JP6764491B2 - Imaging device - Google Patents

Description

The present invention relates to an image pickup apparatus including a camera body having a built-in image pickup device.

In laparoscopic surgery, the laparoscope is brought closer to the organ to magnify the image and the organ is incised or sutured, but the operator's field of view is narrowed. Therefore, conventionally, an imaging device as an observation camera for grasping a situation outside the work area under laparoscopic surgery has been known.

For example, in the medical device 100 disclosed in Patent Document 1, as shown in FIGS. 35A and 35B, a capsule-type camera 110 movably provided in the abdominal cavity and the capsule-type camera 110 are placed outside the body. It is provided with a fixing unit 120 for fixing and holding in.

In the medical device 100, the capsule camera 110 is introduced into the abdominal cavity 103 of the patient by a treatment tool such as grasping forceps via the tracal 102 punctured in the abdominal wall 101. Then, in the capsule type camera 110, the wire 111 is hooked by a puncture needle or the like (not shown) punctured toward the abdominal cavity 103, and the wire 111 is pulled out of the body so as to penetrate the abdominal wall 101.

Next, the wire 111 is passed through a hole (not shown) of the fixing unit 120 prepared on the abdominal side of the patient and pulled toward the abdominal wall 101 side. As a result, the capsule camera 110 is lifted closer to the abdominal wall 101, and the wire 111 is pulled outward until the suction cup 112 is attracted to the inner surface of the abdominal wall 101. As a result, the capsule-type camera 110 is indwelled and fixed in the abdominal cavity 101 by the suction cup 112 adsorbing on the inner surface of the abdominal wall 101.

Japanese Patent Publication "Japanese Patent Laid-Open No. 2010-162288 (published on July 29, 2010)" Patent Gazette published in Japan "Special Table 2009-517167 (published on April 30, 2009) International release WO2005 / 053517 (released on June 18, 2006) Japanese Patent Publication "Japanese Patent Laid-Open No. 2006-68109 (published on March 16, 2006)"

However, the above-mentioned conventional small observation camera has a problem that the work of attaching the small observation camera to the abdominal wall in a space that is not directly visible such as in the abdominal cavity is complicated.

In addition to the method of suspending with a wire disclosed in Patent Document 1, the techniques disclosed in Patent Documents 2 to 4 are known.

For example, in the in-vivo treatment system disclosed in Patent Document 2, the capsule type camera is fixed by a tripod or a gripping tong. However, in this fixing method, it is necessary to determine the installation direction, and special installation work is required.

Further, for example, in the endoscope system disclosed in Patent Document 3, the capsule type camera is hooked with a nail. However, this method requires installation work for hooking with a claw.

Further, for example, the endoscope system disclosed in Patent Document 4 is a capsule-type endoscope for obtaining image information inside a living body while being indwelled inside the living body. In this endoscopic system, cameras are installed at positions corresponding to the vertices of the regular tetrahedron inscribed in the capsule inside the spherically formed capsule, and the four cameras simultaneously perform omnidirectional images. It is possible to obtain information.

However, although this endoscopic system is used to orally observe the inside of the living body, when this imaging device is applied to laparoscopic surgery and installed on the internal organs, it should be installed stably because it is spherical. Has the problem of not being able to.

The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide an imaging device that can be easily and stably installed on an installation surface and can image an omnidirectional image of an installation space. There is.

In order to solve the above-mentioned problems, the image pickup apparatus according to one aspect of the present invention is an image pickup apparatus provided with a camera body portion incorporating an image pickup element, and the surface of the camera body portion is external to the camera body portion. At least four legs extending from the camera are attached so that the plane connecting the tips of any three legs of the four legs and the surface of the camera body are not in contact with each other. Each leg is arranged, and at least two image sensors are provided so that all directions of the external space of the camera body can be imaged.

According to one aspect of the present invention, there is an effect of providing an imaging device that can be easily and stably installed on an installation surface and can image in all directions of the installation space.

It is a perspective view which shows the structure of the image pickup apparatus in Embodiment 1 of this invention. (A) is a front view showing the configuration of the image pickup device, (b) is a right side view showing the configuration of the image pickup device, and (c) is a rear view showing the configuration of the image pickup device. d) is a plan view showing the configuration of the image pickup apparatus. (A) is a perspective view seen from one direction showing the configuration of the image pickup apparatus provided with two imaging units, and (b) is a perspective view showing the configuration of the imaging apparatus including two imaging units in the other direction. It is a perspective view seen from. It is sectional drawing which shows the internal structure of the camera main body part of the said image pickup apparatus. (A) is a perspective view seen from one direction showing the relationship between the image pickup unit and the legs in the image pickup device provided with two image pickup units, and (b) is the image pickup device provided with two image pickup units. It is a perspective view seen from the other direction which shows the relationship between the image pickup unit and a leg part in the above. (A) is a plan view showing the reflection state of the legs when the legs are arranged so as to face the short side of the imaging region in the imaging apparatus, and (b) is a plan view showing the reflection state of the legs in the imaging apparatus. It is a top view which shows the reflection state of the leg part when the leg part is arranged so that it faces a long side. (A) is a cross-sectional view showing a situation in which the imaging device is installed in a horizontal abdominal cavity, and (b) is a cross-sectional view showing a situation in which the imaging device is installed in an inclined abdominal cavity. .. (A) is a cross-sectional view showing a situation in which the image pickup device is dropped into the abdominal cavity, (b) is a cross-sectional view showing a situation in which the image pickup device is landed in the abdominal cavity, and (c) is a cross-sectional view showing the situation in which the image pickup device is landed in the abdominal cavity. It is sectional drawing which shows the situation which installs the image pickup apparatus. (A) is a perspective view showing a state in which the legs of the imaging device are in contact with the uneven surface in the abdominal cavity and the imaging device is installed, and (b) is a perspective view showing a state in which the imaging device is installed on the uneven surface in the abdominal cavity. It is a perspective view which shows the state which the leg part and the camera body part are in contact with each other, and the said image pickup apparatus is installed. (A) shows the configuration of a modification of the imaging device of the first embodiment, and is a perspective view showing the configuration of the imaging device including four imaging units, and (b) shows the imaging unit of 4. It is a front view which shows the structure of the said image pickup apparatus provided with this. It is a top view which shows an example of the image | reflection state of the leg part in the image pickup area of the image pickup element in the image pickup apparatus provided with four image pickup units. It is a top view which shows another example of the image | reflection state of the leg part in the image pickup area of the image pickup element in the image pickup apparatus provided with four image pickup units. It is a top view which shows still another example of the reflection state of the leg part in the image pickup area of the image pickup element in the image pickup apparatus provided with four image pickup units. It is a top view which shows still another example of the reflection state of the leg part in the image pickup area of the image pickup element in the image pickup apparatus provided with four image pickup units. It is a perspective view which shows the structure of the image pickup apparatus in Embodiment 2 of this invention. (A) is a front view showing the configuration of the image pickup device, (b) is a right side view showing the configuration of the image pickup device, and (c) is a rear view showing the configuration of the image pickup device. d) is a plan view showing the configuration of the image pickup apparatus. (A) is a perspective view seen from one direction showing the relationship between the imaging unit and the legs in the imaging device provided with two imaging units, and (b) is the imaging device provided with two imaging units. It is a perspective view seen from the other direction which shows the relationship between the image pickup unit and a leg part in the above, (c) shows the relationship between the image pickup unit and a leg part in the said image pickup apparatus provided with two image pickup units, and more. It is a perspective view seen from a direction. (A) shows the configuration of a modification of the imaging device of the second embodiment, and is a plan view showing the configuration of the imaging device including three imaging units, and (b) shows the imaging unit of 3. It is a perspective view which shows the structure of the said image pickup apparatus provided with this. (A) shows the configuration of another modification of the imaging device of the second embodiment, and is a plan view showing the configuration of the imaging device including five imaging units, and (b) is an imaging unit. It is a perspective view which shows the structure of the said image pickup apparatus which provided 5 image | image | pickup unit, and (c) is the front view which shows the structure of the said image pickup apparatus which provided with 5 image pickup units. (A) is a cross-sectional view showing a situation in which the image pickup device is dropped into the abdominal cavity, (b) is a cross-sectional view showing a situation in which the image pickup device is landed in the abdominal cavity, and (c) is a cross-sectional view showing the situation in which the image pickup device is landed in the abdominal cavity. It is sectional drawing which shows the situation which installs the image pickup apparatus. It is a perspective view which shows the structure of the image pickup apparatus in Embodiment 3 of this invention. (A) is a front view showing the configuration of the image pickup device, (b) is a right side view showing the configuration of the image pickup device, and (c) is a rear view showing the configuration of the image pickup device. d) is a plan view showing the configuration of the image pickup apparatus. (A) is a perspective view seen from one direction showing the relationship between the imaging unit and the legs in the imaging device provided with two imaging units, and (b) is the imaging device provided with two imaging units. It is a perspective view seen from the other direction which shows the relationship between the image pickup unit and a leg part in the above, (c) shows the relationship between the image pickup unit and a leg part in the said image pickup apparatus provided with two image pickup units, and more. It is a perspective view seen from a direction. (A) shows the configuration of a modified example of the image pickup apparatus of the third embodiment, and is a perspective view seen from one direction showing the configuration of the image pickup apparatus including three imaging units, (b). ) Is a perspective view seen from another direction showing the relationship between the image pickup unit and the legs in the above image pickup device provided with three image pickup units, and (c) is an image pickup in the above image pickup device provided with three image pickup units. It is a perspective view which shows the relationship between a unit and a leg part, and is seen from another direction. (A) shows the configuration of another modification of the image pickup apparatus of the third embodiment, and is a perspective view seen from one direction showing the configuration of the image pickup apparatus including five imaging units. (B) is a perspective view seen from another direction showing the configuration of the imaging device provided with five imaging units, and (c) shows the configuration of the imaging device provided with five imaging units, and the like. It is a perspective view seen from a direction. (A) is a cross-sectional view showing a situation in which the image pickup device is dropped into the abdominal cavity, (b) is a cross-sectional view showing a situation in which the image pickup device is landed in the abdominal cavity, and (c) is a cross-sectional view showing the situation in which the image pickup device is landed in the abdominal cavity. It is sectional drawing which shows the situation which installs the image pickup apparatus. It shows the structure of the image pickup apparatus in Embodiment 4 of this invention, and is the perspective view which shows the situation from dropping to installation. (A) is a perspective view showing the configuration of the image pickup apparatus in the case where the root of the leg is deformed by the leg having rubber as a part, and (b) is the entire leg being deformed by the leg made of rubber. It is a perspective view which shows the structure of the image pickup apparatus in the case of this, (c) is the perspective view which shows the structure of the said image pickup apparatus when the base of the leg part is deformed by the leg part which has a spring in a part. d) is a perspective view showing the configuration of the image pickup apparatus when the entire leg portion is deformed by the leg portion having the spring as a whole. It shows the structure of the image pickup apparatus in Embodiment 5 of this invention, and is the perspective view which shows the situation from dropping to installation. (A) is a perspective view showing the configuration of the modified example of the imaging device of the first embodiment, and (b) is a perspective view showing the configuration of the modified example of the imaging device of the second embodiment, (c). Is a cross-sectional view showing an arrangement state of a plurality of imaging units in the case of the modified example of the imaging device of the first embodiment and the modified example of the imaging device of the second embodiment, and (d) is an embodiment of the present invention. 6 is a perspective view showing the configuration of the image pickup apparatus No. 6, and FIG. 6E is a cross-sectional view showing the configuration of the image pickup apparatus and showing the arrangement state of a plurality of imaging devices. (A) shows the configuration of the image pickup apparatus according to the seventh embodiment of the present invention, and is a perspective view of the image pickup apparatus showing a state in which the divided main body portion is integrated, and (b) shows the divided main body portion. It is a perspective view of the image pickup apparatus shown separately. It is a front view which shows the structure of the divided camera body in the said image pickup apparatus. (A) is a cross-sectional view showing the configuration of the divided camera unit housing in the imaging device, and (b) is a cross-sectional view showing the configuration of the divided common unit housing in the imaging device (c). ) Is a cross-sectional view showing the configuration of the divided lighting unit housing in the image pickup apparatus. It is a perspective view which shows the structure of the comparative example in the image pickup apparatus of Embodiment 1. (A) is a schematic view showing the configuration of a conventional imaging device, and (b) is a cross-sectional view showing the configuration of a capsule-type camera of the imaging device.

[Embodiment 1]
An embodiment of the present invention will be described below with reference to FIGS. 1 to 14.

The intraperitoneal observation camera 1A as the imaging device of the present embodiment is used as an observation camera for grasping the situation outside the work area, for example, when performing laparoscopic surgery in the abdominal cavity of a human being. .. In the imaging device according to one aspect of the present invention, the imaging apparatus is not necessarily limited to the abdominal cavity, but may be inside the stomach, esophagus, or intestine. Moreover, it is not necessarily limited to the abdominal cavity of a human being, and may be the abdominal cavity of another animal. Further, the imaging device according to one aspect of the present invention is assumed to be used in the abdominal cavity, but is not necessarily limited to this, and for example, observation of a place where it is difficult for a person to enter, such as a disaster site, or It can also be used for observing the inside of a closed space such as the inside of a container or the inside of a bag.

(Structure of intra-abdominal observation camera)
The configuration of the intra-abdominal observation camera 1A of the present embodiment will be described with reference to FIGS. 1 to 6. FIG. 1 is a perspective view showing the configuration of the intra-abdominal observation camera 1A according to the present embodiment. FIG. 2A is a front view showing the configuration of the intra-abdominal observation camera 1A. FIG. 2B is a right side view showing the configuration of the intra-abdominal observation camera 1A. FIG. 2C is a rear view showing the configuration of the intra-abdominal observation camera 1A. FIG. 2D is a plan view showing the configuration of the intra-abdominal observation camera 1A.

As shown in FIG. 1, the intraperitoneal observation camera 1A of the present embodiment includes a housing 2A as a camera body having an image sensor built-in.

In the present embodiment, the housing 2A has a spherical shape. However, the shape is not necessarily limited to a sphere, and may be a shape such as a polyhedron, an ellipsoid, or a columnar body.

On the surface of the housing 2A, four legs 3A extending outward from the housing 2A are attached. In the present embodiment, the portion intended to support the housing 2A is defined as the leg portion 3A, and the other portion is defined as the housing 2A. Further, in the present embodiment, for convenience of explanation, the leg portion 3A and the housing 2A are defined as separate objects, but the present invention is not limited to this, and the leg portion 3A is integrated as a part of the housing 2A. You may. Rather, in terms of manufacturing, integration is advantageous in terms of production efficiency and production cost.

The outer tips of the four legs 3A are located at positions corresponding to the vertices of the tetrahedron, and the housing 2A is the center of gravity. In the present embodiment, the leg portion 3A is represented by a columnar shape for convenience in the drawings. However, this is not always the case, and it is preferable that the tip shape of the leg portion 3A is rounded in that the installation surface is not easily damaged.

Further, in the present embodiment, as shown in (a), (b), (c), and (d) of FIG. 2, a plane connecting the tips of any three legs 3A out of the four legs 3A. Each leg 3A is arranged so that the surface of the housing 2A and the surface of the housing 2A are not in contact with each other. That is, in the intra-abdominal observation camera 1A of the present embodiment, when the intra-abdominal observation camera 1A is installed on a horizontal installation surface, the bottom surface of the housing 2A has the tips of three arbitrarily selected legs 3A. It exists above the connecting plane. In the present embodiment, the legs 3A extend outward from the surface of the housing 2A in the direction toward each apex of the regular tetrahedron. However, in one aspect of the present invention, each leg portion 3A is such that the plane connecting the tips of any three leg portions 3A out of the four leg portions 3A and the surface of the housing 2A are not in contact with each other. As long as is arranged, the direction may extend to the apex of the tetrahedron instead of the regular tetrahedron.

As described above, in the intra-abdominal observation camera 1A of the present embodiment, when the intra-abdominal observation camera 1A is installed in the abdominal cavity, even if the legs 3A are in a different posture from the current posture, there are always three. In addition to the leg 3A that is in contact with the installation surface, there is a leg 3A that extends in the direction opposite to the installation surface so that the leg 3A is installed.

With this configuration, the intra-abdominal observation camera 1A of the present embodiment is supported by the tips of any three legs 3A, so that the intra-abdominal observation camera 1A is stable even if it rotates in the abdominal cavity. Be supported.

As a result, for example, as shown in FIG. 31, the housing 2A passes through a plane connecting the tips of the three legs 3A, or the bottom surface of the housing 2A is a plane connecting the tips of the three legs 3A. In the case of the lower configuration, it is difficult to support with the three legs 3A. As a result, it is preferable to avoid the intra-abdominal observation camera 1Z shown in FIG.

In this embodiment, the number of legs 3A is four. However, in one aspect of the present invention, the number is not limited to four, and four or more may be used. That is, it is sufficient that at least four legs 3A are present.

Next, the internal configuration of the housing 2A of the intraperitoneal observation camera 1A of the present embodiment will be described with reference to FIGS. 3A and 3B. FIG. 3A is a perspective view seen from one direction showing the configuration of the intra-abdominal observation camera 1A provided with two imaging units. FIG. 3B is a perspective view showing the configuration of the intra-abdominal observation camera 1A provided with two imaging units, as viewed from another direction. FIG. 4 is a cross-sectional view showing the internal configuration of the housing 2A of the intra-abdominal observation camera 1A.

As shown in FIGS. 3A and 3B, the intraperitoneal observation camera 1A of the present embodiment is provided with two sets of imaging units for imaging the outside of the housing 2A. One is the first imaging unit 11 and the other is the second imaging unit 12.

In the present embodiment, the first imaging unit 11 is arranged between the legs 3A and the legs 3A in the housing 2A, and the side opposite to the position where the first imaging unit 11 exists in the housing 2A. A second imaging unit 12 is arranged in the.

As shown in FIG. 4, the first imaging unit 11 and the second imaging unit 12 are both composed of the same components. Specifically, the first image pickup unit 11 and the second image pickup unit 12 include an image pickup element 10a built in the leg portion 3A, a lens 10b arranged on the surface of the housing 2A on the front side of the image pickup element 10a, and a housing. It includes lighting devices 10c arranged on both sides of the lens 10b on the surface of the body 2A, and a control circuit 10d.

In the present embodiment, the lens 10b is represented by a cylindrical protrusion in the drawing to make it easier to image. However, in reality, the lens 10b is integrated with or fitted to the housing 2A, and does not necessarily protrude from the housing 2A.

The image pickup element 10a is used for laparoscopic surgery, and is used for photographing a treatment site when treating an organ in the abdominal cavity, which is one of the body cavities of a patient. The image sensor 10a is, for example, a sensor chip such as a CCD (Charge Coupled Device) image sensor and a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

The lighting device 10c includes, for example, an LED light source (not shown), and illuminates the treatment site and the periphery of the treatment site.

The control circuit 10d has, for example, a power supply unit and a communication unit, and drives and controls the image sensor 10a and the lighting device 10c. For example, the lighting of the LED light source of the lighting device 10c is controlled, and the image captured by the image sensor 10a is transmitted to the outside by the communication unit.

As a result, outside the abdominal cavity observation camera 1A, the situation inside the abdominal cavity can be observed and grasped by an image displayed on a monitor (not shown).

The first imaging unit 11 and the second imaging unit 12 of the present embodiment can image all directions of the external space of the housing 2A by these two imaging units.

Here, the imaging regions of the first imaging unit 11 and the second imaging unit 12 will be described based on FIGS. 5 and 6 (a) and 6 (b). FIG. 5A is a perspective view showing the relationship between the imaging unit and the legs in the intraperitoneal observation camera 1A provided with two imaging units, as viewed from one direction. FIG. 5B is a perspective view showing the relationship between the imaging unit and the legs in the intra-abdominal observation camera 1A provided with two imaging units, as viewed from another direction. FIG. 6A is a plan view showing the reflection state of the leg portion 3A when the leg portion 3A is arranged so as to face the short side of the imaging region in the intra-abdominal observation camera 1A. FIG. 6B is a plan view showing the reflection state of the leg portion 3A when the leg portion 3A is arranged so as to face the long side of the imaging region in the intra-abdominal observation camera 1A.

As shown in FIGS. 5A and 5B, in the intraperitoneal observation camera 1A of the present embodiment, the leg portion 3A is the first leg portion 3a, the second leg portion 3b, the third leg portion 3c, and the third leg portion 3c. It consists of 4 legs 3d. The first imaging unit 11 is provided at a position perpendicular to the housing 2A from the midpoint of the line connecting the tip of the first leg 3a and the tip of the second leg 3b. Further, the second imaging unit 12 and the first imaging unit 11 are provided at a position perpendicular to the housing 2A from the midpoint of the line connecting the tip of the third leg portion 3c and the tip of the fourth leg portion 3d. ..

Here, the image pickup region of the image pickup device 10a of the present embodiment is a rectangular region having a short side and a long side.

In this case, as shown in FIG. 6A, the mounting positions of the first leg portion 3a and the second leg portion 3b on the surface of the housing 2A face the short side in the image pickup region of the image pickup element 10a. When arranged, the reflection of the first leg portion 3a and the second leg portion 3b into the image pickup region becomes large. Further, there is a region where the scenery is not captured, that is, a blind spot between the third leg portion 3c and the imaging region and between the fourth leg portion 3d and the imaging region.

Therefore, in the present embodiment, the mounting positions of the first leg portion 3a, the second leg portion 3b, the third leg portion 3c, and the fourth leg portion 3d on the surface of the housing 2A are shown in FIG. 6 (b). As shown, the image sensor 10a is arranged so as to face the long side in the image pickup region.

Thereby, in the present embodiment, the reflection and blind spot of the first leg portion 3a, the second leg portion 3b, the third leg portion 3c, and the fourth leg portion 3d in the imaging region can be reduced. ing.

Further, in the present embodiment, as described above, the lighting devices 10c are provided on both sides of the image pickup device 10a of the image pickup unit. In this case, the lighting device 10c is arranged so as to face the short side in the image pickup region of the image pickup device 10a. As a result, it is possible to prevent the end portion of the image pickup device 10a in the long side direction from becoming dark.

(How to use the intra-abdominal observation camera)
The method of using the intra-abdominal observation camera 1A having the above configuration will be described based on (a) and (b) of FIG. 7 to (a) and (b) of FIG. FIG. 7A is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1A is installed in the horizontal abdominal cavity. FIG. 7B is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1A is installed in the inclined abdominal cavity. FIG. 8A is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1A is dropped into the abdominal cavity. FIG. 8B is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1A is landed in the abdominal cavity. FIG. 8C is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1A is installed in the abdominal cavity. FIG. 9A is a perspective view showing a state in which the housing 2A of the intra-abdominal observation camera 1A is in contact with the uneven surface of the internal organs 33 in the abdominal cavity and the intra-abdominal observation camera 1A is installed. FIG. 9B is a perspective view showing a state in which the housing 2A and the housing 2A of the intra-abdominal observation camera 1A are in contact with the uneven surface of the internal organs 33 in the abdominal cavity and the intra-abdominal observation camera 1A is installed. Is.

As mentioned above, in laparoscopic surgery, a few centimeters of wound is opened in the abdominal cavity to insert a surgical instrument, and the wound is protected to reduce wound infection and local trauma. The instrument may be inserted.

In that case, as shown in FIG. 7A, in the present embodiment, the abdominal wall 31 is provided with the opening portion 31a, and the opening portion 31a is provided with the opening portion protection portion 32. The open wound protection portion 32 is, for example, a sleeve made of urethane rubber. Next, as shown in FIG. 8A, the intra-abdominal observation camera 1A is dropped into the abdominal cavity through the wound protection portion 32. As a result, as shown in FIG. 8B, the intra-abdominal observation camera 1A lands on the installation surface 33a of the internal organ 33. In this case, for example, a case where one or two legs 3A may land may be considered. However, in the present embodiment, at that time, the legs 3A lose their balance and change their posture, but as shown in FIG. 8 (c), they are finally stable with the three legs 3A. It is possible to install it.

As a result, in the present embodiment, the intra-abdominal observation camera 1A can be installed in the abdominal cavity without any special installation work.

Here, in laparoscopic surgery, as shown in FIG. 7B, the installation surface 33a may be inclined by changing the position of the patient in order to secure the visual field. Even in that case, in the present embodiment, the presence of any of the three legs 3A enables stable installation even on an inclined installation surface 33a.

As shown in FIG. 9A, generally, the housing 2A comes into contact with the uneven surface of the internal organs 33 in the abdominal cavity, and the intra-abdominal observation camera 1A is installed. If the housing 2A and the installation surface 33a of the internal organs 33 do not come into contact with each other, the housing 2A can be supported by the tips of the three legs 3A.

However, this posture is not always the case, and for example, as shown in FIG. 9B, the housing 2A and the installation surface 33a of the internal organs 33 may come into contact with each other. In such a case, specifically, the housing 2A and the two legs 3A may be supported at three points, or the housing 2A and the legs 3A may be supported at points other than the tips. However, even in such a case, the intraperitoneal observation camera 1A of the present embodiment can be stably installed on the installation surface 33a of the internal organs 33.

(Modification example)
It should be noted that one aspect of the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. The configuration of a modified example of the intraperitoneal observation camera 1A of the present embodiment will be described with reference to FIGS. 10 (a) and 10 (a) and (b) and FIGS. 11 to 14. FIG. 10A shows the configuration of the intraperitoneal observation camera 1A'of a modified example of the imaging device of the first embodiment, and the configuration of the intraperitoneal observation camera 1A' provided with four imaging units. It is a perspective view which shows. FIG. 10B is a front view showing the configuration of the intra-abdominal observation camera 1A' provided with four imaging units. FIG. 11 is a plan view showing an example of the reflection state of the legs 3A in the image pickup region of the image pickup device 10a in the intraperitoneal observation camera 1A' provided with four image pickup units. FIG. 12 is a plan view showing another example of the reflection state of the leg portion 3A in the image pickup region of the image pickup device 10a in the intraperitoneal observation camera 1A' provided with four image pickup units. FIG. 13 is a plan view showing still another example of the reflection state of the leg portion 3A in the image pickup region of the image pickup device 10a in the intraperitoneal observation camera 1A' provided with four image pickup units. FIG. 14 is a plan view showing still another example of the reflection state of the leg portion 3A in the image pickup region of the image pickup device 10a in the intraperitoneal observation camera 1A' provided with four image pickup units. In FIGS. 11 to 14, a region that must be projected by the image sensor 10a at a minimum is represented by a broken line triangle.

In the present embodiment, the imaging unit is not limited to the first imaging unit 11 and the second imaging unit 12. For example, as shown in FIGS. 10A and 10B, four imaging units, a first imaging unit 11, a second imaging unit 12, a third imaging unit 13, and a fourth imaging unit 14, may be provided. It is possible.

In this case, each of the first imaging unit 11, the second imaging unit 12, the third imaging unit 13, and the fourth imaging unit 14 are present between any three legs 3A. The arrangement of the lighting device 10c in this case exists on the side of the triangle formed by the attachment positions of the arbitrary three legs 3A to the housing 2A. That is, the lighting device 10c exists between any two legs 3A. There are at least four lighting devices 10c.

Here, when the height portion of the triangle formed by the tips of the three legs 3A and the short side of the imaging region are arranged so as to correspond to each other, the first imaging unit 11, the second imaging unit 12, and the third imaging are respectively arranged. The reflection of the leg 3A in the imaging region of the imaging element 10a of the unit 13 and the fourth imaging unit 14 is as shown in FIG. 11, for example. In FIG. 11, since the overlapping portion OL of the imaging region exists, the blind spot can be eliminated. Note that, in FIG. 11, for example, only the overlapping portion OL of the region connecting the first leg portion 3a and the third leg portion 3c is shown, but the region connecting the first leg portion 3a and the fourth leg portion 3d is described. The same applies to the overlapping part of.

That is, if the apex of the triangle composed of the tips of the three legs 3A enters the imaging region, the blind spot disappears. As a result, it can be seen that there is less obstruction by the legs 3A as compared with the case where there are only two imaging units, the first imaging unit 11 and the second imaging unit 12. It can also be seen that the viewing angle of the image sensor 10a may be smaller than 180 degrees.

However, in FIG. 11, for example, among the triangles composed of the tips of the three legs 3A, the imaging regions overlap on the side connecting the tips of the second leg 3b and the tips of the third leg 3c. If the amount is small, a blind spot may be formed depending on the incorporation accuracy of the image sensor 10a.

Therefore, for example, as shown in FIG. 12, the height portion of the triangle formed by the tips of the three legs 3A and the short side of the imaging region are arranged so as to correspond to each other, and the second leg 3b is arranged. The tip and the third leg 3c also have overlapping imaging regions on the side connecting the tip. As a result, as shown in FIG. 12, since the imaging region always overlaps at the side connecting the tip of the second leg 3b and the tip of the third leg 3c, the blind spot can be surely reduced. However, since the image sensor 10a is arranged diagonally, it may be difficult to incorporate the image sensor 10a.

Therefore, for example, as shown in FIG. 13, an image sensor 10a having a wide angle of view is used and arranged so that the side of the triangle formed by the tip of the leg 3A and the short side of the image pickup region correspond to each other. Further, two image sensors 10a are arranged in the same direction. As a result, as shown in FIG. 13, since there are overlapping portions in all the imaging regions, the blind spot can be surely eliminated. Further, since the two image pickup elements 10a are arranged in the same direction, it is easier to incorporate the image pickup elements 10a than in the above-mentioned example.

In the example shown in FIG. 13, all the first leg portion 3a, the second leg portion 3b, the third leg portion 3c, and the fourth leg portion 3d are included in the imaging region, so that the overlapping portions are included. It was increasing.

Therefore, as shown in FIG. 14, using the image sensor 10a having a wide angle of view, the height of the triangle formed by the tips of the legs 3A and the height of the required overlapping region OL (that is, for example, on the center of FIG. 14). The short side of the imaging region can be arranged so as to correspond to the length obtained by adding the lower boundary of the imaging region and the height between the bases of the triangles in the imaging region. As a result, the method of arranging the two image pickup elements 10a in the same direction can be different from the example shown in FIG. Even with this, since there are overlapping portions in all the imaging regions, the blind spot can be surely eliminated. Further, since the two image pickup elements 10a are arranged in the same direction, it is easier to incorporate the image pickup elements 10a than in the above-mentioned example. Further, the overlapping portion can be reduced as compared with the example of FIG.

As described above, if the arrangement of the image sensor 10a is slightly displaced, the side connecting the tip of the second leg 3b and the tip of the third leg 3c among the triangles composed of the tips of the three legs 3A. There is a high possibility that a blind spot will occur in such cases. However, by devising the arrangement of the image sensor 10a, the portion where the image pickup regions overlap with each other increases, so that a blind spot is less likely to occur. Therefore, it is desirable to arrange it in such a way. However, it is not limited to the above-mentioned arrangement due to the size of the imaging unit and the ease of assembly.

As described above, the intraperitoneal observation camera 1A of the present embodiment includes a housing 2A as a camera body portion incorporating the image sensor 10a. On the surface of the housing 2A, at least four legs 3A extending outward from a predetermined position of the housing 2A are provided. Each leg 3A is arranged so that the plane connecting the tips of any three legs 3A of the four legs 3A and the surface of the housing 2A are not in contact with each other. At least two image pickup elements 10a are provided so that all directions of the external space of the housing 2A can be imaged.

According to the above configuration, at least four legs 3A extend at least toward the apex of the tetrahedron with the housing 2A as the center. Therefore, when the intra-abdominal observation camera 1A is dropped on the installation surface 33a, the intra-abdominal observation camera 1A is placed on the installation surface 33a at the tips of any three legs 3A regardless of the direction of the housing 2A. Stable and supported. Further, since this stable support can be obtained only by dropping the intra-abdominal observation camera 1A on the installation surface 33a, it can be easily installed.

Further, in the present embodiment, in this state, each of the four legs 3A is arranged so that the plane connecting the tips of the arbitrary three legs 3A and the surface of the housing 2A are not in contact with each other. ing. Further, at least two image pickup elements 10a are provided so that all directions of the external space of the housing 2A can be imaged. Therefore, the image sensor 10a can image all directions of the external space of the housing 2A. As a result, the function of observing all directions of the external space of the housing 2A is satisfied.

Therefore, it is possible to provide an intra-abdominal observation camera 1A that can be easily and stably installed on the installation surface 33a and can image all directions of the installation space.

In particular, in the present embodiment, when performing an operation using the intra-abdominal observation camera 1A, an organ may be moved to secure a field of view. In that case, if a small capsule-shaped endoscope is used, the capsule-shaped endoscope may be hidden in the shadow of the organ. However, in the intraperitoneal observation camera 1A of the present embodiment, the presence of the leg portion 3A prevents the housing 2A from entering the gap between the organs. Therefore, in the present embodiment, the risk that the housing 2A is buried in the gap between the organs can be reduced.

Further, in the intraperitoneal observation camera 1A of the present embodiment, the image sensor 10a is built in a position sandwiched between predetermined positions of two arbitrary legs 3A on the surface of the housing 2A.

As a result, the number of image pickup elements 10a can be reduced by preventing the legs 3A from being reflected in the image pickup region of the image pickup element 10a as much as possible.

Further, in the intraperitoneal observation camera 1A of the present embodiment, the image pickup region of the image pickup device 10a is a rectangular region having a short side and a long side. Further, the imaging region is located between predetermined positions of at least two legs 3A out of four, and each of the two legs 3A provided with each of the long sides of the imaging region at a predetermined position. The two legs 3A are arranged so as to face each other.

Generally, the image pickup region of the image pickup device 10a is a rectangular region having a short side and a long side. In this case, if the legs 3A are attached to the surface of the housing 2A so as to face each other on the long sides of the image sensor 10a in the image pickup region, there are many reflections and blind spots in the image pickup region of the legs 3A. Become.

Therefore, in the present embodiment, the imaging region is located between the predetermined positions of at least two of the four legs 3A, and each of the long sides of the imaging region is provided at the predetermined position. The two legs 3A are arranged so as to face each of the legs 3A. As a result, it is possible to reduce reflection and blind spots of the leg portion 3A in the imaging region.

Further, in the intraperitoneal observation camera 1A of the present embodiment, the lighting devices 10c and 10c as the first lighting devices are arranged on the surface of the housing 2A at positions facing the short side of the imaging region, respectively. .. As a result, the illumination light of the illumination devices 10c and 10c can be efficiently irradiated in the imaging region.

Further, in the intraperitoneal observation camera 1A according to the present embodiment, the leg 3A is provided with a third lighting device, that is, the lighting device 10c as the third lighting device is attached to the leg 3A. It is possible to do. As a result, the leg portion 3A itself emits light, so that the blind spot due to the shadow of the leg portion can be reduced. The lighting device 10c may be attached only to the housing 2A, or may be attached only to the legs 3A. Alternatively, the lighting device 10c may be attached to both the housing 2A and the legs 3A.

Further, in the intraperitoneal observation camera 1A'in the present embodiment, the image sensor 10a is built in a range surrounded by predetermined positions of any three or more legs 3A on the surface of the housing 2A. As a result, there are four image pickup devices 10a, and images directed to each surface of the tetrahedron can be captured. Therefore, since the blind spot is eliminated, it is possible to provide the intra-abdominal observation camera 1A'that can reliably image all directions of the installation space.

Further, in the intraperitoneal observation camera 1A'in the present embodiment, on the surface of the housing 2A, a second leg portion 3A is placed on the side of a triangle formed at a predetermined position with respect to the housing 2A. A lighting device 10c as a lighting device is attached to each. As a result, the illumination light of the illumination device 10c can be efficiently irradiated in the imaging region.

[Embodiment 2]
Other embodiments of the present invention will be described below with reference to FIGS. 15 to 20. The configuration other than that described in the present embodiment is the same as that in the first embodiment. Further, for convenience of explanation, the members having the same functions as the members shown in the drawings of the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

The intraperitoneal observation camera 1A of the first embodiment has a configuration in which four legs 3A extend outward from the surface of the housing 2A and a tetrahedron is formed by connecting the tips thereof. On the other hand, in the intraperitoneal observation camera 1B of the present embodiment, the legs 3B are provided on both ends of the housing 2B in a tripod shape, and the tripods overlap when viewed from the axial direction of the housing 2B. The difference is that the shape looks like this.

(Structure of intra-abdominal observation camera)
The configuration of the intra-abdominal observation camera 1B as the imaging device of the present embodiment will be described with reference to FIGS. 15 to 19 (a), (b), and (c). FIG. 15 is a perspective view showing the configuration of the intra-abdominal observation camera 1B according to the present embodiment. FIG. 16A is a front view showing the configuration of the intra-abdominal observation camera 1B. FIG. 16B is a right side view showing the configuration of the intra-abdominal observation camera 1B. FIG. 16 (c) is a rear view showing the configuration of the intra-abdominal observation camera 1B. FIG. 16D is a plan view showing the configuration of the intra-abdominal observation camera 1B. FIG. 17A is a perspective view showing the relationship between the imaging unit and the leg portion 3B in the intraperitoneal observation camera 1B provided with two imaging units, as viewed from one direction. FIG. 17B is a perspective view showing the relationship between the imaging unit and the leg portion 3B in the intraperitoneal observation camera 1B provided with two imaging units, as viewed from another direction. FIG. 17 (c) is a perspective view showing the relationship between the image pickup unit and the leg portion 3B in the intraperitoneal observation camera 1B provided with two image pickup units, as viewed from another direction. FIG. 18A is a plan view showing the configuration of a modified example of the intraperitoneal observation camera 1B of the present embodiment, and shows the configuration of the intraperitoneal observation camera 1B' provided with three imaging units. is there. FIG. 18B is a perspective view showing the configuration of the intra-abdominal observation camera 1B'provided with three imaging units. FIG. 19A shows the configuration of another modification of the intraperitoneal observation camera 1B of the present embodiment, and shows the configuration of the intraperitoneal observation camera 1B ”provided with five imaging units. It is a plan view. FIG. 19B is a perspective view showing the configuration of an intra-abdominal observation camera 1B ”provided with five imaging units. FIG. 19 (c) is a front view showing the configuration of the intra-abdominal observation camera 1B "equipped with five imaging units.

As shown in FIG. 15, the intraperitoneal observation camera 1B of the present embodiment includes a housing 2B as a camera body portion incorporating the image pickup device 10a.

In the present embodiment, the housing 2B has an ellipsoidal shape. However, the shape is not necessarily an ellipsoid, and may be a shape such as a polyhedron or a columnar body in which one length in the orthogonal biaxial directions is longer than the other length.

Two sets of three legs 3B extending outward from the housing 2B in three directions are attached to the surfaces of the housing 2B on both ends in the longitudinal direction. In the present embodiment, the portion intended to support the housing 2B is defined as the leg portion 3B, and the other portion is defined as the housing 2B. Further, in the present embodiment, for convenience of explanation, the leg portion 3B and the housing 2B are defined as separate objects, but the present invention is not limited to this, and the leg portion 3B is integrated as a part of the housing 2B. You may. Rather, in terms of manufacturing, integration is advantageous in terms of production efficiency and production cost.

Each of the outer tips of the above two sets of three legs 3B extends from the housing 2B in a tripod shape, and has a shape in which the tripods appear to overlap when viewed from the axial direction of the housing 2B. are doing.

Further, in the present embodiment, as shown in FIGS. 16 (a), (b), (c), and (d), the plane connecting the tips of the three legs 3B of each set and the surface of the housing 2B are formed. Each leg 3B is arranged so as to be non-contact. That is, in the intra-abdominal observation camera 1B of the present embodiment, when the intra-abdominal observation camera 1B is installed on a horizontal installation surface, the bottom surface of the housing 2B is more than a plane connecting the tips of the three legs 3B. It exists at the top.

Further, as shown in FIGS. 17 (a), (b) and (c), two sets of imaging units in the intra-abdominal observation camera 1B of the present embodiment are provided. One is the first imaging unit 11 and the other is the second imaging unit 12.

In the intraperitoneal observation camera 1B of the present embodiment, the tip of one leg 3B of one set of legs 3B of one set and the tip of one leg 3B of one leg 3B of the other set are connected. The first imaging unit 11 is provided at a position where a perpendicular line is drawn from the midpoint of the line to the housing 2B. Further, the second imaging unit 12 is provided at a position opposite to the first imaging unit 11 in the housing 2B.

In the above description, it has been described that there are two imaging units, the first imaging unit 11 and the second imaging unit 12. However, this is not always the case, and for example, as shown in FIGS. 18A and 18B, by providing one imaging unit between each leg 3B, the first imaging unit 11 and the second imaging unit 11 and the second imaging unit are provided. It is possible to use an intraperitoneal observation camera 1B'provided with a total of three imaging units including the 12 and the third imaging unit 13.

Alternatively, as shown in FIGS. 19A, 19B, and 19C, one image pickup unit 11, a second image pickup unit 12, and a third image pickup unit 13 are placed between the legs 3B. In addition to being provided, it is possible to make an intraperitoneal observation camera 1B ”provided with a fourth image pickup unit 14 and a fifth image pickup unit 15 one by one in the axial direction. That is, in the intraperitoneal observation camera 1B of the present embodiment, the image sensor 10a can be appropriately arranged so that the blind spot is reduced as in the first embodiment. For example, the shape of the housing 2B is an elliptical shape in which the length in one direction in the orthogonal biaxial directions is longer than the length in the other direction. In this case, the long side of the image pickup region of the image pickup device 10a is the long axis. By arranging them so as to be parallel to the direction, it is possible to reduce the blind spot.

Since the other parts of the configuration of the intra-abdominal observation camera 1B are the same as the configuration of the intra-abdominal observation camera 1A described above, the description thereof will be omitted.

(How to use the intra-abdominal observation camera)
The method of using the intra-abdominal observation camera 1B having the above configuration will be described with reference to FIGS. 20A, 20B, and 20C. FIG. 20A is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1B is dropped into the abdominal cavity. FIG. 20B is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1B is landed in the abdominal cavity. FIG. 20 (c) is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1B is installed in the abdominal cavity.

In order to install the intra-abdominal observation camera 1B of the present embodiment in the abdominal cavity, as shown in FIG. 20 (a), an opening 31a is provided on the abdominal wall 31, and the opening protection portion 32 is provided on the opening 31a. Provide. Next, as shown in FIG. 20A, the intra-abdominal observation camera 1B is dropped into the abdominal cavity through the open wound protection portion 32. As a result, as shown in FIG. 20B, the intra-abdominal observation camera 1B lands on the installation surface 33a of the internal organ 33. In this case, for example, it is conceivable that the leg 3B lands with one or two legs. However, in the present embodiment, at that time, the legs 3B lose their balance and their posture changes, but as shown in FIG. 20 (c), finally, three or four legs It can be installed stably at 3B.

As a result, in the present embodiment, the intra-abdominal observation camera 1B can be installed in the abdominal cavity without any special installation work.

[Embodiment 3]
Further, another embodiment of the present invention will be described with reference to FIGS. 21 to 26 as follows. The configuration other than that described in the present embodiment is the same as that in the second embodiment. Further, for convenience of explanation, the members having the same functions as the members shown in the drawings of the second embodiment are designated by the same reference numerals, and the description thereof will be omitted.

In the intraperitoneal observation camera 1B of the second embodiment, leg portions 3B are provided on both ends of the housing 2B in a tripod shape, respectively, and when viewed from the axial direction of the housing 2B, the tripods appear to overlap. It was. On the other hand, the intraperitoneal observation camera 1C of the present embodiment is the same in that the legs 3C are provided on both ends of the housing 2C in a tripod shape, but the legs are viewed from the axial direction of the housing 2C. The difference is that the tripods do not overlap.

(Structure of intra-abdominal observation camera)
The configuration of the intra-abdominal observation camera 1C as the imaging device of the present embodiment will be described with reference to FIGS. 21 to 25 (a), (b), (c), and (d). FIG. 21 is a perspective view showing the configuration of the intra-abdominal observation camera 1C according to the present embodiment. FIG. 22A is a front view showing the configuration of the intra-abdominal observation camera 1C. FIG. 22B is a right side view showing the configuration of the intra-abdominal observation camera 1C. FIG. 22 (c) is a rear view showing the configuration of the intra-abdominal observation camera 1C. FIG. 22D is a plan view showing the configuration of the intra-abdominal observation camera 1C. FIG. 23A is a perspective view showing the relationship between the image pickup unit and the leg portion 3C in the intraperitoneal observation camera 1C provided with two image pickup units, as viewed from one direction. FIG. 23B is a perspective view showing the relationship between the image pickup unit and the leg portion 3C in the intraperitoneal observation camera 1C provided with two image pickup units, as viewed from another direction. FIG. 23 (c) is a perspective view showing the relationship between the image pickup unit and the leg portion 3C in the intraperitoneal observation camera 1C provided with two image pickup units, as viewed from another direction. FIG. 24A is a perspective view showing the configuration of a modified example of the intra-abdominal observation camera 1C of the present embodiment, and shows the configuration of the intra-abdominal observation camera 1C'provided with three imaging units. is there. FIG. 24B is a perspective view showing the relationship between the image pickup unit and the leg portion 3C in the intraperitoneal observation camera 1C' provided with three image pickup units, as viewed from another direction. FIG. 24 (c) is a perspective view showing the relationship between the image pickup unit and the leg portion 3C in the intraperitoneal observation camera 1C' provided with two image pickup units, as viewed from another direction. FIG. 25A shows the configuration of another modification of the intraperitoneal observation camera 1C of the present embodiment, and shows the configuration of the intraperitoneal observation camera 1C ”provided with five imaging units. It is a perspective view. FIG. 25 (b) is a perspective view showing the configuration of an intra-abdominal observation camera 1C ”provided with five imaging units. FIG. 19 (c) is a perspective view showing the configuration of an intra-abdominal observation camera 1C "equipped with five imaging units.

As shown in FIG. 21, the intraperitoneal observation camera 1C of the present embodiment includes a housing 2C as a camera main body portion incorporating the image sensor 10a.

In the present embodiment, the housing 2C has an ellipsoidal shape. However, the shape is not necessarily an ellipsoid, and may be a shape such as a polyhedron or a columnar body in which one length in the orthogonal biaxial directions is longer than the other length.

Two sets of three legs 3C extending outward from the housing 2C in three directions are attached to the surfaces of the housing 2C on both ends in the longitudinal direction. Each of the outer tips of the three legs 3C of the above two sets extends from the housing 2C in a tripod shape, and when viewed from the axial direction of the housing 2C, the tripods do not overlap and are twisted. It has a shape that looks like.

Further, in the present embodiment, as shown in FIGS. 22 (a), (b), (c), and (d), the plane connecting the tips of the three legs 3C of each set and the surface of the housing 2C are formed. Each leg 3C is arranged so as to be non-contact. That is, in the intraperitoneal observation camera 1C of the present embodiment, when the intraperitoneal observation camera 1C is installed on a horizontal installation surface, the bottom surface of the housing 2C is larger than the plane connecting the tips of the three legs 3C. It exists at the top.

Further, as shown in FIGS. 23 (a), (b) and (c), two sets of imaging units in the intra-abdominal observation camera 1C of the present embodiment are provided. One is the first imaging unit 11 and the other is the second imaging unit 12.

In the intraperitoneal observation camera 1C of the present embodiment, the midpoint of the line connecting the tip of one leg 3C of one pair of legs 3C and the tip of one leg 3C of the other pair of legs 3C. The first imaging unit 11 is provided at a position perpendicular to the housing 2C. Further, the second imaging unit 12 is provided at a position on the housing 2C opposite to the first imaging unit 11.

In the above description, it has been described that there are two imaging units, the first imaging unit 11 and the second imaging unit 12. However, this is not always the case, and for example, as shown in FIGS. 24 (a), (b), and (c), by providing one image pickup unit between the legs 3C, the first image pickup unit 11 and the first image pickup unit 11 and the first image pickup unit are provided. It is possible to use an intraperitoneal observation camera 1C'provided with a total of three imaging units, the two imaging units 12 and the third imaging unit 13.

Alternatively, as shown in FIGS. 25 (a), (b), and (c), one image pickup unit 11, the second image pickup unit 12, and the third image pickup unit 13 are placed between the legs 3C. In addition to being provided, the intraperitoneal observation camera 1C "in which the fourth image pickup unit 14 and the fifth image pickup unit 15 are provided one by one in the axial direction can be used. With this configuration, the blind spot of the image pickup element 10a can be set. That is, in the intraperitoneal observation camera 1C of the present embodiment, the image sensor 10a can be appropriately arranged so that the blind spot is reduced as in the first and second embodiments. For example, the shape of the housing 2C is an elliptical shape in which the length in one direction in the orthogonal biaxial directions is longer than the length in the other direction. In this case, the long side of the image pickup region of the image pickup device 10a is By arranging them so as to be parallel to the long axis direction, it is possible to reduce the blind spot.

Since the other parts of the configuration of the intraperitoneal observation camera 1C are the same as the configuration of the intraperitoneal observation camera 1B described above, the description thereof will be omitted.

(How to use the intra-abdominal observation camera)
The method of using the intra-abdominal observation camera 1C having the above configuration will be described with reference to FIGS. 26 (a), (b) and (c). FIG. 26A is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1C is dropped into the abdominal cavity. FIG. 26B is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1C is landed in the abdominal cavity. FIG. 26 (c) is a cross-sectional view showing a situation in which the intra-abdominal observation camera 1C is installed in the abdominal cavity.

In order to install the intra-abdominal observation camera 1C of the present embodiment in the abdominal cavity, as shown in FIG. 26 (a), an opening 31a is provided on the abdominal wall 31, and the opening protection portion 32 is provided on the opening 31a. Provide. Next, as shown in FIG. 26 (a), the intra-abdominal observation camera 1C is dropped into the abdominal cavity through the wound protection portion 32. As a result, as shown in FIG. 26 (b), the intra-abdominal observation camera 1C lands on the installation surface 33a of the internal organ 33. In this case, for example, a case where one or two legs 3C may land may be considered. However, in the present embodiment, at that time, the legs 3C lose their balance and change their posture, but as shown in FIG. 26 (c), they are finally stable with the three legs 3C. It is possible to install it. In the intraperitoneal observation camera 1C of the present embodiment, the tripod-shaped legs 3C provided at both ends of the housing 2C have a twisted positional relationship when viewed from the axial direction of the housing 2C. There is. Therefore, the movement when the posture changes is smaller than that of the intraperitoneal observation camera 1B of the second embodiment.

As a result, in the present embodiment, the intra-abdominal observation camera 1C can be installed in the abdominal cavity without any special installation work.

[Embodiment 4]
Another embodiment of the present invention will be described with reference to FIGS. 27 and 28 as follows. The configurations other than those described in the present embodiment are the same as those in the first to third embodiments. Further, for convenience of explanation, the members having the same functions as the members shown in the drawings of the first to third embodiments are designated by the same reference numerals, and the description thereof will be omitted.

In the intraperitoneal observation cameras 1A to 1C of the first to third embodiments, the legs 3A to 3C did not deform in shape. On the other hand, the intraperitoneal observation camera 1D of the present embodiment is different in that the leg portion 3D is deformed in shape.

(Structure of intra-abdominal observation camera)
The configuration of the intra-abdominal observation camera 1D as the imaging device of the present embodiment will be described with reference to FIGS. 27 and 28 (a), (b), (c), and (d). FIG. 27 shows the configuration of the intra-abdominal observation camera 1D in the present embodiment, and is a perspective view showing the situation from dropping to installation. FIG. 28A is a perspective view showing the configuration of the intraperitoneal observation camera 1D when the base of the leg 3D is deformed by the leg 3D having the rubber 4 as a part. FIG. 28B is a perspective view showing the configuration of the intra-abdominal observation camera 1D when the entire leg portion 3D is deformed by the leg portion 3D made of rubber. FIG. 28 (c) is a perspective view showing the configuration of the intraperitoneal observation camera 1D when the base of the leg 3D is deformed by the leg 3D having the spring 5 as a part. FIG. 25D is a perspective view showing the configuration of the intraperitoneal observation camera 1D when the entire leg 3D is deformed by the leg 3D having a spring as a whole.

As shown in FIG. 24, the intraperitoneal observation camera 1D of the present embodiment has a leg portion 3D having a shape such that the leg portion 3D and the housing 2D as the camera body are inserted into the trocar 34 as a frame-shaped member. It is provided so that it can be deformed. The trocar 34 is a tube used for abdominal surgery and the like, and there are various types from thin to thick.

As a result, when the intra-abdominal observation camera 1D is dropped into the abdominal cavity through the trocar 34 as a frame-shaped member, the leg portion 3D is deformed in shape, so that the intra-abdominal observation camera 1D can be easily passed through the trocar 34. ..

Here, when the intra-abdominal observation camera 1D is passed through the trocar 34, the legs are bent or bent so that the tips of the legs 3D approach each other to deform the shape. Therefore, the leg portion 3D of the present embodiment can be freely moved by using an elastic material, a flexible member, or an elastic mechanism.

Specifically, as shown in FIG. 28A, the rubber 4 as an elastic material is provided at the attachment portion of the leg portion 3D to the housing 2D. As a result, the base of the leg 3D can be elastically deformed by the rubber 4. As a result, the leg 3D bends as shown in FIG. 23, so that the intraperitoneal observation camera 1D can be passed through the trocar 34.

Further, as shown in FIG. 28 (b), the leg portion 3D itself can be formed of an elastic material or rubber as a flexible member. As a result, the leg 3D itself can be elastically deformed or bent, and as shown in FIG. 26, the leg 3D can be bent and the intraperitoneal observation camera 1D can be passed through the trocar 34.

Further, as shown in FIG. 28 (c), a spring 5 as an elastic material is provided at a portion where the leg portion 3D is attached to the housing 2D. As a result, the root of the leg 3D can be elastically deformed by the rubber 4, and as shown in FIG. 26, the leg 3D can be bent and the intraperitoneal observation camera 1D can be passed through the trocar 34.

Further, as shown in FIG. 28D, the leg portion 3D itself can be formed of an elastic material or a coil spring as a flexible member. As a result, the leg 3D itself can be elastically deformed, and as shown in FIG. 26, the leg 3D can be bent and the intraperitoneal observation camera 1D can be passed through the trocar 34.

As described above, in the intraperitoneal observation camera 1D as the input imaging device in the present embodiment, the leg 3D inserts the leg 3D and the housing 2D as the camera body into the trocar 34 as the frame-shaped member. Therefore, it is preferable that the shape is deformable. For example, the leg 3D is preferably made of an elastic member or a flexible member such as a rubber 4, a spring 5, or a coil spring, or has an elastic member or a flexible member.

As a result, when the intra-abdominal observation camera 1D is dropped into the abdominal cavity through the trocar 34, the shape of the leg 3D is deformed, so that the intra-abdominal observation camera 1D can be easily passed through the trocar 34.

[Embodiment 5]
Another embodiment of the present invention will be described below with reference to FIG. 29. The configurations other than those described in the present embodiment are the same as those in the first to third embodiments. Further, for convenience of explanation, the members having the same functions as the members shown in the drawings of the above-described first to fourth embodiments are designated by the same reference numerals, and the description thereof will be omitted.

In addition to the configurations of the intra-abdominal observation cameras 1A to 1D of the first to fourth embodiments, the intraperitoneal observation camera 1F as the image pickup device of the present embodiment has a housing 2F as the camera body, which is shown in FIG. As shown in FIG. 29, a control circuit 10d as a main body control unit that drives and controls the image sensor 10a is built in, and as shown in FIG. 29, an external control unit that controls the control circuit 10d is outside the housing 2F. The control unit 22 is provided. The control circuit 10d and the control unit 22 are different in that they are communicated by wire or wirelessly.

The configuration of the intra-abdominal observation camera 1F as the imaging device of the present embodiment will be described with reference to FIG. 29. FIG. 29 shows the configuration of the intra-abdominal observation camera 1F in the present embodiment, and is a perspective view showing the situation from dropping to installation.

As shown in FIG. 4, the intraperitoneal observation camera 1F of the present embodiment has a built-in control circuit 10d as a main body control unit that drives and controls the image sensor 10a, and as shown in FIG. 26, a housing. A control unit 22 as an external control unit for controlling the control circuit 10d is provided outside the body 2F. The housing 2F and the control unit 22 are connected by a cable 21, whereby the control circuit 10d and the control unit 22 are connected by wire and communicate with each other.

In the present embodiment, the cable 21 is connected to the leg portion 3F. The reason for this is that when the cable 21 is connected to the housing 2F, the influence of the number of image pickup elements 10a and the field of view of the image pickup elements 10a becomes large.

The control circuit 10d on the 2nd floor of the housing is a circuit that drives and controls the image sensor 10a. Further, the control unit 22 is provided with, for example, a power supply unit and a control unit, and can transmit a control signal to the control circuit 10d. Further, the control unit 22 is provided with a monitor so that the image captured by the image pickup device 10a can be displayed on the monitor.

As described above, in the intraperitoneal observation camera 1F of the present embodiment, the control circuit 10d for driving and controlling the image sensor 10a is built in the housing 2F, and the control circuit 10d is controlled outside the housing 2F. A control unit 22 is provided. Then, the control circuit 10d and the control unit 22 are communicated by wire.

As a result, even if the intra-abdominal observation camera 1F is installed inside the abdominal cavity, which cannot be seen from the outside, the image sensor 10a is driven and controlled from the external control unit 22 via the control circuit 10d, and the image sensor 10a captures the image. The inside of the abdominal cavity can be communicated to the outside by wire and observed with, for example, a monitor provided in the control unit 22.

Therefore, it can be suitably used as an imaging device for observing, for example, the abdominal cavity, which cannot be observed from the outside. Further, since the drive component of the housing 2F can be moved to the outside, the size of the housing 2F can be reduced.

Further, for example, by pulling the cable 21 attached to the leg portion 3F, the intraperitoneal observation camera 1F can be recovered from the abdominal cavity, so that the recovery work of the intraperitoneal observation camera 1F becomes easy. Specifically, organs may be moved during surgery. In that case, the intra-abdominal observation camera 1F may be hidden in the shadow of the organ. Even in such a case, if the cable 21 or the like is wired, the intraperitoneal observation camera 1F can be easily found and recovered.

Further, by pulling the cable 21, the position of the intra-abdominal observation camera 1F can be moved, so that the movement becomes easy.

In the above description, it has been described that the control circuit 10d and the control unit 22 are communicated by wire. However, in one aspect of the present invention, the present invention is not necessarily limited to this, and for example, the control circuit 10d and the control unit 22 can be communicated wirelessly. As a result, the cable 21 is not required, so that the intraperitoneal observation camera 1F can be easily handled. At the time of radio, the leg portion 3F or the like is picked up with forceps or the like, and the intra-abdominal observation camera 1F is taken out from the opening portion 31a.

[Embodiment 6]
Another embodiment of the present invention will be described with reference to FIG. 30 as follows. The configurations other than those described in the present embodiment are the same as those in the first to fifth embodiments. Further, for convenience of explanation, the members having the same functions as the members shown in the drawings of the above-described first to fifth embodiments are designated by the same reference numerals, and the description thereof will be omitted.

In the intraperitoneal observation cameras 1A to 1F of the first to fifth embodiments, the installation positions of the imaging units such as the first imaging unit 11 and the second imaging unit 12 are located inside the housings 2A to 2F. It may exist in the same horizontal cross section on the 2nd floor. On the other hand, the intraperitoneal observation camera 1G of the present embodiment is different in that the existing positions of the imaging units such as the first imaging unit 11 and the second imaging unit 12 are deviated from the same horizontal cross section of the housing 2G. ing.

The configuration of the intra-abdominal observation camera 1G as the imaging device of the present embodiment will be described with reference to FIGS. 30A to 30E. FIG. 30A is a perspective view showing the configuration of the intra-abdominal observation camera 1A'of the first embodiment. FIG. 30B is a perspective view showing the configuration of the intra-abdominal observation camera 1B'of the second embodiment. FIG. 30 (c) is a cross-sectional view showing the arrangement state of the plurality of first imaging units 11, the second imaging unit 12, and the third imaging unit 13 in the intraperitoneal observation camera 1A'and the intraperitoneal observation camera 1B'. Is. FIG. 30D is a perspective view showing the configuration of the intra-abdominal observation camera 1G according to the present embodiment. FIG. 30 (e) shows the configuration of the intra-abdominal observation camera 1G, and is a cross-sectional view showing the arrangement state of a plurality of imaging units.

For example, as shown in FIGS. 30 (a), (b), and (c), in the intraperitoneal observation cameras 1A to 1F of the first to fifth embodiments, the first imaging unit is inside the housings 2A to 2F. In some cases, the installation positions of the imaging units such as 11 and the second imaging unit 12 exist within the same horizontal cross section of the housings 2A to 2F. However, when the installation positions of the plurality of image pickup units are within the same horizontal cross section of the housings 2A to 2F in this way, the control circuit 10d, the image pickup element 10a, and other parts are incorporated so as not to come into contact with each other. In addition, it is necessary to increase the diameter of the housings 2A to 2F to some extent. As a result, it becomes difficult to insert a thin frame-shaped member.

Therefore, in the intraperitoneal observation camera 1G of the present embodiment, in order to solve this problem, as shown in FIGS. 30 (d) and 30 (e), the first imaging unit 11 and the second imaging unit 12 are housing. The body 2G is provided at different positions in the axial direction.

As a result, the dimension orthogonal to the axial direction of the housing 2G can be reduced so that it can be inserted into a thin frame-shaped member.

[Embodiment 7]
Another embodiment of the present invention will be described below with reference to FIGS. 31 to 33. The configurations other than those described in the present embodiment are the same as those in the first to sixth embodiments. Further, for convenience of explanation, the members having the same functions as the members shown in the drawings of the above-described first to sixth embodiments are designated by the same reference numerals, and the description thereof will be omitted.

In the intraperitoneal observation cameras 1A to 1G of the first to fifth embodiments, the housings 2A to 2G are formed of one container. On the other hand, the intraperitoneal observation camera 1H of the present embodiment is different in that the housing 2H is divided into a plurality of parts.

The configuration of the intra-abdominal observation camera 1H as the imaging device of the present embodiment will be described with reference to (a) and (b) of FIG. 31 and (a) and (b) of FIGS. 33 and 33. FIG. 31 (a) shows the configuration of the intra-abdominal observation camera 1H of the present embodiment, and is a perspective view of the intra-abdominal observation camera 1H showing a state in which the divided main body portion is integrated. FIG. 31 (b) is a perspective view of the intra-abdominal observation camera 1H showing the divided main body portion separately. FIG. 32 is a front view showing the configuration of the divided housing 2H in the intra-abdominal observation camera 1H. FIG. 33A is a cross-sectional view showing the configuration of the divided camera unit housing 2a in the intraperitoneal observation camera 1H. FIG. 33B is a cross-sectional view showing the configuration of the divided common unit housing 2c in the intra-abdominal observation camera 1H. FIG. 33 (c) is a cross-sectional view showing the configuration of the divided lighting unit housing 2b in the intra-abdominal observation camera 1H.

In the intraperitoneal observation camera 1H of the present embodiment, as shown in FIG. 31 (b), the housing 2H as the camera main body is composed of a divided main body including the image sensor 10a and the legs 3H, respectively. .. Each of the divided main bodies can be rotatably attached around a shaft.

Specifically, as shown in FIG. 32, the divided main body portion includes a camera unit housing 2a, a lighting unit housing 2b, and a common unit housing 2c.

On the upper surface of each divided main body, a connector 41 projecting in a columnar shape is provided so as to integrally connect the divided main bodies. Further, a fitting recess 42 fitted to the connector 41 is formed on the bottom surface of each divided main body. The connection direction of the connector 41 and the fitting recess 42 is not limited to one direction. Further, the connecting portion between the connector 41 and the fitting recess 42 is prevented from being flooded by packing or the like.

By fitting the camera unit housing 2a, the lighting unit housing 2b, and the common unit housing 2c with the connector 41 and the fitting recess 42, respectively, as shown in FIG. 31 (a), a plurality of divided main bodies. An intraperitoneal observation camera 1H having a housing 2H with integrated parts is completed. Here, each of the divided main bodies is pivotally supported by a cylindrical connector 41 and a fitting recess 42, so that each can rotate. Therefore, in the intraperitoneal observation camera 1H of the present embodiment, the positions and angles of the legs 3H and the imaging unit can be freely changed by arbitrarily rotating the plurality of divided main bodies. It should be noted that the rotation angle between the divided main bodies is required to be accurate so as not to cause a blind spot or the like. Therefore, for example, it is preferable to form notches on the surfaces where the divided main bodies meet with each other so that they can be fixed in a predetermined direction. As a result, each divided main body can be easily assembled so that the rotational angles between the divided main bodies are accurately maintained in the positioning state. As described above, the arrangement method of the camera unit housing 2a and the lighting unit housing 2b changes depending on the viewpoint of not causing a blind spot and the viewpoint of ease of assembling the divided main bodies.

Further, the connector 41 is capable of communicating a power supply, a control signal, and the like. Therefore, mutual electrical cooperation between the plurality of divided main bodies can be maintained.

Here, as shown in FIG. 33A, the camera unit housing 2a includes an image sensor 10a, a lens 10b, a lighting device 10c, and a control circuit 10d, which are components of the image pickup unit. Further, as shown in FIG. 33 (b), the lighting unit housing 2b is provided with a lighting device 10c and a drive circuit 10e for driving the lighting device 10c. Further, as shown in FIG. 33 (c), the common unit housing 2c includes a control unit 10f, a power supply unit 10g, and legs 3H. As described above, it is preferable that the leg portion 3H is provided on the common unit housing 2c because each divided main body portion can be efficiently divided and connected. This is because the number of the lighting unit housing 2b and the camera unit housing 2a can be selected as needed.

In the present embodiment, the divided main body portion is divided into three types, that is, the camera unit housing 2a, the lighting unit housing 2b, and the common unit housing 2c described above, but the present invention is not necessarily limited to this. For example, although the leg portion 3H is provided in the common unit housing 2c, it is also possible to provide the leg portion 3H as a single leg unit.

As described above, in the intraperitoneal observation camera 1H of the present embodiment, the housing 2H includes the camera unit housing 2a that houses the image sensor 10a and the leg 3H, the common unit housing 2c, and the lighting unit housing, respectively. It is composed of divided main bodies such as 2b, and each divided main body can be rotatably attached around a shaft.

As a result, it is possible to divide each image sensor 10a, each leg 3H, or each unit such as the control unit 10f and the power supply unit 10g. Since each of the divided main bodies can be rotatably attached around the shaft, the divided main bodies can be freely combined. Further, each divided main body can be freely moved in an arbitrary rotation direction, and the direction of the image sensor 10a can be arbitrarily determined.

Further, in the present embodiment, in particular, the lighting unit housing 2b is provided as a single unit. Therefore, for example, it is possible to replace the illumination unit having a wavelength suitable for observation.

[Summary]
The image pickup device (intraperitoneal observation cameras 1A to 1H) according to the first aspect of the present invention is an image pickup device provided with a camera body portion (housings 2A to 2H) incorporating an image pickup element 10a, and the camera body portion (housing 2A). ~ 2H) is provided with at least four legs (legs 3A to 3H) extending outward from a predetermined position of the camera body (housings 2A to 2H), and the four legs (legs) are provided. The flat surface connecting the tips of any three legs (legs 3A to 3H) of the portions 3A to 3H) and the surface of the camera body (housings 2A to 2H) are not in contact with each other. The legs (legs 3A to 3H) are arranged, and at least two image sensors 10a are provided so that all directions of the external space of the camera body (housings 2A to 2H) can be imaged. It is characterized by being.

According to the above configuration, at least four legs extend toward the apex of the tetrahedron at least with the camera body as the center. Therefore, when the image pickup device is dropped on the installation surface, the image pickup device is stably supported by the installation surface at the tips of any three legs regardless of the direction in which the camera body is oriented. Further, since this stable support can be obtained only by dropping the image pickup device on the installation surface, it can be easily installed.

In this state, each of the four legs is arranged so that the plane connecting the tips of the three arbitrary legs and the surface of the camera body are not in contact with each other. In addition, at least two image sensors are provided so that all directions of the external space of the camera body can be imaged. Therefore, the image sensor can image all directions of the external space of the camera body. As a result, the function of observing all directions of the external space of the camera body is satisfied.

Therefore, it is possible to provide an imaging device that can be easily and stably installed on the installation surface and can image in all directions of the installation space.

In the image pickup device (intraperitoneal observation camera 1A') according to the second aspect of the present invention, the image pickup element 10a is surrounded by predetermined positions of any three or more legs 3A on the surface of the camera body (housing 2A). It can be assumed that it is built in the range.

As a result, there are at least four image pickup elements, and an image directed to each surface of the tetrahedron can be captured. Therefore, since the blind spot is eliminated, it is possible to provide an imaging device capable of reliably capturing images in all directions of the installation space.

In the image pickup device (intraperitoneal observation camera 1A) according to the third aspect of the present invention, the image pickup element 10a is located at a position sandwiched between two arbitrary legs 3A on the surface of the camera body (housing 2A). It can be said that it is built in.

As a result, the number of image sensors can be reduced by preventing the legs from being reflected in the image pickup region of the image sensor as much as possible.

In the image pickup device (intraperitoneal observation camera 1A) according to the fourth aspect of the present invention, the image pickup region of the image pickup device 10a is a rectangular region having a short side and a long side, and the image pickup region is of at least four of the above. The two legs are located between the predetermined positions of the two legs 3A, and each of the long sides of the imaging region faces each of the two legs 3A provided at the predetermined positions. It is preferable that the leg portion 3A of the above is arranged.

Generally, the image pickup region of the image pickup device is a rectangular region having a short side and a long side. In this case, if the positions of the legs attached to the surface of the camera body are arranged so as to face each other on the long sides of the image sensor in the image pickup region, the reflection and blind spots of the legs in the image pickup region increase.

Therefore, in one aspect of the present invention, the imaging region is located between predetermined positions of two legs of the at least four legs, and each of the long sides of the imaging region is provided at the predetermined position. The two legs are arranged so as to face each of the two legs. As a result, it is possible to reduce the reflection of the legs in the imaging region and the blind spots.

In the imaging device (intraperitoneal observation camera 1A) according to the fifth aspect of the present invention, the first lighting device (illuminating device) is located on the surface of the camera body (housing 2A) at a position facing the short side of the imaging region. It is preferable that each of 10c) is arranged.

As a result, it is possible to prevent the end portion on the long side side in the imaging region from becoming dark.

In the imaging device (intraperitoneal observation camera 1A') according to the sixth aspect of the present invention, the camera main body portion of the arbitrary three legs (leg portion 3A) is on the surface of the camera main body portion (housing 2A). It can be assumed that the second lighting device is mounted on the side of the triangle formed at a predetermined position on the (housing 2A).

As a result, the illumination light of the second illumination device can be efficiently irradiated in the imaging region.

In the imaging device (intraperitoneal observation camera 1D) according to the seventh aspect of the present invention, the leg 3D has a shape so that the leg 3D and the camera body (housing 2D) are inserted into the frame-shaped member (trocar 34). It is preferable that it is provided so as to be deformable. It is preferable that the legs are made of an elastic member or a flexible member or have an elastic member or a flexible member.

As a result, when the image pickup device is dropped into the abdominal cavity through a frame-shaped member such as a trocar, the legs are deformed, so that the image pickup device can be easily passed through the frame-shaped member. Here, when the image pickup device is passed through the frame-shaped member, it is bent or bent so that the tips of the legs come close to each other to deform the shape. At this time, in one aspect of the present invention, the image sensor is built in a position sandwiched between the attachment positions of two arbitrary legs on the surface of the camera body. Therefore, when the image pickup device is passed through the frame-shaped member, it is bent or bent so that the tips of the legs come close to each other.

In the image pickup apparatus (intraperitoneal observation camera 1F) according to the eighth aspect of the present invention, the camera body (housing 2F) includes a body control unit (control circuit 10d) that drives and controls the image sensor 10a. An external control unit (control unit 22) that controls the main body control unit (control circuit 10d) is provided outside the camera main body (housing 2F), and the main body control unit (control circuit 10d) is provided. And the external control unit (control unit 22) are preferably communicated by wire or wirelessly.

As a result, even if the image sensor is installed inside the abdominal cavity, which cannot be seen from the outside, the image sensor is driven and controlled from the external external control unit via the main body control unit, and the inside of the abdominal cavity imaged by the image sensor. Can be communicated to the outside by wire or wirelessly, and can be observed on, for example, a monitor provided in the external control unit.

Therefore, it can be suitably used as an imaging device for observing, for example, the abdominal cavity, which cannot be observed from the outside. Further, since the drive component of the camera body can be moved to the outside, the size of the camera body can be reduced.

In the image pickup device (intraperitoneal observation camera 1G) according to the ninth aspect of the present invention, at least two image pickup elements 10a built in the camera body (housing 2G) are in the axial direction of the camera body (housing 2G). It is preferable that they are provided at different positions in the above.

For example, when at least two image sensors are present on the same cross section in the axial direction of the camera body, the internal dimensions of the camera body are increased in order to avoid contact of at least two image sensors. Therefore, it becomes difficult to insert a thin frame-shaped member.

Therefore, in one aspect of the present invention, at least two image pickup elements built in the camera body are provided at different positions in the axial direction of the camera body. As a result, the dimension orthogonal to the axial direction of the camera body can be reduced so that the camera body can be inserted into a thin frame-shaped member.

In the imaging device (intraperitoneal observation camera 1H) according to the tenth aspect of the present invention, it is preferable that the camera body portion can be divided.

As a result, it is possible to divide each image sensor, each leg, or each unit such as a control unit and a power supply unit.

In the imaging device (intraperitoneal observation camera 1H) according to the eleventh aspect of the present invention, the camera main body (housing 2H) is composed of a divided main body for accommodating the image sensor 10a and the leg 3H, respectively. It is preferable that the main body portion can be rotatably attached around the shaft.

As a result, it is possible to divide each image sensor, each leg, or each unit such as a control unit and a power supply unit. Since each of the divided main bodies can be rotatably attached around the shaft, the divided main bodies can be freely combined. Further, each divided main body can be freely moved in an arbitrary rotation direction, and the direction of the image sensor can be arbitrarily determined.

In the imaging device (intraperitoneal observation camera 1A) according to the twelfth aspect of the present invention, it is preferable that the leg portion (leg portion 3A) is provided with a third lighting device (illumination device 10c).

As a result, the leg itself emits light, so that the blind spot due to the shadow of the leg can be reduced.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in the different embodiments can be appropriately combined. Also included in the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment.

1A ・ 1A'Intraperitoneal observation camera (imaging device)
1B ・ 1B'・ 1B ”Intraperitoneal observation camera (imaging device)
1C ・ 1C'・ 1C ”Intraperitoneal observation camera (imaging device)
1D / 1F / 1G / 1H Intraperitoneal observation camera (imaging device)
1Z intraperitoneal observation camera 2A-2H housing (camera body)
2a Camera unit housing 2b Lighting unit housing 2c Common unit housing 3A to 3H Legs 3a 1st leg 3b 2nd leg 3c 3rd leg 3d 4th leg 4 Rubber 5 Spring 10a Image sensor 10b Lens 10c Lighting device (first lighting device, second lighting device, third lighting device)
10d control circuit (main unit control unit)
10e Drive circuit 10f Control unit 10g Power supply unit 11 1st imaging unit 12 2nd imaging unit 13 3rd imaging unit 14 4th imaging unit 15 5th imaging unit 21 Cable 22 Control unit (external control unit)
31 Abdominal wall 31a Opening part 32 Opening part protection part 33 Built-in 33a Installation surface 34 Trocar 41 Connector 42 Fitting recess

Claims (12)

In an image pickup device equipped with a camera body having a built-in image sensor,
The surface of the camera body is provided with at least four legs extending outward from a predetermined position of the camera body.
Each leg is arranged so that the plane connecting the tips of any three of the four legs and the surface of the camera body are not in contact with each other.
The image pickup device is characterized in that at least two image pickup elements are provided so that all directions of the external space of the camera body can be imaged. The image pickup device according to claim 1, wherein the image pickup device is built in a range surrounded by predetermined positions of any three or more legs on the surface of the camera body. The image pickup device according to claim 1, wherein the image pickup device is built in a position sandwiched between predetermined positions of two arbitrary legs on the surface of the camera body. The image pickup region of the image pickup device is a rectangular region having a short side and a long side.
The imaging region is located between predetermined positions of two legs of at least four, and each of the long sides of the imaging region is provided on each of the two legs provided at the predetermined positions. The imaging device according to claim 1 or 3, wherein the two legs are arranged so as to face each other. The imaging device according to claim 4, wherein first lighting devices are arranged on the surface of the camera body at positions facing the short sides of the imaging region. A claim characterized in that a second lighting device is attached to the surface of the camera body on the side of a triangle formed by a predetermined position of the camera body on any of the three legs. Item 2. The imaging device according to item 2. The imaging device according to any one of claims 1 to 6, wherein the legs are provided so as to be deformable in shape so that the legs and the camera body can be inserted into the frame-shaped member. A main body control unit that drives and controls the image sensor is built in the camera main body, and an external control unit that controls the main body control unit is provided outside the camera main body.
The imaging device according to any one of claims 1 to 7, wherein the main body control unit and the external control unit are communicated by wire or wirelessly. The image pickup according to any one of claims 1 to 8, wherein at least two image pickup elements built in the camera body are provided at different positions in the axial direction of the camera body. apparatus. The imaging device according to any one of claims 1 to 9, wherein the camera body is separable. The camera main body is composed of a divided main body for accommodating the image sensor and legs, and each divided main body can be rotatably attached about an axis. 10. The image pickup apparatus according to any one of 10. The imaging device according to any one of claims 1 to 11, wherein a third lighting device is provided on the leg portion.