Surgical assist devices

Abstract

The positional relationship between the eyeball and the endoscope is displayed in a manner that enables the operator to grasp the positional relationship between the eyeball and the endoscope. The surgical assisting device according to the present invention comprises: an arm having a holder for holding the endoscope, and adjusting the position of the endoscope while the endoscope is held in the holder; a measuring unit, which has a fixed relative positional relationship with the endoscope held in the holder, and is used to measure the distance to the operation target part of the operator; a position determination unit, which calculates the positional relationship between the operation target part of the operator and the front end of the endoscope based on information from the measuring unit; an image generating unit, which uses the determination result of the position determination unit to generate a mapping image showing the position of the endoscope on a three-dimensional model of the operation target part; and a display control unit, which performs display control of the mapping image.

Description

Technical Field

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

[0002] For example, vitreous surgery is known 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 typical vitreous surgery, the operator (doctor) uses a surgical microscope to observe the inside of the eyeball through the pupil of the patient. However, 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. Such compression may cause pain during surgery and 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 can be displayed on a display unit such as a monitor. The operator can easily observe a portion that is usually not visible from the pupil by moving the endoscope inside the eyeball.

[0006] In vitreous surgery performed 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] Prior art literature

[0008] Patent Literature

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

[0010] Problems to be solved by the invention

[0011] During vitreous surgery, treatment instruments such as a vitrectomy knife, forceps, and an injector for injecting perfusion fluid are inserted into the eyeball to perform the surgery. During the surgery, it is unknown whether the endoscope is inserted into the eyeball in the correct position. Therefore, there is a concern that during the surgery, the treatment instruments may come into contact with the endoscope, etc., thereby preventing the smooth progress of the surgery.

[0012] Furthermore, when inserting an endoscope into the eyeball, if the position of the endoscope in the eyeball cannot be determined, there is a concern that the endoscope may contact the retina and damage the retina.

[0013] Therefore, an object of the present invention is to display the positional relationship between the eyeball and the endoscope in a manner that enables the operator to understand the positional relationship between the eyeball and the endoscope.

[0014] Solutions for solving problems

[0015] The surgical assisting device according to the present invention comprises: an arm portion having a holder for holding an endoscope, and adjusting the position of the endoscope while the endoscope is held on the holder; a measuring portion, the relative positional relationship between the endoscope and the endoscope held on the holder being fixed, and used to measure the distance to a treatment target part of a patient; a position determination portion, which calculates the positional relationship between the treatment target part of the patient and the front end of the endoscope based on information from the measuring portion; an image generating portion, which uses the determination result of the position determination portion to generate a mapping image showing the position of the endoscope on a three-dimensional model of the treatment target part; and a display control portion, which performs display control of the mapping image.

[0016] The surgical target site is a site of the patient to be operated on by the operator, and is, for example, the patient's eyeball in vitreous surgery.

[0017] As a result, the mapping image is displayed on the monitor. The operator can check the monitor to understand, for example, the position of the endoscope inserted into the eyeball of the patient.

[0018] In the above-mentioned surgical assisting device, considering that the surgical object part is the eyeball, the measuring unit has an imaging unit and an irradiation unit, and the position determination unit determines the positional relationship between the patient's eyeball and the front end of the endoscope based on a camera image obtained by capturing a light spot of light projected from the irradiation unit onto the patient's eyeball by the imaging unit.

[0019] For example, the distance from the imaging unit to the eyeball can be calculated based on the captured image. Based on this distance, the positional relationship between the eyeball and the distal end of the endoscope can be determined.

[0020] In the above-mentioned surgery support device, it is considered that the image generating unit generates the following prompt image, which has: information related to the insertion length of the endoscope into the eyeball; and information related to the distance from the distal end of the endoscope to the retina of the patient.

[0021] Thus, for example, the numerical value of the insertion length of the endoscope into the eyeball and the numerical value of the distance to the retina of the patient are displayed on the monitor.

[0022] In the above-mentioned surgery support device, it is considered that the display control unit displays the mapping image and the image captured by the endoscope (endoscopic image) on the same screen.

[0023] By displaying the mapping image and the endoscopically captured image on the same screen, the operator can easily grasp the positional relationship of the endoscope in the eyeball while performing surgery while checking the captured image of the inside of the eyeball.

[0024] In the above-mentioned surgery support device, it is considered that the image generation unit updates the map image according to the displacement of the position of the endoscope.

[0025] Thereby, a mapping image showing the latest positional relationship between the eyeball and the endoscope is displayed on the monitor.

[0026] Effects of the Invention

[0027] According to the present invention, the operator can perform surgery while knowing the position of the endoscope inserted into the treatment target site of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a diagram schematically showing an example of a configuration of a surgical system according to an embodiment of the present invention.

[0029] Figure 2 This is a diagram schematically showing the cross-sectional structure of the eyeball of the patient in the present embodiment.

[0030] Figure 3 It is a diagram schematically showing an example of the structure of the surgical assistance device according to the present embodiment.

[0031] Figure 4 This is a diagram schematically showing an example of the structure of the arm front end portion of the endoscope holding device according to the present embodiment.

[0032] Figure 5 This is a diagram showing an example of a display image displayed on the monitor according to the present embodiment.

[0033] Figure 6 This is a block diagram showing an example of the configuration of the surgical assistance device according to the present embodiment.

[0034] Figure 7 This is a flowchart showing an example of processing executed by the calculation and control unit of the surgical assistance device according to the present embodiment.

[0035] Figure 8 This is a diagram showing an overview of the procedure for generating an eyeball mapping image according to the present embodiment. DETAILED DESCRIPTION

[0036] refer to Figures 1 to 8The embodiments of the present invention are described. The main components and their surrounding structures that are considered necessary for the description are extracted and shown in the accompanying drawings. In addition, the accompanying drawings are schematic, and the dimensions, ratios, etc. of each structure recorded in the accompanying drawings are only examples. Therefore, as long as they do not deviate from the technical idea of ​​the present invention, various changes can be made according to the design, etc. In addition, the same symbols are sometimes marked on the structures that have been described once, and the description is omitted.

[0037] Hereinafter, the embodiments will be described in the following order.

[0038] <1. Structure of surgical system>

[0039] <2. Functional structure of the calculation and control unit>

[0040] <3. Processing Example of Implementation Method>

[0041] <4. Conclusion>

[0042] <1. Structure of surgical system>

[0043] The structure of the surgical system 100 for eye surgery will be described.

[0044] Figure 1 An example of the configuration of the surgical system 100 is schematically shown.

[0045] The surgical system 100 is configured to include an operating table 1 and a surgical assisting device 2 .

[0046] The operating table 1 and the surgical auxiliary device 2 are arranged in an operating room.

[0047] The patient 3 lies on the operating table 1 in a supine position. The operator (doctor) 4 is located on the head side of the patient 3 and uses various treatment instruments 5 to treat the eyeball 30 (see Figure 2 ) The treatment instrument 5 includes, for example, a vitrectomy knife, forceps, an injector for injecting a perfusion solution, and the like.

[0048] Figure 2 The cross-sectional structure of the eyeball 30 is schematically shown. The surface of the eyeball 30 is covered by the cornea 31 and the conjunctiva 32. The iris 34 having 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 the side of the inside of the eyeball 30 close to the fundus.

[0049] The operator 4 inserts the treatment instrument 5 into the conjunctiva 32 to perform surgery on the inside of the eyeball 30. The surgery support device 2 supports the operator 4 in performing the surgery on the eyeball 30.

[0050] Figure 3An example of the structure of the surgical assisting device 2 is schematically shown.

[0051] The surgical assisting device 2 includes an endoscope holding device 11 , an endoscope 12 , an operation unit 13 , a calculation and control unit 14 , and a monitor 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 the floor of 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 includes one or more joint portions and a rotating portion, and is formed as a mechanism 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.

[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 that allows the endoscope 12 to be detachably mounted, and the endoscope 12 is fixed to the holder 21 by mounting the endoscope 12. 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. The measuring unit 22 includes an irradiating unit 23 and an imaging unit 24.

[0060] The irradiation unit 23 is, for example, an LED (Light Emitting Diode), and outputs light to illuminate the eyeball 30 of the patient 3 .

[0061] The camera unit 24 has camera units 24L and 24R so that distance measurement can be performed by the so-called stereo method. The camera units 24L and 24R are arranged at a predetermined interval near the upper part of the holder 21, for example. The optical axes of the camera units 24L and 24R are parallel, and the focal lengths are respectively the same. In addition, the frame cycles are synchronized and the frame rates are also consistent. The camera image signals obtained by the camera elements of the camera units 24L and 24R are respectively A / D (Analog / Digital, analog-digital) converted into digital image signals (camera image data) that represent brightness values ​​based on predetermined grayscales in pixel units.

[0062] Based on the image signals of the imaging elements of the imaging units 24L and 24R obtained when the irradiation unit 23 irradiates the eyeball 30, the distance from the imaging units 24L and 24R to the cornea 31 of the patient 3 can be measured. A method for measuring the distance to the cornea 31 of the patient 3 and a method for applying the measured distance will be described in detail later.

[0063] In the measuring unit 22, the relative positional relationship between the irradiation unit 23 and the imaging units 24L, 24R is fixed. In addition, the relative positional relationship between the imaging units 24L, 24R and the above-mentioned 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 becomes fixed.

[0064] return Figure 3 The endoscope 12 of the surgical assisting device 2 is inserted into the eyeball 30 while being fixed to the holder 21 (see Figure 2 The inserted endoscope 12 captures the state of the inside of the eyeball 30. The image signals obtained by the image pickup element of the endoscope 12 are A / D converted to digital image signals (image data) representing brightness values ​​based on a predetermined grayscale in pixel units.

[0065] A captured image based on the captured image data from the endoscope 12 is displayed on the liquid crystal surface of the monitor 15 .

[0066] The operation unit 13 integrally shows an operation device used when operating the arm 17, rotating the image captured by the endoscope 12 and displayed on the monitor 15, etc. 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 to this.

[0067] The calculation and control unit 14 executes various processes required for realizing the present embodiment, such as operation control of the arm unit 17 , generation processing of various images to be displayed on the monitor 15 , and display control processing on the monitor 15 .

[0068] The calculation and 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 and control unit 14 is implemented by one or more microcomputers.

[0069] The calculation and control unit 14 is built in, for example, the base unit 16 of the endoscope holding device 11. Alternatively, the calculation and control unit 14 may be built in other external equipment.

[0070] The monitor 15 displays the display image 6 on a liquid crystal surface based on the display control from the calculation and control unit 14 .

[0071] Figure 5 An example of the display image 6 displayed on the monitor 15 is shown.

[0072] The monitor 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 presentation image 64, etc. The display image 6 also includes images related to various information as necessary.

[0073] The endoscopic image 61 is an image based on image data from the endoscope 12. The endoscopic image 61 shows, for example, the state of the inside of the eyeball 30 captured by the endoscope 12. The eyeball mapping image 62 shows the positional relationship between the eyeball 30 and the endoscope 12.

[0074] In the eyeball mapping image 62, the eyeball 30 is displayed using the three-dimensional eyeball model 30A. In addition, the position of the endoscope 12 relative to the eyeball 30 is displayed using the endoscope model 12A.

[0075] The endoscope viewpoint mapping image 63 displays a three-dimensional model image of the patient 3 based on the viewpoint of the endoscope 12 .

[0076] The insertion length presentation image 64 displays the numerical value of the insertion length of the endoscope 12 into the eyeball 30 and the numerical value of the distance from the endoscope distal end portion 120 to the retina 36 .

[0077] The operator 4 performs surgery on the eyeball 30 while checking the display image 6 displayed on the monitor 15 .

[0078] <2. Functional structure of the calculation and control unit>

[0079] The functional configuration of the calculation and control unit 14 of the surgical support device 2 will be described.

[0080] Figure 6 An example of the configuration of the surgery support device 2 is shown as a block diagram.

[0081] The calculation and 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 .

[0082] The drive control unit 141 controls the motion of the joint and the rotating part of the arm 17 of the endoscope holding device 11 based on, for example, an operation signal input from the operation unit 13. The drive control unit 141 controls the motion of the arm 17, thereby moving the position of the endoscope 12 fixed to the holder 21 of the arm front end 20.

[0083] Furthermore, the drive control unit 141 performs output control on the irradiation unit 23 and imaging control on the imaging unit 24 .

[0084] The image processing unit 142 performs various signal processing such as brightness signal processing, color processing, resolution conversion processing, and codec processing on image signals obtained by the endoscope 12 . The image processing unit 142 outputs the image signals subjected to various signal processing to the image generating unit 144 .

[0085] The position determination unit 143 obtains distance information from the imaging unit 24 to the cornea 31 based on the image signal of the eyeball 30 captured by the imaging elements of the imaging units 24L and 24R input from the imaging unit 24 .

[0086] 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. The method of calculating the relative positional relationship will be described in detail later.

[0087] 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 .

[0088] 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 is shown. The method of generating various images constituting the display image 6 will be described in detail later.

[0089] The image generation unit 144 outputs the image signal of the generated display image 6 to the display control unit 145 . The display control unit 145 performs control to display the display image 6 on the monitor 15 based on the image signal input from the image generation unit 144 .

[0090] <3. Processing Example of Implementation Method>

[0091] The following describes the processing executed by the calculation and control unit 14 of the surgery support device 2 to realize the present embodiment.

[0092] Figure 7 : is a flowchart showing an example of the processing performed by the calculation and control unit 14. Figure 8 An overview of the procedure for generating the eyeball mapping image 62 is shown.

[0093] In step S101 , the calculation and control unit 14 performs irradiation start control processing.

[0094] In the irradiation start control process, if Figure 8 As shown in (A) of FIG. 1 , the calculation and control unit 14 causes the irradiation unit 23 to output the light 25 for irradiating the eyeball 30. Figure 8 In (A) of FIG. 1 , light 25 output from the irradiation unit 23 is schematically shown by a dotted line.

[0095] Then, the calculation and control unit 14 repeatedly executes the processing after step S102 at each frame timing of the image.

[0096] In step S102, the calculation and control unit 14 stores each frame of image data in the internal memory, the image data being the captured image data obtained by the image capturing units 24L and 24R capturing the eyeball 30. In step S103, the calculation and control unit 14 performs various image analysis processes such as recognizing the light point of the light 25 projected from the irradiation unit 23 onto the eyeball 30 and the cornea 31 of the eyeball 30, based on the two captured image data of each frame.

[0097] In step S104, the calculation and control unit 14 calculates the pair of image data (stereoscopic images) obtained by the imaging units 24L and 24R based on the principle of triangulation and according to Figure 8 The imaging distance, which is the distance from the imaging unit 24 to the cornea 31 , is calculated based on the amount of deviation L of the position of the light spot reflected on the cornea 31 as shown in (B) of FIG.

[0098] The calculation and control unit 14 determines the positional relationship between the imaging unit 24 and the eyeball 30 based on the calculated imaging distance.

[0099] At this time, as the data of the size of the eyeball 30, Figure 8(C) shows data of the three-dimensional eyeball model 30A (eyeball model data).

[0100] The eyeball model data is three-dimensional data based on the size of an average human eyeball, for example. Although the size of a human eyeball may vary slightly from person to person, the difference is not so great, so the standard human eyeball size is set in advance as the eyeball model data.

[0101] The calculation and control unit 14 can calculate (determine) the positional relationship between the imaging unit 24 and the eyeball 30 by using the imaging distance and the eyeball model data.

[0102] Furthermore, during surgery, the eyeball size of the eyeball 30 of the patient 3 can be measured in advance, and the eyeball model data can be set by reflecting the measurement result.

[0103] In the subsequent step S105 , the calculation and control unit 14 determines the positional relationship between the endoscope 12 and the eyeball 30 based on the positional relationship between the imaging unit 24 and the eyeball 30 .

[0104] The endoscope 12 is fixed to the holder 21 of the arm distal end 20, thereby fixing the relative positional relationship between the endoscope 12 and the imaging unit 24. Therefore, when the endoscope 12 is fixed to the holder 21, the position of the endoscope 12 is naturally determined by the position of the imaging unit 24.

[0105] In addition, the shape of the endoscope 12 fixed to the holder 21 in the axial direction up to the endoscope distal end portion 120 is known. Therefore, by presetting information related to the shape of the endoscope 12, the calculation and control unit 14 can calculate the position of the endoscope distal end portion 120 based on the specified position of the endoscope 12.

[0106] Therefore, the calculation and control unit 14 can calculate (determine) the positional relationship of the endoscope 12 (endoscope distal end portion 120 ) with respect to the eyeball 30 based on the positional relationship between the eyeball 30 and the imaging unit 24 .

[0107] In subsequent step S106 , the calculation and control unit 14 generates image data of the eyeball mapping image 62 showing the determined positional relationship between the eyeball 30 and the endoscope 12 (endoscope distal end portion 120 ) as the positional relationship between the three-dimensional eyeball model 30A and the endoscope model 12A.

[0108] In step S107 , the calculation and control unit 14 generates image data of the display image 6 .

[0109] The calculation and control unit 14 generates image data of the display image 6 by synthesizing the endoscope-photographed image 61 , the eyeball mapping image 62 , the endoscope viewpoint mapping image 63 , the insertion length presentation image 64 , and other necessary images.

[0110] Here, an example of a method of generating image data of various images other than the above-mentioned eyeball mapping image 62 will be described.

[0111] Endoscopic camera image 61

[0112] The calculation and control unit 14 generates image data of an endoscopic captured image 61 based on captured image data captured by the endoscope 12 .

[0113] Endoscopic viewpoint mapping image 63

[0114] The calculation and control unit 14 generates image data of an endoscope viewpoint mapping image 63 for displaying a three-dimensional model image of the patient 3 based on the viewpoint of the endoscope 12 .

[0115] The three-dimensional model of the patient 3 uses pre-set three-dimensional model data of a human head. When the patient 3 is lying on the operating table 1 in a supine position, and the setting angle of the endoscope holding device 11 relative to the operating table 1 is specified, the value representing the angle of the patient's 3 head relative to the endoscope 12 is pre-set as the head angle data.

[0116] The calculation and control unit 14 generates a three-dimensional model image having a three-dimensional eyeball model image based on the three-dimensional model data and the head angle data.

[0117] Then, the calculation and 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 .

[0118] Insert length hint image 64

[0119] The calculation and control unit 14 calculates information related to the insertion length of the endoscope 12 into 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 positional relationship of the endoscope 12 (endoscope front end 120) relative to the eyeball model data determined in step S105.

[0120] Then, the calculation and control unit 14 generates image data of the insertion length presentation image 64 based on these information.

[0121] The above method generates image data of various images required for generating image data for display image 6 .

[0122] In the subsequent step S108, the calculation and control unit 14 performs display control for displaying the display image 6 on the liquid crystal surface of the monitor 15. Figure 5The display image 6 shown is displayed on the same screen of the monitor 15 .

[0123] Furthermore, the calculation and control unit 14 may display a part 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 constituting the display image 6 on another monitor 15 .

[0124] When the processing of step S108 is completed, the calculation and control unit 14 returns the processing to step S102 and performs the same processing thereafter. The calculation and control unit 14 repeatedly performs the processing from step S102 to S108, thereby updating the eyeball mapping image 62 when the position of the endoscope 12 is displaced.

[0125] <4. Conclusion>

[0126] The surgical assisting device 2 according to 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 while the endoscope 12 is held by the holder 21; a measuring unit 22, which has a fixed relative positional relationship with the endoscope 12 held by the holder 21, and is used to measure the distance to the surgical target site of the patient 3 (the distance to the cornea 31 of the patient 3); and a position determining unit 143, which adjusts the position of the endoscope 12 based on the information from the measuring unit 21. 2, to find the positional relationship between the operation target part (eyeball 30) of the operator 3 and the endoscope front end 120; an image generating unit 144, which uses the determination result of the position determining unit 143 to generate a mapping image (eyeball mapping image 62) showing the position (endoscope model 12A) of the endoscope 12 on the three-dimensional model (three-dimensional eyeball model 30A) of the operation target part (eyeball 30); a display control unit 145, which performs display control of the mapping image (eyeball mapping image 62) (refer to Figure 6 as well as Figure 7 wait).

[0127] Here, the surgical target site is a site of the patient 3 that is the surgical target of the operator 4 , and in the example of the present embodiment, is the eyeball 30 of the patient 3 .

[0128] As a result, the eyeball mapping image 62 is displayed on the monitor 15. The operator 4 can check the monitor 15 to understand the position of the endoscope 12 inserted into the eyeball 30 of the patient 3.

[0129] Therefore, the operator 4 can perform the operation while knowing the position of the endoscope 12 inserted into the eyeball 30 of the patient 3. Therefore, according to the present invention, the operation on the eyeball 30 can be smoothly performed. In addition, the operator 4 can perform the operation while knowing the distance from the endoscope front end 120 to the retina 36, ​​thereby improving the safety of the operation.

[0130] In the surgical assisting device 2 of the present embodiment, the measuring unit 22 includes: an irradiating unit 23; and an imaging unit 24, the relative positional relationship between the measuring unit 22 and the endoscope 12 is fixed, and the position determining unit 143 determines the positional relationship between the eyeball 30 of the patient 3 and the endoscope front end 120 based on the imaging image obtained by imaging the light spot of the light 25 projected from the irradiating unit 23 to the cornea 31 of the patient 3 by the imaging unit 24 (refer to Figure 7 From S102 to S105, Figure 8 wait).

[0131] For example, the distance from the imaging unit 24 to the cornea 31 can be calculated based on the captured image. Based on this distance, the positional relationship between the eyeball 30 and the endoscope distal end portion 120 can be determined.

[0132] This makes it possible to determine the positional relationship between the eyeball 30 and the endoscope distal end portion 120 reflecting the position of the operator 3. Therefore, the determination accuracy of the positional relationship of the endoscope 12 in the eyeball 30 can be improved, and the operator 4 can correctly understand the positional relationship of the endoscope 12 in the eyeball 30.

[0133] In the surgical support device 2 of the present embodiment, the display control unit 145 displays the eyeball mapping image 62 and the image captured by the endoscope 12 (endoscopic image 61) on the same screen (see FIG. 1 ). Figure 7 S108, etc.).

[0134] By displaying the eyeball mapping image 62 and the endoscope camera image 61 on the same screen, the operator 4 can easily grasp the positional relationship of the endoscope 12 in the eyeball 30 while performing surgery while checking the camera image inside the eyeball 30. Therefore, the surgery on the eyeball 30 can be performed more smoothly. In the surgical support device 2 of this embodiment, the image generation unit 144 updates the eyeball mapping image 62 according to the displacement of the position of the endoscope 12 (see Figure 7 S108 and S102, etc.).

[0135] As a result, an eyeball mapping image 62 showing the latest positional relationship between the eyeball 30 and the endoscope 12 is displayed on the monitor 15 .

[0136] Therefore, the operator 4 can perform surgery while understanding the latest positional relationship between the eyeball 30 and the endoscope 12 , and can therefore perform surgery on the eyeball 30 more smoothly.

[0137] In the surgical assisting device 2 of the present embodiment, the image generating unit 144 generates the following display image 6, which includes: information on the insertion length of the endoscope 12 into the eyeball 30; and information on the distance from the endoscope front end 120 to the retina 36 of the patient 3 (see FIG. Figure 7 S107, etc.).

[0138] Thus, for example, the numerical value of the insertion length of the endoscope 12 into the eyeball 30 and the numerical value of the distance to the retina 36 of the patient 3 can be displayed on the monitor 15 .

[0139] Therefore, the operator 4 can not only visually grasp the positional relationship between the eyeball 30 and the endoscope 12 based on the eyeball mapping image 62 , but also grasp the positional relationship based on specific numerical values.

[0140] 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 and a laparoscope inserted through an incision in the abdomen can be applied.

[0141] For example, in the case of thoracoscopy, the target part to be operated is the chest of the patient 3, and the distance from the measuring part 22 to the target part to be operated is the distance from the measuring part 22 to the skin of the ribs of the patient 3. In addition, in the case of laparoscopy, the target part to be operated is the various organs such as the liver of the patient 3, and the distance from the measuring part 22 to the target part to be operated is the distance from the measuring part 22 to the skin of the abdomen of the patient 3.

[0142] Finally, the embodiments described in the present invention are only examples, and the present invention is not limited to the above embodiments. Moreover, the combination of all structures described in the embodiments is not necessarily essential for solving the problem. In addition, the effects described in the present invention are only examples, and are not limited to these, and other effects may be exerted, and part of the effects described in the present invention may also be exerted.

[0143] Description of Reference Numerals

[0144] 2: surgical assisting device; 3: operated person; 12: endoscope; 12A: endoscope model; 17: arm; 21: holder; 22: measuring unit; 23: irradiation unit; 24: imaging unit; 30: eyeball; 30A: three-dimensional eyeball model; 31: cornea; 36: retina; 61: endoscopic imaging image; 62: eyeball mapping image; 120: front end of endoscope; 143: position determination unit; 144: image generation unit; 145: display control unit.

Claims

1. A surgical assisting device comprising: 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 measuring unit, the relative position relationship between which the measuring unit and the endoscope held by the holding member are fixed, and the measuring unit is used to measure the distance to the treatment target part of the patient; a position determination unit for determining a positional relationship between the treatment target site of a patient and the distal end portion of the endoscope based on information from the measurement unit; an image generating unit that generates a mapping image showing the position of the endoscope on a three-dimensional model of the treatment target site using the determination result of the position determining unit; as well as a display control unit that performs display control of the mapping image, The target part of the treatment is the eyeball, The measuring unit includes an imaging unit and an irradiating unit. The position determination unit determines the positional relationship between the eyeball of the patient and the distal end portion of the endoscope based on a captured image obtained by capturing, by the imaging unit, a light spot of light projected from the irradiation unit onto the eyeball of the patient.

2. The surgical assisting device according to claim 1, characterized in that: The image generating unit generates a presentation image including information on an insertion length of the endoscope into an eyeball and information on a distance from a distal end portion of the endoscope to an retina of the subject.

3. The surgical assisting device according to claim 1 or 2, characterized in that: The display control unit displays the mapping image and the captured image captured by the endoscope on the same screen.

4. The surgical assisting device according to claim 1 or 2, characterized in that: The image generating unit updates the mapping image according to a displacement of the position of the endoscope.

Images