Medical observation equipment

Abstract

[Problem] A medical observation device is provided that can enhance the convenience of a user when using the medical observation device. [Solution] A medical observation device is provided, which is equipped with: an arm formed by coupling a plurality of links to each other via joints, and the arm has at least three degrees of freedom achieved by rotational movement around a rotation axis; an imaging device supported by the arm; and an arm control unit that controls the operation of the arm. When the posture of the arm is in a prescribed state, and when a prescribed input that moves the arm around a rotation axis orthogonal to both a second axis and a third axis is detected, the arm control unit rotates the link corresponding to the third axis around the third axis, the second axis being a second rotation axis starting from a side of the arm supporting the imaging device, and the third axis being a third rotation axis starting from a side of the arm supporting the imaging device.

Description

Technical Field

[0001] The present invention relates to a medical observation device. Background Art

[0002] In recent years, medical observation equipment has been used in medical practice. The equipment is capable of observing an observation object (such as an affected part) in an enlarged view, and is therefore used to support microsurgery (such as neurosurgery), and for performing endoscopic surgery. Examples of medical observation equipment include: a medical observation device including an optical microscope; and a medical observation device including an imaging device used as an electronic imaging type microscope. The medical observation device including an optical microscope will be referred to as an "optical medical observation device" hereinafter. In addition, the medical observation device including an imaging device may be referred to as an "electronic imaging type medical observation device" or simply "medical observation device" hereinafter. A captured image (moving image or still image) of the observation object captured by the imaging device included in the medical observation device is referred to as a "medical captured image".

[0003] Due to the improvement of the image quality of, for example, an imaging device and a display device for displaying captured images, an electronic imaging type medical observation device can achieve the same or higher image quality as an optical medical observation device. In the electronic imaging type medical observation device, 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 device does not require its user (for example, a medical worker such as an operator or an operator's assistant, who may be simply referred to as a "user" hereinafter) to look into the eyepiece of an optical microscope as in the case of using an optical medical observation device, whereby the position of the imaging device can be moved more freely. Therefore, the use of the electronic imaging type medical observation device provides the advantage that the operation can be supported more flexibly as the position of the imaging device moves. Therefore, the popularity of electronic imaging type medical observation devices in medical practice has been increasing.

[0004] Meanwhile, technology related to the control of a multi-axis manipulator is being developed. For example, the following Patent Document 1 discloses technology related to the control of a seven-axis manipulator.

[0005] Citation List

[0006] Patent Literature

[0007] Patent Document 1: JP H6-226667A Summary of the invention

[0008] Technical issues

[0009] As described above, because the user of the electronic imaging type medical observation device 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 freedom of the arm supporting the imaging device is impaired depending on its posture. Therefore, there may be a situation where "the imaging device cannot be moved to capture an image within the ideal imaging range unless the user manually changes the posture of the arm". When this happens, the usability for the user of the medical observation device may be impaired.

[0010] The present disclosure proposes a new and improved medical viewing device that is capable of providing greater usability to its users.

[0011] Solution to the problem

[0012] According to the present invention, a medical observation device is provided, comprising: an arm, comprising a plurality of links connected to each other via joints, the arm having at least three or more degrees of freedom achieved by rotational operation around a rotation axis; an imaging device supported by the arm; and an arm controller configured to control the operation of the arm, wherein, when the posture of the arm is in a predetermined state and a predetermined input for moving the arm around a rotation axis orthogonal to a second axis and a third axis is detected, the arm controller rotates a link corresponding to the third axis around the third axis, the second axis being a second rotation axis starting from a side of the arm on which the imaging device is supported, and the third axis being a third rotation axis starting from a side of the arm on which the imaging device is supported.

[0013] Advantageous Effects of the Invention

[0014] According to the present disclosure, usability for a user who uses a medical observation device can be improved.

[0015] Note that the above-described effects are not necessarily limitative, and any other effects described in or graspable from the present specification may be achieved in addition to or instead of the above-described effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] [ Figure 1 ] is an explanatory diagram showing an example of the configuration of the medical observation system according to the present embodiment.

[0017] [ Figure 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.

[0018] [ Figure 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.

[0019] [ Figure 4] is an explanatory diagram for describing another example of the configuration of an imaging device included in the medical observation apparatus according to the present embodiment.

[0020] [ Figure 5 ] is a functional block diagram showing an example of the configuration of the medical observation device according to the present embodiment.

[0021] [ Figure 6 ] is an explanatory diagram for describing an outline of the control method according to the present embodiment.

[0022] [ Figure 7 ] is an explanatory diagram showing an example of processing in the control method according to the present embodiment.

[0023] [ Figure 8 ] is an explanatory diagram showing an example of processing in the control method according to the present embodiment.

[0024] [ Fig. 9 ] is an explanatory diagram for describing an example of processing in the control method according to the present embodiment.

[0025] [ Fig.10 ] is an explanatory diagram for describing an example of processing in the control method according to the present embodiment.

[0026] [ Fig.11 ] is an explanatory diagram showing an example of the configuration of the medical observation device according to the present embodiment. DETAILED DESCRIPTION

[0027] 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 descriptions are omitted.

[0028] Hereinafter, the description will be made in the following order.

[0029] 1. Medical observation system according to the present embodiment and control method according to the present embodiment

[0030] [1] Configuration of medical observation system

[0031] [1-1] Display device 200

[0032] [1-2] Medical observation equipment 100

[0033] [2] According to the control method of this embodiment

[0034] [2-1] Overview of the Control Method According to the Present Embodiment

[0035] [2-2] Processing in the Control Method According to the Present Embodiment

[0036] [3] Examples of effects achieved by using the control method according to the present embodiment

[0037] 2. Procedure according to this embodiment

[0038] (Medical Observation System According to the Present Embodiment and Control Method According to the Present Embodiment)

[0039] Hereinafter, a control method according to the present embodiment will be described while describing an example of the medical observation system according to the present embodiment.

[0040] The following will describe a case where the medical observation device according to the present embodiment performs the processing in the control method according to the present embodiment. Specifically, a case where the medical observation device according to the present embodiment is used as a medical control device will be described. It should be noted that in the medical observation system according to the present embodiment, the device used as the medical control device is not limited to the medical observation device 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 performing the processing in the control method according to the present embodiment can be used as the medical control device.

[0041] [1] Configuration of medical observation system

[0042] Figure 1 2 is a diagram showing a configuration of a medical observation system 1000 according to the present embodiment. The medical observation system 1000 includes, for example, a medical observation apparatus 100 and a display device 200 .

[0043] Note that the medical observation system according to the present embodiment is not limited to Figure 1 Example shown.

[0044] For example, the medical observation system according to the present embodiment may further include a medical control device (not shown) that controls various operations in the medical observation device 100 . Figure 1 In the medical observation system 1000 shown below, the medical observation device 100 includes a control unit (to be described later) that performs processing in the control method according to the present embodiment, and thus the medical observation device 100 has the function of a medical control device (not shown).

[0045] Examples of the medical control device (not shown) include any device (such as a "medical controller" or a "computer such as a server") that can perform the processing in the control method according to the present embodiment. In addition, the medical control device (not shown) may be, for example, an integrated circuit (IC) that can be embedded in the above-mentioned device.

[0046] In addition, the medical observation system according to the present embodiment may have a configuration including a plurality of medical observation devices 100 and a display apparatus 200. When a plurality of medical observation devices 100 are provided, each medical observation device 100 performs processing in a control method of the medical observation device 100 described later. In addition, when the medical observation system according to the present embodiment has a configuration including a plurality of medical observation devices 100 and a display apparatus 200, the medical observation device 100 and the display apparatus 200 may be associated with each other in a one-to-one relationship, or a plurality of medical observation devices 100 may be associated with a single display apparatus 200. When a plurality of medical observation devices 100 are associated with a single display apparatus 200, the display apparatus 200 performs, for example, a switching operation, etc., so as to switch which medical observation device 100 is used to capture a medical captured image displayed on a display screen.

[0047] Figure 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.

[0048] An imaging device (to be described later) included in the medical observation device 100 captures an image of a patient PA as an observation object (a 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.

[0049] The medical captured image captured by the medical observation apparatus 100 is displayed on the display screen of the display device 200. Then, the operator OP (an example of a user of the medical observation apparatus 100. The same applies in the following description) who performs medical treatment using the medical observation apparatus 100 performs medical treatment on the patient PA while viewing the medical captured image displayed on the display screen of the display device 200.

[0050] In addition, the operator OP realizes the ideal state of the medical observation device 100 by operating an operating device outside the medical observation device 100 (such as a foot switch FS) or an operating device included in the medical observation device 100 (to be described later), thereby operating an arm (to be described later) and an imaging device (to be described later) included in the medical observation device 100.

[0051] Hereinafter, each device of the medical observation system 1000 will be described.

[0052] [1-1] Display device 200

[0053] The display device 200 is a display unit in the medical observation system 1000, and corresponds to a display device outside the medical observation device 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 device 100 and an image related to a user interface (UI) on a display screen. In addition, the display device 200 may have a configuration capable of performing 3D display by any appropriate system. The display of the display device 200 is controlled by, for example, the medical observation device 100 or a medical control device (not shown).

[0054] In the medical observation system 1000, the display device 200 is installed at any position (such as the wall, ceiling and floor of the operating room) that can be visually recognized by a person involved in the operation (such as an operator) in the operating room. Examples of the display device 200 include a liquid crystal display, an organic electroluminescent (EL) display, a cathode ray tube (CRT) display, etc.

[0055] Note that the display device 200 is not limited to the above-described example.

[0056] For example, the display device 200 may be any wearable device used by an operator or a similar device worn on the body (such as a head-mounted display or a glasses-type device).

[0057] 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.

[0058] [1-2] Medical observation equipment 100

[0059] The medical observation device 100 is an electronic imaging type medical observation device. For example, when the medical observation device 100 is used during surgery, the operator (an example of a user of the medical observation device 100) performs various treatments such as procedures according to the surgical procedure on the surgical site (affected part) while observing the surgical site by referring to the medical captured image captured by the medical observation device 100 and displayed on the display screen of the display device 200.

[0060] like Figure 1 As shown, the medical viewing apparatus 100 includes, for example, a base 102 , an arm 104 , and an imaging device 106 .

[0061] Despite Figure 1Although not shown in the figure, the medical observation device 100 may include, for example, one or more processors (not shown) including an arithmetic circuit such as a microprocessing 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, for example, by 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.

[0062] The 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 the processor (not shown). The RAM (not shown) temporarily stores programs executed by the processor (not shown) and the like.

[0063] A recording medium (not shown) is used as a storage unit (not shown) in the medical observation device 100. The 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 non-volatile memory (such as a flash memory). In addition, the recording medium (not shown) can be removed from the medical observation device 100.

[0064] 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 the 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) can be used.

[0065] [1-2-1] Base 102

[0066] The base 102 is a base of the medical observation apparatus 100 , and has one end of the arm 104 connected thereto to support the arm 104 and the imaging device 106 .

[0067] The base 102 is provided with, for example, casters, and the medical observation apparatus 100 is grounded via the casters. By providing the casters, the medical observation apparatus 100 can be easily moved on the ground by the casters.

[0068] [1-2-2] Arm 104

[0069] 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 rotation operation around a rotation axis described later. The three or more degrees of freedom of the arm 104 include degrees of freedom achieved by a rotation operation around a first axis O1, a second axis O2, and a third axis O3 described later. Figure 1 The example shown is an example of a configuration with six degrees of freedom as described below.

[0070] Furthermore, the arm 104 supports the imaging device 106 . The imaging device 106 supported by the arm 104 can move three-dimensionally, and the position and posture of the moving imaging device 106 are maintained by the arm 104 .

[0071] 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 110f. 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, etc. in order to achieve an ideal movement of the arm 104.

[0072] Specifically, in Figure 1 In the illustrated medical observation apparatus 100, six rotation 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) are provided corresponding to the six joints 110a, 110b, 110c, 110d, 110e, and 110f forming the arm 104, thereby realizing six degrees of freedom for the movement of the imaging device 106. More specifically, in Figure 1 In the illustrated medical observation device 100 , a movement with three degrees of freedom for translation and three degrees of freedom for rotation (a total of six degrees of freedom) is realized.

[0073] The first axis O1 is a first rotation axis from the side of the arm 104 that supports the imaging device 106. The second axis O2 is a second rotation axis from the side of the arm 104 that supports the imaging device 106. The third axis O3 is a third rotation axis from the side of the arm 104 that supports the imaging device 106. The fourth axis O4 is a fourth rotation axis from the side of the arm 104 that supports the imaging device 106. The fifth axis O5 is a fifth rotation axis 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.

[0074] For example, each of the joints 110a, 110b, 110c, 110d, 110e, and 110f is provided with an actuator (not shown), and rotates around a corresponding one of the rotation axes in response to the drive of the actuator (not shown). The drive 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).

[0075] In the medical observation device 100, the actuator (not shown) may be provided only to some of the joints 110a, 110b, 110c, 110d, 110e, and 110f. Examples of the configuration in which the actuator (not shown) is provided only to some of the joints include "a configuration in which the actuator (not shown) is provided to the joints 110a, 110b, and 110c but not to the joints 110d, 110e, and 110f".

[0076] 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 the 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 the rotation angle of each of the six rotation axes.

[0077] In the medical observation device 100, the angle sensor (not shown) may be provided only to some of the joints 110a, 110b, 110c, 110d, 110e, and 110f. Examples of a configuration in which the angle sensor (not shown) is provided only to some of the joints include a configuration in which the angle sensor (not shown) is provided only to the joints 110a, 110b, and 110c and is not provided to the joints 110d, 110e, and 110f.

[0078] Note that the sensor provided to the arm 104 is not limited to the angle sensor. For example, the arm 104 may be provided with a sensor for detecting an external force applied to the arm 104. The 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).

[0079] Examples of sensors for detecting external force applied to the arm 104 include any sensor capable of detecting force, such as a load cell. The sensor for detecting external force applied to the arm 104 in the medical observation apparatus 100 may be used as a sensor for detecting the moving direction of the imaging device 106, for example.

[0080] A sensor for detecting an external force applied to the arm 104 is placed, for example, between the joint 110 a corresponding to the first axis O1 and the joint 110 b corresponding to the second axis O2 (ie, in the link 112 a portion).

[0081] Examples of arrangement of the sensor for detecting the external force applied to the arm 104 are not limited to the above examples. For example, a sensor for detecting the external force applied to the arm 104 may be provided in the link 112b portion.

[0082] For example, each joint 110a, 110b, 110c, 110d, 110e, and 110f rotates around a corresponding rotation axis, for example, by being driven by 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. In addition, various operations of the arm 104 (such as extension or contraction (folding) of the arm 104) can be achieved by rotating each joint 110a, 110b, 110c, 110d, 110e, and 110f around a corresponding rotation axis in response to a user's operation.

[0083] The joint 110a has a substantially cylindrical shape and has a support for the imaging device 106 ( Figure 1 The distal end portion ( Figure 1 ), so that the imaging device 106 can rotate around a rotation axis (first axis O1) parallel to the central axis of the imaging device 106. Here, Figure 1 The medical observation apparatus 100 shown is configured so 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. Figure 1 The illustrated first axis O1 rotates the imaging device 106, and an image whose field of view is rotationally changed is captured as a medical 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.

[0084] The link 112a is a substantially rod-shaped member by which the joint 110a is fixedly supported. The link 112a extends in a direction orthogonal to the first axis O1, for example, and is connected to the joint 110b.

[0085] The joint 110b has a substantially cylindrical shape, and supports the link 112a so that the link 112a can rotate about a rotation axis (second axis O2) orthogonal to the first axis O1. The link 112b is fixedly connected to the joint 110b.

[0086] The link 112 b is a substantially L-shaped member, one side of which extends in a direction orthogonal to the second axis O2 , and is connected to each of the joint 110 b and the joint 110 c .

[0087] The joint 110c has a substantially cylindrical shape, and supports the link 112b so 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 110c.

[0088] Here, the imaging device 106 can be moved so that the position of the imaging device 106 changes within the horizontal plane by rotating the distal end side (the side where the imaging device 106 is provided) of the arm 104 around the second axis O2 and the third axis O3. That is, in the medical observation apparatus 100, the rotation around the second axis O2 and the rotation around the third axis O3 are controlled so that the field of view of the medical captured image can be moved within the plane.

[0089] The link 112c is connected to the link 112b via a joint 110c, and is connected to the link 112d via a joint 110d. The link 112c is connected to the link 112e.

[0090] The joint 110d supports the link 112c so that the link 112c can rotate about a rotation axis (fourth axis O4) orthogonal to the third axis O3. The link 112d is connected to the joint 110d.

[0091] The link 112d is connected to the link 112c via a joint 110d, and is connected to the link 112g via a joint 110e. The link 112d is connected to the link 112f.

[0092] The link 112e is connected to each of the link 112c and the link 112f.

[0093] The link 112f is connected to each of the link 112d and the link 112e. A counterweight 114 is provided at one end of the link 112f. The counterweight 114 has an adjustment of mass and arrangement position so that the mass of a component heavier than the counterweight 114 provided on the distal end side of the arm 104 (the side where the imaging device 106 is provided) can offset the rotational moment generated around the fourth axis O4 and the rotational moment generated around the fifth axis O5.

[0094] The joint 110e supports one end of the link 112d so 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 110e.

[0095] Here, the fourth axis O4 and the fifth axis O5 are rotation axes that the imaging device 106 can move in the vertical direction. As the distal end side of the arm 104 (the side where the imaging device 106 is provided) rotates around the fourth axis O4 and the fifth axis O5, the position of the imaging device 106 changes in the vertical direction. Therefore, with the distal end side of the arm 104 (the side where the imaging device 106 is provided) rotating around the fourth axis O4 and the fifth axis O5, the distance between the imaging device 106 and the observation object (such as the surgical site of the patient) can be changed.

[0096] The link 112g is a member that is a combination of a first member having a substantially L-shape, the first member having one side extending in the vertical direction and the other side extending in the horizontal direction, and a rod-shaped second member that extends vertically downward from a portion of the first member extending in the horizontal direction. The joint 110e is fixedly connected to the portion of the first member of the link 112g extending in the vertical direction. The joint 110f is connected to the second member of the link 112g.

[0097] The link 112f and the base 102 are connected to the joint 110f. The joint 110f supports the link 112g so that the link 112g can rotate around a rotation axis (sixth axis O6) parallel to the vertical direction.

[0098] 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 .

[0099] Note that the configuration of the arm 104 is not limited to the above example.

[0100] For example, Figure 1 A configuration in which the arm 104 is provided with the counterweight 114 (ie, a configuration in which the arm 104 is a balanced arm) is shown. However, the arm 104 may have a configuration in which the counterweight 114 is not provided.

[0101] 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 110f. 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).

[0102] The driving of the brake (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 device 100, the operation mode of the arm 104 is set while controlling the driving of the brake. The operation modes of the arm 104 include, for example, a completely fixed mode, a partially fixed mode, and a free mode.

[0103] 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 limiting the rotation of each rotation axis provided on the arm 104 using a brake. When the arm 104 is in the completely fixed mode, the operation state of the medical observation apparatus 100 is a fixed state in which the position and posture of the imaging device 106 are fixed.

[0104] The partial fixing 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 limiting the rotation of some rotation axes provided on the arm 104 using a brake. For example, when the partial fixing mode is set, the rotation operation around the second axis O2 and the third axis O3 is performed, while the rotation operation around the other axes is limited. Needless to say, examples of restrictions when setting the partial fixing mode are not limited to the above examples.

[0105] In addition, the free mode according to the present embodiment is an operation mode in which the brake is released so that rotation can be freely performed around each rotation axis provided on the arm 104. For example, in the free mode, the position and posture of the imaging device 106 can be adjusted by direct operation of 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.

[0106] [1-2-3] Imaging device 106

[0107] The imaging device 106 is supported by the arm 104 and captures an image of an observation object such as a surgical site of a patient. Image capture by the imaging device 106 is controlled by, for example, a processor serving as a control unit described later or an external medical control device (not shown).

[0108] The imaging device 106 has a configuration corresponding to, for example, an electron imaging type microscope.

[0109] Figure 3 1 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. Figure 3 A case is shown 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.

[0110] Figure 3 The imaging device 106 shown 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.

[0111] For example, a cover glass (not shown) for protecting the imaging member 120 is provided at the lower end ( Figure 3 On the opening surface at the lower side end).

[0112] In addition, for example, a light source (not shown) is provided inside the cylindrical member 122, and when capturing an image, the object is illuminated with illumination light emitted from the light source through the cover glass. Reflected light (observation light) from the object illuminated by the illumination light is incident on the imaging member 120 through the cover glass (not shown), whereby the imaging member 120 obtains an image signal indicating the object (image signal indicating a medical captured image).

[0113] As the imaging member 120 , a configuration used in various known electron imaging type microscope units can be applied.

[0114] For example, the imaging member 120 includes, for example, an optical system 120a and an image sensor 120b, which includes an imaging element that captures an image of an observation object using light passing through the optical system. The optical system 120a includes, for example, an optical element (such as one or more lenses such as an objective lens, a zoom lens, a focusing lens, and a reflector). Examples of the image sensor 120b include an image sensor that includes a plurality of imaging elements (such as a complementary metal oxide semiconductor (CMOS) and a charge coupled device (CCD)).

[0115] The imaging member 120 includes two or more imaging devices to function as a known stereo camera, and the imaging devices include an optical system 120 a and an image sensor 120 b .

[0116] The imaging device of the imaging member 120 has one or more general functions of an electronic 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.

[0117] In addition, the imaging member 120 may have a configuration capable of capturing images at a high resolution such as 4K or 8K. When the imaging member 120 is configured to be capable of capturing a high-resolution image, the image can be displayed on a display device 200 having, for example, a 50-inch or larger display screen while ensuring a predetermined resolution (e.g., full HD image quality). Therefore, the operator can see the display screen with improved visibility. In addition, when the imaging member 120 is configured to be capable of capturing a high-resolution image, the captured image can be enlarged and displayed on the display screen of the display device 200 by an electronic zoom function while ensuring a predetermined resolution. In addition, when the electronic zoom function is used to ensure 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 can become smaller.

[0118] For example, the imaging device 106 is provided with various operating devices for controlling the operation of the imaging device 106. Figure 3 In the embodiment, 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 Figure 3 Example shown.

[0119] The zoom switch 124 and the focus switch 126 are examples of operating devices for adjusting imaging conditions in the imaging device 106 .

[0120] 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 the zoom.

[0121] The focus switch 126 includes, for example, a telephoto focus switch 126a for increasing the focal distance to the observation target (object) and a myopia focus switch 126b for decreasing the focal distance to the observation target. By operating the focus switch 126, the focal distance is adjusted, thereby adjusting the focus.

[0122] 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 an operation is performed on the operation mode setting switch 128, the operation mode of the arm 104 is changed. Examples of the operation mode that is changed by performing an operation on 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 degrees of freedom of the arm 104.

[0123] Examples of the operation 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.

[0124] The imaging device 106 is provided with, for example, the slide preventing member 130 and the protruding member 132 so that the operator can operate various operating devices with higher operability and usability.

[0125] The slide preventing member 130 is a member that is provided to prevent the operating body from sliding when the operator operates the cylindrical member 122 with the operating body (such as his or her hand), for example. The slide preventing member 130 is formed of, for example, a material having a large friction coefficient and has a structure (such as a recessed portion and a protruding portion), which is characterized by a low risk of sliding.

[0126] The protruding member 132 is a member that is configured so that when an operator operates the cylindrical member 122 with an operating body (such as his or her hand), the operating body is prevented from blocking the field of view of the optical system 120a, and when an operation is performed using the operating body, the glass cover (not shown) is prevented from being contaminated due to the operating body contacting the glass cover.

[0127] Needless to say, the arrangement position and shape of each of the slide preventing member 130 and the protruding member 132 are not limited to Figure 3 In addition, the imaging device 106 may not be provided with one or both of the slide preventing member 130 and the protruding member 132 .

[0128] The image signal (image data) generated by the imaging by the imaging device 106 is subjected to image processing in, for example, a processor serving as a control unit described later. Examples of image processing according to the present embodiment include one or more 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 device (not shown) for controlling various operations of the medical observation device 100, the image processing according to the present embodiment can be performed by the medical control device (not shown).

[0129] 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 .

[0130] The display screen of the display device 200 displays a medical captured image including an observation object (for example, a captured image including a surgical site) using the display control signal and the image signal transmitted to the display device 200. The image is displayed while being enlarged or reduced to a desired magnification by one or both of an optical zoom function and an electronic zoom function.

[0131] Note that the configuration of the imaging device 106 is not limited to Figure 3 Example shown.

[0132] Figure 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. Figure 4 A case is shown 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.

[0133] Figure 4 The imaging device 106 shown has Figure 3 The imaging devices shown are basically of the same configuration. Figure 4 The imaging device 106 is shown with Figure 3 The differences between the imaging devices shown are Figure 4 Operation mode setting switches 134 and 136 are also included.

[0134] 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 operation is performed on the operation mode setting switches 134 and 136, the operation mode of the arm 104 is set to the partial fixed mode. That is, the operation mode setting switches 134 and 136 are examples of operation means (second operation means) that can be operated to restrict some degrees of freedom of the arm 104.

[0135] Including Figure 4 In the medical observation apparatus 100 of the imaging device 106 shown, the operation mode of the arm 104 can be set to the partial fixing mode by operating one of the operation mode setting switches 134 and 136 .

[0136] Furthermore, although two switches (operation mode setting switches 134 and 136) are shown as being operable to limit Figure 4 The operating device for performing the operation of limiting some degrees of freedom of the arm 104 may be a switch.

[0137] Examples of the operation 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 the partially fixed mode. As a specific example, for example, when the operator presses the operation mode setting switches 134 and 136, the rotation operation around the second axis O2 and the third axis O3 is performed, and the rotation operation around the other axes is restricted.

[0138] When the operator does not press the operation mode setting switches 134 and 136, the operation mode of the arm 104 depends on the operation state on the operation mode setting switch 128. In addition, when both the operation mode setting switch 128 and the operation mode setting switches 134 and 136 are pressed, the operation mode of the arm 104 is the free mode. When both the operation mode setting switch 128 and the operation mode setting switches 134 and 136 are pressed, the operation mode of the arm 104 can also be the partially fixed mode.

[0139] like Figure 4 As shown, 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 on the upper side and the lower side when the optical axis of the imaging device 106 is oriented 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 lower than the operation mode setting switch 128.

[0140] When the operation mode setting switch 128 and the operation mode setting switches 134 and 136 are Figure 4 When the arrangement is shown, the following operations are achieved through the operator's operation.

[0141] -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 all pressed. Therefore, the operation mode of the arm 104 is the free mode, and the operator moves the imaging device 106 so as to capture an image in an ideal imaging range. The operator releases the index finger to stop operating the operation mode setting switch 128. Therefore, the operation mode of the arm 104 becomes the partially fixed mode, and the movement of the arm 104 in the focusing direction is restricted. The operator fine-tunes 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-tuning 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.

[0142] In the above example, the object in the partial fixed mode will not be out of focus, and therefore the operator does not need to hold the imaging device 106 fixedly. Therefore, the operator can use his or her hand holding a medical instrument (such as forceps) to fine-tune the imaging range. Comprehensive considerations include Figure 4 The illustrated medical observation apparatus 100 of the imaging device 106 may improve usability for a user such as an operator.

[0143] The medical observation device 100 has, for example, a reference Figure 1 , Figure 3 and Figure 4 The hardware configuration shown.

[0144] However, the hardware configuration of the medical observation apparatus according to the present embodiment is not limited to that of the reference Figure 1 , Figure 3 and Figure 4 Configuration shown.

[0145] 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 of the operating room, etc. 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.

[0146] Figure 1 An example is shown in which the arm 104 is configured to achieve six degrees of freedom for driving the imaging device 106. However, the configuration of the arm 104 is not limited to a configuration having six degrees of freedom for driving the imaging device 106. For example, as described above, the arm 104 may have any degrees of freedom equal to or higher than three degrees of freedom, including degrees of freedom achieved by rotational operations around the first axis O1, the second axis O2, and the third axis O3. Therefore, the number and arrangement of joints and links and the direction of the drive axis of the joints may be appropriately set so that the arm 104 may have three degrees of freedom or higher.

[0147] Figure 1 , Figure 3 and Figure 4 An example is shown in which various operating devices for controlling the operation of the imaging device 106 are provided in the imaging device 106. However, Figure 1 , Figure 3 and Figure 4 Some or all of the operation devices shown may not be provided in the imaging device 106. As an example, various operation devices 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 operation devices for controlling the operation of the imaging device 106 may be any external operation device (such as a foot switch or a manual switch including a remote controller).

[0148] In addition, the imaging device 106 may have a configuration capable of switching 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 enhancement observation technique such as narrow band imaging (NBI). Examples of special light according to the present embodiment include light in a specific band such as light in a near infrared band or light in a fluorescence band for fluorescence observation using 5-aminolevulinic acid (5-ALA).

[0149] An example of a configuration of the imaging device 106 capable of switching among a plurality of observation modes includes: "a configuration including: an optical 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 an optical path". Examples of specific wavelength bands for transmitting the filter according to the present embodiment include: a near-infrared wavelength band (e.g., a wavelength band from approximately 0.7 [micrometers] to 2.5 [micrometers]); a fluorescence wavelength band for fluorescence observation using 5-ALA (e.g., a wavelength band from approximately 0.6 [micrometers] to 0.65 [micrometers]); and an indocyanine green (ICG) fluorescence wavelength band (e.g., a wavelength band from approximately 0.82 [micrometers] to 0.85 [micrometers]).

[0150] Note that the imaging device 106 may be provided with a plurality of filters having different transmission bands. In addition, 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 band. However, it goes without saying that the configuration of the imaging device 106 for capturing an image having light in a specific band is not limited to the above example.

[0151] Next, we will use function blocks to describe Figure 1 A medical observation device 100 is shown. Figure 5 : is a functional block diagram showing an example of the configuration of the medical observation apparatus 100 according to the present embodiment.

[0152] 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 ​​.

[0153] The arm unit 152 includes the arm 104 and supports the imaging device 106 forming the imaging unit 154 .

[0154] The imaging unit 154 includes the imaging device 106 and captures an image of an observation object. Imaging by the imaging unit 154 is controlled by, for example, the control unit 158.

[0155] 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, for example, the above-mentioned communication device (not shown). The communication of the communication unit 156 is controlled by, for example, the control unit 158.

[0156] The control unit 158 ​​includes, for example, the above-mentioned processor (not shown), and is responsible for controlling the entire medical observation device 100. In addition, the control unit 158 ​​is responsible for directing the processing in the control method described later. Note that the processing in the control method in the control unit 158 ​​can be distributed among multiple processing circuits (e.g., multiple processors) to be executed.

[0157] More specifically, the control unit 158 ​​includes, for example, an imaging controller 160 , an arm controller 162 , and a display controller 164 .

[0158] 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 electronic imaging type microscope unit (such as control of an AF function including at least a zoom function (optical zoom function and electronic zoom function)).

[0159] The arm controller 162 controls the driving of the arm 104 forming the arm unit 152. An example of the control of the driving of the arm 104 includes "applying a control signal for controlling the driving to an actuator (not shown) corresponding to each of the joints 110a, 110b, 110c, 110d, 110e, and 110f".

[0160] Furthermore, the arm controller 162 is responsible for processing in a control method described later. An example of processing in a control method according to the present embodiment will be described later.

[0161] The display controller 164 transmits the display control signal and the image signal to, for example, 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 the communication control in the communication unit 156 may be performed by a communication control unit (not shown) of the control unit 158. In addition, as described later, the display controller 164 may also be responsible for the processing in the control method according to the present embodiment.

[0162] For example, the control unit 158 ​​includes an arm controller 162 to direct the processing in the control method according to the present embodiment. In addition, the control unit 158 ​​includes an imaging controller 160 , an arm controller 162 , and a display controller 164 to control the entire medical observation apparatus 100 , for example.

[0163] Note that the functional configuration of the control unit 158 ​​is not limited to Figure 4 Example shown.

[0164] 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 processing in the control method according to the present embodiment is defined).

[0165] The medical observation device 100 has Figure 5 The illustrated configuration is to execute processing in a control method according to the present embodiment, which control method will be described later, for example.

[0166] Note that the functional configuration of the medical observation apparatus according to the present embodiment is not limited to Figure 5 Configuration shown.

[0167] For example, the medical observation device according to this embodiment also includes Figure 5 Some or all of the illustrated imaging controller 160 , arm controller 162 , and display controller 164 are independent of the control unit 158 ​​(eg, a unit implemented in another processing circuit).

[0168] Furthermore, 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 Figure 5 For example, the device may have a functional configuration depending on how the processing in the control method according to the present embodiment is defined.

[0169] Furthermore, 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 .

[0170] Furthermore, 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 not include the control unit 158 ​​.

[0171] The medical control device (not shown) includes, for example, a control unit having the same function and configuration as the control unit 158 ​​to perform processing in the control method according to the present embodiment described later, and controls the operation of components of the medical observation apparatus according to the present embodiment, such as the arm unit 152 and the imaging unit 154. The medical control device (not shown) communicates with the medical observation apparatus according to the present embodiment via a communication device provided therein or an external communication device connected thereto to control the operation of the components of the medical observation apparatus according to the present embodiment.

[0172] In addition, 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 that does not include some functions of the control unit 158.

[0173] [2] According to the control method of this embodiment

[0174] Next, the control method according to the present embodiment will be described. Hereinafter, a case where the processing in the control method according to the present embodiment is performed by the medical observation device 100 (more specifically, for example, by the control unit 158 ​​of the medical observation device 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 can be performed by a medical control device (not shown).

[0175] [2-1] Overview of the Control Method According to the Present Embodiment

[0176] When the operation mode of the arm 104 is the free mode, the user of the medical observation 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 situation where "the imaging device 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, usability for the user of the medical observation apparatus is impaired.

[0177] Figure 6 2 is an explanatory diagram for describing an overview of a control method according to the present embodiment. Figure 6 A shows a first example of the posture of the arm 104 . Figure 6 B shows a second example of the posture of the arm 104, and Figure 6 C shows a third example of the posture of the arm 104 .

[0178] according to Figure 6 The posture of the first example shown in A is achieved when 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 a rotation operation around the first axis O1. The imaging range of the imaging device 106 moves in the upward and downward directions (vertical directions, which also apply to the following description) by a rotation operation around the second axis O2, and moves in the left and right directions (directions orthogonal to the vertical direction, which also apply to the following description) by a rotation operation around the third axis O3. According to Figure 6 The posture of the first example shown in A does not result in a compromised or insufficient degree of freedom.

[0179] according to Figure 6 The second example posture shown in B is implemented as follows: Figure 6 The posture of the first example shown in A is the result of rotating 90° around the second axis O2. Here, the medical observation image is rotated by the rotation operation around the first axis O1 and the rotation operation around the third axis O3. Figure 6 In the posture of the second example shown in B, when the imaging range of the imaging device 106 moves in the upward and downward directions by the rotation operation around the second axis O2, there is no motion component that moves the imaging range of the imaging device 106 in the left and right directions. Figure 6 In the second example of posture shown in B, the degree of freedom ratio has the following Figure 6 The first example shown in A has a reduced degree of freedom in posture and is insufficient.

[0180] according to Figure 6 The third example posture shown in C is implemented as follows Figure 6 The posture of the second example shown in B is the result of rotating 90° around the first axis O1 and the third axis O3. Here, the medical observation image is rotated by the rotation operation around the first axis O1 and the rotation operation around the third axis O3, which is the same as Figure 6 The same is true for the posture according to the second example shown in B. Figure 6 In the third example posture shown in C, when the imaging range of the imaging device 106 moves in the left and right directions by the rotation operation around 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. Figure 6 The posture of the third example shown in C has a degree of freedom ratio according to Figure 6 The first example shown in A has a reduced degree of freedom in posture and is insufficient.

[0181] For example, when according to Figure 6 The second example of posture shown in B or according to Figure 6 When the posture of the third example shown in C is established, the rotation of the connecting rod 112b around the third axis O3 manually implemented by the user (such as an operator) involves a corresponding rotation around the second axis O2, thereby achieving an ideal rotational freedom. However, when manually rotating the connecting rod 112b around the third axis O3, the user may need to use both hands to perform the operation. Therefore, the user may feel troublesome.

[0182] Therefore, the medical observation apparatus 100 controls the operation of the arm 104 to automatically secure the degree of freedom in a case where the degree of freedom is partially unavailable depending on the posture of the arm 104, so as to Figure 6 The posture of the second example shown in B and according to Figure 6The same is true for the posture of the third example shown in C. More specifically, the medical observation apparatus 100 controls the operation of the arm 104 when an input moves the arm 104 to the side of the degree of freedom determined to be unavailable, to actively control the available degree of freedom, thereby automatically securing the degree of freedom.

[0183] Control of the operation of the arm 104 automatically secures the degree of freedom determined to be unavailable, thereby adjusting the trouble felt by the user as described above. Therefore, the medical observation apparatus 100 can improve usability for the user who uses the medical observation apparatus 100.

[0184] [2-2] Processing in the Control Method According to the Present Embodiment

[0185] Next, the processing in the control method according to the present embodiment will be described in more detail.

[0186] 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 become unavailable.

[0187] For example, the medical observation device 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 device 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 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.

[0188] Here, “input for moving the arm 104 to the side of the degree of freedom determined to be unavailable” means “input for moving 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”.

[0189] The posture of the arm 104 in the predetermined state according to the present embodiment is, for example, the same as that according to Figure 6 The posture of the second example shown in B and according to Figure 6 As in the case of the posture of the third example shown in C, it is "a state where the first axis O1 is on a plane defined by the second axis O2 and the third axis O3" or "a state where the first axis O1 is on a plane parallel to the plane defined by the second axis O2 and the third axis O3". The medical observation device 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.

[0190] Note that the method of determining whether the posture of the arm 104 is in a predetermined state is not limited to the above example. For example, when an input for moving the arm 104 around a rotation axis orthogonal to the second axis O2 and the third axis O3 is detected, the medical observation device 100 can determine that the posture of the arm 104 is in a predetermined state. By determining the predetermined state as described above, for example, when the operator attempts to move the imaging device 106 in a direction that is difficult to move, the medical observation device 100 can assist the movement of the imaging device 106 performed by the operator. In addition, by the movement of the imaging device 106 assisted by the medical observation device 100, the operator can move the imaging device 106 with less force.

[0191] The input according to the present embodiment includes, for example, one or both of “an external force detected by a sensor (such as a force sensor) 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 a foot switch FS).” Hereinafter, “an input for moving the arm 104 around a rotation axis orthogonal to the second axis O2 and the third axis O3 in a posture of a predetermined state” may be referred to as a “predetermined input”.

[0192] In accordance with Figure 6 In the example of the posture of the second example shown in B, the predetermined input may be "an input for moving the arm 104 to move the imaging range of the imaging device 106 in the left and right directions." Figure 6 In the example of the gesture of the third example shown in C, 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”.

[0193] When a predetermined input is detected in a specified posture, the medical observation device 100 rotates the link corresponding to the third axis O3 around 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 rotation operation around the third axis O3, and Figure 1 The link 112b in the arm 104 of the illustrated configuration corresponds.

[0194] Specifically, the medical observation apparatus 100 rotates the link 112 b (an example of a link corresponding to the third axis O3 , the same applies to the following description) clockwise, or rotates the link 112 b counterclockwise.

[0195] Here, regardless of whether the link 112b rotates clockwise or counterclockwise, an effect of automatically securing a degree of freedom that is unavailable due to the posture of the arm 104 is obtained. Therefore, the medical observation device 100, for example, the link 112b can be rotated in a preset rotation direction, or the link 112b can be rotated in a rotation direction determined according to a predetermined rule (such as random). For example, when a distance sensor is provided to the arm 104, the medical observation device 100 can rotate the link 112b in a rotation direction in which the rotation of the link 112b results in a longer distance from the object.

[0196] The medical observation device 100 rotates the connecting rod 112b at a preset rotational speed, or rotates the connecting rod 112b at a rotational speed corresponding to a predetermined input size. The medical observation device 100 identifies, for example, a rotational speed corresponding to a predetermined input size by using "a table (or database) in which the size of an external force and a rotational speed are associated with each other" (when the predetermined input is an external force detected by a sensor for detecting an external force applied to the arm 104) or "a table (database) in which an operation amount indicated by an operation signal and a rotational speed are associated with each other" (when the predetermined input is an operation signal corresponding to an operation on an external operation device). Data indicating the preset rotational speed and each of the above tables are stored in, for example, a recording medium used as a storage unit (not shown). Note that the medical observation device 100 can identify the rotational speed corresponding to the predetermined input size by performing the operation of any algorithm, which can be used to obtain the rotational speed from the predetermined input size.

[0197] Figure 7 and Figure 8 : is an explanatory diagram showing an example of processing in the control method according to the present embodiment. Figure 7 The posture of the arm 104 shown in A is the same as that of Figure 6 The posture of the third example shown in C is the same. Figure 7 B shows an example of a medical captured image displayed on the display screen of the display device 200 . Figure 8 The posture of the arm 104 shown is similar to that of the Figure 6 The posture of the second example shown in B is the same.

[0198] When the posture of the arm 104 is achieved by the operator moving the imaging device 106, as described above with reference to Figure 6 As described in C, the imaging device 106 cannot move in the upward and downward directions due to the lack of a moving component for moving the imaging range of the imaging device 106 in the upward and downward directions.

[0199] In this case, the medical observation device 100 recognizes "the 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). In addition, for example, when the operator applies an external force to the arm 104 to move the imaging device 106 in the upward and downward directions, and the external force is detected by a force sensor or the like, the medical observation device 100 drives the actuator (not shown) for rotation around the third axis O3, thereby rotating the connecting rod 112b. In addition, for example, when the operator performs an operation on an external operating device (such as a foot switch FS) to move the imaging device 106 in the upward and downward directions, and an operation signal corresponding to the operation is detected, the medical observation device 100 drives the actuator (not shown) for rotation around the third axis O3, thereby rotating the connecting rod 112b. Therefore, the arm 104 is in Figure 8 The posture shown.

[0200] Here, when the arm 104 is in Figure 8 When the posture shown is Figure 6 As described in B, the imaging range of the imaging device 106 can be moved in the upward and downward directions by the rotation operation around the second axis O2. Figure 7 and Figure 8 Rotating the link 112 b as described allows the operator to move the imaging device 106 to a desired position without manually changing the posture of the arm 104 .

[0201] 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 device 100 may perform, 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.

[0202] (1) First Example of Processing in Control Method

[0203] When the link 112b corresponding to the third axis O3 rotates around the third axis O3, the rotation of the link 112b involves indirect rotation of the imaging device 106. Therefore, the medical captured image captured by the imaging device 106 may also rotate.

[0204] Fig. 9 and Fig.10 is an explanatory diagram for describing an example of processing in the control method according to the present embodiment. Fig. 9 A and Fig.10 A shows that there is Figure 1 A medical observation apparatus 100 having the same configuration as in FIG. 1 , together with a foot switch FS as an example of an external operating device. Fig. 9 B. Fig.10B and Fig.10 FIG. 3C shows an example of a medical captured image displayed on the display screen of the display device 200 .

[0205] When the posture of the arm 104 changes from Fig. 9 The posture shown in A is changed to Fig.10 In the posture shown in A, the imaging device 106 also rotates indirectly through the rotation of the link 112b. Fig.10 B shows the result that the medical captured image is displayed on the display screen as Fig. 9 B is a rotated image of the medical captured image shown.

[0206] Therefore, when the link 112b corresponding to the third axis O3 is rotated around the third axis O3, the medical observation device 100 controls the operation of the arm 104 so that the orientation of the medical captured image after the rotation around the third axis O3 remains the same as the orientation of the medical captured image before the rotation around the third axis O3. More specifically, the medical observation device 100 implements the rotation around the first axis O1 to offset the rotation of the medical captured image caused by the rotation around the third axis O3. Examples of "implementing the rotation around the first axis O1 to offset the rotation of the medical captured image caused by the rotation around the third axis O3" include "implementing the rotation around the first axis O1 by the same amount as the rotation around the third axis O3 in a direction opposite to the direction of the rotation around the third axis O3".

[0207] For example, as described above, by achieving a rotation about the first axis O1 to offset the rotation of the medical captured image caused by the rotation about the third axis O3, the medical captured image is maintained in the same Fig. 9 The unchanged orientation shown in B is displayed on the display screen, such as Fig.10 As shown in C. Therefore, even when the link 112b is rotated, how the medical captured image is viewed does not need to be changed, and thus the operator is less likely to feel unnatural.

[0208] Note that “a method of keeping the orientation of the medical captured image after the rotation about the third axis O3 and the orientation of the medical captured image before the rotation about the third axis O3 unchanged when the link 112b corresponding to the third axis O3 rotates about the third axis O3” is not limited to the above example. For example, the medical observation device 100 may perform image processing to offset the rotation of the medical captured image due to the rotation of the third axis O3. Examples of image processing include “processing of rotating the medical captured image in a direction opposite to the rotation direction about the third axis O3 by the same amount as the rotation amount of the third axis O3”. Image processing in the medical observation device 100 is performed, for example, by the display controller 164.

[0209] (2) Second Example of Processing in Control Method

[0210] For example, Fig. 9 As shown in the offset, when the first axis O1 and the third axis O3 are in a non-coaxial parallel state with each other, the center position of the imaging range of the imaging device 106 (the center of the observation field of view) moves in response to the rotation of the connecting rod 112b corresponding to the third axis O3 around the third axis O3. Therefore, the rotation of the connecting rod 112b corresponding to the third axis O3 causes the positional offset of the field of view of the imaging device 106.

[0211] Therefore, when the link 112b corresponding to the third axis O3 is rotated around 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 caused by 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 caused by the rotation of the link 112b corresponding to the third axis O3 by realizing the rotation around some or all axes (i.e., the fourth axis O4, the fifth axis O5, and the sixth axis O6) other than the first axis O1, the second axis O2, and the third axis O3. Fig. 9 The positional deviation of the field of view of the imaging device 106 is caused by the deviation shown in FIG. As an example of correction of the positional deviation of the field of view of the imaging device 106, the medical observation device 100 corrects the positional deviation in the upward and downward directions by rotating around one or both of the fourth axis O4 and the fifth axis O5. In addition, the medical observation device 100 corrects the positional deviation in the left and right directions by rotating the sixth axis O6.

[0212] For example, by correcting the positional deviation of the field of view of the imaging device 106 as described above, the center position of the imaging range of the imaging device 106 (the center of the observation field of view) does not move even when the link 112b is rotated. Therefore, the operator is less likely to feel unnatural.

[0213] The method of preventing the position of the field of view of the imaging device 106 from shifting when the link 112b corresponding to the third axis O3 rotates about the third axis O3 is not limited to the execution of the processing in the control method according to the second example.

[0214] For example, the medical observation device 100 may have a Fig. 9 The configuration shown is sufficiently small for the offset to be achieved. Fig. 9 The offset shown is small enough to eliminate Fig. 9 The offset shown is achieved by making the offset small enough so that the positional offset of the field of view of the imaging device 106 does not feel unnatural to the operator.

[0215] 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 Fig. 9 An example of a configuration with a sufficiently small offset in . Fig.11In, as in Fig. 9 and Fig.10 , a foot switch FS is also shown as an example of an external operating device.

[0216] In having Fig.11 In the medical observation device 100 of the configuration shown in FIG. 1 , for example, the first axis O1 and the third axis O3 are coaxial with each other due to the shape of the connecting rod 112 b so that Fig. 9 The offset shown is eliminated. Fig.11 In the medical observation apparatus 100 of the configuration shown in FIG. 1 , even when the link 112 b is rotated, the center position of the imaging range of the imaging device 106 (the center of the observation field) does not move. Therefore, the operator is less likely to feel unnatural.

[0217] [3] Examples of effects achieved by using the control method according to the present embodiment

[0218] 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 examples described below.

[0219] The medical observation apparatus 100 automatically secures a 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 .

[0220] The medical observation apparatus 100 can assist 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. Therefore, the operator who attempts to move the imaging device 106 in a direction that is difficult to move can move the imaging device 106 with less force.

[0221] - 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 a surgical tool with his / her hand, for example.

[0222] (Procedure according to this embodiment)

[0223] By using a program executed by a processor or the like in a computer system for causing the computer system to function as a medical observation device (or a control device according to the present embodiment) (for example, a program that can execute the processing in the control method according to the present embodiment), usability can be improved for users of the medical observation device. The computer system according to the present embodiment includes a single computer or a plurality of computers. A series of processing in the control method according to the present embodiment is executed by the computer system according to the present embodiment.

[0224] In addition, by utilizing a program executed by a processor in a computer system, etc. for causing the computer system to function as a medical observation device according to the present embodiment (or a control device according to the present embodiment), the effect provided by the display achieved by processing in the control method according to the present embodiment can be obtained.

[0225] As described above, the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to these examples. Obviously, a person with ordinary knowledge in the technical field of the present disclosure can derive various changes or modifications within the scope of the technical ideas described in the claims. It is naturally understood that these also belong to the technical scope of the present disclosure.

[0226] 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.

[0227] The above-described configuration is an example of the present embodiment, and naturally belongs to the technical scope of the present disclosure.

[0228] In addition, the effects described in this specification are merely illustrative or exemplary and are therefore not limiting. Therefore, in addition to or in place of the above effects, the technology according to the present disclosure may exhibit other effects that are apparent to those skilled in the art from the description in this specification.

[0229] Note that the following configurations also belong to the technical scope of the present disclosure. (1)

[0231] A medical observation device, comprising:

[0232] 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 rotation operation about a rotation axis;

[0233] an imaging device supported by the arm; and

[0234] an arm controller configured to control operation of the arm, wherein

[0235] 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 the second axis and the third axis is detected, the arm controller rotates a link corresponding to the third axis about the third axis, wherein the second axis is a second rotation axis starting from the side of the arm on which the imaging device is supported, and the third axis is a third rotation axis starting from the side of the arm on which the imaging device is supported. (2)

[0237] The medical observation device according to (1), wherein:

[0238] Booking status:

[0239] A state in which a first axis exists on a plane defined by the second axis and the third axis, the first axis being a first rotation axis from a side of the arm on which the imaging device is supported, or

[0240] The first axis exists on a plane parallel to a plane defined by the second axis and the third axis. (3)

[0242] The medical observation apparatus 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)

[0244] 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)

[0246] The medical observation apparatus according to any one of (1) to (4), wherein the predetermined input is an operation signal corresponding to an operation on an external operation device. (6)

[0248] The medical observation device according to any one of (1) to (5), wherein:

[0249] When the link corresponding to the third axis rotates around the third axis, the arm controller controls the operation of the arm so that the orientation of the medical captured image captured by the imaging device after the rotation around the third axis remains unchanged from the orientation of the medical captured image captured by the imaging device before the rotation around the third axis. (7)

[0251] The medical observation apparatus according to (6), wherein the arm controller implements rotation about a first axis to offset rotation of the medical captured image due to rotation about a third axis, the first axis being a first rotation axis starting from a side of the arm on which the imaging device is supported. (8)

[0253] The medical observation device according to any one of (1) to (7), wherein:

[0254] 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 deviation of the field of view of the imaging device due to the rotation of the link corresponding to the third axis. (9)

[0256] The medical observation apparatus according to any one of (1) to (8), wherein the arm controller rotates the link corresponding to the third axis clockwise or rotates the link corresponding to the third axis counterclockwise. (10)

[0258] The medical observation apparatus according to any one of (1) to (9), wherein the first axis is coaxial with an 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)

[0260] A medical observation device according to any one of (1) to (7), (9) and (10), wherein the arm is configured so that the first axis becomes coaxial with the third axis by rotation about the second axis, the first axis serving as the first rotation axis starting from the side of the arm on which the imaging device is supported. (12)

[0262] The medical observation device according to any one of (1) to (11), wherein:

[0263] The imaging device includes:

[0264] a first operating device operable to restrict all degrees of freedom of the arm; and

[0265] a second operating device operable to restrict some degrees of freedom of the arm, and

[0266] The first operating device and the second operating device are arranged to be on the upper side and the lower side when the optical axis of the imaging device is oriented vertically downward. (13)

[0268] The medical observation apparatus according to (12), wherein the second operation device is arranged on a lower side than the first operation device when the optical axis of the imaging device is oriented vertically downward.

[0269] Reference designator list

[0270] 100 Medical observation equipment

[0271] 102 Base

[0272] 104 Arm

[0273] 106 Imaging Device

[0274] 110a, 110b, 110c, 110d, 110e, 110f joints

[0275] 112a, 112b, 112c, 112d, 112e, 112f, 112g Connecting rod

[0276] 120 Imaging components

[0277] 122 Cylindrical components

[0278] 124 Zoom switch

[0279] 126 Focus switch

[0280] 128, 134, 136 Operation mode setting switch

[0281] 152 Arm unit

[0282] 154 Imaging Unit

[0283] 156 Communication Unit

[0284] 158 Control Unit

[0285] 160 Imaging Controller

[0286] 162 Arm Controller

[0287] 164 Display Controller

[0288] 200 Display device

[0289] 1000 Medical Observation Systems.

Claims

1. A medical observation device comprising: an arm including a plurality of links connected to each other via joints, the arm having at least three degrees of freedom achieved by a rotation operation about a rotation axis; an imaging device supported by the arm; as well as an arm controller configured to control the operation of the arm, wherein When the posture of the arm is in a predetermined state, and when a predetermined input for moving the imaging device around a rotation axis orthogonal to the second axis and the third axis is detected, the arm controller rotates one of the links corresponding to the third axis around the third axis according to the predetermined input and rotates the imaging device around the second axis using one of the links corresponding to the second axis, wherein the second axis is a second rotation axis starting from a side of the arm on which the imaging device is supported, and the third axis is a third rotation axis starting from the side of the arm on which the imaging device is supported, wherein the predetermined state is a state in which the first axis exists on a plane defined by the second axis and the third axis, and the first axis is the first rotation axis starting from the side of the arm on which the imaging device is supported.

2. The medical observation device according to 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.

3. The medical observation device according to claim 2, wherein: The sensor is placed between a joint corresponding to the first axis and a joint corresponding to the second axis.

4. The medical observation device according to claim 1, wherein: The predetermined input is an operation signal corresponding to an operation on an external operation device.

5. The medical observation device according to claim 1, wherein: When the link corresponding to the third axis rotates around the third axis, the arm controller controls the operation of the arm so that the orientation of the medical captured image captured by the imaging device after the rotation around the third axis remains unchanged from the orientation of the medical captured image captured by the imaging device before the rotation around the third axis.

6. The medical observation device according to claim 5, wherein: The arm controller implements a rotation about a first axis, which is a first rotation axis from the side of the arm on which the imaging device is supported, to counteract a rotation of the medical captured image caused by the rotation about the third axis.

7. The medical observation device according to claim 1, 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 deviation of the field of view of the imaging device due to the rotation of the link corresponding to the third axis.

8. The medical observation device according to 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.

9. The medical observation device according to claim 1, wherein: The first axis is coaxial with the optical axis of the imaging device, and is a first rotation axis from the side of the arm on which the imaging device is supported.

10. The medical observation device according to claim 1, wherein: The arm is configured so that a first axis becomes coaxial with the third axis by rotation about the second axis, the first axis being a first rotation axis from the side of the arm on which the imaging device is supported.

11. The medical observation device according to claim 1, wherein: The imaging device comprises: 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 at an upper side and a lower side when an optical axis of the imaging device is oriented vertically downward.

12. The medical observation device according to claim 11, wherein: The second operating device is arranged on a lower side than the first operating device when the optical axis of the imaging device is oriented vertically downward.

Images