Control device and medical observation system

Abstract

The control device of this disclosure comprises, in a control device that electrically controls a medical observation device for imaging an observation object: a voice recognition unit that recognizes an externally input voice; a recognition information processing unit that determines a process to be performed by the medical observation device on the basis of a recognition result of the voice recognition unit; a switch input receiving unit that receives an input of an operation signal in response to an operation on a switch; and a control unit that, by detecting a first operation signal received by the switch input receiving unit or acquiring information related to the process determined by the recognition information processing unit, starts a voice recognition process by the voice recognition unit and allows the medical observation device to perform the process determined by the recognition information processing unit, and by detecting a second operation signal, stops the process being performed by the medical observation device.

Description

[Technical field]

[0001] The present disclosure relates to a control device that controls a medical observation device that observes a minute region of an observation subject, for example, and a medical observation system. [Background technology]

[0002] Conventionally, as a medical observation system for observing a minute area in an observation subject such as a patient's brain or heart when performing surgery on the minute area, an optical microscope system has been known which includes a support section having multiple arms and realizing movement with a total of six degrees of freedom, three translational degrees of freedom and three rotational degrees of freedom, and a microscope section provided at the tip of the support section and having a magnifying optical system and an image sensor for magnifying the minute area.

[0003] Incidentally, in the above-mentioned microscope system, there is a demand for the surgeon to be able to operate, for example, by voice, without taking his / her eyes off the surgical site or the monitor. However, it is difficult to complete operations involving continuous operation, such as adjusting the zoom magnification or focal length, or moving the field of view, by voice alone. As a solution to this problem, a technique is known in which operation is performed by combining voice input with other input means capable of continuous input, such as a foot switch (for example, see Patent Document 1). This technique allows the surgeon to operate continuous functions that are difficult to operate by voice alone, by other input means. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2004-24869 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in Patent Document 1, the microphone is connected to a voice recognition device, and the foot switch is connected to a control device that controls the microscope unit, and each is connected to a separate device, which makes the device configuration complicated. In addition, after a function is called up by voice recognition, an operation must be input by another input means such as a foot switch, so it takes time before the operation is executed.

[0006] The present disclosure has been made in consideration of the above, and aims to provide a control device and a medical observation system that can perform voice recognition and processing according to the voice recognition in a short time with a simple configuration, and that can also easily stop the processing. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a control device according to the present disclosure is a control device that electrically controls a medical observation device that images an observation target, and is characterized by comprising: a voice recognition unit that recognizes voice input from outside; a recognition information processing unit that determines a process to be executed by the medical observation device based on a recognition result of the voice recognition unit; a switch input receiving unit that receives an input of an operation signal corresponding to an operation on a switch; and a control unit that starts voice recognition processing by the voice recognition unit by detecting a first operation signal received by the switch input receiving unit or by acquiring information on the process determined by the recognition information processing unit, and causes the medical observation device to execute the process determined by the recognition information processing unit, and that stops the process executed by the medical observation device by detecting a second operation signal.

[0008] The control device according to the present disclosure, in the above disclosure, is characterized in that the switch input receiving unit receives an input of an input value corresponding to the operation of the switch as the operation signal, and the control unit starts voice recognition processing by the voice recognition unit by detecting a first change in the input value received by the switch input receiving unit, and causes the medical observation device to execute processing determined by the recognition information processing unit, and stops the processing executed by the medical observation device by detecting a second change in the input value.

[0009] In addition, in the control device according to the present disclosure, the first operation signal and the second operation signal are different operation signals corresponding to different operations on the switch.

[0010] In addition, the control device according to the present disclosure, in the above disclosure, is characterized in that the first operation signal and the second operation signal are identical operation signals corresponding to similar operations on the switch.

[0011] Moreover, in the control device according to the present disclosure, in the above disclosure, the control unit starts the voice recognition process and causes the medical observation device to execute a process when the input value changes from an initial value of the switch to a value different from the initial value, and stops the process executed by the medical observation device when the input value changes to the initial value.

[0012] In the control device according to the present disclosure, in the above disclosure, the control unit changes a drive speed of the medical observation device in response to the operation signal accepted by the switch input accepting unit.

[0013] Moreover, in the control device according to the present disclosure, in the above disclosure, the control unit is characterized in that, after the input value changes to the initial value and the processing executed by the medical observation device is stopped, when the input value changes from the initial value within a preset period, the control unit causes the medical observation device to execute a processing opposite to the processing executed before the stopping.

[0014] In addition, in the control device according to the present disclosure, in the above disclosure, the control unit starts the voice recognition process and causes the medical observation device to execute a process when the input value changes from an initial value of the switch to a value different from the initial value, and stops the process executed by the medical observation device when the input value changes again from the initial value to a value different from the initial value.

[0015] Moreover, in the control device according to the present disclosure, in the above disclosure, the switch input receiving unit receives an input of an operation signal output by pressing the switch, and the control unit causes the medical observation device to continue executing the processing determined by the recognition information processing unit while the switch is kept pressed, and causes the medical observation device to stop the processing determined by the recognition information processing unit when the pressing of the switch is released.

[0016] In addition, the control device according to the present disclosure is characterized in that, in the above disclosure, the control unit enables subsequent voice recognition processing when the voice recognition result by the voice recognition unit matches first recognition information, and disables subsequent voice recognition processing when the voice recognition result by the voice recognition unit matches second recognition information.

[0017] In addition, the control device according to the present disclosure is characterized in that, in the above disclosure, the control unit enables subsequent voice recognition processing when the voice recognition result by the voice recognition unit matches first recognition information, and disables voice recognition results other than the first recognition information after a predetermined time has elapsed since enabling the voice recognition processing by the voice recognition unit.

[0018] The control device according to the present disclosure is characterized in that, in the above disclosure, the recognition information processing unit determines a moving direction of an imaging area captured by the medical observation device based on a recognition result of the voice recognition unit, and the control unit moves the imaging area captured by the medical observation device based on the moving direction determined by the recognition information processing unit.

[0019] Furthermore, in the control device according to the present disclosure, in the above disclosure, the recognition information processing unit determines a magnification ratio of an image captured by the medical observation device based on a recognition result of the voice recognition unit, and the control unit changes a magnification ratio of an image captured by the medical observation device based on the magnification ratio determined by the recognition information processing unit.

[0020] Furthermore, the medical observation system according to the present disclosure is characterized in that it comprises an imaging unit capable of magnifying and imaging an observation target, a support unit having a plurality of arms and a plurality of joints connecting the plurality of arms and supporting the imaging unit at its tip, a voice recognition unit that recognizes voice input from the outside, a recognition information processing unit that determines a process to be executed by the imaging unit or the support unit based on a recognition result of the voice recognition unit, a switch that outputs an operation signal corresponding to an operation on the switch, a switch input receiving unit that receives an input from the switch, and a control unit that starts voice recognition processing by the voice recognition unit by detecting a first operation signal received by the switch input receiving unit or by acquiring information on the process determined by the recognition information processing unit, and causes the imaging unit or the support unit to execute the process determined by the recognition information processing unit, and that stops the process to be executed by the imaging unit or the support unit by detecting a second operation signal. Effect of the Invention

[0021] According to the present disclosure, it is possible to perform processes from voice recognition to processing according to the voice recognition in a short time with a simple configuration, and it is also possible to easily stop the processing. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a perspective view showing the external configuration of a medical observation system according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the configuration of the control device of the medical observation system according to the first embodiment. [Diagram 3] FIG. 3 is a time chart showing an example of a driving process performed by the medical observation system according to the first embodiment. [Figure 4] FIG. 4 is a time chart showing an example of a driving process performed by the medical observation system according to the second embodiment. [Diagram 5] FIG. 5 is a time chart showing an example of a driving process performed by using the medical observation system according to the third embodiment. [Figure 6]FIG. 6 is a time chart showing an example of a driving process performed by using the medical observation system according to the fourth embodiment. [Figure 7] FIG. 7 is a time chart showing an example of a driving process performed by the medical observation system according to the fifth embodiment. [Figure 8] FIG. 8 is a time chart showing an example of a driving process performed using a medical observation system according to a modification of the fifth embodiment. [Figure 9] FIG. 9 is a time chart showing an example of a driving process performed by the medical observation system according to the sixth embodiment. [Figure 10] FIG. 10 is a time chart showing an example of a driving process performed using a medical observation system according to a modification of the sixth embodiment. [Figure 11] FIG. 11 is a time chart showing an example of a driving process performed by using the medical observation system according to the seventh embodiment. [Figure 12] FIG. 12 is a time chart showing an example of a driving process performed by the medical observation system according to the eighth embodiment. [Figure 13] FIG. 13 is a time chart showing an example of a driving process performed by using a medical observation system according to a modification of the eighth embodiment. [Figure 14] FIG. 14 is a time chart showing an example of a driving process performed by the medical observation system according to the ninth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, an embodiment of the present invention (hereinafter, referred to as "embodiment") will be described with reference to the accompanying drawings. Note that the drawings are merely schematic, and the drawings may include parts with different dimensional relationships and ratios.

[0024] (Embodiment 1) Fig. 1 is a diagram showing the configuration of a medical observation system according to embodiment 1. The medical observation system 1 shown in the figure comprises a medical observation device (hereinafter referred to as observation device) 2 that functions as a microscope to magnify and capture images of the fine structure of an observation subject, a control device 3 that comprehensively controls the operation of the medical observation system 1, and a display device 4 that displays images captured by the observation device 2.

[0025] The observation device 2 comprises a base section 5 movable on a floor surface, a support section 6 supported by the base section 5, and a columnar microscope section 7 provided at the tip of the support section 6 for magnifying and imaging a minute area of ​​the observation object. In addition, a light source device 8 is connected to the observation device 2, which supplies illumination light to the observation device 2 via a light guide 81 formed of an optical fiber or the like. The light source device 8 emits illumination light under the control of the control device 3.

[0026] In the observation device 2, for example, a cable group including a transmission cable including a signal line (coaxial cable) for transmitting signals between the control device 3 and the microscope unit 7, and a light guide cable for guiding illumination light from the light source device 8 to the microscope unit 7, is arranged from the base unit 5 to the microscope unit 7. The cable group is arranged along the support unit 6. The thin coaxial cable is a cable with a smaller diameter than the light guide cable.

[0027] The support portion 6 has a first joint portion 11, a first arm portion 21, a second joint portion 12, a second arm portion 22, a third joint portion 13, a third arm portion 23, a fourth joint portion 14, a fourth arm portion 24, a fifth joint portion 15, a fifth arm portion 25, and a sixth joint portion 16.

[0028] The support unit 6 has four sets of two arms and joints that rotatably connect one of the two arms (the distal end side) to the other (the proximal end side). Specifically, the four sets are (a first arm unit 21, a second joint unit 12, a second arm unit 22), (the second arm unit 22, a third joint unit 13, a third arm unit 23), (the third arm unit 23, a fourth joint unit 14, a fourth arm unit 24), and (the fourth arm unit 24, a fifth joint unit 15, a fifth arm unit 25).

[0029] The first joint unit 11 rotatably holds the microscope unit 7 at its tip end, and is held by the first arm unit 21 in a state where it is fixed to the tip end of the first arm unit 21 at its base end. The first joint unit 11 is cylindrical, and holds the microscope unit 7 rotatably around a first axis O1, which is the central axis in the height direction. The first arm unit 21 is shaped to extend from the side surface of the first joint unit 11 in a direction perpendicular to the first axis O1.

[0030] The second joint portion 12 rotatably holds the first arm portion 21 at its tip end, and is held by the second arm portion 22 in a state where it is fixed to the tip end of the second arm portion 22 at its base end. The second joint portion 12 is cylindrical, and holds the first arm portion 21 rotatably around a second axis O2, which is a central axis in the height direction and an axis perpendicular to the first axis O1. The second arm portion 22 is substantially L-shaped, and is connected to the second joint portion 12 at the end of the vertical line portion of the L shape.

[0031] The third joint 13 rotatably holds the horizontal line portion of the L-shape of the second arm 22 at the tip side, and is held by the third arm 23 in a state where the third joint 13 is fixed to the tip of the third arm 23 at the base end side. The third joint 13 is cylindrical and holds the second arm 22 rotatably around the third axis O3, which is a central axis in the height direction and an axis perpendicular to the second axis O2 and parallel to the direction in which the second arm 22 extends. The third arm 23 is cylindrical at the tip side, and a hole is formed on the base end side that penetrates in a direction perpendicular to the height direction of the cylinder at the tip side. The third joint 13 is rotatably held by the fourth joint 14 via this hole.

[0032] The fourth joint portion 14 rotatably holds the third arm portion 23 at its tip end, and is held by the fourth arm portion 24 in a state in which it is fixed to the fourth arm portion 24 at its base end. The fourth joint portion 14 is cylindrical, and holds the third arm portion 23 rotatably around a fourth axis O4 that is a central axis in the height direction and an axis perpendicular to the third axis O3.

[0033] The fifth joint unit 15 rotatably holds the fourth arm unit 24 at its tip end, and is fixedly attached to the fifth arm unit 25 at its base end. The fifth joint unit 15 is cylindrical and holds the fourth arm unit 24 rotatably around a fifth axis O5, which is the central axis in the height direction and an axis parallel to the fourth axis O4. The fifth arm unit 25 is composed of an L-shaped portion and a rod-shaped portion extending downward from the horizontal line portion of the L-shape. The fifth joint unit 15 is attached to the end of the vertical line portion of the L-shape of the fifth arm unit 25 at its base end.

[0034] The sixth joint unit 16 rotatably holds the fifth arm unit 25 at its tip end, and is fixedly attached to the upper surface of the base unit 5 at its base end. The sixth joint unit 16 is cylindrical, and holds the fifth arm unit 25 rotatably around a sixth axis O6 that is a central axis in the height direction and an axis perpendicular to the fifth axis O5. The base end of the rod-shaped portion of the fifth arm unit 25 is attached to the tip end of the sixth joint unit 16.

[0035] The support section 6 having the configuration described above realizes movement of the microscope section 7 with a total of six degrees of freedom, that is, three translational degrees of freedom and three rotational degrees of freedom.

[0036] The first joint section 11 to the sixth joint section 16 each have an electromagnetic brake that prohibits rotation of the microscope section 7 and the first arm section 21 to the fifth arm section 25. Each electromagnetic brake is released when an arm operation switch (described later) provided on the microscope section 7 is pressed down, allowing rotation of the microscope section 7 and the first arm section 21 to the fifth arm section 25. Note that an air brake may be used instead of the electromagnetic brake.

[0037] Each joint is equipped with an encoder and an actuator in addition to the electromagnetic brake described above. For example, when the encoder is provided in the first joint 11, it detects the rotation angle in the first axis O1. The actuator is constituted by an electric motor such as a servo motor, and is driven under control of the control device 3 to rotate the joint by a predetermined angle. The rotation angle in the joint is set by the control device 3 based on the rotation angle in each rotation axis (the first axis O1 to the sixth axis O6) as a value required for moving the microscope unit 7, for example. In this way, a joint provided with an active drive mechanism such as an actuator constitutes a rotation axis that actively rotates by controlling the drive of the actuator.

[0038] The microscope unit 7 has a cylindrical housing and is provided with an imaging unit that captures a magnified image of the object to be observed, an arm operation switch that receives an operational input to release the electromagnetic brakes at the first joint unit 11 to the sixth joint unit 16 and allow each joint unit to rotate, and a lever that can change the magnification of the imaging unit 72 and the focal distance to the object to be observed. The imaging unit has two imaging elements configured using a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). These imaging elements generate imaging signals having mutual parallax for generating a three-dimensional image. The imaging signals are output as digital signals. Note that a configuration may be adopted in which one imaging element is provided to generate an imaging signal for generating a two-dimensional image. The imaging unit is provided with an optical system that guides light to the imaging element, a magnifying optical system for changing the magnification ratio of the image (zoom magnification), a shutter for controlling the exposure time, etc. Furthermore, the imaging unit is equipped with an actuator that moves the lens of the optical system, and an encoder. The optical system of the imaging unit can change the imaging settings such as changing the zoom magnification and adjusting the focal length by moving the lens under the control of the control device 3. Further, an arm operation switch, which is a push button type switch, is provided on the microscope unit 7. While the user is pressing the arm operation switch, the electromagnetic brakes of the first joint unit 11 to the sixth joint unit 16 are released.

[0039] The control device 3 receives the imaging signal output by the observation device 2 and generates three-dimensional image data for display by performing predetermined signal processing on the imaging signal. The control device 3 may be installed inside the base part 5 and integrated with the observation device 2. The control device 3 is connected to a microphone 91 for inputting the user's voice, and a foot switch 92 which is operated by the user with his / her foot and which inputs a signal in response to depression by the user.

[0040] 2 is a block diagram showing the configuration of the control device of the medical observation system according to embodiment 1. The control device 3 includes an image processing unit 31, a voice recognition unit 32, a recognition information processing unit 33, an input unit 34, a foot switch input receiving unit 35, an output unit 36, a storage unit 37, and a control unit 38. The control device 3 may be provided with a power supply unit (not shown) that generates power supply voltages for driving the observation device 2, the control device 3, the microphone 91, and the foot switch 92, supplies the power supply voltages to each unit of the control device 3, and also supplies the power supply voltages to the observation device 2.

[0041] The image processing unit 31 performs signal processing such as noise removal and, if necessary, A / D conversion on the imaging signal output by the microscope unit 7. The image processing unit 31 generates an image signal to be displayed on the display device 4 based on the imaging signal after signal processing. The image processing unit 31 performs predetermined signal processing on the imaging signal to generate an image signal to be displayed including the subject image. Here, the image processing unit 31 performs known image processing such as detection processing and various image processing such as interpolation processing, color correction processing, color enhancement processing, and edge enhancement processing. The image processing unit 31 outputs the generated image signal to the display device 4.

[0042] In addition, the image processing unit 31 may have an AF processing unit that outputs a predetermined AF evaluation value for each frame based on the image pickup signal of the input frame, and an AF calculation unit that performs AF calculation processing such as selecting the frame or focus lens position most suitable as the focusing position from the AF evaluation value for each frame from the AF processing unit.

[0043] The voice recognition unit 32 detects the voice input to the microphone 91 by the user and executes a recognition process for the input content. The voice recognition unit 32 compares the feature amount of the voice input to the microphone 91 with a recognition model stored in the storage unit 37 and associated with the recognition result, and accepts a language sequence as the recognition result. Specifically, when "right" is input to the microphone 91, the voice recognition unit 32 recognizes that the input utterance is "right" from the feature amount and the recognition model, and outputs the recognition result to the recognition information processing unit 33.

[0044] The recognition information processing unit 33 acquires the recognition result from the voice recognition unit 32 and determines the processing according to the recognition result. The recognition information processing unit 33 determines the processing according to the recognition result by referring to the storage unit 37. The recognition information processing unit 33 outputs the processing content determined from the recognition result to the control unit 38. For example, if the recognition result is "right," the imaging area of ​​the microscope unit 7 is moved to the right. The movement of the microscope unit 7 moves the imaging area captured by the microscope unit 7. At this time, the orientation (right, left, up, down) of the microscope unit 7 relative to the imaging area is set in advance based on the relationship between the image sensor and the display orientation of the display device 4. The control unit 38 drives each joint unit to move the position of the microscope unit 7 so that only the imaging area moves to the right without changing the working distance or zoom magnification of the microscope unit 7. Furthermore, if the recognition result is "enlargement" or "reduction," the control unit 38 drives the magnification optical system of the microscope unit 7. For example, if the recognition result is "enlargement," the control unit 38 controls the zoom magnification of the magnification optical system to be increased. This changes the magnification ratio of the image captured by the microscope unit 7.

[0045] The input unit 34 is realized using a user interface such as a keyboard, a mouse, a touch panel, etc., and accepts input of various information.

[0046] The foot switch input receiving unit 35 detects that the foot switch 92 has been pressed by the user, and receives input from the foot switch 92. The foot switch input receiving unit 35 inputs to the control unit 38 an operation signal corresponding to the press.

[0047] The output unit 36 ​​is realized using a speaker, a printer, a display, etc., and outputs various information.

[0048] The storage unit 37 is realized by using a semiconductor memory such as a flash memory or a DRAM (Dynamic Random Access Memory), and stores communication information data (e.g., communication format information, etc.), a voice recognition table in which voice features and recognition models are associated with each other, a processing table in which voice recognition results and processing contents are associated with each other, etc. The storage unit 37 may also store various programs executed by the control unit 38.

[0049] The control unit 38 controls the driving of each component including the control device 3 and the observation device 2, and controls the input and output of information to each component. The control unit 38 generates a control signal by referring to communication information data (e.g., communication format information, etc.) recorded in the storage unit 37, and transmits the generated control signal to the observation device 2.

[0050] The control unit 38 generates a synchronization signal and a clock for the microscope unit 7 and the control device 3. The synchronization signal (e.g., a synchronization signal instructing the imaging timing) and the clock (e.g., a clock for serial communication) for the microscope unit 7 are sent to the microscope unit 7 via a cable (not shown), and the microscope unit 7 is driven based on this synchronization signal and clock.

[0051] The image processing unit 31, the voice recognition unit 32, the recognition information processing unit 33, the foot switch input receiving unit 35, and the control unit 38 described above are realized by using a general-purpose processor such as a CPU (Central Processing Unit) having an internal memory (not shown) in which a program is recorded, or a dedicated processor such as various arithmetic circuits that execute specific functions, such as an ASIC (Application Specific Integrated Circuit). Also, they may be configured by using an FPGA (Field Programmable Gate Array: not shown), which is a type of programmable integrated circuit. When configured by an FPGA, a memory for storing configuration data may be provided, and the FPGA, which is a programmable integrated circuit, may be configured by the configuration data read from the memory.

[0052] The display device 4 receives the three-dimensional image data generated by the control device 3 from the control device 3, and displays a three-dimensional image corresponding to the three-dimensional image data. Such a display device 4 includes a display panel made of liquid crystal or organic EL (Electro Luminescence). In addition to the display device 4, an output device that outputs information using a speaker, a printer, or the like may be provided.

[0053] Next, an outline of surgery performed using the medical observation system 1 having the above configuration will be described. When a user, that is, an operator, performs surgery on the head of a patient, that is, an object to be observed, the operator wears glasses for three-dimensional images and visually observes the three-dimensional image displayed by the display device 4, while holding down the arm operation switch of the microscope unit 7, and moves the microscope unit 7 to a desired position, and after determining the imaging area of ​​the microscope unit 7, releases his / her finger from the arm operation switch. As a result, the electromagnetic brakes are operated in the first joint unit 11 to the sixth joint unit 16, and the imaging area of ​​the microscope unit 7 is fixed. After that, the operator adjusts the magnification and the focal distance to the object to be observed, etc. Since the display device 4 displays a three-dimensional image, the operator can stereoscopically grasp the surgical area through the three-dimensional image. After that, the operator operates the microphone 91 and the foot switch 92 to adjust the position of the microscope unit 7, the magnification, and the focal distance.

[0054] Next, the operation process by the control device 3 using the microphone 91 (voice recognition) and the foot switch 92 will be described with reference to Fig. 3. Fig. 3 is a time chart showing an example of the drive process performed using the medical observation system according to embodiment 1. Fig. 3 shows a time chart of the input value (analog value) by the foot switch 92, the speech content, and the control signal (speed). In the first embodiment, the voice input recognition process is started by pressing the foot switch 92, and a process according to the recognition result is executed. The process according to the recognition result is maintained as long as the foot switch 92 is kept pressed.

[0055] Specifically, when the foot switch input receiving unit 35 detects a depression (depression) of the foot switch 92, it outputs an analog value corresponding to the amount of depression to the control unit 38. In FIG. 11 Then, the user depresses the foot switch 92. At this time, the greater the amount of depression of the foot switch 92, the smaller the analog value becomes relative to the analog value when the foot switch 92 is not depressed (initial value V0).

[0056] The control unit 38 11When the pressing of the foot switch 92 is detected in the step S100, voice recognition processing is started by the microphone 91. After pressing the foot switch 92, the user inputs voice into the microphone 91. In the example shown in FIG.

[0057] Time T 12 When "right" is input to microphone 91 at time T 13 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute. In the first embodiment, the voice signal of "right" corresponds to the first operation signal. The first operation signal is a signal generated by voice input.

[0058] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 13 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the microscope unit 7 is controlled so that the drive speed for moving the microscope unit 7 becomes faster as the amount of depression of the foot switch 92 becomes larger (as the analog value becomes smaller). In addition, at time T 13 From time T 14 If a different utterance is input during the period up to the time of input, for example, if "up" is recognized, the control unit 38 - Ignores all voice inputs except the first one after pressing foot switch 92 Change the control to move the microscope unit 7 "up" Move the microscope unit 7 diagonally to the "upper right" Processing such as the above may also be performed.

[0059] Then, at time T 14 When the foot switch 92 is released at time T 14Thereafter, even if the user speaks into the microphone 91 (for example, "right"), neither voice recognition processing nor recognition information processing is executed. In the first embodiment, the detection signal of the initial value V0 detected when the foot switch 92 is released corresponds to the second operation signal. In the first embodiment, control is performed by a first operation signal based on voice input and a second operation signal based on the operation of the foot switch 92, which is different from the voice input.

[0060] Thus, in the first embodiment, when the analog value input by depressing the foot switch 92 changes to a value different from the initial value V0, the control unit 38 detects a first change and starts the voice recognition process. On the other hand, when the analog value returns to the initial value V0 by releasing the foot switch 92, the control unit 38 detects a second change and stops the process based on the voice recognition.

[0061] In the above-described first embodiment, when the foot switch 92 is pressed, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, while the foot switch 92 is pressed, processing according to the recognition result is maintained, and when the foot switch 92 is released from being pressed, the processing is stopped. According to the first embodiment, the process from starting voice recognition to stopping processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6) when the foot switch 92 is pressed, so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and the processing can be stopped even more easily.

[0062] In the first embodiment, the moving speed of the microscope unit 7 changes according to the depression amount of the foot switch 92, but the microscope unit 7 may move at a preset constant speed. Also, the foot switch 92 may output digital values ​​such as binary or ternary values ​​instead of analog values ​​as shown in FIG.

[0063] In addition, in embodiment 1, an example has been described in which the foot switch input receiving unit 35, the voice recognition unit 32, the recognition information processing unit 33, and the memory unit 37 are provided in the control unit 3, but some or all of the foot switch input receiving unit 35, the voice recognition unit 32, the recognition information processing unit 33, and the memory unit 37 of the control unit 3 may be separate from the control unit 3.

[0064] (Embodiment 2) Next, the second embodiment will be described with reference to Fig. 4. Fig. 4 is a time chart showing an example of a drive process performed by using the medical observation system according to the second embodiment. The medical observation system according to the second embodiment has the same configuration as the medical observation system 1 according to the first embodiment, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0065] When the foot switch input receiving unit 35 detects a depression (depression) of the foot switch 92, it outputs an analog value according to the amount of depression to the control unit 38. In FIG. 21 Then, the user depresses the foot switch 92. At this time, the greater the amount of depression of the foot switch 92, the smaller the analog value becomes relative to the analog value when the foot switch 92 is not depressed (initial value V0).

[0066] The control unit 38 21 When the pressing of the foot switch 92 is detected in the step S100, voice recognition processing is started by the microphone 91. After pressing the foot switch 92, the user inputs voice into the microphone 91. In the example shown in FIG.

[0067] Time T 22 When "right" is input to microphone 91 at time T 23 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0068] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 23Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the microscope unit 7 is controlled so that the speed at which it moves increases as the amount of depression of the foot switch 92 increases (as the analog value decreases).

[0069] Then, at time T 24 When the foot switch 92 is released from the depressed state, the movement of the microscope unit 7 is stopped.

[0070] Time T 24 from the preset time range (period R T ) at time T 25 When the foot switch 92 is depressed again at this point, the control unit 38 resumes the movement of the microscope unit 7. At this time, the control unit 38 moves the microscope unit 7 in the opposite direction (here, "left") from before the foot switch 92 was depressed again. Even in the movement in the opposite direction, the microscope unit 7 is controlled so that the speed at which it moves increases as the amount of depression of the foot switch 92 increases (as the analog value decreases). The time range in which the foot switch 92 is moved in the reverse direction by pressing it again (period R T ) is set to, for example, 0.5 seconds or more and 2.0 seconds or less. T may be provided after a waiting time to prevent erroneous recognition due to chattering.

[0071] Then, at time T 26 When the foot switch 92 is released from the depressed state, the movement of the microscope unit 7 is stopped.

[0072] In the second embodiment described above, when the foot switch 92 is pressed, voice input from the microphone 91 is accepted and processing according to the recognition result is executed. Thereafter, while the foot switch 92 is being pressed, the processing according to the recognition result is maintained, and when the foot switch 92 is released from the press, the processing is stopped. Furthermore, within a preset time range (period R T), a process opposite to the previous process is executed. According to the second embodiment, pressing the foot switch 92 causes all processes from starting the voice recognition to stopping the process to be controlled collectively within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6) by pressing the foot switch 92, so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and the process can be stopped even more easily. In addition, in the second embodiment, pressing the foot switch 92 again executes the reverse process, so that the process can be fine-tuned simply by operating the foot switch 92.

[0073] (Embodiment 3) Next, the third embodiment will be described with reference to Fig. 5. Fig. 5 is a time chart showing an example of a drive process performed by using the medical observation system according to the third embodiment. The medical observation system according to the third embodiment has the same configuration as the medical observation system 1 according to the first embodiment, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0074] When the foot switch input receiving unit 35 detects a depression (depression) of the foot switch 92, it outputs an analog value according to the amount of depression to the control unit 38. In FIG. 31 Then, the user depresses the foot switch 92. At this time, the greater the amount of depression of the foot switch 92, the smaller the analog value becomes relative to the analog value when the foot switch 92 is not depressed (initial value V0).

[0075] The control unit 38 31 When the pressing of the foot switch 92 is detected in the step S10, voice recognition processing is started by the microphone 91. After pressing the foot switch 92, the user inputs voice into the microphone 91. In the example shown in FIG.

[0076] Time T 32 When "right" is input to microphone 91 at time T 23 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0077] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 33 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the microscope unit 7 is controlled so that the speed at which it moves increases as the amount of depression of the foot switch 92 increases (as the analog value decreases).

[0078] Then, at time T 34 When the foot switch 92 is released from the depressed state, the movement of the microscope unit 7 is stopped.

[0079] Time T 34 from the preset time range (period R T ) at time T 35 When the foot switch 92 is depressed again at this point, the control unit 38 resumes the movement of the microscope unit 7. At this time, the control unit 38 moves the microscope unit 7 in the opposite direction (here, "left") from before the foot switch 92 was depressed again. In the third embodiment, when moving in the opposite direction, the microscope unit 7 is moved at a constant speed regardless of the amount the foot switch 92 is depressed. The speed at this time is set to the maximum or minimum controllable speed, a speed that is 50% of the maximum speed, the maximum or minimum speed at the time of the previous drive, or the like. Note that FIG. 5 shows an example in which the maximum controllable speed is set.

[0080] Then, at time T 36 When the foot switch 92 is released from the depressed state, the movement of the microscope unit 7 is stopped.

[0081] In the above-described third embodiment, when the foot switch 92 is pressed, voice input from the microphone 91 is accepted and processing according to the recognition result is executed. Thereafter, while the foot switch 92 is being pressed, processing according to the recognition result is maintained, and when the foot switch 92 is released from the press, the processing is stopped. Furthermore, within a preset time range (period R T), a process opposite to the previous process is executed. According to the third embodiment, pressing the foot switch 92 causes all processes from the start of voice recognition to the stop of the process to be controlled collectively within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6) by pressing the foot switch 92, so that a simple configuration is achieved, voice recognition and driving according to the voice recognition can be performed in a short time, and the process can be stopped even more easily. In addition, in the third embodiment, pressing the foot switch 92 again executes the reverse process, as in the second embodiment, so that the process can be fine-tuned simply by operating the foot switch 92.

[0082] (Embodiment 4) Next, the fourth embodiment will be described with reference to Fig. 6. Fig. 6 is a time chart showing an example of a drive process performed by using the medical observation system according to the fourth embodiment. The medical observation system according to the fourth embodiment has the same configuration as the medical observation system 1 according to the first embodiment described above, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0083] When the foot switch input receiving unit 35 detects a depression (depression) of the foot switch 92, it outputs an analog value according to the amount of depression to the control unit 38. In FIG. 41 Then, the user depresses the foot switch 92 and immediately releases the depressing force, whereby the input value temporarily becomes smaller than the initial value V0, and then returns to the initial value V0.

[0084] The control unit 38 41 When the pressing of the foot switch 92 is detected in the step S100, voice recognition processing is started by the microphone 91. After pressing the foot switch 92, the user inputs voice into the microphone 91. In the example shown in FIG.

[0085] Time T 42 When "right" is input to microphone 91 at time T 43 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0086] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 43 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0087] After that, the control unit 38 44 When the depression of the foot switch 92 is detected in the microscope unit 7, the movement of the microscope unit 7 is stopped.

[0088] Thus, in the fourth embodiment, when the analog value input by depressing the foot switch 92 changes to a value different from the initial value V0, the control unit 38 detects a first change and starts the voice recognition process. On the other hand, when the analog value input by depressing the foot switch 92 changes again to a value different from the initial value V0, the control unit 38 detects a second change and stops the process based on voice recognition.

[0089] In the fourth embodiment described above, when it is detected that the foot switch 92 is pressed, a voice input from the microphone 91 is accepted and a process according to the recognition result is executed. Thereafter, the process according to the recognition result is maintained, and when it is detected that the foot switch 92 is pressed again, the process is stopped. According to the fourth embodiment, pressing of the foot switch 92 is used as a trigger and the processes from the start of the voice recognition to the stop of the process are collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that the configuration is simple, and the process from the voice recognition to the drive according to the voice recognition can be performed in a short time, and the process can be stopped even more easily.

[0090] (Embodiment 5) Next, the fifth embodiment will be described with reference to Fig. 7. Fig. 7 is a time chart showing an example of a drive process performed by using the medical observation system according to the fifth embodiment. The medical observation system according to the fifth embodiment has the same configuration as the medical observation system 1 according to the first embodiment described above, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0091] In the present embodiment 5, the acceptance state of voice input is always permitted. That is, unlike the above-mentioned embodiments 1 to 4, whether or not to process the voice input is not determined depending on the depression of the foot switch 92, but the recognition process of the input voice is always permitted.

[0092] Time T 51 When “Right” is input to the microphone 91 at time T 52 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0093] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 52 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0094] After that, the control unit 38 53 When the pressing of the foot switch 92 is detected in the fifth embodiment, the movement of the microscope unit 7 is stopped. In the fifth embodiment, the movement of the microscope unit 7 is stopped immediately after the pressing of the foot switch 92 is detected.

[0095] In the fifth embodiment described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, the processing according to the recognition result is maintained, and processing is stopped when it is detected that the foot switch 92 is pressed. According to the fifth embodiment, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0096] (Modification of the fifth embodiment) Next, a modified example of the fifth embodiment will be described with reference to Fig. 8. Fig. 8 is a time chart showing an example of a driving process performed by using a medical observation system according to a modified example of the fifth embodiment. In this modified example, as in the fifth embodiment, the acceptance of voice input is always permitted.

[0097] Time T 51 When “Right” is input to the microphone 91 at time T 52 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0098] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 52 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0099] Thereafter, when the control unit 38 detects that the foot switch 92 is pressed, the control unit 38 stops the movement of the microscope unit 7. 54 Immediately after the foot switch 92 is released from the depression, the movement of the microscope unit 7 is stopped.

[0100] In the modified example described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, the processing according to the recognition result is maintained, and processing is stopped by detecting pressing of the foot switch 92. According to the modified example, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that the configuration is simple, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0101] (Embodiment 6) Next, the sixth embodiment will be described with reference to Fig. 9. Fig. 9 is a time chart showing an example of a drive process performed by using the medical observation system according to the sixth embodiment. The medical observation system according to the sixth embodiment has the same configuration as the medical observation system 1 according to the first embodiment described above, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0102] In the sixth embodiment, when a word indicated by the recognized voice or a word string combining a plurality of words matches a preset word or word string, the recognition process of the voice related to the drive is permitted. That is, unlike the first to fourth embodiments described above, the voice recognition process is not started in response to pressing the foot switch 92, but the recognition process of the input voice after recognition by voice input is enabled. Here, examples of words that permit voice recognition include "on (ON)" and "start", and examples of word strings include "enable voice recognition". Note that the word includes a particle and an auxiliary verb. The word or word string that instructs permission of the voice recognition process corresponds to the first recognition information. In the sixth embodiment, a case where "on" is input will be described as an example.

[0103] Time T 61 When "ON" is input to the microphone 91 in the step S10, the control unit 38 permits the recognition process by the voice recognition unit 32, and causes the recognition information processing unit 33 to execute the process.

[0104] Then, at time T 62When “Right” is input to the microphone 91 at time T 63 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0105] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 63 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0106] After that, the control unit 38 64 When the pressing of the foot switch 92 is detected in the sixth embodiment, the movement of the microscope unit 7 is stopped. In the sixth embodiment, the movement of the microscope unit 7 is stopped immediately after the pressing of the foot switch 92 is detected.

[0107] In the sixth embodiment described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, the processing according to the recognition result is maintained, and processing is stopped when it is detected that the foot switch 92 is pressed. According to the sixth embodiment, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0108] (Modification of the sixth embodiment) Next, a modification of the sixth embodiment will be described with reference to Fig. 10. Fig. 10 is a time chart showing an example of a driving process performed by using a medical observation system according to the sixth embodiment. In this modification, similar to the sixth embodiment, recognition process of an input voice is permitted by inputting a set word or sentence.

[0109] Time T 61When "ON" is input to the microphone 91 in the step S10, the control unit 38 permits the recognition process by the voice recognition unit 32, and causes the recognition information processing unit 33 to execute the process.

[0110] Then, at time T 62 When “Right” is input to the microphone 91 at time T 63 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0111] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 63 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0112] After that, the control unit 38 64 When the depression of the foot switch 92 is detected in the microscope unit 7, the movement of the microscope unit 7 is stopped.

[0113] After the foot switch 92 stops driving, at time T 65 When "OFF" is input to the microphone 91 in step 38, the control unit 38 prohibits subsequent recognition processing by the voice recognition unit 32. This invalidates the recognition results of instructions input by voice. Other options include "end" and "disable voice recognition." The word or word string that instructs the prohibition of voice recognition processing corresponds to the second recognition information. During the period in which voice recognition processing is prohibited, only recognition of words or word strings that enable voice recognition, and execution of processing corresponding to that recognition (enabling voice recognition) are enabled.

[0114] In the modified example described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, the processing according to the recognition result is maintained, and processing is stopped by detecting pressing of the foot switch 92. According to the modified example, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that the configuration is simple, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0115] (Embodiment 7) Next, the seventh embodiment will be described with reference to Fig. 11. Fig. 11 is a time chart showing an example of a drive process performed by using the medical observation system according to the seventh embodiment. The medical observation system according to the seventh embodiment has the same configuration as the medical observation system 1 according to the first embodiment described above, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0116] In the seventh embodiment, similarly to the sixth embodiment, the voice recognition process related to the drive is permitted by a preset word or word string. Furthermore, when a preset time has elapsed since the start of permission for the voice recognition process or the stop of the drive of the microscope unit 7, the control unit 38 again prohibits the voice recognition process. In the seventh embodiment, the movement of the microscope unit 7 is stopped after the set time has elapsed since the start of the movement. The voice recognition process is prohibited again when the set time has elapsed after the voice recognition process was permitted, or when the set time has elapsed after the driving of the microscope unit 7 has stopped.

[0117] Time T 71 When "ON" is input to the microphone 91 in the step S10, the control unit 38 permits the recognition process by the voice recognition unit 32, and causes the recognition information processing unit 33 to execute the process.

[0118] Then, at time T 72 When “Right” is input to the microphone 91 at time T 73During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0119] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 73 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0120] After that, the control unit 38 73 Time T after the set time has elapsed 74 At this time, the movement of the microscope unit 7 is stopped, and the subsequent recognition process by the voice recognition unit 32 is prohibited. In the seventh embodiment, the signal indicating the passage of time corresponds to the second operation signal.

[0121] In the seventh embodiment described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, processing according to the recognition result is maintained, and processing is stopped after a set time has elapsed. According to the seventh embodiment, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0122] In the seventh embodiment, the control unit 38 74 After the movement of the microscope unit 7 is stopped, voice input may be prohibited.

[0123] (Embodiment 8) Next, the eighth embodiment will be described with reference to Fig. 12. Fig. 12 is a time chart showing an example of a drive process performed by using the medical observation system according to the eighth embodiment. The medical observation system according to the eighth embodiment has the same configuration as the medical observation system 1 according to the first embodiment, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0124] In the eighth embodiment, the voice recognition process related to the drive is permitted by a preset word or word string, similarly to the sixth embodiment. Also, similarly to the seventh embodiment, when a preset time has elapsed since permission for the voice recognition process started or since the drive of the microscope unit 7 was stopped, the control unit 38 again prohibits the voice recognition process.

[0125] Time T 81 When "ON" is input to the microphone 91 in the step S10, the control unit 38 permits the recognition process by the voice recognition unit 32, and causes the recognition information processing unit 33 to execute the process.

[0126] Then, at time T 82 When “Right” is input to the microphone 91 at time T 84 During this time, the speech recognition unit 32 performs the recognition process and the recognition information processing unit 33 determines which process to execute. 84 Time before T 83 The control unit 38 causes the recognition information processing unit 33 to continue processing even during the prohibition period if the voice input started during the permitted period of the voice recognition processing.

[0127] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 84 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0128] After that, the control unit 38 85 When the pressing of the foot switch 92 is detected in the step S10, the movement of the microscope unit 7 is stopped. Thus, in the eighth embodiment, even during the prohibition period of the voice recognition process, the stop process associated with the input from the foot switch 92 is continued. Enabling the instruction to stop driving even during the prohibition period is particularly useful when an emergency stop is required, such as in the case of a malfunction or when the microscope unit 7 is likely to come into contact with other equipment, a patient, etc. The driving of the microscope unit 7 may be stopped after a set time has elapsed since the start of driving. Furthermore, the driving of the microscope unit 7 may be stopped after time T83.

[0129] In the eighth embodiment described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, the processing according to the recognition result is maintained, and processing is stopped when it is detected that the foot switch 92 is pressed. According to the eighth embodiment, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0130] (Modification of the eighth embodiment) Next, a modification of the eighth embodiment will be described with reference to Fig. 13. Fig. 13 is a time chart showing an example of a drive process performed using a medical observation system according to a modification of the eighth embodiment. In this modification, as in the eighth embodiment, a voice that has been started to be input during a permitted period of voice recognition processing is continuously processed even during a prohibited period. Also, in this modification, the movement of the microscope unit 7 is stopped by voice recognition.

[0131] Time T 81 When "ON" is input to the microphone 91 in the step S10, the control unit 38 permits the recognition process by the voice recognition unit 32, and causes the recognition information processing unit 33 to execute the process.

[0132] Then, at time T 82 When “Right” is input to the microphone 91 at time T84 During this time, the speech recognition unit 32 performs the recognition process and the recognition information processing unit 33 determines which process to execute. 84 Time before T 83 When the voice recognition process is prohibited in the step S10, the control unit 38 causes the recognition information processing unit 33 to continue the process even during the prohibited time.

[0133] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 84 Thereafter, the control unit 38 outputs control signals to each unit, the joints are driven, and the microscope unit 7 moves to the right.

[0134] After that, the control unit 38 86 When "stop" is voice-recognized in the, the movement of the microscope unit 7 is stopped. In this manner, in the modified example, even during the period in which voice recognition processing is prohibited, the recognition processing of the voice command related to the processing during driving is continued. In this modified example, the first operation signal and the second operation signal are both signals based on the same operation generated by voice input. Enabling instructions for processing during operation even during the period when voice recognition processing is prohibited is particularly useful when an emergency stop is required, such as when there is a malfunction due to erroneous voice recognition or when the microscope unit 7 is likely to come into contact with other equipment, a patient, etc. The operation of the microscope unit 7 may be stopped after a set time has elapsed since the start of operation. 83 After that, the driving of the microscope unit 7 may be stopped.

[0135] In the modified example described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, processing according to the recognition result is maintained, and processing is stopped when a stop instruction is detected by voice recognition. According to the modified example, the process from the start of voice recognition to the stop of processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that a simple configuration is achieved, and the process from voice recognition to driving according to the voice recognition can be performed in a short time, and processing can be stopped even more easily.

[0136] (Embodiment 9) Next, the ninth embodiment will be described with reference to Fig. 14. Fig. 14 is a time chart showing an example of a drive process performed by using the medical observation system according to the ninth embodiment. The medical observation system according to the ninth embodiment has the same configuration as the medical observation system 1 according to the first embodiment, and therefore a description thereof will be omitted. Below, a process different from that of the first embodiment will be described.

[0137] In the present embodiment 9, the acceptance state of voice input is always permitted, as in the embodiment 5. Also, the control unit 38 controls the start and stop of driving of the microscope unit 7 by voice recognition, as in the embodiment 8.

[0138] Time T 91 When “Right” is input to the microphone 91 at time T 92 During this time, the voice recognition unit 32 performs recognition processing, and the recognition information processing unit 33 determines which processing to execute.

[0139] The recognition information processing unit 33 determines the process to be executed. In this case, the process to move the microscope unit 7 to the right is determined. At time T 92 Thereafter, the control unit 38 outputs a control signal to each unit, each joint is driven, and the microscope unit 7 moves to the right. At this time, the control unit 38 moves the microscope unit 7 at a constant speed. This constant speed is set in the same manner as in the third embodiment described above.

[0140] After that, the control unit 38 93 When "stop" is voice recognized in the, the movement of the microscope unit 7 is stopped.

[0141] In the ninth embodiment described above, voice input from the microphone 91 is accepted, and processing according to the recognition result is executed. Thereafter, the processing according to the recognition result is maintained, and the processing is stopped when a stop instruction is detected by the voice recognition. According to the ninth embodiment, the process from the start of the voice recognition to the stop of the processing is collectively controlled within the control device 3 (the control device 3 that controls the microscope unit 7 and the support unit 6), so that a simple configuration is achieved, and the process from the voice recognition to the driving according to the voice recognition can be performed in a short time, and the processing can be stopped even more easily.

[0142] Although the embodiments for carrying out the present invention have been described above, the present invention should not be limited to the above-mentioned embodiments. For example, the support unit 6 may have at least one set of two arms and a joint that rotatably connects one of the two arms to the other.

[0143] In the first to fourth embodiments, the operations from the start of voice recognition to the stop of drive are performed by the foot switch 92. However, the present invention is not limited to this, and the operations may be performed by a switch that is operated by something other than the foot, such as a switch that is pressed by hand. Also, the foot switch 92 may be replaced by a pressure sensor, an acceleration sensor, or the like.

[0144] In addition, in the first to fourth embodiments, the input value becomes smaller than the initial value when the foot switch 92 is depressed, but the input value may be configured to become larger than the initial value depending on the amount of depression. Also, the foot switch 92 may output a digital value such as a binary or ternary value instead of an analog value.

[0145] In the first to fourth embodiments, the control unit 38 may control the microphone 91 to be turned on during the period from the start of voice recognition to the end of driving, and to be turned off during the other periods. This prevents speech from being input during periods other than the voice recognition period. Alternatively, the input volume through the microphone 91 may be increased during the voice recognition period, and the input volume may be decreased or muted (silenced) during periods other than the voice recognition period.

[0146] In addition, in the first to fourth embodiments, the microphone 91 and the foot switch 92 are connected to the control device 3 by wires, but they may be connected wirelessly to the control device 3. The observation device 2 and the control device 3 may be connected by wires or wirelessly.

[0147] In the first to fourth embodiments, the microphone 91 and the foot switch 92 are provided in a single set, but multiple sets may be provided. For example, the priority order of operation input may be set for a surgeon, an assistant, a nurse, etc.

[0148] Furthermore, in the first to fourth embodiments, when the control device 3 recognizes an utterance, the control device 3 may notify the user that the utterance has been recognized by emitting sound or light from the output unit 36. Furthermore, the control device 3 may display a message on the display device 4 indicating that the utterance has been recognized.

[0149] The medical observation device may also be configured to be suspended from the ceiling of the installation location.

[0150] Further, in the above-mentioned first to fourth embodiments, the control device 3 is provided separately from the observation device 2, but the control device 3 may be built into the base portion 5.

[0151] Furthermore, in the above-mentioned first to fourth embodiments, the support unit 6 holds the microscope unit 7, but the support unit 6 may hold a member capable of capturing an image, not limited to the microscope unit 7. For example, the support unit 6 may hold a rigid endoscope at its tip, or may hold the tip of a flexible endoscope. When the support unit 6 holds an endoscope, the base unit 5 and the support unit 6 function as an endoscope holder.

[0152] In this manner, the present invention can include various embodiments and the like within the scope not departing from the technical idea described in the claims. [Industrial Applicability]

[0153] INDUSTRIAL APPLICABILITY As described above, the control device and medical observation system according to the present disclosure are useful for having a simple configuration, for performing voice recognition and driving in response to the voice recognition in a short time, and for easily stopping the driving. [Explanation of symbols]

[0154] 1 Medical observation system 2 Medical observation equipment 3. Control device 4 Display device 5 Base 6 Support part 7 Microscope Section 8 Light source device 11 First joint 12 Second joint 13 Third joint 14 Fourth joint 15 Fifth joint 16 6th joint 21 First arm section 22 Second arm section 23 Third Arm Section 24 4th Arm Section 25 5th Arm Section 31 Image processing section 32 Voice Recognition Unit 33 Recognition information processing section 34 Input section 35 Foot switch input reception section 36 Output section 37 Memory section 38 Control Unit 91 Mike 92 Foot Switch

Claims

1. 1. A control device that electrically controls a medical observation device that captures an image of an observation target, comprising: a voice recognition unit that recognizes voice input from the outside; a recognition information processing unit that determines a process to be executed by the medical observation device based on a recognition result of the voice recognition unit; a switch input receiving unit that receives an input of an operation signal corresponding to an operation of a switch capable of multi-stage input operation; A control unit that controls the processing executed by the medical observation device; Equipped with the switch input receiving unit receives, as the operation signal, an input value corresponding to an operation mode including no operation of the switch; The control unit is by detecting that the input value accepted by the switch input accepting unit is a first input value different from an initial value which is an input value when the switch is not operated, the voice recognition unit starts a voice recognition process, and the medical observation device executes a process determined by the recognition information processing unit, and by detecting that the input value is a second input value different from the first input value, the medical observation device stops the process. Control device.

2. 1. A control device that electrically controls a medical observation device that captures an image of an observation target, comprising: a voice recognition unit that recognizes voice input from the outside; a recognition information processing unit that determines a process to be executed by the medical observation device based on a recognition result of the voice recognition unit; a switch input receiving unit that receives an input of an operation signal corresponding to an operation of a switch capable of multi-stage input operation; A control unit that controls the processing executed by the medical observation device; Equipped with the switch input receiving unit receives, as the operation signal, an input value corresponding to an operation mode including no operation of the switch; The control unit is when the input value changes from an initial value, which is an input value when the switch is not operated, to a first input value different from the initial value, starting a voice recognition process by the voice recognition unit and causing the medical observation device to execute the process; when the input value changes to the first input value and then changes to the initial value as a second input value, stopping the process executed by the medical observation device. Control device.

3. 1. A control device that electrically controls a medical observation device that captures an image of an observation target, comprising: a voice recognition unit that recognizes voice input from the outside; a recognition information processing unit that determines a process to be executed by the medical observation device based on a recognition result of the voice recognition unit; a switch input receiving unit that receives an input of an operation signal corresponding to an operation on the switch; A control unit that controls the processing executed by the medical observation device; Equipped with The switch is capable of multi-stage input operation, the switch input receiving unit receives an input of an input value corresponding to an operation mode of the switch; The control unit is starting a voice recognition process by the voice recognition unit by detecting a first operation signal that is different from an initial value, which is an input value when the switch is not operated and that is received by the switch input receiving unit; starting the operation of the medical observation device based on the recognition result of the voice recognition unit, causing the medical observation device to execute a process of changing the drive speed of the medical observation device according to the input value accepted by the switch input accepting unit, and stopping the process executed by the medical observation device by detecting a second operation signal different from the first operation signal accepted by the switch input accepting unit. Control device.

4. When the recognition information processing unit determines a process of moving an imaging area of ​​the medical observation device, the control unit, after the input value changes to the initial value as the second input value and the process executed by the medical observation device is stopped, causes the medical observation device to execute a process of moving the imaging region in a direction opposite to that of the process executed before the stop when the input value changes from the initial value within a preset period. The control device according to claim 2.

5. 1. A control device that electrically controls a medical observation device that captures an image of an observation target, comprising: a voice recognition unit that recognizes voice input from the outside; a recognition information processing unit that determines a process to be executed by the medical observation device based on a recognition result of the voice recognition unit; a switch input receiving unit that receives an input of an operation signal corresponding to an operation of a switch capable of multi-stage input operation; A control unit that controls the processing executed by the medical observation device; Equipped with the switch input receiving unit receives, as the operation signal, an input value corresponding to an operation mode including no operation of the switch; The control unit is when the input value changes from an initial value, which is an input value when the switch is not operated, to a first input value different from the initial value, the voice recognition process is started and the medical observation device is caused to execute the process; when the input value changes to the first input value, returns to the initial value, and changes again from the initial value to a value different from the initial value as a second input value, the process executed by the medical observation device is stopped. Control device.

6. the recognition information processing unit determines a moving direction of an imaging area by the medical observation device based on a recognition result of the voice recognition unit; the control unit moves an imaging area of ​​the medical observation device based on the moving direction determined by the recognition information processing unit. The control device according to any one of claims 1 to 5.

7. the recognition information processing unit determines a magnification ratio of the image captured by the medical observation device based on a recognition result of the voice recognition unit; the control unit changes a magnification ratio of the image captured by the medical observation device based on the magnification ratio determined by the recognition information processing unit. The control device according to any one of claims 1 to 5.

8. an imaging unit capable of imaging an object to be observed in a magnified manner; a support section having a plurality of arm sections and a plurality of joint sections connecting the plurality of arm sections, the support section supporting the imaging section at a tip end; A medical observation device having a a switch that outputs an operation signal in response to an operation on the switch itself; A control device according to any one of claims 1 to 7; A medical observation system comprising:

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