WO2018150643A1 - Imaging device - Google Patents

Abstract

Provided is an imaging device that can be easily and stably installed on an installation surface and can image an installation space in every direction. The intraperitoneal observation camera (1A) includes a casing (2A) having an imaging element therein. The casing (2A) has, on the surface, at least four leg portions (3A) extending outward from predetermined positions on the casing (2A). The leg portions (3A) are arranged such that a plane connecting the tips of any three leg portions (3A) of the four leg portions (3A) does not contact the surface of (2A). At least two imaging elements are provided so as to enable imaging of the external space of the casing (2A) in every direction.

Description

Imaging device

The present invention relates to an image pickup apparatus including a camera main body portion incorporating an image pickup element.

In laparoscopic surgery, the laparoscope is brought close to the organ and the image is enlarged to perform incision and suture of the organ, but the operator's field of view is narrowed. In view of this, an imaging device as an observation camera for grasping the situation outside the work area under a laparoscopic operation is conventionally known.

For example, in the medical device 100 disclosed in Patent Document 1, as shown in FIGS. 35 (a) and 35 (b), a capsule camera 110 provided movably in the abdominal cavity, and the capsule camera 110 outside the body. And a fixing unit 120 for fixing and holding.

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 a grasping forceps through the trocar 102 punctured in the abdominal wall 101. The capsule camera 110 is then hooked with a puncture needle (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 abdomen side of the patient and pulled toward the abdominal wall 101 side. Thereby, the capsule camera 110 is lifted so as to approach the abdominal wall 101, and the wire 111 is pulled to the outside of the body until the suction cup 112 is attracted to the inner surface of the abdominal wall 101. As a result, the capsule camera 110 is placed and fixed in the abdominal cavity 101 when the suction cup 112 is attracted to the inner surface of the abdominal wall 101.

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

However, the conventional small observation camera has a problem that the operation 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 camera is fixed by a tripod or a gripping tongue. However, with this fixing method, it is necessary to determine the installation direction, and special installation work is required.

For example, the endoscope system disclosed in Patent Document 3 is configured to hook a capsule camera with a nail. However, this method requires installation work for hooking with a nail.

Furthermore, for example, the endoscope system disclosed in Patent Document 4 is a capsule endoscope for obtaining image information inside the living body in a state of being placed inside the living body. In this endoscope system, a camera is installed at a position corresponding to each vertex of a regular tetrahedron inscribed in a capsule formed in a spherical shape, and images of all directions are simultaneously obtained by these four cameras. Information can be obtained.

However, this endoscope system is for observing the inside of a living body orally, but when this imaging device is applied to laparoscopic surgery and installed on the internal organs, it must be stably installed due to its spherical shape. Have the problem of not being able to.

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

In order to solve the above-described problem, an imaging device according to an aspect of the present invention is an imaging device including a camera main body with a built-in image sensor, and the surface of the camera main body is outward from the camera main body. At least four legs extending in the direction are attached, and the plane connecting the tips of any three of the four legs is not in contact with the surface of the camera body. Each leg portion is arranged, and at least two image pickup devices are provided so as to be able to pick up images of all directions in the external space of the camera body.

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 all directions of the installation space.

It is a perspective view which shows the structure of the imaging device in Embodiment 1 of this invention. (A) is a front view showing the configuration of the imaging device, (b) is a right side view showing the configuration of the imaging device, (c) is a rear view showing the configuration of the imaging device, d) is a plan view showing a configuration of the imaging apparatus. (A) is the perspective view seen from one direction which shows the structure of the said imaging device provided with two imaging units, (b) is the other direction which shows the structure of the said imaging device provided with two imaging units It is the perspective view seen from. It is sectional drawing which shows the internal structure of the camera main-body part of the said imaging device. (A) is the perspective view seen from one direction which shows the relationship between the imaging unit and leg part in the said imaging device provided with two imaging units, (b) is the said imaging device provided with two imaging units. It is the perspective view seen from the other direction which shows the relationship between the imaging unit in FIG. (A) is a top view which shows the reflection condition of the leg part at the time of a leg part being arranged so that the short side of the imaging region in the said imaging device may be faced, (b) is the imaging region in the said imaging device. It is a top view which shows the reflection condition of a leg part when a leg part is distribute | arranged so that it may face a long side. (A) is sectional drawing which shows the condition where the said imaging device is installed in the horizontal abdominal cavity, (b) is sectional drawing which shows the condition where the said imaging device is installed in the inclined abdominal cavity. . (A) is sectional drawing which shows the condition which drops the said imaging device in the abdominal cavity, (b) is sectional drawing which shows the condition where the said imaging device is landed in the abdominal cavity, (c) is said sectional view in the abdominal cavity. It is sectional drawing which shows the condition which installs an imaging device. (A) is a perspective view which shows the state in which the leg part of the said imaging device contacts the uneven surface in an abdominal cavity, and the said imaging device is installed, (b) is the uneven surface in an abdominal cavity, and shows the state of the said imaging device. It is a perspective view which shows the state in which a leg part and a camera main-body part contact, and the said imaging device is installed. (A) shows the structure of the modification in the imaging device of this Embodiment 1, Comprising: It is a perspective view which shows the structure of the said imaging device provided with four imaging units, (b) is 4 imaging units. It is a front view which shows the structure of the said imaging device provided. It is a top view which shows an example of the reflection condition of the leg part to the imaging area of the image pick-up element in an imaging device provided with the said four imaging units. It is a top view which shows the other example of the reflection condition of the leg part to the imaging area of the image pick-up element in an imaging device provided with the said four imaging units. It is a top view which shows the further another example of the reflection condition of the leg part to the imaging area of the image pick-up element in the imaging device provided with the said four imaging units. It is a top view which shows the further another example of the reflection condition of the leg part to the imaging area of the image pick-up element in the imaging device provided with the said four imaging units. It is a perspective view which shows the structure of the imaging device in Embodiment 2 of this invention. (A) is a front view showing the configuration of the imaging device, (b) is a right side view showing the configuration of the imaging device, (c) is a rear view showing the configuration of the imaging device, d) is a plan view showing a configuration of the imaging apparatus. (A) is the perspective view seen from one direction which shows the relationship between the imaging unit and leg part in the said imaging device provided with two imaging units, (b) is the said imaging device provided with two imaging units. It is the perspective view seen from the other direction which shows the relationship between the imaging unit and leg part in (c), (c) shows the relationship between the imaging unit and leg part in the said imaging device provided with two imaging units. It is the perspective view seen from the direction. (A) shows the structure of the modification in the imaging device of this Embodiment 2, Comprising: It is a top view which shows the structure of the said imaging device provided with three imaging units, (b) is 3 imaging units. It is a perspective view which shows the structure of the said imaging device provided. (A) is the top view which shows the structure of the other modification in the imaging device of this Embodiment 2, Comprising: It is a top view which shows the structure of the said imaging device provided with five imaging units, (b). 2 is a perspective view showing the configuration of the imaging apparatus including five imaging units, and FIG. 4C is a front view showing the configuration of the imaging apparatus including five imaging units. (A) is sectional drawing which shows the condition which drops the said imaging device in the abdominal cavity, (b) is sectional drawing which shows the condition where the said imaging device is landed in the abdominal cavity, (c) is said sectional view in the abdominal cavity. It is sectional drawing which shows the condition which installs an imaging device. It is a perspective view which shows the structure of the imaging device in Embodiment 3 of this invention. (A) is a front view showing the configuration of the imaging device, (b) is a right side view showing the configuration of the imaging device, (c) is a rear view showing the configuration of the imaging device, d) is a plan view showing a configuration of the imaging apparatus. (A) is the perspective view seen from one direction which shows the relationship between the imaging unit and leg part in the said imaging device provided with two imaging units, (b) is the said imaging device provided with two imaging units. It is the perspective view seen from the other direction which shows the relationship between the imaging unit and leg part in (c), (c) shows the relationship between the imaging unit and leg part in the said imaging device provided with two imaging units. It is the perspective view seen from the direction. (A) shows the structure of the modification in the imaging device of this Embodiment 3, Comprising: It is the perspective view seen from one direction which shows the structure of the said imaging device provided with three imaging units, (b) ) Is a perspective view showing the relationship between the imaging unit and the legs in the imaging apparatus including three imaging units, as viewed from the other direction, and (c) is imaging in the imaging apparatus including three imaging units. It is the perspective view seen from the other direction which shows the relationship between a unit and a leg part. (A) shows the structure of the other modification in the imaging device of this Embodiment 3, Comprising: It is the perspective view seen from one direction which shows the structure of the said imaging device provided with five imaging units, (B) is the perspective view seen from the other direction which shows the structure of the said imaging device provided with five imaging units, (c) is the other which shows the structure of the said imaging device provided with five imaging units It is the perspective view seen from the direction. (A) is sectional drawing which shows the condition which drops the said imaging device in the abdominal cavity, (b) is sectional drawing which shows the condition where the said imaging device is landed in the abdominal cavity, (c) is said sectional view in the abdominal cavity. It is sectional drawing which shows the condition which installs an imaging device. It is a perspective view which shows the structure of the imaging device in Embodiment 4 of this invention, Comprising: The condition from dropping to installation is shown. (A) is a perspective view which shows the structure of the said imaging device in case the base of a leg part deform | transforms with the leg part which has rubber in part, (b) is the whole leg part deform | transformed by the leg part which consists of rubber | gum. It is a perspective view which shows the structure of the said imaging device in the case of doing, (c) is a perspective view which shows the structure of the said imaging device when the base of a leg part deform | transforms with the leg part which has a spring in part, ( FIG. 4D is a perspective view showing the configuration of the imaging apparatus when the entire leg portion is deformed by the leg portion having the spring as a whole. It is a perspective view which shows the structure of the imaging device in Embodiment 5 of this invention, Comprising: The condition from dropping to installation is shown. (A) is a perspective view which shows the structure of the said modification of the imaging device of the said Embodiment 1, (b) is a perspective view which shows the structure of the said modification of the imaging device of Embodiment 2, (c). These are sectional drawings which show the arrangement | positioning state of several imaging unit in the case of the said modification of the imaging device of Embodiment 1, and the said modification of the imaging device of Embodiment 2, (d) is embodiment of this invention 6 is a perspective view showing the configuration of the image pickup apparatus of FIG. 6, and (e) is a cross-sectional view showing the arrangement of the image pickup apparatus and showing the arrangement of a plurality of image pickup units. FIG. (A) is a perspective view of an imaging device showing a configuration of an imaging apparatus according to Embodiment 7 of the present invention, in which a divided main body is integrated, and (b) is a diagram illustrating the divided main body. It is a perspective view of an imaging device shown separated. It is a front view which shows the structure of the camera body divided | segmented in the said imaging device. (A) is sectional drawing which shows the structure of the divided camera unit housing | casing in the said imaging device, (b) is sectional drawing which shows the structure of the divided common unit housing | casing in the said imaging device, (c ) Is a cross-sectional view showing a configuration of a divided illumination unit housing in the imaging apparatus. FIG. 3 is a perspective view illustrating a configuration of a comparative example in the imaging device according to the first embodiment. (A) is a schematic diagram which shows the structure of the conventional imaging device, (b) is sectional drawing which shows the structure of the capsule type camera of an imaging device.

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

An intra-abdominal observation camera 1A as an imaging apparatus according to the present embodiment is used as an observation camera for grasping a situation outside a work area, for example, when performing a laparoscopic operation inside a human abdominal cavity. . Note that the imaging apparatus according to one aspect of the present invention is not necessarily limited to being within the abdominal cavity, and may be inside the stomach, esophagus, or intestine. Moreover, it is not necessarily within the abdominal cavity of a human, but may be within the abdominal cavity of another animal. Furthermore, the imaging device according to one embodiment of the present invention is assumed to be used in the abdominal cavity, but is not necessarily limited thereto, for example, observation of places where it is difficult for people to enter, such as disaster sites, It can also be used for internal observation of closed spaces such as inside containers and bags.

(Configuration of intra-abdominal observation camera)
The configuration of the intra-abdominal observation camera 1A according to the present embodiment will be described with reference to FIGS. FIG. 1 is a perspective view showing a configuration of an intra-abdominal observation camera 1A in 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 intra-abdominal observation camera 1A according to the present embodiment includes a housing 2A as a camera main body portion that incorporates an image sensor.

The housing 2A has a spherical shape in the present embodiment. However, the shape is not necessarily limited to a spherical shape, and may be a polyhedron, an ellipsoid, a columnar shape, or the like.

Four legs 3A extending outward from the housing 2A are attached to the surface of the housing 2A. In the present embodiment, a portion intended to support the housing 2A is defined as a leg portion 3A, and the other portion is defined as a housing 2A. In the present embodiment, for convenience of explanation, the leg 3A and the housing 2A are defined as separate objects. However, the present invention is not limited to this, and the leg 3A is integrated as a part of the housing 2A. May be. Rather, it is more advantageous in terms of production efficiency and production cost to be integrated in manufacturing.

The outer tips of the four legs 3A are present at positions corresponding to the vertices of the tetrahedron, with the housing 2A as the center of gravity. In the present embodiment, the leg 3A is expressed in a columnar shape for convenience in the drawings. However, the present invention is not necessarily limited thereto, and the tip shape of the leg portion 3A is preferably rounded in that it is difficult to damage the installation surface.

Moreover, in this Embodiment, as shown to (a) (b) (c) (d) of FIG. 2, the plane which connects the front-end | tip of the arbitrary three leg parts 3A among the four leg parts 3A. Each leg 3A is arranged so that the surface of the housing 2A is not in contact with the housing 2A. 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 is the tip of three legs 3A that are arbitrarily selected. It exists above the connecting plane. In the present embodiment, the leg 3A extends outward from the surface of the housing 2A in a direction toward each vertex of the regular tetrahedron. However, in one aspect of the present invention, each leg 3A is such that the plane connecting the tips of any three legs 3A out of the four legs 3A and the surface of the housing 2A are not in contact with each other. May be a direction extending not only to the regular tetrahedron but also to the apex of the tetrahedron.

Thus, 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 leg 3A has a posture different from the current posture, there are always three. In addition to the leg 3A in contact with the installation surface, there is a leg 3A extending in the direction opposite to the installation surface.

With this configuration, the intra-abdominal observation camera 1A of the present embodiment is supported by the tips of arbitrary three leg portions 3A, so that the intra-abdominal observation is stable even if the intra-abdominal observation camera 1A rotates. 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 casing 2A is a plane connecting the tips of the three legs 3A. In the case of the configuration below, it is difficult to support the three legs 3A. As a result, it is preferable to avoid the intraperitoneal observation camera 1Z shown in FIG.

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

Next, the internal configuration of the housing 2A of the intraperitoneal observation camera 1A of the present embodiment will be described based on FIGS. 3 (a) and 3 (b) and FIG. FIG. 3A is a perspective view showing a configuration of an intra-abdominal observation camera 1A provided with two imaging units, as viewed from one direction. FIG. 3B is a perspective view showing the configuration of the intra-abdominal observation camera 1A provided with two imaging units, as viewed from the other 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, in the intraperitoneal observation camera 1A of the present embodiment, two sets of imaging units for imaging the outside of the housing 2A are provided. 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 leg 3A and the leg 3A in the housing 2A, and is opposite to the position where the first imaging unit 11 is present in the housing 2A. The second imaging unit 12 is disposed in the middle.

As shown in FIG. 4, both the first imaging unit 11 and the second imaging unit 12 are configured by the same components. Specifically, the first imaging unit 11 and the second imaging unit 12 include an imaging element 10a built in the leg 3A, a lens 10b disposed on the surface of the casing 2A on the front side of the imaging element 10a, and a housing. A lighting device 10c disposed on both sides of the lens 10b on the surface of the body 2A and a control circuit 10d are provided.

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

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

The illumination 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 illumination device 10c. For example, lighting control of the LED light source of the illumination device 10c is performed, and an image captured by the image sensor 10a is transmitted to the outside by the communication unit.

Thereby, outside the intra-abdominal observation camera 1A, it is possible to observe and grasp the intra-abdominal situation from an image displayed on a monitor (not shown).

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

Here, the imaging areas of the first imaging unit 11 and the second imaging unit 12 will be described based on FIGS. 5 and 6A and 6B. FIG. 5A is a perspective view showing the relationship between the imaging unit and the legs in the intra-abdominal observation camera 1A having two imaging units. FIG. 5B is a perspective view showing the relationship between the imaging unit and the legs in the intra-abdominal observation camera 1A having two imaging units, as seen from the other direction. FIG. 6A is a plan view showing a reflection state of the leg 3A when the leg 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 a reflection state of the leg 3A when the leg 3A is arranged so as to face the long side of the imaging region in the intraperitoneal observation camera 1A.

As shown in FIGS. 5A and 5B, in the intra-abdominal observation camera 1A of the present embodiment, the leg 3A includes the first leg 3a, the second leg 3b, the third leg 3c, and the first leg 3A. It consists of four 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. In addition, 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 3c and the tip of the fourth leg 3d. .

Here, the imaging area of the imaging device 10a of the present embodiment is a rectangular area having a short side and a long side.

In this case, as shown in FIG. 6A, the attachment positions of the first leg 3a and the second leg 3b to the surface of the housing 2A face the short sides in the imaging region of the imaging element 10a. When arranged, the reflection of the first leg portion 3a and the second leg portion 3b in the imaging region increases. In addition, there is an area where no scene is captured, that is, a blind spot, between the third leg 3c and the imaging area and between the fourth leg 3d and the imaging area.

Therefore, in the present embodiment, the attachment positions of the first leg 3a, the second leg 3b, the third leg 3c, and the fourth leg 3d to the surface of the housing 2A are shown in FIG. As shown, it is arranged so as to face the long side in the imaging region of the imaging device 10a.

Thereby, in this Embodiment, the reflection and blind spot of the 1st leg part 3a, the 2nd leg part 3b, the 3rd leg part 3c, and the 4th leg part 3d in an imaging region can be made small. ing.

In the present embodiment, as described above, the illumination device 10c is provided on both sides of the imaging element 10a of the imaging unit. In this case, the illuminating device 10c is arrange | positioned so that the short side in the imaging region of the image pick-up element 10a may be faced. Thereby, the edge part of the long side direction of the imaging region of the image sensor 10a can be prevented from becoming dark.

(How to use the intra-abdominal observation camera)
A method of using the intra-abdominal observation camera 1A having the above configuration will be described with reference to FIGS. 7 (a) and 7 (b) to FIGS. 9 (a) and 9 (b). (A) of FIG. 7 is sectional drawing which shows the condition where 1 A of intraperitoneal observation cameras are installed in the horizontal abdominal cavity. FIG. 7B is a cross-sectional view showing a situation where the intraabdominal observation camera 1A is installed in the inclined abdominal cavity. (A) of FIG. 8 is sectional drawing which shows the condition which drops 1 A of intraperitoneal observation cameras in an abdominal cavity. FIG. 8B is a cross-sectional view showing a situation where the intraabdominal observation camera 1A is landed in the abdominal cavity. (C) of FIG. 8 is sectional drawing which shows the condition which installs 1 A of intraperitoneal observation cameras in an abdominal cavity. FIG. 9A is a perspective view showing a state in which the casing 2A of the intraperitoneal observation camera 1A is in contact with the uneven surface of the internal organ 33 in the abdominal cavity and the intraperitoneal observation camera 1A is installed. FIG. 9B is a perspective view showing a state in which the casing 2A of the intraabdominal observation camera 1A and the casing 2A are in contact with the uneven surface of the internal organ 33 in the abdominal cavity and the intraabdominal observation camera 1A is installed. It is.

As mentioned above, in laparoscopic surgery, the wound is protected to reduce wound infection and reduce local trauma while performing several centimeters of opening in the abdominal cavity to allow insertion of surgical instruments. There is a case where the instrument is inserted.

In this case, as shown in FIG. 7A, in the present embodiment, a retracting portion 31a is provided on the abdominal wall 31, and a retracting portion protecting portion 32 is provided on the retracting portion 31a. The retracting part protection part 32 is a sleeve made of, for example, urethane rubber. Next, as shown in FIG. 8A, the intraperitoneal observation camera 1 </ b> A is dropped into the abdominal cavity through the wound part protecting part 32. Thereby, as shown in FIG. 8B, the intraabdominal observation camera 1 </ b> A lands on the installation surface 33 a of the internal organ 33. In this case, for example, a case where one or two leg portions 3A land is considered. However, in this embodiment, the leg 3A loses its balance and changes its posture, but as shown in FIG. 8C, the leg 3A is finally stabilized by the three legs 3A. It is possible to install.

As a result, in this 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. 7 (b), there is a case where the installation surface 33a is inclined by changing the position of the patient in order to secure a visual field. Even in such a case, in the present embodiment, since any three of the leg portions 3A are present, the installation surface 33a having an inclination can be stably installed.

In addition, as shown in FIG. 9A, generally, the intraperitoneal observation camera 1A is installed by contacting the housing 2A with the uneven surface of the internal organs 33 in the abdominal cavity. If the housing 2A is not in contact with the installation surface 33a of the internal organ 33, the housing 2A can be supported by the tips of the three legs 3A.

However, it is not always such a posture. For example, as shown in FIG. 9B, the housing 2A and the installation surface 33a of the internal organ 33 may contact each other. In such a case, specifically, there are cases in which the housing 2A and the two leg portions 3A are supported at three points, or the housing 2A and the leg portions 3A are supported at a point that is not the tip. However, even in such a case, the intraabdominal observation camera 1A of the present embodiment can be stably installed on the installation surface 33a of the internal organ 33.

(Modification)
Note 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. A configuration of a modified example of the intra-abdominal observation camera 1A according to the present embodiment will be described with reference to FIGS. 10A and 10B and FIGS. FIG. 10A shows the configuration of an intraperitoneal observation camera 1A ′ according to a modification of the imaging apparatus according to the first embodiment. The configuration of the intraabdominal observation camera 1A ′ including four imaging units FIG. FIG. 10B is a front view showing the configuration of an intra-abdominal observation camera 1A ′ having four imaging units. FIG. 11 is a plan view illustrating an example of a reflection state of the leg 3A in the imaging region of the imaging device 10a in the intra-abdominal observation camera 1A ′ having four imaging units. FIG. 12 is a plan view illustrating another example of the reflection state of the leg 3A in the imaging region of the imaging device 10a in the intra-abdominal observation camera 1A ′ having four imaging units. FIG. 13 is a plan view showing still another example of the reflection state of the leg portion 3A in the imaging region of the imaging device 10a in the intra-abdominal observation camera 1A ′ having four imaging units. FIG. 14 is a plan view showing still another example of the reflection state of the leg 3A in the imaging region of the imaging device 10a in the intra-abdominal observation camera 1A ′ having four imaging units. In FIGS. 11 to 14, the area that must be displayed at least by the image sensor 10 a is represented by a broken-line triangle.

In the present embodiment, the number of imaging units 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. 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 is present between any three leg portions 3A. The arrangement of the illumination device 10c in this case exists on a triangular side constituted by the attachment positions of arbitrary three legs 3A to the housing 2A. That is, the lighting device 10c exists between any two leg portions 3A. There are at least four illumination devices 10c.

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

That is, if the apex of the triangle formed by the tips of the three legs 3A enters the imaging area, the blind spot disappears. As a result, it can be seen that the number of the image pickup units is less than that of the first image pickup unit 11 and the second image pickup unit 12 by the leg 3A. 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, in the triangle formed by the tips of the three legs 3 </ b> A, on the side connecting the tip of the second leg 3 b and the tip of the third leg 3 c, the imaging regions overlap. If the number is small, a blind spot may be formed depending on the accuracy of incorporation of the image sensor 10a.

Therefore, for example, as shown in FIG. 12, the triangular height portion constituted by the tips of the three leg portions 3A and the short side of the imaging region correspond to each other, and the second leg portion 3b The imaging region overlaps at the side connecting the tip and the third leg 3c. As a result, as shown in FIG. 12, since there is always an overlap of the imaging regions on the side connecting the tip of the second leg 3b and the third leg 3c, the blind spot can be surely reduced. However, since the image sensor 10a is disposed obliquely, it may be difficult to incorporate the image sensor 10a.

Therefore, for example, as shown in FIG. 13, the imaging element 10a having a wide angle of view is used so that the side of the triangle formed by the tip of the leg 3A corresponds to the short side of the imaging region. Two image sensors 10a are arranged in the same direction two by two. 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. Since two image sensors 10a are arranged in the same direction, it is easier to incorporate the image sensor 10a than in the above example.

In the example shown in FIG. 13, all the first leg 3a, the second leg 3b, the third leg 3c, and the fourth leg 3d are included in the imaging region. It was a lot.

Therefore, as shown in FIG. 14, using the imaging element 10a having a wide angle of view, the height of the triangle formed by the tip of the leg 3A and the required height of the overlapping region OL (ie, for example, on the center of FIG. 14) It is possible to arrange the imaging region so that the short side of the imaging region corresponds to the length of the imaging region plus the height between the lower boundary of the imaging region and the base of the triangle. As a result, the method of disposing two image sensors 10a in two in the same direction can be different from the example shown in FIG. Also by this, since the overlapping part exists in all the imaging regions, the blind spot can be surely eliminated. Since two image sensors 10a are arranged in the same direction, it is easier to incorporate the image sensor 10a than in the above example. Furthermore, it is possible to make the overlapping part smaller than in the example of FIG.

As described above, when the arrangement of the image sensor 10a is slightly shifted, the side connecting the tip of the second leg 3b and the third leg 3c of the triangle formed by the tips of the three legs 3A is also connected to the tip. There is a high possibility that blind spots will occur. However, by devising the arrangement of the image pickup element 10a, the number of portions where the image pickup regions overlap each other increases, so that a blind spot is hardly generated. Therefore, it is desirable to arrange as such. However, the arrangement is not limited to the above-described arrangement due to the size of the imaging unit, ease of assembly, and the like.

As described above, the intra-abdominal observation camera 1A according to the present embodiment includes the housing 2A as the camera main body portion in which the imaging element 10a is built. 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 portion 3A is arranged such that a 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. At least two image sensors 10a are provided so as to be able to image all directions in the external space of the housing 2A.

According to the above configuration, at least four leg portions 3A extend at least in the apex direction 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 installed at the tip of any three legs 3A regardless of the direction of the housing 2A. Stably supported. Further, since this stable support can be obtained simply by dropping the intra-abdominal observation camera 1A onto the installation surface 33a, the camera can be installed easily.

Further, in this embodiment, in this state, each of the four leg portions 3A is arranged such that the plane connecting the tips of the arbitrary three leg portions 3A and the surface of the housing 2A are not in contact with each other. ing. Furthermore, at least two image sensors 10a are provided so as to be able to image all directions in the external space of the housing 2A. For this reason, the image sensor 10a can image all directions in the external space of the housing 2A. As a result, the function of observing all directions in 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 this embodiment, when performing an operation using the intraperitoneal observation camera 1A, an organ may be moved to secure a visual field. In this case, when a small capsule endoscope is used, the capsule endoscope may be hidden in the shadow of the organ. However, in the intra-abdominal observation camera 1A of the present embodiment, the presence of the leg 3A prevents the housing 2A from entering the organ gap. Therefore, in the present embodiment, it is possible to reduce the risk that the housing 2A is buried in the organ gap.

In the intra-abdominal observation camera 1A according to the present embodiment, the image sensor 10a is built in a position sandwiched between predetermined positions of any two legs 3A on the surface of the housing 2A.

Thereby, the number of the image pickup elements 10a can be reduced by preventing the leg portions 3A from being reflected in the image pickup area of the image pickup element 10a as much as possible.

In the intra-abdominal observation camera 1A according to the present embodiment, the imaging area of the imaging element 10a is a rectangular area having a short side and a long side. Further, the imaging region is located between predetermined positions of at least two of the four leg portions 3A, and each of the two leg portions 3A provided with the long sides of the imaging region at predetermined positions is provided. The two legs 3A are arranged so as to face each other.

Generally, the imaging area of the imaging device 10a is a rectangular area having a short side and a long side. In this case, if the attachment positions of the legs 3A to the surface of the housing 2A are arranged so as to face each other on the long sides in the imaging area of the imaging device 10a, the reflection and blind spots in the imaging area of the legs 3A are large. Become.

Therefore, in the present embodiment, the imaging region is located between predetermined positions of at least two of the four leg portions 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. Thereby, it is possible to reduce the reflection of the leg 3A in the imaging region and the blind spot.

Further, in the intra-abdominal observation camera 1A according to the present embodiment, illumination devices 10c and 10c as first illumination devices are respectively arranged on the surface of the housing 2A at positions facing the short sides of the imaging region. . Thereby, the illumination light of the illuminating devices 10c and 10c can be efficiently irradiated in the imaging region.

Further, in the intra-abdominal observation camera 1A according to the present embodiment, the leg 3A is provided with the third illumination device, that is, the illumination device 10c as the third illumination device is attached to the leg 3A. Is possible. Thereby, since leg part 3A itself light-emits, the blind spot by the shadow of a leg part can be reduced. In addition, the illuminating device 10c may be attached only to the housing | casing 2A, or may be attached only to the leg part 3A. Or you may attach the illuminating device 10c to both the housing | casing 2A and the leg part 3A.

Further, in the intra-abdominal observation camera 1A ′ according to the present embodiment, the image sensor 10a is built in a range surrounded by a predetermined position of any three or more legs 3A on the surface of the housing 2A. As a result, there are four imaging elements 10a, and an image directed to each surface of the tetrahedron can be captured. Accordingly, since there is no blind spot, it is possible to provide an intra-abdominal observation camera 1A 'that can reliably image all directions of the installation space.

In the intra-abdominal observation camera 1A ′ in the present embodiment, the surface of the housing 2A is second on the side of the triangle formed by the predetermined positions of the arbitrary three legs 3A on the housing 2A. Lighting devices 10c as lighting devices are respectively attached. Thereby, the illumination light of the illuminating device 10c can be efficiently irradiated in the imaging region.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIGS. The configurations other than those described in the present embodiment are the same as those in the first embodiment. For convenience of explanation, members having the same functions as those shown in the drawings of the first embodiment are given the same reference numerals, and explanation thereof is omitted.

The intra-abdominal observation camera 1A of the first embodiment has a configuration in which four leg portions 3A extend outward from the surface of the housing 2A, and a tetrahedron is formed when the tips are connected. On the other hand, the intra-abdominal observation camera 1B according to the present embodiment has tripod-like legs 3B at both ends of the housing 2B, and the tripods overlap when viewed from the axial direction of the housing 2B. The difference is that it looks like this.

(Configuration 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 based on FIGS. 15 to 19 (a), (b), and (c). FIG. 15 is a perspective view showing the configuration of the intra-abdominal observation camera 1B in 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. 16C 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 seen from one direction, showing the relationship between the imaging unit and the leg 3B in the intra-abdominal observation camera 1B having two imaging units. FIG. 17B is a perspective view showing the relationship between the imaging unit and the leg 3B in the intra-abdominal observation camera 1B including two imaging units, as seen from the other direction. FIG. 17C is a perspective view showing the relationship between the imaging unit and the leg 3B in the intra-abdominal observation camera 1B having two imaging units, as seen from the other direction. FIG. 18A shows a configuration of a modified example of the intraabdominal observation camera 1B of the present embodiment, and is a plan view showing the configuration of the intraabdominal observation camera 1B ′ having three imaging units. is there. FIG. 18B is a perspective view illustrating a configuration of an intra-abdominal observation camera 1B ′ including three imaging units. FIG. 19A shows the configuration of another modification of the intra-abdominal observation camera 1B of the present embodiment, and shows the configuration of the intra-abdominal observation camera 1B ″ including five imaging units. 19B is a perspective view showing a configuration of an intra-abdominal observation camera 1B ″ including five imaging units. FIG. 19C is a front view showing a configuration of an intra-abdominal observation camera 1B ″ including five imaging units.

The intra-abdominal observation camera 1B according to the present embodiment includes a housing 2B as a camera main body in which the image sensor 10a is incorporated, as shown in FIG.

The housing 2B has an ellipsoidal shape in the present embodiment. However, the shape is not necessarily limited to an ellipsoidal shape, and may be a polyhedral shape, a columnar shape, or the like in which one length in two orthogonal axes is longer than the other length.

Two sets of three leg portions 3B extending outwardly from the housing 2B in three directions are attached to the surfaces of both ends in the longitudinal direction of the housing 2B. In the present embodiment, a portion intended to support the housing 2B is defined as a leg portion 3B, and the other portion is defined as a housing 2B. In the present embodiment, for convenience of explanation, the leg 3B and the housing 2B are defined as separate objects. However, the present invention is not limited to this, and the leg 3B is integrated as a part of the housing 2B. May be. Rather, it is more advantageous in terms of production efficiency and production cost to be integrated in manufacturing.

The outer tips of the two sets of three legs 3B extend from the housing 2B in a tripod shape, and have a shape that makes the tripod appear to overlap when viewed from the axial direction of the housing 2B. is doing.

In the present embodiment, as shown in FIGS. 16A, 16B, 16C, and 16D, a plane connecting the tips of the three legs 3B of each set and the surface of the housing 2B are provided. Each leg part 3B is arrange | positioned so that it may become 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 the plane connecting the tips of the three legs 3B. Present at the top.

Also, two sets of imaging units in the intraperitoneal observation camera 1B of the present embodiment are provided as shown in FIGS. One is the first imaging unit 11 and the other is the second imaging unit 12.

In the intra-abdominal observation camera 1B of the present embodiment, the tip of one leg 3B of one set of leg 3B and the tip of one leg 3B of the other set of leg 3B are connected. The first imaging unit 11 is provided at a position where a perpendicular is drawn from the midpoint of the line to the housing 2B. A second imaging unit 12 is provided at a position on the opposite side of 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, the present invention is not limited to this. For example, as shown in FIGS. 18A and 18B, by providing one imaging unit between the legs 3B, the first imaging unit 11 and the second imaging unit are provided. 12 and the third imaging unit 13 can be provided as an intra-abdominal observation camera 1B ′ provided with a total of three imaging units.

Alternatively, as shown in FIGS. 19A, 19 </ b> B, and 19 </ b> C, the first imaging unit 11, the second imaging unit 12, and the third imaging unit 13 that are one imaging unit are provided between the legs 3 </ b> B. In addition, it is possible to provide an intra-abdominal observation camera 1B ″ in which the fourth imaging unit 14 and the fifth imaging unit 15 are provided one by one in the axial direction. With this configuration, the blind spot of the imaging device 10a is reduced. That is, in the intra-abdominal observation camera 1B according to the present embodiment, similarly to the first embodiment, the image sensor 10a can be appropriately arranged so that the blind spot is reduced. For example, the shape of the housing 2B is an ellipse in which the length in one direction in two orthogonal directions is longer than the length in the other direction, in which case the long side of the imaging region of the imaging element 10a is the long axis. Parallel to direction By being urchin disposed, it is possible to reduce the dead angle.

Note that other parts of the configuration of the intraperitoneal observation camera 1B are the same as the configuration of the intraperitoneal observation camera 1A described above, and thus the description thereof is omitted.

(How to use the intra-abdominal observation camera)
A method of using the intraabdominal observation camera 1B having the above configuration will be described with reference to FIGS. 20 (a), 20 (b), and 20 (c). FIG. 20A is a cross-sectional view showing a situation where the intraperitoneal observation camera 1B is dropped into the abdominal cavity. FIG. 20B is a cross-sectional view showing a situation where the intraabdominal observation camera 1B is landed in the abdominal cavity. FIG. 20C is a cross-sectional view showing a situation where the intraperitoneal 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), a retracting portion 31a is provided on the abdominal wall 31, and the retracting portion protecting portion 32 is provided on the retracting portion 31a. Provide. Next, as shown in (a) of FIG. 20, the intraperitoneal observation camera 1 </ b> B is dropped into the abdominal cavity through the wound part protecting part 32. Accordingly, as shown in FIG. 20B, the intraabdominal observation camera 1 </ b> B lands on the installation surface 33 a of the internal organ 33. In this case, for example, a case where one or two leg portions 3B land is considered. However, in the present embodiment, the leg 3B loses its balance and changes its posture at that time. However, as shown in FIG. 20C, the leg 3B eventually has three or four legs. It is possible to install stably with 3B.

As a result, in the present embodiment, it is possible to install the intra-abdominal observation camera 1B in the abdominal cavity without any special installation work.

[Embodiment 3]
The following will describe still another embodiment of the present invention with reference to FIGS. The configurations other than those described in the present embodiment are the same as those in the second embodiment. For convenience of explanation, members having the same functions as those shown in the drawings of the second embodiment are given the same reference numerals, and descriptions thereof are omitted.

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

(Configuration 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 based on FIGS. 21 to 25 (a), (b), (c), and (d). FIG. 21 is a perspective view showing a configuration of an intra-abdominal observation camera 1C in 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. 22C 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 imaging unit and the leg 3C in the intra-abdominal observation camera 1C provided with two imaging units, as viewed from one direction. FIG. 23B is a perspective view showing the relationship between the imaging unit and the leg 3C in the intra-abdominal observation camera 1C having two imaging units, as seen from the other direction. FIG. 23C is a perspective view showing the relationship between the imaging unit and the leg 3C in the intra-abdominal observation camera 1C having two imaging units, as seen from the other direction. FIG. 24A shows a configuration of a modified example of the intraabdominal observation camera 1C of the present embodiment, and is a perspective view showing the configuration of the intraabdominal observation camera 1C ′ having three imaging units. is there. FIG. 24B is a perspective view showing the relationship between the imaging unit and the leg 3C in the intra-abdominal observation camera 1C ′ having three imaging units, as viewed from the other direction. FIG. 24C is a perspective view showing the relationship between the imaging unit and the leg 3C in the intra-abdominal observation camera 1C ′ having two imaging units, as seen from the other direction. FIG. 25A shows the configuration of another modified example of the intra-abdominal observation camera 1C of the present embodiment, and shows the configuration of the intra-abdominal observation camera 1C ″ including five imaging units. 25 (b) is a perspective view showing a configuration of an intra-abdominal observation camera 1C ″ having five imaging units. FIG. 19C is a perspective view showing a configuration of an intra-abdominal observation camera 1C ″ having five imaging units.

As shown in FIG. 21, the intra-abdominal observation camera 1C according to the present embodiment includes a housing 2C as a camera main body portion in which the imaging element 10a is incorporated.

The housing 2C has an ellipsoidal shape in the present embodiment. However, the shape is not necessarily limited to an ellipsoidal shape, and may be a polyhedral shape, a columnar shape, or the like in which one length in two orthogonal axes is longer than the other length.

Two sets of three leg portions 3C each extending in three directions outward from the housing 2C are attached to the surfaces of both ends in the longitudinal direction of the housing 2C. The outer ends of the two sets of three legs 3C extend 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 this.

Further, in the present embodiment, as shown in FIGS. 22A, 22B, 22C, and 22D, a plane connecting the tips of the three legs 3C of each set and the surface of the housing 2C are provided. Each leg 3C is arranged so as to be non-contact. That is, in the intra-abdominal observation camera 1C of the present embodiment, when the intra-abdominal observation camera 1C is installed on a horizontal installation surface, the bottom surface of the housing 2C is more than the plane connecting the tips of the three leg portions 3C. Present at the top.

In addition, as shown in FIGS. 23A, 23B, and 23C, two sets of imaging units are provided in the intraperitoneal observation camera 1C of the present embodiment. One is the first imaging unit 11 and the other is the second imaging unit 12.

In the intra-abdominal observation camera 1C of the present embodiment, the midpoint of the line connecting the tip of one leg 3C of one set of legs 3C and the tip of one leg 3C of the other set of legs 3C The first imaging unit 11 is provided at a position perpendicular to the housing 2C. A second imaging unit 12 is provided at a position opposite to the first imaging unit 11 in the housing 2C.

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, the present invention is not limited to this. For example, as shown in FIGS. 24A, 24B, and 24C, by providing one imaging unit between the legs 3C, the first imaging unit 11 and the first imaging unit 11 The intra-abdominal observation camera 1 </ b> C ′ provided with a total of three imaging units of the two imaging units 12 and the third imaging unit 13 can be provided.

Alternatively, as shown in FIGS. 25A, 25 </ b> B, and 25 </ b> C, the first imaging unit 11, the second imaging unit 12, and the third imaging unit 13 that are one imaging unit are provided between the legs 3 </ b> C. In addition, it is possible to provide an intra-abdominal observation camera 1C ″ in which the fourth imaging unit 14 and the fifth imaging unit 15 are provided one by one in the axial direction. With this configuration, the blind spot of the imaging device 10a can be reduced. That is, in the intra-abdominal 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 ellipse in which the length in one direction in two orthogonal directions is longer than the length in the other direction, in which case the long side of the imaging region of the imaging element 10a is Parallel to the long axis direction By being disposed so that it is possible to reduce the dead angle.

Note that 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, and thus the description thereof is omitted.

(How to use the intra-abdominal observation camera)
A method of using the intraabdominal 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 where the intraperitoneal observation camera 1C is dropped into the abdominal cavity. FIG. 26 (b) is a cross-sectional view showing a situation where the intra-abdominal observation camera 1C is landed in the abdominal cavity. (C) of FIG. 26 is sectional drawing which shows the condition which installs the intraperitoneal observation camera 1C 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), a retracting portion 31a is provided on the abdominal wall 31, and the retracting portion protecting portion 32 is provided on the retracting portion 31a. Provide. Next, as shown in FIG. 26A, the intraperitoneal observation camera 1 </ b> C is dropped into the abdominal cavity through the retracted part protection unit 32. Thereby, as shown in FIG. 26B, the intraperitoneal observation camera 1 </ b> C lands on the installation surface 33 a of the internal organ 33. In this case, for example, a case where one or two leg portions 3C land is conceivable. However, in this embodiment, the leg 3C loses its balance and changes its posture. However, as shown in FIG. 26C, the leg 3C is finally stabilized by the three legs 3C. It is possible to install. In the intra-abdominal observation camera 1C of the present embodiment, the tripod-like leg portions 3C provided at both ends of the housing 2C are twisted when viewed from the axial direction of the housing 2C. Yes. For this reason, the movement when the posture changes is smaller than in the case of the intra-abdominal observation camera 1B of the second embodiment.

As a result, in this embodiment, it is possible to install the intra-abdominal observation camera 1C in the abdominal cavity without special installation work.

[Embodiment 4]
The following will describe still another embodiment of the present invention with reference to FIGS. The configurations other than those described in the present embodiment are the same as those in the first to third embodiments. For convenience of explanation, members having the same functions as those shown in the drawings of Embodiments 1 to 3 are given the same reference numerals, and descriptions thereof are omitted.

In the intra-abdominal observation cameras 1A to 1C of the first to third embodiments, the legs 3A to 3C did not deform. In contrast, the intraabdominal observation camera 1D of the present embodiment is different in that the leg 3D is deformed.

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

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

Accordingly, when the intraperitoneal observation camera 1D is dropped into the abdominal cavity through the trocar 34 as a frame-like member, the shape of the leg 3D is deformed, so that the intraperitoneal observation camera 1D can be easily passed through the trocar 34. .

Here, when the intraperitoneal observation camera 1D is passed through the trocar 34, the shape is deformed by bending or bending so that the tips of the leg portions 3D approach each other. For this reason, leg part 3D of this Embodiment can be freely moved using an elastic material, a flexible member, or an elastic mechanism.

Specifically, as shown in (a) of FIG. 28, rubber 4 as an elastic material is provided at a portion where the leg 3D is attached to the housing 2D. Thereby, the base of the leg 3 </ b> D can be elastically deformed by the rubber 4. As a result, the leg 3D bends as shown in FIG. 23, so that the intra-abdominal observation camera 1D can be passed through the trocar 34.

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

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

Furthermore, as shown in FIG. 28 (d), the leg 3D itself can be formed by a coil spring as an elastic material or a flexible member. Accordingly, the leg 3D itself can be elastically deformed, and the leg 3D can be bent and the intraperitoneal observation camera 1D can be passed through the trocar 34 as shown in FIG.

As described above, in the intra-abdominal observation camera 1D as the imaging device according to the present embodiment, the leg 3D inserts the leg 3D and the housing 2D as the camera body into the trocar 34 as a frame member. Therefore, it is preferable that it is provided so as to be deformable. For example, the leg portion 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.

Thus, when the intraperitoneal observation camera 1D is dropped into the abdominal cavity through the trocar 34, the shape of the leg 3D is deformed, so that the intraperitoneal observation camera 1D can be easily passed through the trocar 34.

[Embodiment 5]
The following will describe still another embodiment of the present invention with reference to FIG. The configurations other than those described in the present embodiment are the same as those in the first to third embodiments. For convenience of explanation, members having the same functions as those shown in the drawings of Embodiments 1 to 4 are given the same reference numerals, and descriptions thereof are omitted.

In addition to the configuration of the intra-abdominal observation cameras 1A to 1D of the first to fourth embodiments, the intra-abdominal observation camera 1F as the imaging apparatus of the present embodiment includes a housing 2F as a camera main body portion 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. As shown in FIG. 29, an external control unit that controls the control circuit 10d is provided outside the housing 2F. A 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 based on FIG. FIG. 29 is a perspective view showing the configuration of the intra-abdominal observation camera 1F in the present embodiment, from the dropping to the installation.

As shown in FIG. 4, the intraperitoneal observation camera 1F according to the present embodiment incorporates a control circuit 10d as a main body control unit for driving and controlling the image sensor 10a. As shown in FIG. A control unit 22 as an external control unit that controls the control circuit 10d is provided outside the body 2F. And the housing | casing 2F and the control unit 22 are connected with the cable 21, and, thereby, the control circuit 10d and the control unit 22 are connected with a wire communication.

In this embodiment, the cable 21 is connected to the leg 3F. This is because when the cable 21 is connected to the housing 2F, the influence of the number of the image pickup devices 10a and the visual field in the image pickup device 10a increases.

The control circuit 10d of the housing 2F 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. The control unit 22 is provided with a monitor, and an image captured by the image sensor 10a can be displayed on the monitor.

As described above, in the intraperitoneal observation camera 1F of the present embodiment, the housing 2F includes the control circuit 10d that drives and controls the imaging device 10a, and the control circuit 10d is controlled outside the housing 2F. A control unit 22 is provided. The control circuit 10d and the control unit 22 are communicated with each other by wire.

Thereby, even if the intra-abdominal observation camera 1F is not visible from the outside, for example, installed inside the abdominal cavity, the imaging device 10a is driven and controlled from the external control unit 22 via the control circuit 10d, and imaging is performed by the imaging device 10a. The inside of the abdominal cavity is communicated to the outside by wire, and can be 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 that cannot be observed from the outside. Further, since the driving components of the housing 2F can be moved to the outside, the housing 2F can be downsized.

Further, for example, by pulling the cable 21 attached to the leg 3F, the intraperitoneal observation camera 1F can be recovered from the abdominal cavity, so that the recovery operation of the intraperitoneal observation camera 1F is facilitated. Specifically, an organ may be moved during surgery. In that case, there is a possibility that the intra-abdominal observation camera 1F may be hidden in the shadow of the organ. Even in such a case, if a wire such as the cable 21 exists, the intraperitoneal observation camera 1F can be easily found and collected.

Furthermore, since the position of the intra-abdominal observation camera 1F can be moved by pulling the cable 21, the movement is facilitated.

In the above description, the control circuit 10d and the control unit 22 are described as being communicated by wire. However, in one aspect of the present invention, the present invention is not limited to this. For example, the control circuit 10d and the control unit 22 can be communicated wirelessly. Thereby, since the cable 21 becomes unnecessary, it can be set as the easy-to-handle intra-abdominal observation camera 1F. In addition, at the time of wireless, the leg part 3F etc. are picked up with forceps etc., and the intraperitoneal observation camera 1F is taken out from the wound part 31a.

[Embodiment 6]
The following will describe still another embodiment of the present invention with reference to FIG. The configurations other than those described in the present embodiment are the same as those in the first to fifth embodiments. For convenience of explanation, members having the same functions as those shown in the drawings of Embodiments 1 to 5 are given the same reference numerals, and descriptions thereof are omitted.

In the intra-abdominal 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 inside the casings 2A to 2F. In some cases, it was present in the same horizontal section of 2F. On the other hand, the intra-abdominal observation camera 1G of the present embodiment is different in that the positions of the imaging units such as the first imaging unit 11 and the second imaging unit 12 are deviated from the same horizontal section of the housing 2G. ing.

The configuration of the intra-abdominal observation camera 1G as the imaging apparatus of the present embodiment will be described based on (a) to (e) of FIG. FIG. 30A is a perspective view showing the configuration of the intra-abdominal observation camera 1A ′ according to the first embodiment. FIG. 30B is a perspective view showing the configuration of the intra-abdominal observation camera 1B ′ according to the second embodiment. FIG. 30C is a cross-sectional view showing an arrangement state of the plurality of first imaging units 11, the second imaging unit 12, and the third imaging unit 13 in the intra-abdominal observation camera 1A ′ and the intra-abdominal observation camera 1B ′. It is. FIG. 30D is a perspective view showing a configuration of the intra-abdominal observation camera 1G of the present embodiment. (E) of FIG. 30 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. 30A, 30B, and 30C, in the intra-abdominal observation cameras 1A to 1F of the first to fifth embodiments, the first imaging unit is provided 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 in the same horizontal section of the casings 2A to 2F. However, in this way, when the installation positions of a plurality of imaging units exist within the same horizontal cross section of the housings 2A to 2F, the control circuit 10d, the imaging device 10a, and other components are incorporated so as not to contact each other. In addition, it is necessary to increase the diameters of the casings 2A to 2F to some extent. As a result, it becomes difficult to insert the thin frame-shaped member.

Therefore, in the intra-abdominal 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 have a housing. They are provided at different positions in the axial direction of the body 2G.

As a result, it is possible to reduce the dimension perpendicular to the axial direction of the housing 2G and insert it into a thin frame-shaped member.

[Embodiment 7]
The following will describe still another embodiment of the present invention with reference to FIGS. The configurations other than those described in the present embodiment are the same as those in the first to sixth embodiments. For convenience of explanation, members having the same functions as those shown in the drawings of Embodiments 1 to 6 are given the same reference numerals, and descriptions thereof are omitted.

In the intraperitoneal observation cameras 1A to 1G of the first to fifth embodiments, the casings 2A to 2G are formed by a single container. In contrast, the intraabdominal 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 based on FIGS. 31 (a) and 31 (b), FIGS. 32 and 33 (a) and 33 (b). FIG. 31A shows the configuration of the intraabdominal observation camera 1H of the present embodiment, and is a perspective view of the intraabdominal observation camera 1H showing a state in which the divided main body is integrated. FIG. 31B 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 structure of the divided housing 2H in the intraperitoneal observation camera 1H. FIG. 33A is a cross-sectional view showing the structure 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 intraperitoneal observation camera 1H. FIG. 33C is a cross-sectional view showing the structure of the divided illumination unit housing 2b in the intra-abdominal observation camera 1H.

In the intraperitoneal observation camera 1H of the present embodiment, as shown in FIG. 31B, the housing 2H as the camera main body is composed of divided main bodies each including the image sensor 10a and the leg 3H. . And each division | segmentation main-body part can be attached rotatably about an axis | shaft.

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

A connector 41 projecting in a columnar shape is provided on the upper surface of each divided main body portion so as to integrally connect the respective divided main body portions. Further, a fitting recess 42 to be fitted to the connector 41 is formed on the bottom surface of each divided main body portion. 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. An intra-abdominal observation camera 1H provided with a housing 2H with integrated parts is completed. Here, since each divided main body is pivotally supported by the cylindrical connector 41 and the fitting recess 42, each can be rotated. Therefore, in the intra-abdominal observation camera 1H of the present embodiment, for example, the positions and angles of the leg 3H and the imaging unit can be freely changed by arbitrarily rotating the plurality of divided main body portions, respectively. In addition, in the rotation angle of each division | segmentation main-body part, in order not to produce a blind spot etc., a precision is requested | required. Therefore, for example, it is preferable to form a notch that can be fixed in a predetermined direction on the surface where the divided main body portions meet. Thereby, it becomes possible to easily assemble each divided main body part so that the rotation state between the divided main body parts is accurately maintained. As described above, the arrangement method of the camera unit housing 2a and the lighting unit housing 2b varies depending on the viewpoint of preventing the generation of blind spots and the ease of assembling of the divided main body portions.

In addition, the connector 41 can communicate a power source, a control signal, and the like. For this reason, the mutual electrical cooperation in a some division | segmentation main-body part can be maintained.

Here, as shown in FIG. 33 (a), the camera unit housing 2a includes an imaging element 10a, a lens 10b, an illumination device 10c, and a control circuit 10d, which are components of the imaging unit. As shown in FIG. 33 (b), the illumination unit housing 2b is provided with an illumination device 10c and a drive circuit 10e for driving the illumination device 10c. Furthermore, as shown in FIG. 33 (c), the common unit housing 2c includes a control unit 10f, a power supply unit 10g, and a leg 3H. Thus, it is preferable that the leg 3H is provided in the common unit housing 2c because each divided main body can be efficiently divided and coupled. This is because the number of the illumination unit housing 2b and the camera unit housing 2a can be selected as necessary.

In the present embodiment, there are three types of divided main body portions, ie, the camera unit housing 2a, the illumination unit housing 2b, and the common unit housing 2c described above, but the present invention is not necessarily limited thereto. For example, the leg 3H is provided in the common unit housing 2c, but the leg 3H may be provided 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 imaging device 10a and the leg 3H, the common unit housing 2c, and the illumination unit housing. 2b etc., and each division main body part can be attached rotatably about an axis.

Thereby, it is possible to divide each image pickup device 10a, each leg 3H, or each unit such as the control unit 10f and the power supply unit 10g. And since each division | segmentation main-body part can be attached rotatably about an axis | shaft, it becomes possible to combine each division | segmentation main-body part freely. In addition, 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 illumination unit housing 2b is provided as a single unit. For this reason, it is also possible to exchange the illumination unit of a wavelength suitable for observation, for example.

[Summary]
The imaging device (intra-abdominal observation cameras 1A to 1H) according to the first aspect of the present invention is an imaging device including a camera main body (housing 2A to 2H) in which an imaging element 10a is incorporated. 2H) includes at least four legs (legs 3A to 3H) extending outward from predetermined positions of the camera body (housings 2A to 2H), and the four legs (legs) are provided. The plane connecting the tips of any three legs (legs 3A to 3H) of the parts 3A to 3H) and the surface of the camera body (housings 2A to 2H) are not in contact with each other. The leg portions (leg portions 3A to 3H) are arranged, and at least two image pickup devices 10a are provided so as to be able to pick up images of all the directions in the external space of the camera body portions (housings 2A to 2H). It is characterized by having.

According to the above configuration, at least four legs extend at least in the apex direction of the tetrahedron around the camera body. For this reason, when the image pickup apparatus is dropped on the installation surface, the image pickup apparatus is stably supported on the installation surface at the tip ends of any three leg portions regardless of the direction of the camera body. In addition, since this stable support can be obtained simply by dropping the imaging device onto the installation surface, it can be easily installed.

In this state, each of the four leg portions is arranged such that a plane connecting the tips of any three leg portions and the surface of the camera body portion are not in contact with each other. Further, at least two image sensors are provided so that all directions in the external space of the camera body can be imaged. For this reason, the image sensor can image all directions in the external space of the camera body. As a result, the function of observing all directions in the external space of the camera body is satisfied.

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

In the imaging apparatus (intra-abdominal observation camera 1A ′) according to aspect 2 of the present invention, the imaging element 10a is surrounded by a predetermined position of any three or more legs 3A on the surface of the camera body (housing 2A). It can be said that it is built into the range.

Thereby, there are at least four image sensors, and an image directed to each surface of the tetrahedron can be captured. Therefore, since there is no blind spot, it is possible to provide an imaging device that can reliably image all directions of the installation space.

In the imaging apparatus (intra-abdominal observation camera 1A) according to aspect 3 of the present invention, the imaging element 10a is sandwiched between predetermined positions of two arbitrary leg portions 3A on the surface of the camera body (housing 2A). Can be built in.

Thereby, it is possible to reduce the number of image pickup elements by preventing the legs from being reflected in the image pickup region of the image pickup element as much as possible.

In the imaging device (intra-abdominal observation camera 1A) according to aspect 4 of the present invention, the imaging area of the imaging element 10a is a rectangular area having a short side and a long side, and the imaging area is the at least four of the imaging areas. The two legs 3A are positioned between predetermined positions, and the two long sides of the imaging region face each of the two legs 3A provided at the predetermined positions. It is preferable that 3A of leg parts are arrange | positioned.

In general, the imaging area of the imaging element is a rectangular area 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 the long sides of the imaging region of the image sensor, the reflection of the legs and the blind spot increase in the imaging region.

Therefore, in one aspect of the present invention, the imaging region is located between predetermined positions of two legs of the at least four, 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. Thereby, it is possible to reduce the reflection and the blind spot in the imaging region of the leg.

In the imaging device (intra-abdominal observation camera 1A) according to aspect 5 of the present invention, the first illumination device (illumination device) is provided on the surface of the camera body (housing 2A) at a position facing the short side of the imaging region. 10c) are preferably arranged respectively.

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

In the imaging device (intra-abdominal observation camera 1A ′) according to aspect 6 of the present invention, the camera body portion of the arbitrary three legs (leg portion 3A) is provided on the surface of the camera body portion (housing 2A). It can be assumed that the second lighting device is attached to each side of a triangle formed at a predetermined position on (housing 2A).

Thereby, the illumination light of the second illumination device can be efficiently irradiated in the imaging region.

In the imaging device (intra-abdominal observation camera 1D) according to aspect 7 of the present invention, the leg portion 3D has a shape so that the leg portion 3D and the camera body portion (housing 2D) can be inserted through the frame-like member (trocar 34). It is preferable to be provided so as to be deformable. In addition, it is preferable that the leg part consists of an elastic member or a flexible member, or has an elastic member or a flexible member.

Thereby, for example, when the imaging device is dropped into the abdominal cavity through a frame-shaped member such as a trocar, the shape of the leg is deformed, so that the imaging device can be easily passed through the frame-shaped member. Here, when the imaging device is passed through the frame-shaped member, the shape is deformed by bending or bending so that the tips of the leg portions approach each other. At this time, according to one aspect of the present invention, the imaging element is built in a position sandwiched between attachment positions of arbitrary two legs on the surface of the camera body. For this reason, when letting an imaging device pass through a frame-like member, it is bent or bent so that the tip ends of leg portions approach each other.

In the imaging apparatus (intra-abdominal observation camera 1F) according to the aspect 8 of the present invention, the camera main body (housing 2F) incorporates a main body control unit (control circuit 10d) that drives and controls the image sensor 10a. An external control unit (control unit 22) for controlling the main body control unit (control circuit 10d) is provided outside the camera main body unit (housing 2F), and the main body control unit (control circuit 10d). The external control unit (control unit 22) is preferably communicated with each other by wire or wirelessly.

Thus, even if the imaging device is not visible from the outside, for example, inside the abdominal cavity, the imaging device is driven and controlled from the external control unit via the main body control unit, and the inside of the abdominal cavity imaged by the imaging device Can be observed with a monitor or the like provided in the external control unit.

Therefore, it can be suitably used as an imaging device for observing, for example, the abdominal cavity that cannot be observed from the outside. In addition, since the driving parts of the camera body can be moved to the outside, the camera body can be downsized.

In the imaging apparatus (intra-abdominal observation camera 1G) according to aspect 9 of the present invention, at least two imaging elements 10a built in the camera body (housing 2G) are arranged in the axial direction of the camera body (housing 2G). It is preferable that they are provided at different positions.

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

Therefore, in one aspect of the present invention, at least two image sensors incorporated in the camera body are provided at different positions in the axial direction of the camera body. As a result, it is possible to reduce the dimension orthogonal to the axial direction of the camera body and insert it into the thin frame member.

In the imaging apparatus (intra-abdominal observation camera 1H) according to aspect 10 of the present invention, it is preferable that the camera main body can be divided.

Thereby, 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 apparatus (intra-abdominal observation camera 1H) according to the aspect 11 of the present invention, the camera body (housing 2H) is composed of divided body parts that respectively accommodate the imaging element 10a and the leg 3H. It is preferable that the main body can be attached to be rotatable about an axis.

Thereby, it is possible to divide each image sensor, each leg, or each unit such as a control unit and a power supply unit. And since each division | segmentation main-body part can be attached rotatably about an axis | shaft, it becomes possible to combine each division | segmentation main-body part freely. In addition, each divided main body can be freely moved in any rotation direction, and the direction of the image sensor can be arbitrarily determined.

In the imaging device (intra-abdominal 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 illumination device (illumination device 10c).

This allows the leg itself to emit light, thereby reducing the blind spot due to the shadow of the leg.

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 different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

1A ・ 1A 'Intraperitoneal observation camera (imaging device)
1B, 1B ', 1B "Intra-abdominal observation camera (imaging device)
1C, 1C ', 1C "Intra-abdominal observation camera (imaging device)
1D, 1F, 1G, 1H Intra-abdominal observation camera (imaging device)
1Z Intra-abdominal observation camera 2A to 2H Enclosure (camera body)
2a Camera unit housing 2b Lighting unit housing 2c Common unit housing 3A to 3H Leg 3a First leg 3b Second leg 3c Third leg 3d Fourth leg 4 Rubber 5 Spring 10a Imaging element 10b Lens 10c Lighting device (first lighting device, second lighting device, third lighting device)
10d Control circuit (main body control unit)
10e Drive circuit 10f Control unit 10g Power supply unit 11 First imaging unit 12 Second imaging unit 13 Third imaging unit 14 Fourth imaging unit 15 Fifth imaging unit 21 Cable 22 Control unit (external control unit)
31 abdominal wall 31a retractor 32 retractor protector 33 internal organ 33a installation surface 34 trocar 41 connector 42 fitting recess

Claims (12)

In an imaging apparatus having a camera body unit incorporating an imaging element,
Provided on the surface of the camera body with at least four legs extending outward from a predetermined position of the camera body,
Each leg is arranged so that a plane connecting the tips of any three of the four legs is not in contact with the surface of the camera body,
An image pickup apparatus, wherein at least two image pickup elements are provided so as to be able to pick up images in all directions in the external space of the camera body. The image pickup device according to claim 1, wherein the image pickup device is built in a range surrounded by a predetermined position 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 arbitrary two legs on the surface of the camera body. The imaging area of the imaging device is a rectangular area having a short side and a long side,
The imaging area is located between predetermined positions of two of the at least four legs, and each of the long sides of the imaging area is provided at each of the two legs provided at the predetermined position. The imaging apparatus according to claim 1, wherein the two legs are arranged so as to face each other. The imaging device according to claim 4, wherein a first illumination device is disposed on the surface of the camera body at a position facing the short side of the imaging region. 2. The second illumination device is attached to a surface of the camera body part on a side of a triangle formed at a predetermined position of the camera body part of the arbitrary three legs, respectively. Item 3. The imaging device according to Item 2. The imaging apparatus according to any one of claims 1 to 6, wherein the leg portion is provided so as to be deformable so that the leg portion and the camera main body portion can be inserted into the frame-like member. The camera main body includes a main body control unit that controls the drive of the image sensor, and an external control unit that controls the main body control unit is provided outside the camera main body unit.
The imaging apparatus according to any one of claims 1 to 7, wherein the main body control unit and the external control unit are configured to communicate with each other by wire or wirelessly. The imaging according to any one of claims 1 to 8, wherein at least two image sensors incorporated in the camera body are provided at different positions in the axial direction of the camera body. apparatus. 10. The imaging apparatus according to claim 1, wherein the camera body is separable. 2. The camera main body portion is composed of divided main body portions that respectively accommodate the image pickup device and leg portions, and each divided main body portion can be attached rotatably about an axis. The imaging apparatus according to any one of 1 to 10. The imaging device according to any one of claims 1 to 11, wherein a third illumination device is provided on the leg portion.

Images