The content of the invention
However, in the case of this stereovision device, because the hand of doctor touches lens barrel, it is therefore desirable in lens barrelThe sterilization cloth of covering sterilization nearby.Due to sterilization cloth can not be covered on monitor apparatus, therefore it is arranged on away from lens barrelPosition.Because monitor apparatus are away from lens barrel, in order to ensure the visuognosis degree of doctor is, it is necessary to than larger size.
Accordingly, as realistic problem, the weight of monitor increases, due to the problem of weight balancing, it is difficult to which monitor is filledPut and be supported on holder device together with lens barrel.Assuming that monitor apparatus and lens barrel are supported on if holder device together, just needLarge-scale and solid holder device is wanted, the space in operating room has just been oppressed.
The present invention is conceived to such corresponding technology and makes, there is provided even if one kind does not maximize holder device excessivelyAlso the operation stereovision device that large-scale monitor apparatus and lens barrel can be together supported.
, there is operation stereovision device in the first technical elements of the invention, it includes：Lens barrel, the lens barrelThe optical unit of the stereoptics image for obtaining visual area is accommodated with, and stereoptics image to being obtained by the optical unit entersRow is imaged and exports the image unit of stereoscopic image signals；Holder device, the holder device is in the state of the lens barrel is supportedArbitrary position is moved to freely；And panel type monitor apparatus, the panel type monitor apparatus are shown based on by instituteThe stereopsis of the stereoscopic image signals of image unit output is stated, the operation stereovision device is characterised by, describedHolder device includes being arranged at the pedestal on floor, and the rack body rotated freely centered on vertical axis relative to the pedestal,On the left and right directions one side of rack body, trailing arm and transverse arm are provided with, the trailing arm is installed to be midway position with levelTilted forward and back centered on axle freely, the base end side of the transverse arm is pivotally supported on the upper end of trailing arm and to extending laterally and on topLens barrel is maintained, also, the left and right directions opposite side of the oriented rack body is set on rack body and extended and protected on topHold the arm of monitor apparatus.
Other technologies aspect of the invention, it is characterised in that trailing arm and transverse arm are to offset mirror by counterweightThe balance type structure of cylinder weight.
Other technologies aspect of the invention, it is characterised in that arm is to fold structure freely in the horizontal direction.
Other technologies aspect of the invention, it is characterised in that optical unit at least possesses 1 objective lens optical system,The variable-power optical system passed through with the light beam of the pair of right and left for having passed through the objective lens optical system, image unit possesses to passing throughThe light beam of variable-power optical system carries out the pair of right and left photographing element of light, and lens barrel possesses lighting unit, the lighting unitIllumination light can be irradiated to visual area with the different angle of the optical axis (K) from objective lens optical system.
Specific embodiment
Fig. 1~Fig. 6 is to show figure preferred embodiment of the invention.In the following description, the X of Fig. 1 is set toLeft and right directions (horizontal direction), fore-and-aft direction (horizontal direction) is set to by the Y of Fig. 2, if X and Y are mutually perpendicular to illustrate.
Holder device 1 is arranged in operating room, possesses pedestal 2 and rack body 3.Pedestal 2 has locking bound feet freelyWheel 4, can move under the state of unlocking on floor, and the position the need for being fixed on floor in the locked statePut.
Rack body 3 is set on the base 2 and is rotated freely centered on vertical axis V1.The midway part of trailing arm 5 with byTilted forward and back freely by e axle supporting on the side in the left side of rack body 3 centered on the trunnion axis H1 that e axle supporting point a is constituted.The trailing arm 5 is manufactured and with hollow shape very long up and down by casting.
The base end side of transverse arm 6 is by e axle supporting point b up and down rotatably by e axle supporting in the upper end of trailing arm 5.Transverse arm 6 byThe forniciform metal tubular for extending in the horizontal into.The base arm 7 for rearward extending is provided with the downside of trailing arm 5, in base arm 7End counterweight W is installed.The terminal of transverse arm 6 and the midway part of base arm 7 are connected by vertical sub-arm 8.It is consequently formed and includesLongitudinal parallel rod of trailing arm 5 and vertical sub-arm 8.
By e axle supporting in the e axle supporting point b of the top of trailing arm 5, the midway part of top arm 10 is by axle for the lower end of base end arm 9It is supported on the top of transverse arm 6.The upper end of base end arm 9 and the upper end of top arm 10 are connected by straight horizontal sub-arm 11.ThusForm the horizontally-parallel connecting rod comprising transverse arm 6 and horizontal sub-arm 11.Base end arm 9 passes through the internal structure of trailing arm 5 always to maintainThe mode of plumbness is configured.
The casing 12 rotated freely centered on vertical axis V2 is provided with the bottom of top arm 10.Lens barrel 15 is via twoSub-arm 13,14 is supported in casing 12.Sub-arm 13 is fixed with casing 12 in upper end, other sub-arm 14 for L-type and withThe lower end of sub-arm 13 is rotatably supported in centered on sloping shaft T.Lens barrel 15 is rotated freely centered on trunnion axis H2Be supported in the lower end of L-type sub-arm 14.Vertical axis V2, sloping shaft T, trunnion axis H2 are consistent with the substantially center of gravity of lens barrel 15A little intersect.Lens barrel 15 turns into the state supported by so-called universal supporter structure by 3 rotary shafts, can be on the positionBy operate the left and right sides of lens barrel 15 handle 16 and free change direction.
As described above, the trailing arm 5 supported comprising lens barrel 15 and to it, transverse arm 6 are all installed in Fig. 1 medium-height trestle main bodysOn the side in 3 left side.
In the phase of arm (horizontal arm) 19 that the top of rack body 3 is made up of the rectangular block arm main body 17,18 of long and short two rootExtend to the opposition side of trailing arm 5 on left and right directions (horizontal direction) for rack body 3.Even if rack body 3 is around vertical axisV1 rotations also always maintain this position relationship.The installation portion and arm main body 17,18 to rack body 3 of arm main body 17 are each otherInstallation portion rotatably connected centered on vertical axis, and fold freely but in the vertical direction activity in the horizontal directionIt is limited.
The top of the arm 19 is supported with monitor apparatus 20.Monitor apparatus 20 are typical 32 inch liquid crystal panel types,Its own is rotated freely also relative to the top of arm 19 centered on vertical axis.The monitor apparatus 20 show and are shot by lens barrel 15Visual area R stereopsis.Operation implementer and assistant etc. can be three-dimensionally observed in monitor by having on special eyeglasses 21The stereopsis of the display of device 20.
Next the internal structure to lens barrel 15 is illustrated.
Lens barrel 15 is the structure for being capable of stereo camera shooting, internally formation left and right twice light path L.Set in the bottom of lens barrel 15There is the objective lens optical system 22 being made up of 3 lens.Exist as the visual area of the object of observation on the optical axis K of objective lens optical system 22R.Objective lens optical system 22 can make focal length variable from 300mm to 1000mm by making the lens of a part movable.Object lens lightSystem 22 is the front and rear shape being removed, and the notch part 24 of the arc-shaped separated with shadow shield is formed with rear side.
Lighting unit 25 is arranged at notch part 24 with the state being built in lens barrel 15.The optical axis S-phase of lighting unit 25It is set with the angle, θ for specifying for the optical axis K of objective lens optical system 22.Lighting unit 25 is built-in by LED light source and whiteIllumination light E can be irradiated from relative to the inclined directions of visual area R.Additionally, by rotational structure (not shown), lighting unit 25Angle be configured to change in linkage with the focal length of objective lens optical system 22, the major axes orientation of illumination light E is configured to always courtTo the center of visual area R.
Although lighting unit 25 is arranged at the inside of lens barrel 15, but it is also possible to be arranged at outside it, will be shone by optical fiberMingguang City E is guided to lens barrel 15, and visual area R is irradiated from lens barrel 15, it is also possible to which lighting unit 25 is itself mounted at into the outer of lens barrel 15Visual area R is simultaneously irradiated in surface at this.
The top of objective lens optical system 22 is provided with the variable-power optical system 26 of the pair of right and left along twice light path L.AdoptWith variable-power optical system 26,40 times can be amplified to.Light path L is directed to photographing element (CCD) 28 by imaging len 27.Photographing element 28 is typically CCD area image sensors.Under the form of implementation, using objective lens optical system 28 and zoom opticsSystem 26 and imaging len 27 constitute " optical unit ", are constituted " image unit " using photographing element 28.
Visual area R is exposed to by by the illumination light E from lighting unit 25, the reflected light of visual area R is fed to object lens lightSystem 22.The main component of reflected light now is diffuse (rear orientation light), comprising the positive and negative of strong scattering compositionLight (forward scattering light) is penetrated because lighting unit 25 has angle, θ, therefore is not returned directly to the (reference picture of objective lens optical system 226)。
The reflected light for importing objective lens optical system 22 passes through variable-power optical system 26 along light path L, and two are passed through after thisThe light of photographing element 28, obtains the left eye picture and right eye picture of phase mutual parallax.This has the picture conduct of the left and right of binocular parallaxStereoscopic image signals are synthesized and are shown on monitor apparatus 20 by controller 29.Prison is observed by having on special eyeglasses 21The display of visual organ device 20 can carry out the stereovision of visual area R.When being imaged to visual area R by photographing element 28, as aboveIt is described, because the normal reflection part in the R of visual area not directly enters objective lens optical system 22, it is possible to avoid to photographing element 28Harmful effect.
Next the practical operation method in the operating room of the stereovision device is illustrated.
Lens barrel 15 close to the position of visual area R, additionally due to the hand of operation implementer contacts the handle 16, therefore lens barrel 15And its peripheral part is covered by cloth 30 of sterilizing.Specifically, since lens barrel 15 to the upside of trailing arm 5 continually bySterilization cloth 30 is covered.Monitor apparatus 20 are located remotely from the position of lens barrel 15 using arm 19, if further, since its own is disappearedMalicious cloth 30 is just invisible if covering to be shown, therefore is covered without cloth 30 of sterilizing.
On monitor apparatus 20, due to the device that arm 19 can be folded freely in the horizontal direction, therefore, it is possible to pass throughAdjustment folding degree, is most preferably state by the position of monitor 20, direction setting.
Because monitor apparatus 20 are in the position away from rack body 3, therefore used in order to ensure its visuognosis degreeLarger size (32 feet).Therefore, although possessing weight to a certain degree, due to monitor apparatus 20 by arm 19 positionIn other weights be the opposition side of lens barrel 15, trailing arm 5 and transverse arm 6, even if specially set counterweight can also seekThe weight balancing of the left and right centered on rack body 3.
Therefore, even if rack body 3 is not large-scale and solid device, it is also possible to stabilization state support lens barrel 15 and20 liang of sides of monitor apparatus.Further, since the rack body 3 of the supporting grade of lens barrel 15 and monitor apparatus 20 can be relative to pedestal2 are rotated freely centered on vertical axis V1, even if rotating rack body 3, the weight balancing of left and right is also constant, therefore lens barrel 15Deng and monitor apparatus 20 stabilization bearing state it is constant.
Further, since trailing arm 5 and transverse arm 6 are the balances that balance is kept by the weight of counterweight W counteracting lens barrels 15Formula structure, is not only left and right directions, and fore-and-aft direction can also seek the weight balancing centered on rack body 3, holder device 1As more stable state.
In addition, monitor apparatus 20 when not in use, conveying when, arm 19 can be allowed to fold and become close to rack body 3Receiving state.
In implementation state above by taking the monitor apparatus 20 for wearing special eye observation as an example, but this is not limited only to,Can be the monitor apparatus of bore hole stereovision.
Technology according to the present invention aspect, trailing arm, transverse arm and mirror are provided with the one side of the left and right directions of rack bodyCylinder, and monitor apparatus are arranged at the top of the arm that opposite side in the lateral direction extends, thus can seek with rack body beThe weight balancing of the left and right at center, even large-scale monitor apparatus, it is also possible to evolved with less rack body and supported.ByRotated freely centered on vertical axis relative to pedestal in rack body, even if so the weight for making rack body rotate left and right is put downWeighing apparatus is also constant.
Further, since trailing arm and transverse arm are the balance type structure of the weight that lens barrel is offset by counterbalance, therefore can seekWeight balancing before and after asking centered on rack body, holder device turns into more stable state.
Further, since arm is folded freely in the horizontal direction, therefore the position of monitor apparatus can be carried out by folding degreePut, the adjustment in direction, and when not in use, conveying when arm is folded, make monitor apparatus become close to rack body storageState.
And then, because the angle of lighting unit and the optical axis of objective lens optical system are inconsistent, therefore in visual area reflection justReflex components are difficult to be returned directly to objective lens optical system, can avoid the harmful effect to image unit.