Surgery support device

Abstract

In order to display an endoscopic image that reflects the operator's intention, the surgical support device involved in the present invention comprises: an arm having a holder for holding an endoscope, and adjusting the position of the endoscope while the endoscope is held by the holder; a display control unit for controlling the display of the endoscopic image captured by the endoscope held by the holder; and an operating unit for rotating the endoscopic image, and the surgical support device rotates the displayed endoscopic image without displacing the endoscope according to the operation of the operating unit.

Description

Technical Field

[0001] The present invention relates to the technical field of a surgery support device having a function of holding an endoscope. Background Art

[0002] For example, there is known a vitreous surgery in which the vitreous body inside the eyeball is removed by suction to restore the retina to a normal state in order to treat macular degeneration, retinal detachment, and the like.

[0003] In a normal vitreous surgery, the operator (doctor) will use a surgical microscope to observe the inside of the eyeball through the pupil of the patient. However, the range of the inside of the eyeball that can be observed through the pupil is limited. In order to make the unobservable part visible, the eyeball needs to be compressed from the outside. This compression may cause pain during surgery or inflammation after surgery.

[0004] Therefore, a method of using an endoscope for vitreous surgery as disclosed in Patent Document 1 has been proposed.

[0005] By inserting the endoscope into the eyeball of the patient, the image inside the eyeball is displayed on a display device such as a monitor. The operator can easily observe the part that cannot be visually recognized from the pupil by moving the endoscope inside the eyeball.

[0006] In vitreous surgery using such an endoscope, there is no need to press the eyeball when observing the inside of the eyeball, so the burden on the patient's eyeball can be reduced.

[0007] Previous technical literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Application Publication No. 2005-304633 Summary of the invention

[0010] Technical issues to be solved by the invention

[0011] In vitreous surgery, medical tools such as a vitrectomy tool, forceps, or an injector for an irrigation solution are inserted into the eyeball to perform the surgery. The operator performs the surgery inside the eyeball while checking an endoscopic image captured by the endoscope on a monitor.

[0012] Here, when the endoscope's shooting direction is changed for position adjustment, the endoscope may be twisted around the longitudinal axis. If the inside of the eyeball is photographed through the endoscope in this twisted state, the liquid crystal will display an endoscope-photographed image that is inconsistent with the direction in which the operator performs surgery inside the eyeball using medical tools in the up, down, left, and right directions.

[0013] The display of such endoscopic images may give the operator a sense of discomfort, thus hindering the smooth progress of the surgery.

[0014] Therefore, an object of the present invention is to display an endoscopically captured image reflecting the operator's intention.

[0015] Means for solving technical problems

[0016] The surgical support device involved in the present invention comprises: an arm portion, which has a holder for holding an endoscope and adjusts the position of the endoscope in a state where the endoscope is held by the holder; a display control portion, which performs display control of an endoscopic image captured by the endoscope held by the holder; and an operating portion, which is used to rotate the endoscopic image, and the surgical support device rotates the displayed endoscopic image without displacing the endoscope according to the operation of the operating portion.

[0017] As a result, an endoscopically captured image that reflects the intention of the operator performing the operation is displayed.

[0018] In the above-mentioned surgery support apparatus, when the imaging direction of the endoscope held by the holder changes, it is conceivable to display the image captured by the endoscope while maintaining the previous rotation state.

[0019] As a result, the endoscopic image at the changed position is rotated by the same angle as that before the displacement and displayed on the monitor.

[0020] In the above-mentioned surgical support device, the endoscopic image can be considered to be an image obtained by inserting an endoscope into the eyeball of the patient and photographing the inside of the eyeball, and the display control unit can consider displaying the endoscopic image and an eyeball mapping image indicating the position of the endoscope on a three-dimensional eyeball model in the same screen.

[0021] As a result, when performing surgery while visually recognizing an image captured by an endoscope, the eyeball mapping image can be confirmed without shifting the line of sight to another display.

[0022] In the above-mentioned surgical support device, the operating unit may be a foot pedal.

[0023] This allows the operator to perform a rotation operation of the endoscope-captured image with his feet.

[0024] Effects of the Invention

[0025] According to the present invention, it is possible to display an endoscopically captured image reflecting the operator's intention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a diagram schematically showing an example of the configuration of a surgical system in an embodiment of the present invention.

[0027] Figure 2 This is a diagram schematically showing the cross-sectional structure of the eyeball of the patient in this embodiment.

[0028] Figure 3 It is a diagram schematically showing an example of the configuration of the surgical support apparatus in the present embodiment.

[0029] Figure 4 This is a diagram schematically showing an example of the structure of the arm front end portion of the endoscope holding device in the present embodiment.

[0030] Figure 5 This is a diagram showing an example of a display image displayed on a monitor in this embodiment.

[0031] Figure 6 This is a block diagram showing an example of the configuration of the surgery support device in this embodiment.

[0032] Figure 7 This is a flowchart showing an example of processing executed by the calculation / control unit of the surgical support apparatus in the present embodiment.

[0033] Figure 8 This is a diagram showing an example of an endoscope-photographed image among display images displayed on a monitor in the present embodiment.

[0034] Fig. 9 This is a diagram showing an example of an endoscope-photographed image among display images displayed on a monitor in the present embodiment. DETAILED DESCRIPTION

[0035] refer to Figures 1 to 9 The embodiments of the present invention are described. The accompanying drawings show the main components and their surrounding structures that are considered necessary for the description. In addition, the accompanying drawings are schematic, and the dimensions, ratios, etc. of each structure recorded in the accompanying drawings are only examples. Therefore, various changes can be made according to the design, etc. as long as they do not deviate from the technical idea of ​​the present invention. In addition, the same symbols are sometimes marked on the structures that have been described once, and the description is omitted.

[0036] Hereinafter, the embodiments will be described in the following order.

[0037] <1. Structure of surgical system>

[0038] <2. Functional structure of the calculation / control unit>

[0039] <3. Processing example of embodiment>

[0040] <4. Conclusion>

[0041] <1. Structure of surgical system>

[0042] The structure of the surgical system 100 used in eye surgery will be described.

[0043] Figure 1 An example of the structure of the surgical system 100 is schematically shown in FIG.

[0044] The surgical system 100 includes an operating table 1 and a surgical support device 2 .

[0045] The operating table 1 and the surgical support device 2 are installed in an operating room.

[0046] The patient 3 lies on the operating table 1 in a supine position. The operator (doctor) 4 is located at the head side of the patient 3 and uses various medical tools 5 to operate on the eyeball 30 of the patient 3 (see Figure 2 ) The medical tool 5 includes, for example, a vitrectomy tool or forceps, an injector for perfusion fluid, etc.

[0047] Figure 2 Schematically shows the cross-sectional structure of the eyeball 30. The surface of the eyeball 30 is covered by the cornea 31 and the conjunctiva 32. The iris 34 with the pupil 33 is located behind the cornea 31, and the lens 35 is located behind the iris 34. In addition, the retina 36 is located on one surface of the fundus inside the eyeball 30.

[0048] The operator 4 inserts the medical tool 5 into the conjunctiva 32 to perform surgery inside the eyeball 30 , for example.

[0049] The surgery on the eyeball 30 performed by the operator 4 is supported by the surgery support device 2 .

[0050] Figure 3 Schematically shows an example of the structure of the surgical support device 2.

[0051] The surgical support apparatus 2 includes an endoscope holding device 11 , an endoscope 12 , an operation unit 13 , a calculation / control unit 14 , and a display 15 .

[0052] The endoscope holding device 11 includes a base portion 16 and an arm portion 17 .

[0053] The base part 16 is placed on a bed in an operating room or the like, and the arm part 17 is attached to the base part 16. The arm part 17 is axially supported by the base part 16 so as to be rotatable.

[0054] The arm portion 17 is formed as a mechanism including one or more joint portions and a rotating portion, and capable of moving the arm tip portion 20 to an arbitrary position.

[0055] Here, the structure of the arm front end portion 20 will be described.

[0056] Figure 4 An example of the structure of the arm front end portion 20 is schematically shown in FIG.

[0057] The arm front end portion 20 includes a holder 21 for holding the endoscope 12 and a measuring portion 22 for measuring the distance to the cornea 31 of the patient 3 .

[0058] The holder 21 is a mechanism capable of attaching and detaching the endoscope 12, and by attaching the endoscope 12, the endoscope 12 is fixed to the holder 21. When the endoscope 12 is fixed to the holder 21, the arm 17 is operated to freely move the endoscope 12 to any position.

[0059] By holding the endoscope 12 inserted into the eyeball 30 of the patient 3 with the holder 21, the operator 4 does not need to hold the endoscope 12 with his hands. Therefore, the operator 4 can perform surgery on the eyeball 30 with both hands.

[0060] The measuring unit 22 includes an irradiating unit 23 and an imaging unit 24 .

[0061] The irradiation unit 23 is, for example, an LED (Light Emitting Diode), and outputs light for irradiating the eyeball 30 of the patient 3 .

[0062] The imaging unit 24 includes imaging units 24L and 24R so as to be able to perform distance measurement by the so-called stereo method. The imaging units 24L and 24R are arranged at a predetermined interval near the upper portion of the holder 21, for example. The optical axes of the imaging units 24L and 24R are parallel and have the same focal length. In addition, the frame cycles are synchronized and the frame rates are also consistent.

[0063] The captured image signals obtained by the imaging elements of the imaging units 24L and 24R are respectively converted into digital image signals (captured image data) representing brightness values ​​based on predetermined grayscales in units of pixels by A / D (Analog / Digital).

[0064] The distance from the imaging units 24L and 24R to the cornea 31 of the patient 3 can be measured based on captured image signals obtained by the imaging elements of the imaging units 24L and 24R in a state where the eyeball 30 is irradiated by the irradiation unit 23 .

[0065] In the measuring unit 22, the relative positional relationship between the irradiation unit 23 and the imaging units 24L, 24R is fixed. Also, the relative positional relationship between the imaging units 24L, 24R and the holder 21 is fixed. Therefore, by fixing the endoscope 12 to the holder 21, the relative positional relationship between the irradiation unit 23 and the imaging units 24L, 24R and the endoscope 12 is fixed.

[0066] Back to Figure 3 The endoscope 12 of the surgical support device 2 is inserted into the eyeball 30 while being fixed to the holder 21 (see Figure 2 The state of the inside of the eyeball 30 is photographed by the inserted endoscope 12. The captured image signals obtained by the imaging element of the endoscope 12 are converted into digital image signals (captured image data) representing the brightness value based on a predetermined grayscale in pixel units.

[0067] A captured image based on the captured image data from the endoscope 12 is displayed on the liquid crystal of the display 15 .

[0068] The operation unit 13 collectively represents an operation device used when operating the arm 17 or rotating the image captured by the endoscope 12 and displayed on the display 15. The operation unit 13 may be a foot pedal or a manually operated remote control device (remote controller). Figure 3 In FIG. 1 , a foot pedal is illustrated as an example, but as described above, the operation unit 13 is not limited thereto.

[0069] The details of the method of rotating the image captured by the endoscope 12 will be described later.

[0070] The calculation / control unit 14 executes various processes required to realize the present embodiment, such as operation control of the arm unit 17 , generation processing of various images displayed on the display 15 , and display control processing on the display 15 .

[0071] The calculation / control unit 14 is configured to include, for example, a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The calculation / control unit 14 is implemented by one or more microcomputers.

[0072] The calculation / control unit 14 is built in, for example, the base unit 16 of the endoscope holding device 11. Alternatively, the calculation / control unit 14 may be built in other external equipment.

[0073] The display 15 displays the display image 6 on liquid crystal according to the display control from the calculation / control unit 14 .

[0074] Figure 5 An example of a display image 6 displayed on the display 15 is shown in FIG.

[0075] The display 15 displays, for example, a display image 6 including an endoscope image 61, an eyeball mapping image 62, an endoscope viewpoint mapping image 63, an insertion length prompt image 64, etc. The display image 6 also includes images related to various information as necessary.

[0076] The endoscopic image 61 is a captured image based on captured image data from the endoscope 12. As the endoscopic image 61, for example, the state of the inside of the eyeball 30 captured by the endoscope 12 is displayed. The endoscopic image 61 can be rotated by operating the operating unit 13. The details of the method of rotating the endoscopic image 61 will be described later.

[0077] The eyeball mapping image 62 indicates the positional relationship between the eyeball 30 and the endoscope 12 .

[0078] In the eyeball mapping image 62 , the eyeball 30 is displayed by a three-dimensional eyeball model 30A. In addition, the position of the endoscope 12 relative to the eyeball 30 is displayed by an endoscope model 12A.

[0079] The endoscope viewpoint mapping image 63 displays a three-dimensional model image of the patient 3 from the viewpoint of the endoscope 12. The endoscope viewpoint mapping image 63 rotates in conjunction with the rotation of the endoscope captured image 61.

[0080] The insertion length presentation image 64 displays a numerical value of the insertion length of the endoscope 12 with respect to the eyeball 30 and a numerical value of the distance from the endoscope distal end portion 120 to the retina 36 .

[0081] The operator 4 performs surgery on the eyeball 30 while checking the display image 6 displayed on the monitor 15 .

[0082] <2. Functional structure of the calculation / control unit>

[0083] The functional configuration of the calculation / control unit 14 in the surgical support apparatus 2 will be described.

[0084] Figure 6 2 shows an example of the configuration of the surgical support apparatus 2 in the form of a block diagram.

[0085] The calculation / control unit 14 includes a drive control unit 141 , an image processing unit 142 , a position determination unit 143 , an image generation unit 144 , and a display control unit 145 .

[0086] The drive control unit 141 controls the motion of the joint and the rotating portion of the arm 17 of the endoscope holding device 11, for example, based on an operation signal input from the operation unit 13. The drive control unit 141 controls the motion of the arm 17 to move the position of the endoscope 12 fixed to the holder 21 of the arm front end 20.

[0087] Furthermore, the drive control unit 141 performs output control of the irradiation unit 23 and imaging control of the imaging unit 24 .

[0088] The image processing unit 142 performs various signal processing such as brightness signal processing, color processing, resolution conversion processing, and codec processing on the image signal based on the image captured by the endoscope 12 . The image processing unit 142 outputs the image signal subjected to various signal processing to the image generating unit 144 .

[0089] The position determination unit 143 obtains distance information from the imaging unit 24 to the cornea 31 based on the captured image signal of the eyeball 30 input from the imaging unit 24 by the imaging elements of the imaging units 24L and 24R.

[0090] Then, the position determination unit 143 calculates the relative positional relationship between the eyeball 30 and the endoscope distal end portion 120 based on the distance information.

[0091] The position determination unit 143 outputs the determination result (the relative positional relationship between the eyeball 30 and the endoscope distal end portion 120 ) to the image generation unit 144 .

[0092] The image generation unit 144 generates a video image using various input information from the image processing unit 142, the position determination unit 143, the operation unit 13, etc. Figure 5 The display image 6 shown. The details of the method of generating various images constituting the display image 6 will be described later.

[0093] The image generation unit 144 outputs the image signal of the generated display image 6 to the display control unit 145 .

[0094] The display control unit 145 performs control to display the display image 6 on the display 15 based on the image signal input from the image generation unit 144 .

[0095] <3. Processing example of embodiment>

[0096] The processing executed by the calculation / control unit 14 of the surgical support device 2 to realize the present embodiment will be described. Here, as an example, it is assumed that the operator 4 is located at the head side of the patient 3 to perform surgery (see Figure 1 ).

[0097] Figure 71 is a flowchart showing an example of processing executed by the calculation / control unit 14. The calculation / control unit 14 repeatedly executes the processing for each frame of the image. Figure 7 processing.

[0098] In step S101, the calculation / control unit 14 acquires the captured image data input from the endoscope 12. The calculation / control unit 14 stores each frame of image data, which is captured image data of the inside of the eyeball 30 captured by the endoscope 12, in the internal memory.

[0099] In step S102 , the calculation / control unit 14 acquires image rotation angle data.

[0100] The image rotation angle data is information indicating the rotation direction and rotation angle of the captured image data from the endoscope 12 and is used when performing rotation processing on the captured image data.

[0101] The image rotation angle data is updated as appropriate according to the operation input from the operation unit 13. However, if the imaging direction of the endoscope 12 changes due to the operation of the arm unit 17, the image rotation angle data is not updated.

[0102] The operation / control unit 14 starts Figure 7 During the period from the processing of the endoscope to the detection of the operation input from the operation unit 13 (hereinafter also referred to as the initial state), the image rotation angle data is a value specifying an angle of 0° for the rotation processing of the endoscopically captured image.

[0103] If the operation input from the operation unit 13 is detected, the calculation / control unit 14 updates the image rotation angle data according to the operation amount. For example, the positive or negative angle of the updated image rotation angle data indicates the rotation direction. The details of the image rotation angle data update process will be described later.

[0104] In step S103 , the calculation / control unit 14 generates image data of the endoscopic image 61 based on the captured image data and the image rotation angle data from the endoscope 12 .

[0105] At this time, the calculation / control unit 14 generates at least image data of an endoscopic captured image 61 obtained by rotating the captured image data from the endoscope 12 in a direction and at an angle based on the image rotation angle data.

[0106] Furthermore, in the initial state, a rotation angle of 0° is designated as the image rotation angle data, and therefore the calculation / control unit 14 generates image data as the endoscopic captured image 61 without rotating the captured image data from the endoscope 12 .

[0107] In step S104 , the calculation / control unit 14 generates image data of the display image 6 .

[0108] The calculation / control unit 14 generates image data of the display image 6 by synthesizing image data of the endoscopic image 61 , the eyeball mapping image 62 , the endoscopic viewpoint mapping image 63 , the insertion length presentation image 64 , and other necessary images.

[0109] Here, an example of a method of generating image data of various images other than the above-described endoscopically captured image 61 will be described.

[0110] Eyeball mapping image 62

[0111] The calculation / control unit 14 performs various image analysis processes such as identifying the light spot of the light 25 from the irradiation unit 23 that shines on the eyeball 30 or the cornea 31 based on a pair of captured image data of each frame obtained by the imaging units 24L and 24R capturing the eyeball 30 .

[0112] The calculation / control unit 14 calculates the distance from the imaging unit 24 to the cornea 31 , that is, the imaging distance, for a pair of captured image data (stereoscopic image) based on the principle of triangulation according to the amount of deviation of the position of the light spot incident on the cornea 31 .

[0113] The calculation / control unit 14 determines the positional relationship between the imaging unit 24 and the eyeball 30 based on the calculated imaging distance, and determines the positional relationship between the endoscope 12 (endoscope distal end portion 120 ) whose relative positional relationship with the imaging unit 24 is fixed and the eyeball 30 .

[0114] The calculation / control unit 14 generates image data of an eyeball mapping image 62 that represents the determined positional relationship between the eyeball 30 and the endoscope 12 (endoscope distal end portion 120 ) as a positional relationship between the three-dimensional eyeball model 30A and the endoscope model 12A.

[0115] Endoscopic viewpoint mapping image 63

[0116] The calculation / control unit 14 generates image data of an endoscope viewpoint mapping image 63 showing a three-dimensional model image of the patient 3 at the viewpoint of the endoscope 12 .

[0117] The three-dimensional model of the patient 3 uses pre-set three-dimensional model data of a human head. The value representing the angle of the patient's head 3 relative to the endoscope 12 is pre-set as head angle data on the premise that the setting angle of the endoscope holding device 11 relative to the operating table 1 is specified when the patient 3 lies supinely on the operating table 1.

[0118] The calculation / control unit 14 generates a three-dimensional model image including a three-dimensional eyeball model image based on the three-dimensional model data and the head angle data.

[0119] Then, the calculation / control unit 14 generates image data of the endoscope viewpoint mapping image 63 by synthesizing the three-dimensional model image and the endoscope model image based on the positional relationship between the eyeball 30 and the endoscope 12 .

[0120] Insert length hint image 64

[0121] The calculation / control unit 14 calculates information related to the insertion length of the endoscope 12 in the eyeball 30 and information related to the distance from the endoscope front end 120 to the retina 36 of the patient 3 based on the determined positional relationship between the eyeball 30 and the endoscope 12 (endoscope front end 120).

[0122] Then, the calculation / control unit 14 generates image data of the insertion length presentation image 64 based on these information.

[0123] The above method generates image data of various images required for generating image data for the display image 6.

[0124] In the next step S105, the calculation / control unit 14 performs display control for displaying the display image 6 on the liquid crystal of the display 15. As a result, the display image 6 is displayed on the same screen of the display 15. Figure 5 Display image 6 is shown.

[0125] During the operation performed by the operator 4 on the eyeball 30, Figure 8 As shown in FIG. 1 , sometimes the medical tool 5 is reflected in the endoscope image 61. At this time, according to the display position of the medical tool 5, it can be seen that the up-down, left-right direction of the endoscope image 61 is different from the left-down direction of the endoscope image 61. Figure 1 The directions in which the operator 4 performs surgery inside the eyeball 30 are not consistent.

[0126] This is because the endoscope 12 is twisted about the longitudinal axis when the position of the endoscope 12 inserted into the eyeball 30 is adjusted. If the inside of the eyeball 30 is photographed through the endoscope 12 in this twisted state, the display 15 will display an endoscope-photographed image 61 whose up-down and left-right directions are inconsistent with the direction in which the operator 4 performs the surgery.

[0127] In this case, in order to smoothly perform the operation, the operator 4 needs to rotate the endoscopic image 61 to a position where it is easy to observe (for example, Fig. 9 shown in the position).

[0128] Therefore, the calculation / control unit 14 performs the processing of step S106 and step S107.

[0129] In step S106, the calculation / control unit 14 determines whether or not an operation input from the operation unit 13 is detected. The operation input is performed, for example, by the operator 4 operating a foot pedal with his or her foot.

[0130] When no operation input is detected in step S106 , the calculation / control unit 14 returns the process to step S101 and executes the same process.

[0131] That is, in the initial state, the endoscopic image 61 in the unrotated state is displayed on the display 15 .

[0132] On the other hand, when an operation input is detected in step S106 , the calculation / control unit 14 advances the process from step S106 to step S107 .

[0133] In step S107 , the calculation / control unit 14 performs a process of updating the image rotation angle data.

[0134] The calculation / control unit 14 updates the rotation direction and the rotation angle as image rotation angle data according to the operation input from the operation unit 13 .

[0135] After performing the process of step S107, the calculation / control unit 14 returns the process to step S101. Then, the calculation / control unit 14 performs the processes of steps S101 to S103 to generate image data of the endoscopic image 61 obtained by rotating the image data from the endoscope 12 according to the updated image rotation angle data.

[0136] By executing such processing, the endoscopic image 61 displayed on the display 15 can be continuously rotated without causing the endoscope 12 to be displaced inside the eyeball 30 according to the operation of the operation unit 13. For example, the endoscopic image 61 can be rotated from Figure 8 Rotate the position shown to Fig. 9 Position shown.

[0137] In the next step S104 , the calculation / control unit 14 generates image data of the display image 6 including the endoscopically captured image 61 in the same manner as described above.

[0138] In step S105 , the calculation / control unit 14 performs display control for displaying the display image 6 on the liquid crystal of the display 15 . The endoscopic image 61 rotated in accordance with the operation of the operation unit 13 by the operator 4 is displayed on the display 15 .

[0139] While the operator 4 continues to operate the operation unit 13 , the processing from step S101 to step S107 is continuously executed by the calculation / control unit 14 .

[0140] The operator 4 , for example, continues to operate the operation unit 13 to rotate the endoscopic image 61 until the medical tool 5 shown in the endoscopic image 61 reaches a position where surgery is easy to perform.

[0141] When the operator 4 ends the operation of the operation unit 13, the calculation / control unit 14 determines that no operation input is detected in step S106. In this case, the calculation / control unit 14 returns the process from step S106 to step S101, and then repeatedly executes the process from step S101 to step S106 until the operation input is detected in step S106.

[0142] At this time, the calculation / control unit 14 generates image data of the endoscopic image 61 based on the image rotation angle data updated most recently, and controls display on the display 15. Thus, the endoscopic image 61 is displayed on the display 15 while maintaining the rotation angle at the time of rotation stop.

[0143] Furthermore, even if the endoscope 12 held by the holder 21 is moved by the operation control of the arm 17 in order to change the imaging direction of the endoscope 12 , the image rotation angle data is not updated by the calculation / control unit 14 .

[0144] Therefore, the endoscopically captured image 61 in which only the capturing direction is changed is displayed on the display 15 while maintaining the rotation based on the most recently updated image rotation angle data.

[0145] Therefore, when the operator 4 changes the imaging direction of the endoscope 12 , it is not necessary to rotate the endoscopic image 61 again by operating the operating unit 13 .

[0146] If an operation input is detected again in step S106 while the process from step S101 to step S106 is repeatedly executed, the calculation / control unit 14 performs the processes in the order of step S107 and step S101 , and then executes the same process.

[0147] <4. Conclusion>

[0148] The surgical support device 2 in the embodiment of the present invention comprises: an arm 17 having a holder 21 for holding an endoscope 12, and adjusting the position of the endoscope 12 in a state where the endoscope 12 is held by the holder 21; a display control unit 145 for performing display control of an endoscopic image 61 captured by the endoscope 12 held by the holder 21; and an operation unit 13 for rotating the endoscopic image 61, wherein the surgical support device 2 rotates the displayed endoscopic image 61 without causing the endoscope 12 to be displaced according to the operation of the operation unit 13 (refer to Figure 6 and Figure 7 wait).

[0149] As a result, the endoscopically captured image 61 reflecting the intention of the operator 4 who operates the operation unit 13 is displayed.

[0150] Therefore, even when the endoscopic image 61 whose up-down, left-right direction does not coincide with the direction in which the operator 4 performs surgery on the inside of the eyeball 30 is displayed on the display 15 (refer to Figure 8 ), and the endoscopic image 61 can also be adjusted to a position where the operator 4 can easily perform surgery (reference Fig. 9 ). Therefore, it can promote the smooth progress of the operation.

[0151] In the surgical support device 2 of the present embodiment, when the imaging direction of the endoscope 12 held by the holder 21 changes, the endoscopic image 61 (see FIG. 1 ) is displayed while maintaining the previous rotation state. Figure 7 S103, etc.).

[0152] As a result, the endoscopic image 61 at the changed position is rotated by the same angle as before the displacement and displayed on the display 15 .

[0153] Therefore, the endoscopic image 61 reflecting the intention of the operator 4 maintaining the rotation state can be displayed. In addition, the operator 4 does not need to operate the operation unit 13 every time the position of the endoscope 12 changes, so that the operation can be smoothly performed.

[0154] In the surgical support device 2 of the present embodiment, the endoscopic image 61 is an image obtained by the endoscope 12 inserted into the eyeball 30 of the patient 3 and photographing the inside of the eyeball 30. The display control unit 145 displays the endoscopic image 61 and the eyeball mapping image 62 indicating the position of the endoscope 12 on the three-dimensional eyeball model 30A on the same screen (see FIG. Figure 7 S105, etc.).

[0155] Thus, by visually recognizing the display 15 displaying the endoscopic image 61 , the position of the endoscope 12 inserted into the eyeball 30 of the patient 3 can be grasped.

[0156] Therefore, the operator 4 can check the position of the inserted endoscope 12 inside the eyeball 30 without moving the viewpoint away from the display screen 6 displaying the image inside the eyeball 30. Therefore, the operation on the eyeball 30 can be performed more smoothly.

[0157] In the surgical support device 2 of the present embodiment, the operation unit 13 is a foot pedal (see Figure 3 wait).

[0158] This allows the operator 4 to perform a rotation operation of the endoscopic image 61 with his feet.

[0159] Therefore, even when the operator 4 cannot use both hands during the operation, the endoscopic image 61 reflecting the intention of the operator 4 can be displayed. In other words, the operator 4 can freely use both hands during the rotation operation of the endoscopic image 61. Therefore, the operation can be performed smoothly.

[0160] In addition, in this embodiment, an ophthalmic endoscope is described as an example of the endoscope 12, but the endoscope 12 is not limited to an ophthalmic endoscope. For example, various endoscopes such as a thoracoscope inserted between the ribs of the patient 3 or a laparoscope inserted through an incision in the abdomen can be applied.

[0161] Finally, the embodiments described in the present invention are only examples, and the present invention is not limited to the above embodiments. In addition, the combination of all structures described in the embodiments is not necessarily essential for solving the problem. Furthermore, the effects described in the present invention are only examples and are not limited thereto, and other effects may be exerted, or part of the effects described in the present invention may be exerted.

[0162] Explanation of symbols

[0163] 2- surgical support device, 3- operated person, 12- endoscope, 13- operation unit, 17- arm, 21- holder, 30- eyeball, 30A- three-dimensional eyeball model, 61- endoscope-photographed image, 62- eyeball mapping image, 145- display control unit.

Claims

1. A surgical support device comprising: an arm having a holder for holding an endoscope and adjusting a position of the endoscope in a state where the endoscope is held by the holder; a calculation / control unit that acquires an endoscopic image captured by the endoscope held by the holder and performs display control of the endoscopic image; and an operating unit which is provided separately from the arm portion and provides the calculation / control unit with image rotation angle data indicating a rotation direction and a rotation angle of the image captured by the endoscope, which is used when the image captured by the endoscope is rotated, The calculation / control unit generates image data of the endoscopic image obtained by rotating image data from the endoscope according to the image rotation angle data provided by the operation unit, and performs the display control based on the generated image data.

2. The surgical support device according to claim 1, wherein: When the imaging direction of the endoscope held by the holder changes, the image captured by the endoscope is displayed while maintaining the previous rotation state.

3. The surgical support device according to claim 1 or 2, wherein: The endoscopic image is an image of the inside of the eyeball captured by an endoscope inserted into the eyeball of the patient. The calculation / control unit displays the endoscopic image and an eyeball mapping image indicating the position of the endoscope on a three-dimensional eyeball model on the same screen.

4. The surgical support device according to claim 1 or 2, wherein: The operating part is a foot pedal.

Images