the first axis being a first rotational axis from the side of the arm on which the imaging device is supported.

8. The medical scope of claim 1, wherein,

the arm controller controls the operation of the arm to correct a positional shift of a field of view of the imaging device due to the rotation of the link corresponding to the third axis when the link corresponding to the third axis rotates about the third axis.

9. The medical scope of claim 1 wherein the arm controller rotates the link corresponding to the third axis clockwise or rotates the link corresponding to the third axis counterclockwise.

10. The medical scope of claim 1 wherein a first axis is coaxial with an optical axis of the imaging device, the first axis being a first axis of rotation from the side of the arm on which the imaging device is supported.

11. The medical scope of claim 1 wherein the arm is configured such that a first axis becomes coaxial with the third axis by rotation about the second axis, the first axis being a first axis of rotation from the side of the arm on which the imaging device is supported.

12. The medical scope of claim 1, wherein,

the image forming apparatus includes:

a first operating device operable to restrict all degrees of freedom of the arm; and

a second operating device operable to restrict some degrees of freedom of the arm, and

the first operating device and the second operating device are arranged to be on an upper side and a lower side when an optical axis of the imaging device is oriented vertically downward.

13. The medical observation apparatus according to claim 12, wherein said second operation device is disposed further on a lower side than said first operation device when said optical axis of said imaging device is oriented vertically downward.

Technical Field

The present invention relates to a medical observation apparatus.

Background

In recent years, medical observation apparatuses have been used in medical practice. The apparatus is capable of observing an observation object (such as a diseased part) in an enlarged view, and thus is used for supporting microsurgery (such as neurosurgery) and for performing endoscopic surgery. Examples of medical viewing devices include: a medical observation apparatus including an optical microscope; and a medical observation apparatus including an imaging device serving as an electron imaging type microscope. The medical observation apparatus including the optical microscope will be hereinafter referred to as "optical medical observation apparatus". Further, the medical observation apparatus including the imaging device may be hereinafter referred to as an "electronic imaging type medical observation apparatus" or simply as a "medical observation apparatus". A captured image (moving image or still image) of an observation target captured by an imaging device included in the medical observation apparatus is referred to as a "medical captured image".

The electronic imaging type medical observation apparatus can achieve the same or higher image quality as the optical medical observation apparatus due to, for example, improvement in image quality of the imaging device and the display device for displaying the captured image. In the electronic imaging type medical observation apparatus, the imaging device is supported by, for example, an arm having a predetermined degree of freedom, so that the position of the imaging device is movable. The electronic imaging type medical observation apparatus does not require a user thereof (for example, a medical worker such as an operator or an assistant of the operator, which may be simply referred to as "user" hereinafter) to view the eyepiece of the optical microscope as in the case of using the optical medical observation apparatus, whereby the position of the imaging device can be moved more freely. Therefore, the use of the electronic imaging type medical observation apparatus provides an advantage that the operation can be supported more flexibly as the position of the imaging device is moved. Therefore, the popularity of electronic imaging type medical observation apparatuses in medical practice has been increasing.

Meanwhile, technologies related to control of a multi-axis manipulator are under development. For example, patent document 1 below discloses a technique related to control of a seven-axis manipulator.

CITATION LIST

Patent document

Patent document 1: JP H6-226667A

Disclosure of Invention

Technical problem

As described above, since the user of the electronic imaging type medical observation apparatus can freely move the position of the imaging device. This means that the user can change the imaging range by moving the position of the imaging device. However, the degree of freedom of the arm supporting the imaging device may be impaired according to its posture. Therefore, there may be a "case where the imaging apparatus cannot move to capture an image within the ideal imaging range unless the user manually changes the posture of the arm". When this happens, the usability of the user for the medical viewing device may suffer.

The present disclosure proposes a new and improved medical viewing apparatus that is capable of providing greater usability to its users.

Means for solving the problems

According to the present invention, there is provided a medical observation apparatus comprising: an arm including a plurality of links connected to each other via joints, the arm having at least three or more degrees of freedom achieved by a rotational operation about a rotational axis; an imaging device supported by the arm; and an arm controller configured to control an operation of the arm, wherein when the posture of the arm is in a predetermined state, and a predetermined input for moving the arm about a rotation axis orthogonal to a second axis which is a second rotation axis from a side of the arm on which the imaging device is supported and a third axis which is a third rotation axis from the side of the arm on which the imaging device is supported is detected, the arm controller rotates one link corresponding to the third axis about the third axis.

Advantageous effects of the invention

According to the present disclosure, usability for a user using a medical observation device can be improved.

Note that the above-described effects are not necessarily restrictive, and any other effects described in or understandable from this specification may be achieved in addition to or instead of the above-described effects.

Drawings

Fig. 1 is an explanatory diagram showing an example of the configuration of a medical observation system according to the present embodiment.

Fig. 2 is an explanatory diagram showing an example of a use case in which the medical observation system according to the present embodiment is used.

Fig. 3 is an explanatory diagram for describing an example of the configuration of an imaging device included in the medical observation apparatus according to the present embodiment.

Fig. 4 is an explanatory diagram for describing another example of the configuration of the imaging device included in the medical observation apparatus according to the present embodiment.

Fig. 5 is a functional block diagram showing an example of the configuration of the medical observation apparatus according to the present embodiment.

Fig. 6 is an explanatory diagram for describing an outline of the control method according to the present embodiment.

Fig. 7 is an explanatory diagram showing an example of processing in the control method according to the present embodiment.

Fig. 8 is an explanatory diagram showing an example of processing in the control method according to the present embodiment.

Fig. 9 is an explanatory diagram for describing an example of processing in the control method according to the present embodiment.

Fig. 10 is an explanatory diagram for describing an example of processing in the control method according to the present embodiment.

Fig. 11 is an explanatory diagram showing an example of the configuration of the medical observation apparatus according to the present embodiment.

Detailed Description

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the specification and the drawings, components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted.

Hereinafter, the description will be made in the following order.

1. Medical observation system according to the present embodiment and control method according to the present embodiment

[1] Arrangement of medical viewing system

[1-1] display device 200

[1-2] medical observation apparatus 100

[2] Control method according to the present embodiment

[2-1] overview of the control method according to the present embodiment

[2-2] processing in the control method according to the present embodiment

[3] Example of effects achieved by using the control method according to the present embodiment

2. Program according to the present embodiment

(medical observation system according to the present embodiment and control method according to the present embodiment)

Hereinafter, the control method according to the present embodiment will be described while describing an example of the medical observation system according to the present embodiment.

A case where the medical observation apparatus according to the present embodiment performs the processing in the control method according to the present embodiment will be described below. Specifically, a case where the medical observation apparatus according to the present embodiment is used as a medical control apparatus will be described. It should be noted that, in the medical observation system according to the present embodiment, the apparatus serving as the medical control apparatus is not limited to the medical observation apparatus according to the present embodiment. For example, in the medical observation system according to the present embodiment, any device such as a medical controller capable of executing the processing in the control method according to the present embodiment may be used as the medical control device.

[1] Arrangement of medical viewing system

Fig. 1 is a diagram showing the configuration of a medical observation system 1000 according to the present embodiment. The medical observation system 1000 includes, for example, the medical observation apparatus 100 and the display device 200.

Note that the medical observation system according to the present embodiment is not limited to the example shown in fig. 1.

For example, the medical observation system according to the present embodiment may further include a medical control apparatus (not shown) that controls various operations in the medical observation apparatus 100. Fig. 1 shows that in a medical observation system 1000, as described below, a medical observation apparatus 100 includes a control unit (which will be described later) that performs processing in a control method according to the present embodiment, and thus the medical observation apparatus 100 has a function of a medical control apparatus (not shown).

Examples of the medical control apparatus (not shown) include any device (such as "medical controller" or "computer such as server") that can execute the processing in the control method according to the present embodiment. Further, the medical control device (not shown) may be, for example, an Integrated Circuit (IC) that may be embedded in the above-described apparatus.

Further, the medical observation system according to the present embodiment may have a configuration including a plurality of medical observation apparatuses 100 and display devices 200. When a plurality of medical observation apparatuses 100 are provided, each medical observation apparatus 100 executes processing in a control method of the medical observation apparatus 100 described later. Further, when the medical observation system according to the present embodiment has a configuration including a plurality of medical observation apparatuses 100 and display devices 200, the medical observation apparatuses 100 and the display devices 200 may be associated with each other in a one-to-one relationship, or a plurality of medical observation apparatuses 100 may be associated with a single display device 200. When a plurality of medical observation apparatuses 100 are associated with a single display device 200, the display device 200 performs, for example, a switching operation or the like in order to switch which medical observation apparatus 100 captures a medical captured image displayed on the display screen.

Fig. 2 is an explanatory diagram showing an example of a use case in which the medical observation system 1000 according to the present embodiment is used.

An imaging apparatus (to be described later) included in the medical observation apparatus 100 captures an image of the patient PA as an observation target (patient receiving medical treatment). A captured image obtained by capturing an image of a patient receiving medical treatment is an example of a medical captured image.

The medical-treatment captured image captured by the medical observation apparatus 100 is displayed on the display screen of the display device 200. Then, an operator OP (an example of a user of the medical observation apparatus 100. the same applies to the following description) who performs the medical treatment using the medical observation apparatus 100 performs the medical treatment on the patient PA while viewing the medical captured image displayed on the display screen of the display device 200.

Further, the operator OP realizes an ideal state of the medical observation apparatus 100 by operating an operating device (such as a foot switch FS) outside the medical observation apparatus 100 or an operating device (to be described later) included in the medical observation apparatus 100, thereby operating an arm (to be described later) and an imaging device (to be described later) included in the medical observation apparatus 100.

Hereinafter, each device of the medical observation system 1000 will be described.

[1-1] display device 200

The display device 200 is a display unit in the medical observation system 1000, and corresponds to a display device outside the medical observation apparatus 100. For example, the display device 200 displays various images such as a medical captured image (moving image or still image) captured by the medical observation apparatus 100 and an image related to a User Interface (UI) on a display screen. Further, the display device 200 may have a configuration capable of performing 3D display by any suitable system. The display of the display device 200 is controlled by, for example, the medical observation apparatus 100 or a medical control apparatus (not shown).

In the medical viewing system 1000, the display device 200 is installed at any position (such as a wall surface, a ceiling, and a floor surface of an operating room) that can be visually recognized by a person (such as an operator) involved in an operation in the operating room. Examples of the display device 200 include a liquid crystal display, an organic Electroluminescence (EL) display, a Cathode Ray Tube (CRT) display, and the like.

Note that the display device 200 is not limited to the above example.

For example, the display device 200 may be any wearable device used by an operator or similar device worn on the body (such as a head-mounted display or a glasses-type device).

The display device 200 is driven by, for example, power supplied from an internal power source (such as a battery) included in the display device 200 or power supplied from a connected external power source.

[1-2] medical observation apparatus 100

The medical observation apparatus 100 is an electronic imaging type medical observation apparatus. For example, when the medical observation apparatus 100 is used during surgery, the operator (an example of a user of the medical observation apparatus 100) performs various treatments of a procedure (such as according to a surgical procedure) on a surgical site (affected part) while observing the surgical site by referring to a medical captured image captured by the medical observation apparatus 100 and displayed on a display screen of the display device 200.

As shown in fig. 1, the medical viewing apparatus 100 includes, for example, a base 102, an arm 104, and an imaging device 106.

Although not shown in fig. 1, the medical observation apparatus 100 may include, for example, one or more processors (not shown) including an arithmetic circuit such as a Micro Processing Unit (MPU), a Read Only Memory (ROM) (not shown), a Random Access Memory (RAM) (not shown), a recording medium (not shown), and a communication device (not shown). The medical observation device 100 is driven by, for example, power supplied from an internal power source (such as a battery) included in the medical observation device 100 or power supplied from a connected external power source.

A processor (not shown) serves as a control unit (to be described later) in the medical observation apparatus 100. The ROM (not shown) stores control data such as programs and calculation parameters used by a processor (not shown). The RAM (not shown) temporarily stores programs executed by a processor (not shown) or the like.

A recording medium (not shown) is used as a storage unit (not shown) in the medical observation apparatus 100. A recording medium (not shown) stores various types of data such as data related to the control method according to the present embodiment and various application programs. Here, examples of the recording medium (not shown) include a magnetic recording medium (such as a hard disk) and a nonvolatile memory (such as a flash memory). Further, the recording medium (not shown) may be removed from the medical observation apparatus 100.

The communication device (not shown) is a communication unit included in the medical observation apparatus 100, and is responsible for performing wireless or wired communication with an external device such as the display device 200. Here, for example, as a communication device (not shown), an IEEE 802.15.1 port and a transmission/reception circuit (wireless communication), an IEEE 802.11 port and a transmission/reception circuit (wireless communication), a communication antenna and an RF circuit (wireless communication), or a LAN terminal and a transmission/reception circuit (wired communication) may be used.

[1-2-1] base 102

The base 102 is the base of the medical viewing apparatus 100 and has one end of an arm 104 connected thereto to support the arm 104 and the imaging device 106.

The base 102 is provided with, for example, casters, and the medical observation apparatus 100 is grounded via the casters. By providing the caster, the medical observation apparatus 100 can be easily moved on the floor by the caster.

[1-2-2] arm 104

The arm 104 includes a plurality of links connected to each other via joints. The arm 104 has at least three or more degrees of freedom, which are achieved by a rotational operation about a rotational axis described later. The three or more degrees of freedom of the arm 104 include degrees of freedom achieved by rotational operations about a first axis O1, a second axis O2, and a third axis O3, which will be described later. The example shown in fig. 1 is an example of a configuration having six degrees of freedom as described below.

Further, the arm 104 supports an imaging device 106. The imaging device 106 supported by the arm 104 can be moved three-dimensionally, and the position and posture of the moved imaging device 106 are held by the arm 104.

More specifically, the arm 104 includes, for example, a plurality of joints 110a, 110b, 110c, 110d, 110e, and 110f and a plurality of links 112a, 112b, 112c, 112d, 112e, 112f, and 112g connected via the joints 110a, 110b, 110c, 110d, 110e, and 110 f. The rotatable range of each of the joints 110a, 110b, 110c, 110d, 110e, and 110f is appropriately set in a design stage, a manufacturing stage, and the like so as to achieve a desired movement of the arm 104.

Specifically, in the medical observation apparatus 100 shown in fig. 1, six rotational axes (a first axis O1, a second axis O2, a third axis O3, a fourth axis O4, a fifth axis O5, and a sixth axis O6) corresponding to the six joints 110a, 110b, 110c, 110d, 110e, and 110f forming the arm 104 are provided, thereby realizing six degrees of freedom for the movement of the imaging device 106. More specifically, in the medical observation device 100 shown in fig. 1, a motion having three degrees of freedom for translation and three degrees of freedom for rotation (six degrees of freedom in total) is realized.

The first axis O1 is the first axis of rotation from the side of the arm 104 that supports the imaging device 106. The second axis O2 is the second axis of rotation from the side of the arm 104 that supports the imaging device 106. The third axis O3 is the third axis of rotation from the side of the arm 104 that supports the imaging device 106. The fourth axis O4 is a fourth axis of rotation from the side of the arm 104 that supports the imaging device 106. The fifth axis O5 is the fifth axis of rotation from the side of the arm 104 that supports the imaging device 106. The sixth axis O6 is a sixth rotation axis from the side of the arm 104 that supports the imaging device 106.

For example, each of the joints 110a, 110b, 110c, 110d, 110e, and 110f is provided with an actuator (not shown), and rotates about a corresponding one of the rotation axes in response to driving of the actuator (not shown). The driving of the actuator (not shown) is controlled by, for example, a processor serving as a control unit described later or an external medical control device (not shown).

In the medical scope 100, actuators (not shown) may be provided to only some of the joints 110a, 110b, 110c, 110d, 110e, and 110 f. Examples of the configuration in which actuators (not shown) are provided only to some of the joints include "a configuration in which actuators (not shown) are provided to the joints 110a, 110b, and 110c and not provided to the joints 110d, 110e, and 110 f".

For example, each of the joints 110a, 110b, 110c, 110d, 110e, and 110f may be provided with an angle sensor (not shown) capable of detecting a rotation angle of each of the six rotation axes. Examples of the angle sensor according to the present embodiment include any sensor (such as a rotary encoder and an angular velocity sensor) that can obtain a rotation angle on each of six rotation axes.

In the medical observation device 100, angle sensors (not shown) may be provided to only some of the joints 110a, 110b, 110c, 110d, 110e, and 110 f. Examples of the configuration in which the angle sensors (not shown) are provided only to part of the joints include "a configuration in which the angle sensors (not shown) are provided only to the joints 110a, 110b, and 110c, but not to the joints 110d, 110e, and 110 f".

Note that the sensor provided to the arm 104 is not limited to an angle sensor. For example, the arm 104 may be provided with a sensor for detecting an external force applied to the arm 104. A sensor for detecting an external force applied to the arm 104 is responsible for detecting a predetermined input of the arm 104 (to be described later).

Examples of sensors for detecting an external force applied to the arm 104 include any sensor capable of detecting a force (such as a load cell). A sensor for detecting an external force applied to the arm 104 in the medical observation apparatus 100 can be used as a sensor for detecting the moving direction of the imaging device 106, for example.

A sensor for detecting an external force applied to the arm 104 is placed, for example, between the joint 110a corresponding to the first axis O1 and the joint 110b corresponding to the second axis O2 (i.e., in the link 112a portion).

Examples of the arrangement of the sensor for detecting the external force applied to the arm 104 are not limited to the above-described examples. For example, a sensor for detecting an external force applied to the arm 104 may be provided in the link 112b portion.

For example, each of the joints 110a, 110b, 110c, 110d, 110e, and 110f is rotated about a corresponding rotation axis, for example, by driving of an actuator (not shown), so that various operations of the arm 104, such as extension or contraction (folding) of the arm 104, can be achieved. Further, various operations of the arm 104, such as extension or contraction (folding) of the arm 104, for example, can be achieved with each joint 110a, 110b, 110c, 110d, 110e, and 110f rotating about a corresponding rotation axis in response to an operation by the user.

The joint 110a has a substantially cylindrical shape, and has a distal end portion (a lower end portion in fig. 1) that supports the imaging device 106 (an upper end portion of the imaging device 106 in fig. 1) such that the imaging device 106 can rotate about a rotation axis (a first axis O1) parallel to a central axis of the imaging device 106. Here, the medical observation apparatus 100 shown in fig. 1 is configured such that the first axis O1 matches the optical axis of the imaging device 106. In other words, the first axis O1 is coaxial with the optical axis of the imaging device 106. Thus, by rotating the imaging device 106 about the first axis O1 shown in fig. 1, an image that changes the field of view in a rotational manner is captured as a medically captured image captured by the imaging device 106. Needless to say, the configuration of the medical observation apparatus 100 is not limited to the configuration in which the first axis O1 is coaxial with the optical axis of the imaging device 106.

The link 112a is a substantially rod-shaped member, and the joint 110a is fixedly supported by the link 112 a. The link 112a extends, for example, in a direction orthogonal to the first axis O1, and is connected to the joint 110 b.

The joint 110b has a substantially cylindrical shape, and supports the link 112a such that the link 112a can rotate about a rotation axis (second axis O2) orthogonal to the first axis O1. Link 112b is fixedly connected to joint 110 b.

The link 112b is a substantially L-shaped member, one side of the link 112b extends in a direction orthogonal to the second axis O2, and is connected to each of the joint 110b and the joint 110 c.

The joint 110c has a substantially cylindrical shape, and supports the link 112b such that the link 112b can rotate at least about a rotation axis (third axis O3) orthogonal to the second axis O2. One end of the link 112c is fixedly connected to the joint 110 c.

Here, the imaging device 106 can be moved by rotating the distal end side of the arm 104 (the side on which the imaging device 106 is provided) about the second axis O2 and the third axis O3, so that the position of the imaging device 106 is changed in the horizontal plane. That is, in the medical observation device 100, the rotation about the second axis O2 and the rotation about the third axis O3 are controlled so that the field of view of the medical-captured image can be moved within a plane.

Link 112c is connected to link 112b via joint 110c and to link 112d via joint 110 d. Link 112c is connected to link 112 e.

The joint 110d supports the link 112c such that the link 112c can rotate about a rotation axis (fourth axis O4) orthogonal to the third axis O3. Link 112d is connected to joint 110 d.

Link 112d is connected to link 112c via joint 110d and to link 112g via joint 110 e. Link 112d is connected to link 112 f.

The link 112e is connected to each of the link 112c and the link 112 f.

The link 112f is connected to each of the link 112d and the link 112 e. A counterweight 114 is provided at one end of the link 112 f. The weight 114 has an adjustment of the mass and the arrangement position so that the mass of a component heavier than the weight 114, which is provided on the distal end side of the arm 104 (the side on which the imaging device 106 is provided), can cancel out the rotational moment generated about the fourth axis O4 and the rotational moment generated about the fifth axis O5.

The joint 110e supports one end of the link 112d such that the link 112d can rotate about a rotation axis (fifth axis O5) parallel to the fourth axis O4. One end of the link 112g is connected to the joint 110 e.

Here, the fourth axis O4 and the fifth axis O5 are rotation axes in which the imaging device 106 is movable in the vertical direction. As the distal end side of the arm 104 (the side on which the imaging device 106 is provided) rotates about the fourth axis O4 and the fifth axis O5, the position of the imaging device 106 changes in the vertical direction. Thus, with the distal side of the arm 104 (the side on which the imaging device 106 is disposed) rotated about the fourth axis O4 and the fifth axis O5, the distance between the imaging device 106 and the observation object (such as a surgical site of a patient) can be changed.

The link 112g is a member that is a combination of a first member having a substantially L shape with one side extending in the vertical direction and the other side extending in the horizontal direction, and a rod-like second member extending vertically downward from a part of the first member extending in the horizontal direction. The joint 110e is fixedly connected to a portion of the first member of the link 112g that extends in the vertical direction. The joint 110f is connected to a second member of the link 112 g.

The link 112f and the base 102 are connected to the joint 110 f. The joint 110f supports the link 112g such that the link 112g can rotate about a rotation axis (sixth axis O6) parallel to the vertical direction.

With the arm 104 having the above-described configuration, six degrees of freedom are achieved for movement of the imaging device 106 in the medical observation apparatus 100.

Note that the configuration of the arm 104 is not limited to the above example.

For example, fig. 1 shows a configuration in which the arm 104 is provided with a counterweight 114 (i.e., a configuration in which the arm 104 is a balanced arm). However, the arm 104 may have a configuration in which the weight 114 is not provided.

For example, each of the joints 110a, 110b, 110c, 110d, 110e, and 110f of the arm 104 may be provided with a brake that adjusts the rotation of each of the joints 110a, 110b, 110c, 110d, 110e, and 110 f. Examples of the brake according to the present embodiment include any type of brake (such as a mechanically driven brake and an electrically driven electromagnetic brake).

The driving of the actuator (not shown) is controlled by, for example, a processor serving as a control unit described later or an external medical control device (not shown). In the medical observation apparatus 100, the operation mode of the arm 104 is set with the drive of the brake controlled. The modes of operation of the arm 104 include, for example, a fully fixed mode, a partially fixed mode, and a free mode.

Here, the completely fixed mode according to the present embodiment is, for example, an operation mode in which the position and posture of the imaging device 106 are fixed by restricting the rotation of each rotation shaft provided on the arm 104 with a stopper. When the arm 104 is in the fully-fixed mode, the operating state of the medical observation apparatus 100 is a fixed state in which the position and posture of the imaging device 106 are fixed.

The partially-fixed mode according to the present embodiment is, for example, an operation mode in which the position and posture of the imaging device 106 are partially fixed by restricting the rotation of some of the rotation shafts provided on the arm 104 with a stopper. For example, when the partial fixing mode is set, the rotational operations about the second axis O2 and the third axis O3 are made, while the rotational operations about the other axes are restricted. Needless to say, examples of the limitation when the partial fixation mode is set are not limited to the above examples.

Further, the free mode according to the present embodiment is an operation mode in which the brake is released so as to be freely rotatable about each rotation shaft provided on the arm 104. For example, in the free mode, the position and attitude of the imaging device 106 may be adjusted by direct operation by the operator. Here, the direct operation according to the present embodiment means, for example, an operation in which the operator holds the imaging device 106 with his or her hand and directly moves the imaging device 106.

[1-2-3] image forming apparatus 106

An imaging device 106 is supported by the arm 104 and captures images of a viewing object, such as a surgical site of a patient. Image capturing by the imaging apparatus 106 is controlled by, for example, a processor serving as a control unit described later or an external medical control device (not shown).

The imaging device 106 has a configuration corresponding to, for example, an electron imaging type microscope.

Fig. 3 is an explanatory diagram for describing an example of the configuration of the imaging device 106 included in the medical observation apparatus 100 according to the present embodiment. Fig. 3 shows a case where the first axis O1 and the optical axis of the imaging device 106 are coaxial, and the optical axis of the imaging device 106 is oriented vertically downward.

The imaging device 106 shown in fig. 3 includes, for example, an imaging member 120 and a cylindrical member 122 having a substantially cylindrical shape. The imaging member 120 is disposed inside the cylindrical member 122.

For example, a glass cover (not shown) for protecting the imaging member 120 is provided on the opening face at the lower end (lower side end in fig. 3) of the cylindrical member 122.

Further, for example, a light source (not shown) is provided inside the cylindrical member 122, and at the time of capturing an image, the object is irradiated with illumination light emitted from the light source through the glass cover. Reflected light (observation light) from the object irradiated with the illumination light is incident on the imaging member 120 through a glass cover (not shown), whereby the imaging member 120 obtains an image signal indicative of the object (image signal indicative of a medical captured image).

As the imaging member 120, a configuration used in various known electron imaging type microscope units can be applied.

For example, the imaging member 120 includes, for example, an optical system 120a and an image sensor 120b, and the image sensor 120b includes an imaging element that captures an image of an observation object with light passing through the optical system. The optical system 120a includes, for example, optical elements (such as one or more lenses such as an objective lens, a zoom lens, and a focus lens and a mirror). Examples of the image sensor 120b include an image sensor including a plurality of imaging elements such as a Complementary Metal Oxide Semiconductor (CMOS) and a Charge Coupled Device (CCD).

The imaging means 120 includes two or more imaging devices including an optical system 120a and an image sensor 120b to serve as a known stereo camera.

The imaging device of the imaging means 120 has one or more general functions of the electron imaging type microscope unit, such as a zoom function (one or both of an optical zoom function and an electronic zoom function) and an Auto Focus (AF) function.

Further, the imaging member 120 may have a configuration capable of capturing an image at a high resolution such as 4K or 8K. When the imaging means 120 is configured to be capable of capturing a high-resolution image, the image may be displayed on the display device 200 having a display screen of, for example, 50 inches or more while securing a predetermined resolution (for example, full HD image quality). Thus, the operator can see the display screen with improved visibility. Further, when the imaging means 120 is configured to be able to capture a high resolution image, the captured image may be enlarged and displayed on the display screen of the display device 200 through an electronic zoom function while securing a predetermined resolution. Further, when the electronic zoom function is used to secure a predetermined resolution, the performance of the optical zoom function in the imaging device 106 does not have to be so high. Therefore, the optical system of the imaging device 106 can be simplified. Therefore, the imaging device 106 may become smaller.

For example, the image forming apparatus 106 is provided with various operation devices for controlling the operation of the image forming apparatus 106. For example, in fig. 3, the imaging device 106 is provided with a zoom switch 124, a focus switch 126, and an operation mode setting switch 128. Needless to say, the installation positions and shapes of the zoom switch 124, the focus switch 126, and the operation mode setting switch 128 are not limited to the example shown in fig. 3.

The zoom switch 124 and the focus switch 126 are examples of operation means for adjusting imaging conditions in the imaging device 106.

The zoom switch 124 includes, for example, a zoom-in switch 124a for increasing the zoom magnification (magnification ratio) and a zoom-out switch 124b for decreasing the zoom magnification. When an operation of the zoom switch 124 is performed, the zoom magnification is adjusted, thereby adjusting zooming.

The focus switch 126 includes, for example, a far-vision focus switch 126a for increasing the focal length to the observation target (object) and a near-vision focus switch 126b for decreasing the focal length to the observation target. By operating the focus switch 126, the focal length is adjusted, thereby adjusting the focus.

The operation mode setting switch 128 is an example of an operation device for setting the operation mode of the arm 104 in the imaging device 106. When the operation mode setting switch 128 is operated, the operation mode of the arm 104 is changed. Examples of the operation mode change by the operation of the operation mode setting switch 128 include a completely fixed mode and a free mode. Therefore, the operation mode setting switch 128 is an example of an operation device (first operation device) that can be operated to restrict all the degrees of freedom of the arm 104.

Examples of the operation mode setting switch 128 include an operation of pressing the operation mode setting switch 128. For example, when the operator presses the operation mode setting switch 128, the operation mode of the arm 104 is the free mode, and when the operator does not press the operation mode setting switch 128, the operation mode of the arm 104 is the completely fixed mode.

The image forming apparatus 106 is provided with, for example, a slide preventing member 130 and a protruding member 132, so that the operator can operate various operation devices with higher operability and usability.

The slip prevention member 130 is a member provided to prevent the operation body from slipping when the operator operates the cylindrical member 122 with the operation body (such as his or her hand), for example. The slip prevention member 130 is formed of, for example, a material having a large friction coefficient, and has a structure (such as a recess and a protrusion), and the slip prevention member 130 is characterized by low risk of slip.

The protrusion member 132 is a member provided so that: when the operator operates the cylindrical member 122 with an operation body such as his or her hand, the operation body is prevented from obstructing the view of the optical system 120a, and when an operation is performed using the operation body, the glass cover (not shown) is prevented from being contaminated due to the operation body contacting the glass cover.

Needless to say, the arrangement position and shape of each of the slide preventing member 130 and the protrusion member 132 are not limited to the example shown in fig. 3. Further, the imaging device 106 may not be provided with one or both of the slip prevention member 130 and the protrusion member 132.

The image signal (image data) generated by the imaging device 106 is subjected to image processing in a processor serving as a control unit described later, for example. Examples of the image processing according to the present embodiment include one or more of various processes (such as gamma correction, white balance adjustment, enlargement or reduction of an image related to an electronic zoom function, and pixel-by-pixel correction). When the medical observation system according to the present embodiment includes a medical control apparatus (not shown) for controlling various operations of the medical observation apparatus 100, the image processing according to the present embodiment may be performed by the medical control apparatus (not shown).

The medical observation apparatus 100 transmits, for example, a display control signal and an image signal as a result of the above-described image processing to the display device 200.

The display screen of the display apparatus 200 displays a medical captured image including an observation target (for example, a captured image including a surgical site) using the display control signal and the image signal transmitted to the display apparatus 200. The image is displayed while being enlarged or reduced to a desired magnification by one or both of the optical zoom function and the electronic zoom function.

Note that the configuration of the imaging device 106 is not limited to the example shown in fig. 3.

Fig. 4 is an explanatory diagram showing an example of another configuration of the imaging device 106 of the medical observation apparatus 100 according to the present embodiment. Fig. 4 shows a case where the first axis O1 and the optical axis of the imaging device 106 are coaxial, and the optical axis of the imaging device 106 is oriented vertically downward.

The image forming apparatus 106 shown in fig. 4 has substantially the same configuration as the image forming apparatus shown in fig. 3. The difference between the imaging apparatus 106 shown in fig. 4 and the imaging apparatus shown in fig. 3 is that fig. 4 further includes operation mode setting switches 134 and 136.

The operation mode setting switches 134 and 136 are further examples of operation means for setting the operation mode of the arm 104 in the imaging device 106. When the operation mode setting switches 134 and 136 are operated, the operation mode of the arm 104 is set to the partial fixing mode. That is, the operation mode setting switches 134 and 136 are examples of an operation device (second operation device) that can be operated to restrict some degrees of freedom of the arm 104.

In the medical observation apparatus 100 including the imaging device 106 shown in fig. 4, the operation mode of the arm 104 can be set to the partial fixation mode by operating one of the operation mode setting switches 134 and 136.

Further, although two switches (operation mode setting switches 134 and 136) are shown as the operation means operable to restrict some degrees of freedom of the arm 104 in fig. 4, the operation means for performing the operation to restrict some degrees of freedom of the arm 104 may be one switch.

Examples of the operation mode setting switches 134 and 136 include an operation of pressing the operation mode setting switches 134 and 136. For example, when the operator presses the operation mode setting switches 134 and 136, the operation mode of the arm 104 is a partially fixed mode. As a specific example, for example, when the operator presses the operation mode setting switches 134 and 136, the rotational operations about the second axis O2 and the third axis O3 are made, and the rotational operations about the other axes are restricted.

When the operating mode setting switches 134 and 136 are not pressed by the operator, the operating mode of the arm 104 depends on the operating state on the operating mode setting switch 128. Further, when the operation mode setting switch 128 and the operation mode setting switches 134 and 136 are both pressed, the operation mode of the arm 104 is the free mode. The operating mode of the arm 104 may also be a partially fixed mode when both the operating mode setting switch 128 and the operating mode setting switches 134 and 136 are pressed.

As shown in fig. 4, the operation mode setting switch 128 (an example of a first operation device, the same applies to the following description) and the operation mode setting switches 134 and 136 (an example of a second operation device) are arranged to the upper side and the lower side when the optical axis of the imaging device 106 is vertically downward. Specifically, when the optical axis of the imaging device 106 is oriented vertically downward, the operation mode setting switches 134 and 136 are placed on the lower side than the operation mode setting switch 128.

When the operation mode setting switch 128 and the operation mode setting switches 134 and 136 are arranged as shown in fig. 4, the following operation is achieved by the operation of the operator.

The operator holds the imaging device 106 so that the operation mode setting switch 128 and the operation mode setting switches 134 and 136 are both pressed. Thus, the operating mode of the arm 104 is the free mode, and the operator moves the imaging device 106 so as to capture an image in the desired imaging range. The operator releases the index finger to stop operating the mode setting switch 128. Therefore, the operation mode of the arm 104 becomes a partially fixed mode, and the movement of the arm 104 in the focusing direction is restricted. The operator finely adjusts the imaging range in a state where the movement of the arm 104 in the focusing direction is restricted, and releases his or her hand from the imaging device 106 when the fine adjustment is completed. Therefore, the operation mode of the arm 104 becomes the completely fixed mode, and thus the imaging range of the imaging device 106 is fixed.

In the above example, the subject in the partially stationary mode is not out of focus, and thus the operator does not need to hold the imaging device 106 fixedly. Thus, the operator can fine-tune the imaging range with his or her hand holding the medical instrument (such as forceps). Taken together, the medical viewing apparatus 100 including the imaging device 106 shown in fig. 4 can improve usability for a user such as an operator.

The medical observation apparatus 100 has a hardware configuration shown in fig. 1, 3, and 4, for example.

However, the hardware configuration of the medical observation apparatus according to the present embodiment is not limited to the configuration shown with reference to fig. 1, 3, and 4.

For example, the medical observation device according to the present embodiment may not include the base 102, but may have a configuration in which the arm 104 is directly attached to the ceiling or wall surface of the operating room or the like. For example, when the arm 104 is attached to the ceiling, the medical observation device according to the present embodiment has a configuration in which the arm 104 is suspended from the ceiling.

Fig. 1 shows an example in which the arm 104 is configured to implement six degrees of freedom for driving of the imaging device 106. However, the configuration of the arm 104 is not limited to a configuration having six degrees of freedom for driving of the imaging device 106. For example, as described above, the arm 104 may have any degree of freedom equal to or higher than three degrees of freedom including the degree of freedom achieved by the rotational operation about the first axis O1, the second axis O2, and the third axis O3. Therefore, the number and arrangement of the joints and links and the directions of the drive shafts of the joints can be set appropriately so that the arm 104 can have three degrees of freedom or more.

Fig. 1, 3, and 4 show examples in which various operation devices for controlling the operation of the imaging device 106 are provided in the imaging device 106. However, some or all of the operation devices shown in fig. 1, 3, and 4 may not be provided in the image forming device 106. As an example, various operation means for controlling the operation of the imaging device 106 may be provided in a portion other than the imaging device 106 of the medical observation apparatus according to the present embodiment. As another example, the various operating devices for controlling the operation of the imaging device 106 may be any external operating device (such as a foot switch or a manual switch including a remote controller).

Further, the imaging device 106 may have a configuration that can be switched among a plurality of observation modes. Examples of the observation mode according to the present embodiment include an observation mode in which an image is captured using natural light, an observation mode in which an image is captured using special light, and an observation mode in which an image is captured using an image-enhanced observation technique such as Narrow Band Imaging (NBI). Examples of the special light according to the present embodiment include light in a specific wavelength band (such as light in a near-infrared wavelength band, or light in a fluorescence wavelength band for fluorescence observation using 5-aminolevulinic acid (5-ALA)).

Examples of the configuration of the imaging device 106 that can be switched among a plurality of observation modes include: "configuring includes: a filter that transmits light in a specific wavelength band and blocks light in other wavelength bands; and a configuration of a moving mechanism that selectively arranges the optical filter on the optical path. Examples of the specific wavelength band for passing through the filter according to the present embodiment include: a near infrared band (e.g., a band from about 0.7[ microns ] to about 2.5[ microns ]); a fluorescence band (e.g., a band from about 0.6[ mu ] m to 0.65[ mu ] m) for fluorescence observation using 5-ALA; and indocyanine green (ICG) fluorescence band (e.g., a band of approximately 0.82[ microns ] to 0.85[ microns ]).

Note that the imaging device 106 may be provided with a plurality of filters having different transmission bands. Further, in the above description, an example has been described in which a filter is placed on an optical path to capture an image having light in a specific wavelength band. However, it goes without saying that the configuration of the imaging device 106 for capturing an image with light in a specific wavelength band is not limited to the above-described example.

Next, the medical observation apparatus 100 shown in fig. 1 will be described using functional blocks. Fig. 5 is a functional block diagram showing an example of the configuration of the medical observation apparatus 100 according to the present embodiment.

The medical observation apparatus 100 includes, for example, an arm unit 152, an imaging unit 154, a communication unit 156, and a control unit 158.

The arm unit 152 includes the arm 104 and supports the imaging device 106 forming the imaging unit 154.

The imaging unit 154 includes the imaging device 106 and captures an image of an observation target. The imaging by the imaging unit 154 is controlled by, for example, the control unit 158.

The communication unit 156 is a communication unit included in the medical observation apparatus 100, and is responsible for performing wireless or wired communication with an external device (such as the display device 200). The communication unit 156 includes a communication device (not shown) such as described above. The communication of the communication unit 156 is controlled by, for example, the control unit 158.

The control unit 158 includes, for example, the above-described processor (not shown), and is responsible for control of the entire medical scope 100. The control unit 158 is responsible for guiding processing in a control method described later. Note that the processing in the control method in the control unit 158 may be distributed among a plurality of processing circuits (e.g., a plurality of processors) to be executed.

More specifically, the control unit 158 includes, for example, an imaging controller 160, an arm controller 162, and a display controller 164.

The imaging controller 160 controls the imaging device 106 forming the imaging unit 154. Examples of the control of the imaging device 106 include control of one or more general functions of the electron imaging type microscope unit, such as control of an AF function including at least a zoom function (an optical zoom function and an electronic zoom function).

The arm controller 162 controls driving of the arm 104 forming the arm unit 152. Examples of the control of the drive of the arm 104 include "applying a control signal for controlling the drive to an actuator (not shown) corresponding to each of the joints 110a, 110b, 110c, 110d, 110e, and 110 f".

The arm controller 162 is responsible for processing in a control method described later. An example of processing in the control method according to the present embodiment will be described later.

The display controller 164 transmits the display control signal and the image signal to a communication device (not shown) such as the communication unit 156 and transmits the display control signal and the image signal to the display device 200, thereby controlling the display on the display device 200. Note that communication control in the communication unit 156 may be performed by a communication control unit (not shown) of the control unit 158. Further, as described later, the display controller 164 may also be responsible for processing in the control method according to the present embodiment.

For example, the control unit 158 includes an arm controller 162 to be responsible for guiding processing in the control method according to the present embodiment. Further, the control unit 158 includes an imaging controller 160, an arm controller 162, and a display controller 164 to be responsible for controlling the entire medical observation apparatus 100, for example.

Note that the functional configuration of the control unit 158 is not limited to the example shown in fig. 4.

For example, the control unit 158 may have any configuration according to how the functions of the medical observation apparatus 100 are defined (such as a configuration according to how the processes in the control method according to the present embodiment are defined).

The medical observation apparatus 100 has the configuration shown in fig. 5 to execute processing in a control method according to the present embodiment, which will be described later, for example.

Note that the functional configuration of the medical observation apparatus according to the present embodiment is not limited to the configuration shown in fig. 5.

For example, the medical observation apparatus according to the present embodiment also includes some or all of the imaging controller 160, the arm controller 162, and the display controller 164 shown in fig. 5 independently of the control unit 158 (e.g., a unit implemented in another processing circuit).

Further, the functional configuration for realizing the processing in the control method according to the present embodiment in the medical observation apparatus according to the present embodiment is not limited to the configuration shown in fig. 5. For example, the device may have a functional configuration according to how the processing in the control method according to the present embodiment is defined.

Further, for example, when communication with an external device via an external communication device having the same function and configuration as the communication unit 156 is performed, the medical observation apparatus according to the present embodiment may not include the communication unit 156.

Further, when the medical observation system according to the present embodiment has a configuration including a medical control apparatus (not shown) and the medical observation apparatus according to the present embodiment is controlled by the medical control apparatus (not shown), the medical observation apparatus according to the present embodiment may not include the control unit 158.

The medical control apparatus (not shown) includes, for example, a control unit having the same function and configuration as the control unit 158 to execute processing in the control method according to the present embodiment described later, and controls the operations of the components of the medical observation device according to the present embodiment, such as the arm unit 152 and the imaging unit 154. A medical control apparatus (not shown) communicates with the medical observation apparatus according to the present embodiment via a communication means provided therein or an external communication means connected thereto to control the operation of the components of the medical observation apparatus according to the present embodiment.

Further, when the medical observation system according to the present embodiment has a configuration including a medical control device (not shown) and the medical observation device according to the present embodiment is controlled by the medical control device (not shown), the medical observation device according to the present embodiment may have a configuration not including some functions of the control unit 158.

[2] Control method according to the present embodiment

Next, a control method according to the present embodiment will be described. Hereinafter, a case where processing in the control method according to the present embodiment is performed by the medical observation apparatus 100 (more specifically, for example, by the control unit 158 of the medical observation apparatus 100) will be described as an example. As described above, in the medical observation system according to the present embodiment, the processing in the control method according to the present embodiment may be performed by the medical control apparatus (not shown).

[2-1] overview of the control method according to the present embodiment

When the operation mode of the arm 104 is the free mode, the user of the medical viewing apparatus 100 can freely move the position of the imaging device 106. However, as described above, the degree of freedom of the arm 104 may be impaired depending on the posture of the arm 104 supporting the imaging device 106. When the degree of freedom of the arm 104 is impaired, there may be "a case where the imaging apparatus cannot be moved to capture an image within an ideal imaging range unless the user manually changes the posture of the arm". When this happens, the usability of the user for the medical viewing device may suffer.

Fig. 6 is an explanatory diagram for describing an overview of the control method according to the present embodiment. A of fig. 6 shows a first example of the posture of the arm 104. B of fig. 6 shows a second example of the posture of the arm 104, and C of fig. 6 shows a third example of the posture of the arm 104.

The posture according to the first example shown in a of fig. 6 is achieved in the case where the first axis O1, the second axis O2, and the third axis O3 are orthogonal to each other. In this state, the medical observation image is rotated by the rotating operation about the first axis O1. The imaging range of the imaging device 106 is moved in the upward and downward directions (vertical direction, the same applies to the following description) by the rotational operation about the second axis O2, and is moved in the leftward and rightward directions (direction orthogonal to the vertical direction, the same applies to the following description) by the rotational operation about the third axis O3. The posture according to the first example shown in a of fig. 6 does not cause the degree of freedom to be impaired or insufficient.

The posture according to the second example shown in B of fig. 6 is implemented as a result of being rotated by 90 ° about the second axis O2 from the posture according to the first example shown in a of fig. 6. Here, the medical observation image is rotated by the rotating operation about the first axis O1 and the rotating operation about the third axis O3. Further, with the posture according to the second example shown in B of fig. 6, when the imaging range of the imaging device 106 is moved in the upward and downward directions by the rotating operation about the second axis O2, there is no motion component that moves the imaging range of the imaging device 106 in the leftward and rightward directions. Therefore, according to the posture of the second example shown in B of fig. 6, the degree of freedom is reduced from that with the posture of the first example shown in a of fig. 6, and is insufficient.

The posture according to the third example shown in C of fig. 6 is implemented as a result of being rotated by 90 ° about the first axis O1 and the third axis O3 from the posture according to the second example shown in B of fig. 6. Here, the medical observation image is rotated by the rotating operation about the first axis O1 and the rotating operation about the third axis O3, as in the case of the posture according to the second example shown in B of fig. 6. Further, with the posture according to the third example shown in C of fig. 6, when the imaging range of the imaging device 106 is moved in the leftward and rightward directions by the rotating operation about the second axis O2, there is no motion component that moves the imaging range of the imaging device 106 in the upward and downward directions. Therefore, according to the posture of the third example shown in C of fig. 6, the degree of freedom is reduced and insufficient than that with the posture according to the first example shown in a of fig. 6.

For example, when the posture according to the second example shown in B of fig. 6 or the posture according to the third example shown in C of fig. 6 is established, the rotation of the link 112B about the third axis O3 manually performed by a user (such as an operator) involves a corresponding rotation about the second axis O2, whereby a desired degree of freedom of rotation can be achieved. However, when the link 112b is manually rotated about the third axis O3, the user may need to use both hands to perform the operation. Therefore, the user may feel troublesome.

Therefore, the medical observation device 100 controls the operation of the arm 104 to automatically secure the degree of freedom in the case where the degree of freedom is partially unavailable according to the posture of the arm 104, as in the case of the posture according to the second example shown in B of fig. 6 and the posture according to the third example shown in C of fig. 6. More specifically, the medical observation apparatus 100 controls the operation of the arm 104 when an input moves the arm 104 to the degree of freedom determined to have been unavailable to actively control the available degree of freedom, thereby automatically securing the degree of freedom.

The control of the operation of the arm 104 automatically guarantees the degree of freedom determined to be unavailable, thereby adjusting the user-perceived annoyance as described above. Therefore, the medical observation device 100 can improve usability for the user who uses the medical observation device 100.

[2-2] processing in the control method according to the present embodiment

Next, the processing in the control method according to the present embodiment will be described in more detail.

As described above, the medical observation apparatus 100 controls the operation of the arm 104 to actively control the available degrees of freedom in response to detecting an input to move the arm 104 to the side of the degrees of freedom determined to have been unavailable.

For example, the medical observation apparatus 100 may recognize the posture of the arm 104 (or estimate the posture of the arm 104, the same applies to the following description) based on the rotation angle around each rotation axis of the medical observation apparatus 100. Note that the method of recognizing the posture of the arm 104 (the method of estimating the posture of the arm 104) is not limited to the above-described example, and the medical observation device 100 may recognize the posture of the arm 104 using any method that can recognize the posture of the arm 104.

Here, the "input to move the arm 104 to the side of the degree of freedom determined to have been unavailable" means "input to move the arm 104 around the rotation axis orthogonal to the second axis O2 and the third axis O3 in a posture in a predetermined state".

The posture of the arm 104 in the predetermined state according to the present embodiment is, for example, the "state of the first axis O1 on the plane defined by the second axis O2 and the third axis O3" or the "state of the first axis O1 on the plane parallel to the plane defined by the second axis O2 and the third axis O3" as in the case of the posture according to the second example shown in B of fig. 6 and the posture according to the third example shown in C of fig. 6. The medical scope 100 determines whether the posture of the arm 104 is in a predetermined state by checking the relationship among the first axis O1, the second axis O2, and the third axis O3 in the recognized posture of the arm 104.

Note that the method of determining whether the posture of the arm 104 is in the predetermined state is not limited to the above example. For example, upon detecting an input for moving the arm 104 about a rotation axis orthogonal to the second axis O2 and the third axis O3, the medical observation device 100 may determine that the posture of the arm 104 is in a predetermined state. With the predetermined state determined as described above, for example, when the operator attempts to move the imaging device 106 in a direction difficult to move, the medical observation apparatus 100 can assist the movement of the imaging device 106 performed by the operator. Further, by the movement of the imaging device 106 assisted by the medical observation apparatus 100, the operator can move the imaging device 106 with less effort.

The input according to the present embodiment includes, for example, one or both of "an external force detected by a sensor (such as a load cell) for detecting an external force applied to the arm 104" and "an operation signal corresponding to an operation on an external operation device (such as the foot switch FS)". Hereinafter, "an input to move the arm 104 in a posture of a predetermined state around a rotation axis orthogonal to the second axis O2 and the third axis O3" may be referred to as "predetermined input".

In the example of the posture according to the second example shown in B of fig. 6, the predetermined input may be "an input for moving the arm 104 to move the imaging range of the imaging device 106 in the leftward and rightward directions". In the example of the posture according to the third example shown in C of fig. 6, the predetermined input may be "an input for moving the arm 104 to move the imaging range of the imaging device 106 in the upward and downward directions".

When the predetermined input is detected in the specified posture, the medical observation device 100 rotates the link corresponding to the third axis O3 about the third axis O3. Here, the link corresponding to the third axis O3 according to the present embodiment is a link directly moved by a rotating operation about the third axis O3, and corresponds to the link 112b in the arm 104 having the configuration shown in fig. 1.

Specifically, the medical observation device 100 rotates the link 112b (an example of a link corresponding to the third axis O3, the same applies to the following description) clockwise, or rotates the link 112b counterclockwise.

Here, regardless of whether the link 112b is rotated clockwise or counterclockwise, an effect of automatically securing a degree of freedom that is not available due to the posture of the arm 104 is obtained. Therefore, the medical observation device 100, for example, the link 112b may be rotated in a preset rotational direction, or the link 112b may be rotated in a rotational direction determined according to a predetermined rule (such as random). For example, when a distance sensor is provided to the arm 104, the medical scope 100 may rotate the link 112b in a rotational direction in which rotation of the link 112b results in a longer distance from the object.

The medical observation device 100 rotates the link 112b at a preset rotation speed, or rotates the link 112b at a rotation speed corresponding to a predetermined input magnitude. The medical observation apparatus 100 recognizes, for example, the rotation speed corresponding to the magnitude of the predetermined input by using "a table (or a database) in which the magnitude of the external force and the rotation speed are associated with each other" (when the predetermined input is the external force detected by a sensor for detecting the external force applied to the arm 104) or "a table (a database) in which the operation amount indicated by the operation signal and the rotation speed are associated with each other" (when the predetermined input is the operation signal corresponding to the operation for the external operation device). The data indicating the preset rotation speed and each table above are stored in a recording medium serving as a storage unit (not shown), for example. Note that the medical observation apparatus 100 may identify the rotation speed corresponding to the predetermined input size by performing an operation of any algorithm with which the rotation speed can be obtained from the predetermined input size.

Fig. 7 and 8 are explanatory diagrams showing an example of processing in the control method according to the present embodiment. The posture of the arm 104 shown in a of fig. 7 is the same as that according to the third example shown in C of fig. 6. B of fig. 7 shows an example of the medical capture image displayed on the display screen of the display device 200. The posture of the arm 104 shown in fig. 8 is the same as that according to the second example shown in B of fig. 6.

When the posture of the arm 104 is realized in such a manner that the position of the imaging device 106 is moved by the operator, as described above with reference to C of fig. 6, the imaging device 106 cannot be moved in the upward and downward directions due to lack of the movement component of the imaging range for moving the imaging device 106 in the upward and downward directions.

In this case, the medical observation apparatus 100 recognizes "a state of the first axis O1 on the plane defined by the second axis O2 and the third axis O3" (an example in which the posture of the arm 104 is in a predetermined state). Further, for example, when an operator applies an external force to the arm 104 to move the imaging device 106 in upward and downward directions, and the external force is detected by a load cell or the like, the medical observation device 100 drives an actuator (not shown) for rotation about the third axis O3, thereby rotating the link 112 b. Further, for example, when the operator performs an operation of moving the imaging device 106 in the upward and downward directions on an external operation device such as the foot switch FS, and an operation signal corresponding to the operation is detected, the medical observation apparatus 100 drives an actuator (not shown) for rotation about the third axis O3, thereby rotating the link 112 b. Thus, the arm 104 is in the posture shown in fig. 8.

Here, when the arm 104 is in the posture shown in fig. 8, as described with reference to B of fig. 6, the imaging range of the imaging device 106 can be moved in the upward and downward directions by the rotational operation about the second axis O2. Therefore, the medical scope 100 rotates the link 112b as described with reference to fig. 7 and 8, so that the operator can move the imaging device 106 to a desired position without manually changing the posture of the arm 104.

Note that the processing in the control method according to the present embodiment is not limited to the above-described example. As the processing in the control method according to the present embodiment, the medical observation apparatus 100 may execute, for example, one or both of the processing according to the first example described in (1) below and the processing according to the second example described in (2) below.

(1) First example of processing in control method

When the link 112b corresponding to the third axis O3 rotates about the third axis O3, the rotation of the link 112b involves indirect rotation of the imaging device 106. Thus, the medical capture image captured by the imaging device 106 may also be rotated.

Fig. 9 and 10 are explanatory diagrams for describing an example of processing in the control method according to the present embodiment. A of fig. 9 and a of fig. 10 show the medical observation apparatus 100 having the same configuration as that in fig. 1, together with the foot switch FS as an example of the external operating device. Fig. 9B, 10B, and 10C show examples of medical captured images displayed on the display screen of the display device 200.

When the posture of the arm 104 is changed from the posture shown in a of fig. 9 to the posture shown in a of fig. 10 by rotating the link 112b, the imaging device 106 is also indirectly rotated by the rotation of the link 112 b. B of fig. 10 shows the result that the medical captured image displayed on the display screen is a rotated image of the medical captured image shown in B of fig. 9.

Therefore, when the link 112b corresponding to the third axis O3 is rotated about the third axis O3, the medical observation device 100 controls the operation of the arm 104 such that the orientation of the medical captured image after the rotation about the third axis O3 remains the same as the orientation of the medical captured image before the rotation about the third axis O3. More specifically, the medical observation device 100 realizes the rotation about the first axis O1 to cancel the rotation of the medical-captured image due to the rotation about the third axis O3. Examples of "implementing rotation about the first axis O1 to cancel rotation of the medical-captured image due to rotation about the third axis O3" include "realizing rotation about the first axis O1 by the same amount as the amount of rotation about the third axis O3 in a direction opposite to the direction of rotation about the third axis O3".

For example, as described above, by effecting rotation about the first axis O1 to cancel the rotation of the medical captured image due to the rotation about the third axis O3, the medical captured image remains displayed on the display screen in an orientation unchanged from the orientation shown in B of fig. 9, as shown in C of fig. 10. Therefore, even when the link 112b is rotated, how to view the medical captured image does not need to be changed, and thus the operator is less likely to feel unnatural.

Note that the "method of keeping the orientation of the medical captured image after the rotation about the third axis O3 unchanged from the orientation of the medical captured image before the rotation about the third axis O3 when the link 112b corresponding to the third axis O3 is rotated about the third axis O3" is not limited to the above-described example. For example, the medical viewing device 100 may perform image processing to counteract the rotation of the medical-captured image due to the rotation of the third axis O3. Examples of the image processing include "a process of rotating the medical-captured image by the same amount as the amount of rotation of the third axis O3 in a direction opposite to the direction of rotation about the third axis O3". Image processing in the medical observation apparatus 100 is performed by the display controller 164, for example.

(2) Second example of processing in control method

For example, as shown in the offset of fig. 9, when the first axis O1 and the third axis O3 are in a parallel state not coaxial with each other, the center position of the imaging range of the imaging device 106 (the center of the observation field of view) is moved in response to the rotation of the link 112b corresponding to the third axis O3 about the third axis O3. Therefore, the rotation of the link 112b corresponding to the third axis O3 causes a positional shift of the field of view of the imaging device 106.

Therefore, when the link 112b corresponding to the third axis O3 is made to rotate about the third axis O3, the medical observation apparatus 100 controls the operation of the arm 104 to correct the positional deviation of the field of view of the imaging device 106 due to the rotation of the link 112b corresponding to the third axis O3. For example, the medical observation apparatus 100 corrects the positional deviation of the field of view of the imaging device 106 due to the deviation shown in fig. 9 by effecting rotation about some or all of the axes other than the first axis O1, the second axis O2, and the third axis O3 (i.e., the fourth axis O4, the fifth axis O5, and the sixth axis O6). As an example of correction of the positional deviation of the field of view of the imaging device 106, the medical viewing apparatus 100 corrects the positional deviation in the upward and downward directions by rotation about one or both of the fourth axis O4 and the fifth axis O5. Further, the medical observation device 100 corrects the positional deviation in the leftward and rightward directions by rotating the sixth axis O6.

For example, by correcting the positional shift of the field of view of the imaging device 106 as described above, even when the link 112b is rotated, the center position of the imaging range of the imaging device 106 (the center of the observation field of view) does not move. Therefore, the operator is less likely to feel unnatural.

The method of preventing the position of the field of view of the imaging device 106 from being shifted in the case where the link 112b corresponding to the third axis O3 is rotated about the third axis O3 is not limited to the execution of the processing in the control method according to the second example.

For example, the medical viewing device 100 may have a configuration such that a sufficiently small offset as shown in fig. 9 can be achieved. Implementing a sufficiently small offset as shown in fig. 9 includes eliminating the offset shown in fig. 9, and implementing a sufficiently small offset to cause a positional offset of the field of view of the imaging device 106 does not cause the operator to feel unnatural.

Fig. 11 is an explanatory diagram showing an example of the configuration of the medical observation apparatus 100 according to the present embodiment, and shows an example of a configuration in which a sufficiently small offset in fig. 9 is realized. In fig. 11, as in fig. 9 and 10, the foot switch FS is also shown as an example of the external operation device.

In the medical observation apparatus 100 having the configuration shown in fig. 11. For example, the first shaft O1 and the third shaft O3 are coaxial with each other due to the shape of the link 112b, so that the offset shown in fig. 9 is eliminated. Therefore, in the medical observation apparatus 100 having the configuration shown in fig. 11. Even when the link 112b is rotated, the center position of the imaging range of the imaging device 106 (the center of the observation field of view) does not move. Therefore, the operator is less likely to feel unnatural.

[3] Example of effects achieved by using the control method according to the present embodiment

For example, by using the control method according to the present embodiment, the following effects can be achieved. Needless to say, the effects achieved by using the control method according to the present embodiment are not limited to the following examples.

The medical scope 100 automatically guarantees the degree of freedom by controlling the operation of the arm 104, whereby the operator can move the imaging device 106 to a desired position regardless of the posture of the arm 104.

The medical viewing apparatus 100 may assist in the movement of the imaging device 106 when the operator attempts to move the imaging device 106 in a direction that is difficult to move. Thus, an operator attempting to move the imaging device 106 in a direction that is difficult to move may move the imaging device 106 with less effort.

When the operator performs an operation using the foot switch FS, the operator can move the imaging device 106 to a desired position while holding the surgical tool, for example, in his/her hand.

(procedure according to the present embodiment)

With a program (for example, a program that can execute the processing in the control method according to the present embodiment) executed by a processor or the like in the computer system for causing the computer system to function as the medical observation apparatus according to the present embodiment (or the control apparatus according to the present embodiment), usability can be improved for the user of the medical observation apparatus. The computer system according to the present embodiment includes a single computer or a plurality of computers. A series of processes in the control method according to the present embodiment is executed by the computer system according to the present embodiment.

Further, with a program executed by a processor or the like in the computer system for causing the computer system to function as the medical observation apparatus according to the present embodiment (or the control apparatus according to the present embodiment), it is possible to obtain an effect provided by the display achieved by the processing in the control method according to the present embodiment.

As described above, the preferred embodiments of the present disclosure have been described in detail with reference to the drawings, but the technical scope of the present disclosure is not limited to these examples. It is apparent that those having ordinary knowledge in the technical field of the present disclosure can make various changes or modifications within the scope of the technical idea described in the claims. It is naturally understood that these also belong to the technical scope of the present disclosure.

For example, in the above description, a program (computer program) for causing a computer system to function as the medical observation apparatus according to the present embodiment is provided, but the present embodiment may also provide a recording medium in which the program is stored.

The above-described configuration is an example of the present embodiment, and naturally falls within the technical scope of the present disclosure.

Further, the effects described in the present specification are merely illustrative or exemplary, and thus are not restrictive. Accordingly, the technology according to the present disclosure may exhibit other effects that are apparent to those skilled in the art from the description in the present specification, in addition to or instead of the above effects.

Note that the following configuration also belongs to the technical scope of the present disclosure.

(1)

A medical viewing device comprising:

an arm including a plurality of links connected to each other via joints, the arm having at least three or more degrees of freedom achieved by a rotational operation about a rotational axis;

an imaging device supported by the arm; and

an arm controller configured to control an operation of the arm, wherein,

when the posture of the arm is in a predetermined state, and when a predetermined input for moving the arm about a rotation axis orthogonal to a second axis and a third axis is detected, the arm controller rotates one link corresponding to the third axis about the third axis, the second axis being a second rotation axis from a side of the arm on which the imaging device is supported, the third axis being a third rotation axis from the side of the arm on which the imaging device is supported.

(2)

The medical observation apparatus according to (1), wherein,

the predetermined state is:

a state in which a first axis, which is a first rotation axis from the side of the arm on which the imaging device is supported, exists on a plane defined by a second axis and a third axis, or

The first axis lies in a plane parallel to a plane defined by the second axis and the third axis.

(3)

The medical observation device according to (1) or (2), wherein the predetermined input is an external force applied to the arm, the external force being detected by a sensor configured to detect the external force.

(4)

The medical observation apparatus according to (3), wherein the sensor is placed between a joint corresponding to a first axis which is a first rotation axis from a side of the arm on which the imaging device is supported and a joint corresponding to a second axis.

(5)

The medical observation apparatus according to any one of (1) to (4), wherein the predetermined input is an operation signal corresponding to an operation for an external operation device.

(6)

The medical observation apparatus according to any one of (1) to (5), wherein,

when the link corresponding to the third axis is rotated about the third axis, the arm controller controls the operation of the arm such that the orientation of the medical-treatment captured image captured by the imaging device after the rotation about the third axis is kept unchanged from the orientation of the medical-treatment captured image captured by the imaging device before the rotation about the third axis.

(7)

The medical observation apparatus according to (6), wherein the arm controller performs rotation about a first axis, which is a first rotation axis from a side of the arm on which the imaging device is supported, to cancel rotation of the medical captured image due to rotation about a third axis.

(8)

The medical observation apparatus according to any one of (1) to (7), wherein,

when the link corresponding to the third axis rotates about the third axis, the arm controller controls the operation of the arm to correct a positional shift of a field of view of the imaging device due to the rotation of the link corresponding to the third axis.

(9)

The medical observation apparatus according to any one of (1) to (8), wherein the arm controller rotates the link corresponding to the third shaft clockwise or rotates the link corresponding to the third shaft counterclockwise.

(10)

The medical observation apparatus according to any one of (1) to (9), wherein the first axis is coaxial with the optical axis of the imaging device, the first axis being a first rotation axis from a side of the arm on which the imaging device is supported.

(11)

The medical observation apparatus according to any one of (1) to (7), (9) and (10), wherein the arm is configured such that a first axis, which is a first rotation axis from a side of the arm on which the imaging device is supported, becomes coaxial with a third axis by rotation about a second axis.

(12)

The medical observation apparatus according to any one of (1) to (11), wherein,

the image forming apparatus includes:

a first operating device operable to restrict all degrees of freedom of the arm; and

a second operating device operable to restrict some degrees of freedom of the arm, and

the first operating device and the second operating device are arranged to be on an upper side and a lower side when the optical axis of the imaging device is oriented vertically downward.

(13)

The medical observation apparatus according to (12), wherein the second operation device is disposed further on the lower side than the first operation device when the optical axis of the imaging device is oriented vertically downward.

List of reference signs

100 medical viewing apparatus

102 base

104 arm

106 imaging device

110a, 110b, 110c, 110d, 110e, 110f joint

112a, 112b, 112c, 112d, 112e, 112f, 112g link

120 imaging member

122 cylindrical member

124 zoom switch

126 focus switch

128. 134, 136 operation mode setting switch

152 arm unit

154 imaging unit

156 communication unit

158 control unit

160 imaging controller

162 arm controller

164 display controller

200 display device

1000 medical viewing system.