DE4101242A1 - Stereoscopic endoscope - has optical fibre bundle for illumination of field and two image conductors providing spatial image to observer - Google Patents

Stereoscopic endoscope - has optical fibre bundle for illumination of field and two image conductors providing spatial image to observer

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Publication number
DE4101242A1
DE4101242A1 DE4101242A DE4101242A DE4101242A1 DE 4101242 A1 DE4101242 A1 DE 4101242A1 DE 4101242 A DE4101242 A DE 4101242A DE 4101242 A DE4101242 A DE 4101242A DE 4101242 A1 DE4101242 A1 DE 4101242A1
Authority
DE
Germany
Prior art keywords
image
images
observer
field
operating field
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE4101242A
Other languages
German (de)
Inventor
Andrea Dr Med Scarfi
Gerhard Haupt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE4101242A priority Critical patent/DE4101242A1/en
Publication of DE4101242A1 publication Critical patent/DE4101242A1/en
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/00048—Constructional features of the display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph

Abstract

The endoscope includes an optical fibre bundle for illumination of the field to be observed. Two image conductors are provided for transmission of the field image. The image conductors are arranged to provide the observer with a spatial image, and have two oculars which are adjustable w.r.t. the observer's eyes. The image conductors may alternatively be terminated with respective television cameras which detect two images of the field being observed. The endoscope pref. has a mechanical mounting allowing movement in three directions. This may be performed using motors under the control of a foot pedal or voice-activated controller. ADVANTAGE - Gives spatial impression.

Description

Die Erfindung betrifft ein Endoskop zur Beleuchtung und stereo­ skopischen Bildübertragung des Operationsfeldes, die mechani­ sche Halterung und Steuerung des Endoskops und eine Vorrichtung zur stereoskopischen Betrachtung der Bilder des Operationsfel­ des.The invention relates to an endoscope for lighting and stereo scopic image transmission of the operating field, the mechani cal holder and control of the endoscope and a device for stereoscopic viewing of the images of the operating field of.

Stand der TechnikState of the art

Stand der Technik der endoskopunterstützten Operationstechnik sind monokulare Endoskope, die mit Hilfe einer Lichtquelle und eines eingebauten Lichtleiters das Operationsfeld beleuchten und über einen zweiten, geordneten Lichtleitfaserbündel das Bild des Operationsfeldes zu einem Okular übertragen, das ent­ weder mit dem Auge direkt oder über eine Fernsehkamera und an­ geschlossenen Monitor die Betrachtung des Operationsfeldes ge­ stattet. Aufgrund der einäugigen Betrachtung des Operationsfel­ des kann kein räumlicher Eindruck übermittelt werden.State of the art of endoscope-assisted surgical technique are monocular endoscopes that use a light source and Illuminate the surgical field with a built-in light guide and via a second, ordered optical fiber bundle Image of the surgical field transferred to an eyepiece that ent neither with the eye directly or via a television camera and on closed monitor the observation of the surgical field ge equips. Because of the one-eyed view of the surgical field no spatial impression can be given.

Das eingeführte Endoskop muß mit der Hand geführt werden. Da aber der Operateur mit beiden Händen beschäftigt ist, braucht er eine Hilfskraft, die dies für ihn übernimmt und auf Komman­ dos des Operateurs so führt, daß der Arbeitsbereich des Opera­ tionsfeldes jeweils im Blickfeld des Operateurs liegt.The inserted endoscope must be guided by hand. There but the surgeon is busy with both hands he is an assistant who does this for him and on command dos des Operateurs so that the working area of the Opera field of operation is in the operator's field of vision.

Erfindunginvention

Der vorliegenden Erfindung liegt nun die Aufgabe zugrunde, das Endoskop der eingangs genannten Art so weiterzubilden, daß durch die Einführung eines weiteren geordneten Lichtleitfaser­ bündels und dessen räumlicher Anordnung neben dem ersten, zwei Bilder des Operationsfeldes so zu übertragen, daß dem Beobach­ ter ein räumliches Bild des Operationsfeldes entsteht. Deswei­ teren wird dieses Stereo-Endoskop in einer mechanischen Vor­ richtung so gehalten, daß es auf Kommandos des Operateurs auto­ matisch in allen drei Koordinaten bewegt werden kann. In einem angeschlossenen Binokular kann der Operateur das Operationsfeld stereoskopisch betrachten und so seine Operationen im gewohnten räumlichen Bild besser koordinieren.The present invention is based on the object Develop endoscope of the type mentioned in such a way that by introducing another ordered optical fiber bundle and its spatial arrangement next to the first, two To transfer images of the operating field so that the observer  A spatial picture of the operating field is created. Because This stereo endoscope is used in a mechanical front direction so that it is on commands of the operator auto can be moved matically in all three coordinates. In one the surgeon can connect the binocular to the surgical field view stereoscopically and thus perform his operations in the usual coordinate the spatial image better.

Vorteilhafte Weiterbildungen des Erfindungsgedankens sind in den Unteransprüchen angegeben.Advantageous developments of the inventive concept are in specified in the subclaims.

Ein Ausführungsbeispiel der Erfindung wird im folgenden anhand der Zeichnungen näher erläutert. Dabei zeigt:.An embodiment of the invention is described below of the drawings explained in more detail. It shows:

Fig. 1 das Prinzipbild eines erfindungsgemäß ausgebildeten En­ doskops zur stereoskopischen Beobachtung des Operati­ onsfeldes, Fig. 1 illustrates the principle diagram of an inventive design En doskops for stereoscopic observation of the Operati onsfeldes,

Fig. 2 das stereoskopische Endoskop in einer motorisch zu be­ wegenden Halterung, Fig. 2, the stereoscopic endoscope in a motor-path ends to be mount,

Fig. 3 schematisch die Darbietung der stereoskopischen Bilder über zwei am Kopf des Operateurs angebrachte Monitore zur Gewinnung eines räumlichen Bildes des Operations­ feldes und das daran befestigte Mikrofon zur Sprach­ steuerung der motorisch bewegbaren Endoskophalterung. Fig. 3 shows schematically the presentation of the stereoscopic images on two attached to the head of the surgeon monitors to obtain a spatial image of the operating field and the attached microphone for voice control of the motor-driven endoscope holder.

Das Prinzipbild des stereoskopischen Endoskops in Fig. 1 zeigt eine mögliche Ausführungsform, wobei die (1) die Enden der bei­ den Bildleiter am abgerundeten Ende des Endoskops zeigt. Sie sind umgeben von der Austrittsöffnung (2) des Lichtleiters zur Beleuchtung der Szene. (3) bezeichnet das Mantelrohr des Endoskops, das Licht- und Bildleiter umhüllt und dem Endoskop seine Stabilität verleiht. (4) bezeichnet das Endstück des Endoskops zur räumlichen Aufteilung der beiden Bildleiter auf einen Abstand, der zur Anbringung der Kameras oder der Okulare an den Anschlüssen (5) und (6) notwendig ist. Der Anschluß (7) bildet den Kontakt zum beweglichen Lichtleiter, der mit einer entsprechenden Kaltlichtquelle verbunden ist. The basic diagram of the stereoscopic endoscope in FIG. 1 shows a possible embodiment, the ( 1 ) showing the ends of the image guide at the rounded end of the endoscope. They are surrounded by the exit opening ( 2 ) of the light guide for illuminating the scene. ( 3 ) denotes the jacket tube of the endoscope, which envelops the light and image guide and gives the endoscope its stability. (4) denotes the end piece of the endoscope for the spatial division of the two image guides at a distance which is necessary for attaching the cameras or the eyepieces to the connections ( 5 ) and ( 6 ). The connection ( 7 ) forms the contact to the movable light guide, which is connected to a corresponding cold light source.

Die in Fig. 2 dargestellte mögliche Ausführungsform einer Halterung zeigt den an einem Parallelogramm-Arm (1) befestigten stabilen Rahmen (2) in dem sich eine bewegliche Brücke (3) befindet. Mit dem Spindelmotor (4) wird diese Brücke (3) in X- Richtung bewegt. Sie trägt einen weiteren Spindelmotor (5), der die Endoskop-Halterung (6) in Y-Richtung bewegt. Die Endoskop- Halterung (6) kann ihrerseits mit dem Motor (7) in Z-Richtung bewegt werden. Damit ist das Endoskop in der Halterung (6) in allen drei Koordinaten mit motorischer Hilfe zu bewegen.The possible embodiment of a holder shown in FIG. 2 shows the stable frame ( 2 ) attached to a parallelogram arm ( 1 ) in which there is a movable bridge ( 3 ). This bridge ( 3 ) is moved in the X direction with the spindle motor ( 4 ). It carries a further spindle motor ( 5 ) which moves the endoscope holder ( 6 ) in the Y direction. The endoscope holder ( 6 ) can in turn be moved with the motor ( 7 ) in the Z direction. The endoscope in the holder ( 6 ) can thus be moved in all three coordinates with motor assistance.

Fig. 3 zeigt schematisch die an einem verstellbaren Stirnband (1) angebrachten Monitore (2) zur stereoskopischen Darbietung der Bilder des Operationsfeldes und das am Stirnband befestigte Mikrofon (3) zur Sprachsteuerung der motorisch bewegbaren Endoskophalterung. Fig. 3 shows schematically the attached to an adjustable headband (1) monitors (2) for stereoscopic presentation of the images of the surgical field and attached to the headband microphone (3) for voice control of the motor-driven movable endoscope holder.

Claims (10)

1. Endoskop zur Beobachtung eines verdeckten Operationsfeldes mit einem Lichtleitfaserbündel zur Beleuchtung des Operati­ onsfeldes und zwei Bildleitern zur Übertragung des Bildes des Operationsfeldes dadurch gekennzeichnet, daß die beiden Bildleiter so angeordnet sind, daß der Beobachter ein räumliches Bild des Operationsfeldes erhält.1. Endoscope for observing a concealed operating field with an optical fiber bundle for illuminating the operating field and two image conductors for transmitting the image of the operating field, characterized in that the two image conductors are arranged in such a way that the observer receives a spatial image of the operating field. 2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Bildleiter an zwei, in ihrem Abstand auf den Augenabstand des Beobachters einstellbaren, Okularen enden.2. Device according to claim 1, characterized in that the Image guide on two, in the distance to the eye relief of the observer's adjustable eyepieces. 3. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die beiden Bildleiter so zusammengefaßt werden, daß eine Fern­ sehkamera die beiden Teilbilder des Operationsfeldes erfas­ sen kann.3. Device according to claim 1, characterized in that the two image guides are combined so that a long distance vision camera captured the two partial images of the operating field can sen. 4. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die beiden Bildleiter in geeigneter Weise so enden, daß ihre Bilder von zwei getrennten Fersehkameras erfaßt werden kön­ nen. 4. Device according to claim 1, characterized in that the both image guides end in a suitable manner so that their Images from two separate TV cameras can be captured nen.   5. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Bilder der beiden Bildleiter von sonstigen bildwandelnden Einrichtungen erfaßt werden.5. Device according to claim 1, characterized in that the Images of the two image guides from other image converting Facilities are recorded. 6. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie von einer mechanischen Halterung gehalten und in den drei Dimensionen bewegt werden kann.6. Device according to claim 1, characterized in that it held by a mechanical bracket and in the three Dimensions can be moved. 7. Einrichtung nach Anspruch 6, dadurch gekennzeichnet, daß diese Halterung motorisch bewegt werden kann.7. Device according to claim 6, characterized in that this bracket can be moved by motor. 8. Einrichtung nach Anspruch 7, dadurch gekennzeichnet, daß die Befehle zur motorischen Bewegung über fußbediente Aktivato­ ren gewonnen werden.8. Device according to claim 7, characterized in that the Commands for motor movement via foot-operated activato be won. 9. Einrichtung nach Anspruch 7, dadurch gekennzeichnet, daß die Befehle zur motorischen Bewegung über ein sprachgesteuertes Erkennungssystem gewonnen werden.9. Device according to claim 7, characterized in that the Commands for motor movement via a voice-controlled Detection system can be obtained. 10. Einrichtung nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß die beiden Bilder des stereoskopischen Bildleitersystems dem Operateur durch zwei in Augenhöhe am Kopf befestigte Mo­ nitore geeigneter Größe durch für die Augen getrennte Bilder räumlich dargeboten werden.10. Device according to claim 3 or 4, characterized in that the two images of the stereoscopic image guide system the operator through two Mo fastened to the head at eye level Nitore of suitable size through images separated for the eyes be presented spatially.
DE4101242A 1991-01-17 1991-01-17 Stereoscopic endoscope - has optical fibre bundle for illumination of field and two image conductors providing spatial image to observer Withdrawn DE4101242A1 (en)

Priority Applications (1)

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DE4101242A DE4101242A1 (en) 1991-01-17 1991-01-17 Stereoscopic endoscope - has optical fibre bundle for illumination of field and two image conductors providing spatial image to observer

Applications Claiming Priority (1)

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DE4101242A DE4101242A1 (en) 1991-01-17 1991-01-17 Stereoscopic endoscope - has optical fibre bundle for illumination of field and two image conductors providing spatial image to observer

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DE4101242A1 true DE4101242A1 (en) 1992-07-23

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7507199B2 (en) * 1996-02-20 2009-03-24 Intuitive Surgical, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US9402619B2 (en) 1996-11-22 2016-08-02 Intuitive Surgical Operation, Inc. Rigidly-linked articulating wrist with decoupled motion transmission

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7507199B2 (en) * 1996-02-20 2009-03-24 Intuitive Surgical, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US9402619B2 (en) 1996-11-22 2016-08-02 Intuitive Surgical Operation, Inc. Rigidly-linked articulating wrist with decoupled motion transmission

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