WO2020174876A1 - Lens barrel and imaging device - Google Patents

Abstract

This lens barrel is provided with: an external cylinder in which the axial direction thereof is an optical axis direction, an internal space is formed as a disposition space, and a subject-side end is provided as a fixing end; an annular lens holding part which is disposed in the disposition space and holds a lens; and an elastic body which has a fixed part that is fixed to the fixing end, and a pressing part that is located in the disposition space and is elastically deformable, and which is annularly formed, wherein the pressing part is pressed against the outer peripheral surface of the lens holding part. Consequently, a gap between the external cylinder and the lens holding part is sealed by the elastic body, a difference in the size of the gap in a circumferential direction when the lens barrel is viewed from the subject side becomes difficult to visually recognize, and dust and water do not enter from between the external cylinder and the lens holding part, thereby making it possible to improve external appearance quality and improve dust-proof and drip-proof performance.

Description

\¥02020/174876 1 卩 (: 17 2019/051521

Specification

Title of invention: Lens barrel and imaging device

Technical field

The present technology relates to a technical field of a lens barrel in which a lens holding unit that holds a lens is arranged inside an outer cylinder, and an imaging device.

Prior art documents

Patent literature

[0002] Patent Document 1: Japanese Patent Laid-Open No. 20 0 6 _ 2 0 1 2 5 0

Background technology

[0003] Various image pickup devices such as video cameras and still cameras are provided with a lens barrel that captures an optical image through a photographing optical system such as a lens, and the lens barrel has a plurality of lens groups arranged in the optical axis direction. Some have been configured to have. In addition, there is a case in which the imaging device is not provided with a lens barrel, and a replacement lens detachably attached to the imaging device is used as the lens barrel.

[0004] In such a lens barrel, a lens is held by attaching an annular sealing material by compressing it in the optical axis direction with a decorative ring in order to prevent ingress of the inner ring and water. There is one that fills the gap between the first group lens barrel (lens holding portion) and the filter frame (outer cylinder) (for example, see Patent Document 1).

Summary of the invention

Problems to be Solved by the Invention

[0005] By the way, in the lens barrel, in order to ensure optical performance, for example, shift adjustment may be performed to adjust the position of the lens with respect to the outer cylinder to an appropriate position orthogonal to the optical axis. The adjustment is performed by displacing the lens holding portion holding the lens in the direction orthogonal to the optical axis with respect to the outer cylinder.

[0006] Therefore, as a result of performing the shift adjustment, the optical axis of the lens is displaced in the radial direction with respect to the central axis of the outer cylinder, and the gap between the outer cylinder and the lens holding portion is partially located in the circumferential direction. The appearance quality when viewing the lens barrel from the subject side is different from 〇2020/174876 2 (:171?2019/051521

May be damaged.

[0007] Further, in the lens barrel, the size of the gap may partly differ in the circumferential direction due to manufacturing part tolerances, and such a state may also contribute to a reduction in appearance quality. is there.

[0008] On the other hand, since the gap between the outer cylinder and the lens holding portion can be a path for dust and water to enter the lens barrel from the outside, it is necessary to take measures against dust and waterproof in the lens barrel. Has been done.

Therefore, it is an object of a lens barrel and an imaging device according to an embodiment of the present technology to overcome the above-mentioned problems and improve appearance quality and dustproof/splashproof performance.

Means for solving the problem

[0010] First, in the lens barrel according to the present technology, the axial direction is the optical axis direction, the internal space is formed as the arrangement space, and the end portion on the subject side is provided as the fixing end portion. A cylinder, an annular lens holding portion which is arranged in the arrangement space and holds a lens, and a pressing portion which is elastically deformable with a fixing portion fixed to the fixing end and is pressed against an outer peripheral surface of the lens holding portion. And an elastic body formed in an annular shape having the corresponding portion.

[001 1] With this, the gap between the outer cylinder and the lens holding portion is sealed by the elastic body, and it is difficult to recognize the difference in the size of the gap in the circumferential direction when the lens barrel is viewed from the subject side. Become.

Secondly, in the lens barrel described above, it is desirable that the fixing portion is provided with at least a first portion fixed to the tip end surface of the fixing end portion.

As a result, the tip end surface of the outer cylinder is covered with the first portion.

[0014] Thirdly, in the lens barrel described above, the fixing portion has a first portion that covers the tip end surface of the fixing end portion and a second portion that is fixed to the outer peripheral surface of the fixing end portion. And are preferably provided.

[0015] With this, the second portion is fixed to the outer peripheral surface of the fixing end portion, so that the fixing range of the elastic body with respect to the outer cylinder can be increased.

[0016] Fourth, in the lens barrel described above, the pressing portion in the elastic body is provided. 〇2020/174876 3 (:171?2019/051521

It is desirable that a portion between the fixed portion and the fixed portion is provided as a connecting portion located in the arrangement space, and a filler is provided between the inner peripheral surface of the outer cylinder and the connecting portion.

[0017] With this, the space between the connecting portion and the fixing end portion is filled with the filler.

Fifth, in the lens barrel described above, it is desirable that the inner peripheral surface of the outer cylinder and the outer peripheral surface of the connecting portion are bonded to the filler.

[0019] As a result, the outer cylinder and the pressing portion are bonded to each other via the filling material.

Sixthly, in the above-mentioned lens barrel, a portion of the elastic body between the pressing portion and the fixing portion is provided as a connecting portion positioned in the arrangement space, and the elastic body is It is preferable that an annular protrusion protruding from the connecting portion to the inner peripheral side is provided.

[0021] This makes it possible to cover the lens holding portion from the subject side by the protrusion.

Seventh, in the lens barrel described above, the pressing portion includes a contact portion that is pressed against the outer peripheral surface of the lens holding portion, and one end of the contact portion that is opposite to the subject. It is desirable that a bent portion that is continuous and is bent in a direction approaching the inner peripheral surface of the outer cylinder is provided with respect to the contact portion.

With this, when the coupling ring is assembled to the base cylinder in the optical axis direction, the bent portion functions as a guided portion that is guided to the tip of the lens holding portion.

[0024] Eighth, in the above-mentioned lens barrel, the lens holding portion presses the annular lens frame and the lens against the lens frame, and the end portion on the subject side is positioned on the subject side of the lens frame. It is desirable to have a pressing ring, and the pressing portion be pressed against the outer peripheral surface of the pressing ring.

[0025] This makes it possible to position the pressing portion close to the central axis side of the outer cylinder in the arrangement space.

[0026] Ninth, an imaging device according to an embodiment of the present technology includes a lens barrel that captures an optical image, and an imaging element that converts the captured optical image into an electrical signal. 〇 2020/174 876 4 (: 171-1? 2019 /051521

An outer cylinder having an axial direction in the optical axis direction, an inner space formed as an arrangement space, and an end on the object side provided as a fixing end, and an annular cylinder arranged in the arrangement space for holding a lens. A lens holding portion, a fixing portion fixed to the fixing end portion, and an elastic body formed in an annular shape having a pressing portion that is elastically deformable and is pressed against the outer peripheral surface of the lens holding portion. It is a thing.

[0027] Thereby, the gap between the outer cylinder and the lens holding portion is sealed by the elastic body, and it becomes difficult to recognize the difference in the size of the gap in the circumferential direction when the lens barrel is viewed from the subject side. ..

Brief description of the drawings

[0028] [Fig. 1] Fig. 1 shows an embodiment of a lens barrel and an imaging device according to the present technology together with Figs. 2 to 14. Fig. 1 shows an imaging device in which the lens barrel and the device body are shown separately. FIG.

FIG. 2 is an enlarged sectional view showing a part of the lens barrel.

FIG. 3 is an enlarged cross-sectional view showing a state in which the gap between the fixing end portion and the elastic body is reduced.

FIG. 4 is an enlarged cross-sectional view showing a state in which the gap between the fixing end and the elastic body is enlarged.

[FIG. 5] An enlarged cross-sectional view showing a state where the pressing portion is pressed against the lens frame.

FIG. 6 is an enlarged cross-sectional view showing a state before the coupling ring and the like are attached to the base cylinder.

FIG. 7 is an enlarged cross-sectional view showing a first structural example of an elastic body.

[FIG. 8] An enlarged cross-sectional view showing a second configuration example of an elastic body.

[FIG. 9] An enlarged cross-sectional view showing a third configuration example of an elastic body.

FIG. 10 is a block diagram of the image pickup device.

FIG. 11 is a diagram showing an example of a schematic configuration of an endoscopic surgery system.

[Fig. 12] A block diagram showing an example of the functional configuration of the camera head and XXII shown in Fig. 11.

FIG. 13 is a block diagram showing an example of a schematic configuration of a vehicle control system. 〇 2020/174876 5 卩 (: 171? 2019 /051521

FIG. 14 is an explanatory diagram showing an example of installation positions of the vehicle exterior information detection unit and the imaging unit. MODE FOR CARRYING OUT THE INVENTION

[0029] Hereinafter, modes for carrying out the present technology will be described with reference to the accompanying drawings.

In the embodiments described below, the imaging device of the present technology is applied to a still camera, and the lens barrel of the present technology is applied to an interchangeable lens that is attachable to and detachable from the device body of the still camera.

The application range of the present technology is not limited to a still camera and an interchangeable lens that can be attached to and detached from the apparatus body of the still camera. The present technology is widely applied to, for example, various imaging devices incorporated in a video camera or other equipment as an imaging device, and a lens barrel such as a lens unit including a lens group provided in these imaging devices. be able to.

[0032] In the following description, the front, rear, up, down, left, and right directions will be indicated in the direction viewed from the photographer when the still camera takes an image. Therefore, the subject side is the front side and the photographer side is the rear side.

[0033] Note that the front, rear, up, down, left, and right directions shown below are for convenience of description, and the implementation of the present technology is not limited to these directions.

Further, the lens group shown below may be composed of a single lens or a plurality of lenses, and may also include these single or a plurality of lenses and other optical elements such as a diaphragm and an iris.

<Structure of Imaging Device>

The imaging device 100 is composed of a device body 200 and a lens barrel 1 (see FIG. 1). The lens barrel 1 is, for example, an interchangeable lens that can be attached to and detached from the apparatus main body 200. In addition, the present technology is a type in which a lens unit having a structure similar to the internal structure of the lens barrel 1 is incorporated inside the device body, or a collapsible type in which the lens unit is projected or stored in the device body. It can also be applied to.

The apparatus main body 200 is configured by arranging required parts inside and outside the outer casing 201.

[0037] In the outer casing 201, for example, various operation units 202, 202,-are provided on the upper surface and the rear surface. \¥02020/174876 6 6 (: 17 2019/051521

Are arranged. As the operation units 202 and 202, for example, a power button, a shutter button, a zoom knob, a mode switching knob and the like are provided.

On the rear surface of the outer casing 201, a display (display unit) not shown is arranged.

[0039] A circular opening 201a is formed on the front surface of the outer casing 201, and a portion around the opening 201a is provided as a mount portion 203 for mounting the lens barrel 1. It is included.

[0040] The image pickup device 204 such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) is arranged inside the outer casing 201, and The 204 is located behind the opening 201a.

[0041] <Constitution of lens barrel>

The lens barrel 1 is composed of a substantially cylindrical outer cylinder 2 whose axial direction is in the front-rear direction, and required parts mounted or supported inside and outside the outer cylinder 2 (see FIGS. 1 and 2).

The outer cylinder 2 has a base cylinder 3 formed in a substantially cylindrical shape and a coupling ring 4 coupled to the front end of the base cylinder 3. The inner space of the outer cylinder 2 is formed as an arrangement space 2a.

[0043] The lens barrel 1 is provided with a plurality of lens groups spaced apart from each other in the optical axis direction in the arrangement space 2a. The lens groups are movable in the optical axis direction and movable in the optical axis direction. It consists of a fixed group that cannot be moved. One of the lens groups may be provided as a shift lens group that is movable in a direction orthogonal to the optical axis direction to perform blur correction.

[0044] Operation rings 5, 5 are rotatably supported on the outer peripheral side of the base cylinder 3.

By rotating the operation ring 5, for example, manual zooming or manual focusing can be performed. Mounting protrusions 6, 6, 6 are provided at the rear end of the base cylinder 3 so as to be circumferentially separated from each other. The lens barrel 1 is attached to the apparatus main body 2 by the mounting projections 6, 6, 6 being engaged with the mounting portion 203. 〇 2020/174876 7 卩 (: 171? 2019 /051521

A portion of the outer peripheral surface of the base cylinder 3 near the front end is formed as a screwed portion 33.

The coupling ring 4 has a front end portion provided as a fixing end portion 7 and a rear end portion serving as a coupling end portion 8. The fixing end portion 7 is located on the inner peripheral side of the coupling end portion 8, that is, on the central axis side of the coupling ring 4. The coupling ring 4 has a coupling end 8 coupled to the base cylinder 3 from the outer peripheral side. The rear end portion of the inner peripheral surface of the connecting end portion 8 is formed as a spiral groove portion 8 3.

An elastic body 9 is fixed to the fixing end portion 7. The elastic body 9 is made of, for example, a rubber material in an annular shape. The elastic body 9 may be made of a material having elasticity other than a rubber material.

2が順に連続されて形成されている。 [0048] The elastic body 9 is formed by integrally forming the fixed portion 10, the connecting portion 11 and the pressing portion 12, and the fixing portion 10 and the connecting portion 1 1 and the pressing portion 12 are integrally formed.

2 are continuously formed in order.

The fixing portion 10 is composed of a first portion 13 located on the front side and a second portion 14 protruding substantially rearward from the outer peripheral portion of the first portion 13 and The width of the part 14 in the front-rear direction is larger than the width of the first part 13 in the radial direction. The width of the fixing portion 10 in the front-rear direction is substantially the same as the width of the fixing end portion 7 of the coupling ring 4 in the front-rear direction.

[0050] The connecting portion 11 is a portion that connects the first portion 13 of the fixed portion 10 and the pressing portion 12 and is projected substantially rearward from the inner peripheral portion of the first portion 13. There is. Therefore, the connecting portion 11 is located on the inner peripheral side of the second portion 14 of the fixed portion 10.

[0051] The pressing portion 12 is continuously provided at the rear end of the connecting portion 11, and the contact portion 15 and the rear end of the contact portion 15 are continuously connected to the connecting portion 11 and the contact portion 1, respectively. 5 and a bent portion 16 bent toward the fixed portion 10 side. The pushing portion 12 and the connecting portion 11 are located on the inner circumferential side of the fixed portion 10, and the pushing portion 12 is located on the inner circumferential side of the rear end of the fixed portion 10. A pressing space 9 3 is formed between the pressing portion 12 and the connecting portion 11 and the fixed portion 10.

The elastic body 9 is bonded, for example, in a state where the inner peripheral surface 14 3 of the second portion 14 of the fixing portion 10 is in contact with the outer peripheral surface 7 ₃ of the fixing end portion 7 of the coupling ring 4. By 〇 2020/174876 8 卩 (: 171? 2019 /051521

Fixed to the fixing end 7. With the elastic body 9 fixed to the fixing end 7, the fixing end 7 is inserted into the kneading space 93, and the first part 1 3 and the second part of the fixing part 10 are inserted. The fixing end 7 is covered from the front side and the outer peripheral side by the part 14 of FIG. 4, and the fixing end 7 is covered from the inner peripheral side by the connecting part 11 and the pressing part 12 respectively. A gap is formed in the insertion space 93 between the fixing end 7 and the connecting portion 11 and the pressing portion 12 and the connecting portion 1 1 and the pressing portion 12 are fixed by this gap. It is made elastically deformable in a direction approaching the portion 10.

As described above, in the lens barrel 1, the fixed portion 10 is provided with the first portion 13 and the second portion 14. Therefore, the tip surface 7 of the fixing end 7 is covered with the first portion 13 and the second portion 14 is fixed to the outer peripheral surface 7 3 of the fixing end 7, so that the elastic body 9 It is possible to increase the fixing range of the outer cylinder 2 to the outer cylinder 2, and it is possible to sufficiently protect the outer cylinder 2 in the event of a drop or impact, and to prevent the elastic body 9 from falling off from the outer cylinder 2. can do.

The elastic body 9 may have the first portion 13 fixed to the fixing end 7 in addition to the second portion 14. In this case, the first portion 13 is fixed to the tip surface 7 of the fixing end 7 by adhesion or the like.

By fixing both the first portion 13 and the second portion 14 to the fixing end portion 7 in this way, the fixing area of the fixing portion 10 with respect to the fixing end portion 7 is increased. It becomes larger, and the fixing strength of the elastic body 9 to the fixing end portion 7 can be increased.

A lens holding portion 17 is arranged in the arrangement space 23 of the outer cylinder 2. The lens holding portion 17 has a lens frame 18 and a holding ring 19 and the holding ring 19 is joined to the lens frame 18 by screwing, for example.

The lens frame 18 has a base portion 20 facing substantially in the front-rear direction and a peripheral surface portion 21 protruding forward from the outer peripheral portion of the base portion 20. A light transmitting hole 20 3 is formed in the base portion 20 except the outer peripheral portion. A threaded portion 2 13 is formed on the inner peripheral surface of the peripheral surface portion 21.

[0058] The pressing ring 19 is formed in a substantially cylindrical shape, and a threaded portion 193 is formed in a portion of the outer peripheral surface near the rear end. The front end of the retaining ring 19 on the outer peripheral surface is 〇 2020/174876 9 卩 (: 171? 2019 /051521

The surface to be pressed is formed as a dip.

The lens holding section 17 holds the lens 22. Lens 2 2 corresponds to the most front lens group is arranged in the arrangement spatial 2 _3.

The lens 22 is held by being held between the lens holding portion 17 and the lens frame 18 and the pressing ring 19. To hold the lens 2 2 by the lens holding part 17, hold the lens 2 2 against the front surface of the outer peripheral part of the base part 20 and rotate the holding ring 1 9 so that the screwed part 1 9 3 By being screwed into the threaded portion 2 1 3 of the frame 18, the holding ring 19 is moved in the direction of approaching the lens 22 and the rear surface of the holding ring 19 is pushed onto the front surface of the outer peripheral portion of the lens 22. It is done by being applied. Therefore, the outer periphery of the lens 22 is sandwiched between the rear surface of the pressing ring 19 and the front surface of the base portion 20 and is held by the lens holding portion 17. The outer peripheral surface of the lens 22 is pressed against the inner peripheral surface of the peripheral surface portion 21 and is held by the lens holding portion 17. It is possible to adjust the position of the lens 22 in the optical axis direction by sandwiching an annular spacer 1 between the base 20 and the lens 22.

The contact portion 15 of the pressing portion 12 of the elastic body 9 is pressed from the outside against the pressed surface 19 of the pressing ring 19 of the lens holding portion 17. The elastic body 9 is elastically deformable with respect to the fixed portion 10 by the connecting portion 11 and the pressing portion 5 12, and the contact portion 15 is elastically deformed toward the fixed portion 10 side and the inner peripheral surface 15 ₃ is pressed against the surface to be pressed. Therefore, the contact portion 15 is pressed with the inner peripheral surface 1 53 in close contact with the pressed surface 19 in the entire circumference.

[0062] In a state where the inner peripheral surface 15 3 of the contact portion 15 is pressed against the pressed surface 19 of the pressing ring 19, the central axis of the outer cylinder 2 is increased as the connecting portion 11 goes rearward. It is inclined toward the direction.

<Action of Elastic Body on Lens Holding Unit>

As described above, the lens holding portion 17 is arranged in the arrangement space 23 of the outer cylinder 2, but in the lens barrel 1, the position of the lens 2 2 with respect to the outer cylinder 2 is adjusted to ensure optical performance. Shift adjustment is performed to adjust the position to a proper position orthogonal to the optical axis. 〇 2020/174876 10 卩 (: 171? 2019 /051521

It The shift adjustment is performed by displacing the lens holding portion 17 holding the lens 2 2 with respect to the outer cylinder 2 in a direction orthogonal to the optical axis.

[0064] As a result of the shift adjustment, the optical axis of the lens 22 may deviate in the radial direction with respect to the central axis of the outer cylinder 2. When the axis is displaced in the radial direction, the gap between the outer cylinder 2 and the lens holding portion 17 is partially different in the circumferential direction (see FIGS. 3 and 4). In addition, in FIGS. 3 and 4, in order to facilitate understanding, a state in which the gap between the outer cylinder 2 and the lens holding portion 17 is partially different in the circumferential direction is enlarged in the upper gap and the lower gap. It is exaggerated and shown to be different.

Further, in the lens barrel 1, the size of the gap between the outer cylinder 2 and the lens holding portion 17 may be partially different in the circumferential direction due to manufacturing part tolerances.

However, in the lens barrel 1, as described above, the lens holder

The pressing surface 19 of the pressing ring 19 in 17 is pressed with the inner surface 1 5 3 of the contact portion 15 of the elastic body 9 on the surface of the pressing surface 19 so as to be in close contact with the pressing surface 1 9 from the outside. It is applied. Therefore, the gap is sealed by the elastic body 9, and when the lens barrel 1 is viewed from the subject side, the inclination angles of the respective parts in the circumferential direction of the connecting part 11 are different, and therefore the gap is partially formed in the circumferential direction. It is difficult to recognize the different states as the appearance, and it is difficult to recognize the difference in the size of the gap in the circumferential direction when the lens barrel 1 is viewed from the subject side.

[0067] Further, since the gap is sealed by the elastic body 9, the gap does not serve as a path for intrusion of dust or water from the outside into the lens barrel 1, and the gap between the outer barrel 2 and the lens holding portion 17 is not provided. Dust and water do not enter from

[0068] <Summary>

As described above, in the lens barrel 1, the fixed portion 10 fixed to the fixing end 7 which is the end of the outer cylinder 2 on the object side and the elastic deformation due to the positioning in the arrangement space 23. The elastic body 9 is formed in an annular shape having a possible pressing portion 12 and the pressing portion 12 is pressed against the outer peripheral surface of the lens holding portion 17. 〇 2020/174876 1 1 卩 (: 171? 2019 /051521

[0069] Therefore, the gap between the outer cylinder 2 and the lens holding portion 17 is sealed by the elastic body 9, and the difference in the size of the gap in the circumferential direction when the lens barrel 1 is viewed from the subject side is recognized. It is hard to be done and the appearance quality can be improved.

[0070] Further, since the gap is sealed by the elastic body 9, dust and water do not enter from between the outer cylinder 2 and the lens holding portion 17, and the dustproof and dripproof performance can be improved. ..

[0071] Furthermore, since a decorative ring for covering the gap from the subject side is not required in addition to the sealing material for sealing the gap, it is possible to reduce the number of parts, improve the appearance quality, and prevent dust. It is possible to improve the drop performance.

[0072] Furthermore, since the appearance quality does not deteriorate even when the shift adjustment for adjusting the position of the lens 22 with respect to the outer cylinder 2 is performed, the shift is performed after improving the appearance quality. The optical performance can be improved by the adjustment.

[0073] In addition, in general, the holding ring 19 is often positioned such that the outer peripheral surface is located inside the outer peripheral surface of the lens frame 18, and the outer peripheral surface is located inside the outer peripheral surface of the lens frame 18. Since the pushing part 12 is pressed against the ring 19 it becomes possible to position the pushing part 12 close to the central axis side of the outer cylinder 2 in the arrangement space 23, and the lens barrel 1 The size can be reduced.

[0074] In the above, the example in which the pressing 5¢ 12 is pressed against the pressing ring 19 is shown. However, in the lens barrel 1, the entire pressing ring 19 is inside the lens frame 18. There is also a configuration in which the pressing portion 12 is pressed against the outer peripheral surface of the lens frame 18 in such a configuration (see FIG. 5). Even in the configuration in which a part of the presser ring 19 is located on the front side of the lens frame 18 (see Fig. 2), the length of the connecting portion 11 in the front-rear direction is increased to increase the outer peripheral surface of the lens frame 18. It is also possible to adopt a configuration in which the pressing portion 1 2 is pressed against.

[0075] Further, in order to increase the elastic force of the elastic body 9, it is desirable that the position of the pressing portion 12 in the front-rear direction is located further rearward. Is the distance from the front end of outer cylinder 2 to the front end of retaining ring 19! -(See Fig. 2) is desirable to be long. 〇 2020/174876 12 卩 (: 171? 2019 /051521

[Assembly of elastic body in lens barrel]

In the lens barrel 1, for example, the lens 2 2 is held inside the base barrel 3 in order to perform a good assembly work of the outer barrel 2, the elastic body 9 and the lens holding portion 17. With the holding portion 17 arranged, the coupling ring 4 to which the elastic body 9 is fixed is assembled to the base cylinder 3 from the front (see Fig. 6).

[0077] When the coupling ring 4 is assembled to the base cylinder 3 from the front side, for example, the coupling ring 4 is rotated and the screw groove portion 8 3 is screwed into the screw fixing portion 3 3 of the base cylinder 3. The bond ring 4 is connected to the base cylinder 3 by and.

[0078] At this time, at the same time, the pressing portion 12 of the elastic body 9 contacts the front end of the pressing ring 19 but the pressing portion 12 is bent toward the fixed portion 10 side with respect to the contact portion 15. Since the bent portion 16 is provided, the bent portion 16 is guided to the front end of the holding ring 19 and the contact portion 15 rides on the outer peripheral surface of the holding ring 19. Therefore, the contact portion 15 is pressed from the outside against the pressing surface 19 of the pressing ring 19 from the outside.

As described above, since the elastic body 9 is provided with the bent portion 16 which is bent toward the fixed portion 10 side with respect to the contact portion 15, the bent portion 16 is formed in the lens holding portion 17. It functions as a guided portion provided at the tip, and the outer cylinder 2, the elastic body 9, and the lens holding portion 17 can be properly and promptly assembled.

[Other Configuration Example]

Hereinafter, another configuration example of the elastic body 9 will be described (see FIGS. 7 to 9).

The first configuration example is an example in which the elastic body 9 is used in place of the elastic body 9 and the second portion 14 is not provided (see FIG. 7). Therefore, in the elastic body 9, the fixing portion 108 is composed of only the first portion 13 and the first portion 13 is fixed to the tip surface 7 of the fixing end portion 7.

[0082] As described above, in the elastic body 98, the fixing portion 108 is composed only of the first portion 13 and the first portion 13 is fixed to the tip surface 7 of the fixing end portion 7. The end surface of the outer cylinder 2 is covered with the first portion 13 so that the outer cylinder 2 can be protected in the event of a drop or impact. 〇 2020/174876 13 卩 (: 171? 2019 /051521

Further, since the fixing portion 108 is composed of only the first portion 13, the manufacturing cost of the elastic body 9 is reduced and the elastic body 9 has a simple structure, which reduces the manufacturing cost. In addition, it is possible to improve the appearance quality and the dustproof and dripproof performance while simplifying the configuration.

The second configuration example is an example in which the filler 30 is arranged between the connecting portion 11 of the elastic body 9 and the inner peripheral surface 70 of the fixing end portion 7 of the coupling ring 4. (See Figure 8).

[0085] As the filler 30, a material having a cushioning property, for example, a rubber material or a urethane material is used.

[0086] By arranging the filler 30 between the connecting portion 11 and the inner peripheral surface 70 of the fixing end portion 7 in this manner, a space between the connecting portion 11 and the fixing end portion 7 is obtained. Since the formed filling space 93 is filled with the filler 30, the elasticity of the elastic body 9 with respect to the outer cylinder 2 is reinforced by the filler 30. Therefore, it is possible to prevent the connecting portion 11 from being excessively deformed, and to secure a favorable pressing state of the pressing portion 12 against the lens holding portion 17.

[0087] In the second configuration example described above, the inner peripheral surface 1 13 of the connecting portion 11 and the inner peripheral surface 70 of the fixing end portion 7 serve as the filling material 30, for example, both surfaces. It may be adhered by tape or the like.

[0088] The inner peripheral surface 1 13 of the connecting portion 11 and the inner peripheral surface 70 of the fixing end portion 7 are adhered to the filler 30 so that the outer cylinder 2 and the outer cylinder 2 are sandwiched via the filler 30. Since the pushing part 12 is adhered, the elastic body 9 becomes difficult to displace in the direction away from the inner peripheral surface of the outer cylinder 2, and the pushing part 12 should be stably held in the arrangement space 23. You can

A third configuration example is an example in which the elastic body 9 is provided with an annular protrusion 40 that protrudes from the connecting portion 11 to the inner peripheral side (see FIG. 9).

The holding ring 19 of the lens holding portion 17 has a function of holding the lens 22 together with the lens frame 18, and the holding ring 19 is screwed by being rotated with respect to the lens frame 18. The part 193 is screwed into the screw part 2 13 and pressed against the front surface of the lens 2 2. Therefore, when the lens 22 is held by the lens frame 18 and the press ring 19, the user should insert the hand into the outer tube 2 and press it. 〇 2020/174876 14 卩 (: 171? 2019 /051521

If the ring 19 is operated, the holding state of the lens frame 18 of the lens 22 and the holding ring 19 may be released.

Therefore, as described above, the elastic body 9 is provided with the ring-shaped protrusion 40 that protrudes from the connecting portion 11 to the inner peripheral side, so that the pressing ring 19 is imaged by the protrusion 40. Since it is possible to cover from the body side, it becomes difficult for the holding ring 19 to touch, and the holding ring 19 holds the lens 2 in the proper position with respect to the lens frame 18. Can be prevented from being released.

[0092] <Other>

In the above description, the lens holding portion 17 is configured to have the lens frame 18 and the holding ring 19; however, the lens holding portion 17 does not have to be formed even if the lens frame 18 and the holding ring 19 are integrally formed. Good.

However, by providing the lens holding portion 17 with the lens frame 18 and the retaining ring 19 so that the retaining ring 19 can be rotated with respect to the lens frame 18 and removed from the lens frame 19. With this, it is possible to replace the lens 22 and improve the maintainability.

<One Embodiment of Imaging Device>

Hereinafter, a configuration example of an embodiment of the imaging device of the present technology will be described (see FIG. 10).

[0095] The image pickup apparatus 100 includes a lens barrel 1 having an image pickup function, a camera signal processing unit 81 for performing signal processing such as analog-digital conversion of a shot image signal, and recording/playback of an image signal. It has an image processing unit 82 for processing. In addition, the imaging device 100 includes a display unit (display) 8 3 for displaying captured images and the like,

) 8 5, an operation unit 202 such as various switches for performing a required operation by the user, and a lens drive control unit 8 6 for controlling the drive of the lens arranged in the lens barrel 1. ..

The imaging device 100 has an electrical image of the optical image captured by the lens barrel 1. An image pickup device 204 such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) for converting into a signal is provided.

The camera signal processing unit 81 performs various signal processing such as conversion of an output signal from the image sensor 204 into a digital signal, noise removal, image quality correction, conversion into a luminance/color difference signal.

The image processing unit 82 performs compression coding/decompression decoding processing of an image signal based on a predetermined image data format, conversion processing of data specifications such as resolution, and the like.

The display unit 83 has a function of displaying various data such as an operation state of the user's operation unit 202 and a captured image. The image capturing apparatus 100 may not be provided with the display unit 83, and may be configured so that the captured image data is sent to another display apparatus and an image is displayed.

[0100] The R/W 84 is a memory of the image data encoded by the image processing unit 82.

The writing to _90 and the reading of the image data recorded in the memory 90 are performed.

The CPU 85 functions as a control processing unit that controls each circuit block provided in the image pickup apparatus 100, and controls each circuit block based on an instruction input signal from the operation unit 202.

[0102] The operation unit 202 outputs an instruction input signal to the CPU 85 according to a user operation.

The lens drive control unit 86 controls the drive source that moves the lens based on the control signal from the CPU 85.

[0104] The memory 90 is, for example, a semiconductor memory that is removable from the slot connected to the R/W84.

[0105] The operation of the image pickup apparatus 100 will be described below.

In the standby state for shooting, under the control of the CPU 85, the shot image signal is output to the display unit 83 via the camera signal processing unit 81 and displayed as a camera through image. When the instruction input signal from the operation unit 202 is input, the CPU 85 outputs a control signal to the lens drive control unit 86, and the lens is moved under the control of the lens drive control unit 86. 〇 2020/174876 16 卩 (: 171? 2019 /051521

に出力され、 メモリー 9 0に書き込まれる。 [0107] When the photographing operation is performed by the instruction input signal from the operation unit 202, the photographed image signal is output from the camera signal processing unit 8 1 to the image processing unit 8 2 and subjected to compression coding processing. It is converted to digital data of a specified data format. The converted data is

Output to and written to memory 90.

4によってメモリー 9 0から所定の画像デ —夕が読み出され、 画像処理部 8 2によって伸張復号化処理が行われた後に 、 再生画像信号が表示部 8 3に出力されて再生画像が表示される。 [0108] When the image data recorded in the memory 90 is to be played back,

After a predetermined image data is read from the memory 90 by the memory 4, and the image processing unit 8 2 performs decompression decoding processing, the reproduced image signal is output to the display unit 8 3 and the reproduced image is displayed. It

[0109] <Application example>

The technology according to the present disclosure can be applied to various products. For example, the technique according to the present disclosure may be applied to an endoscopic surgery system.

FIG. 11 is a diagram showing an example of a schematic configuration of an endoscopic surgery system 500 to which the technology according to the present disclosure can be applied. In FIG. 11, a surgeon (doctor) 500 6 7 is operating on a patient 5 0 7 1 on a patient bed 5 0 6 9 using an endoscopic surgery system 5 0 0 0. The situation is illustrated. As shown in the figure, the endoscopic surgery system 500 includes a support arm device 50 that supports the endoscope 5001, other surgical tools 5017, and the endoscope 501. 2 7 and a force controller with various devices for endoscopic surgery 5 0 37.

[01 1 1] In endoscopic surgery, instead of cutting the abdominal wall and opening the abdomen, trocar 5 0 2 5

内視鏡 5 0 0 1の鏡筒 5 0 0 3や、 そ の他の術具 5 0 1 7が患者 5 0 7 1の体腔内に挿入される。 図示する例では 、 その他の術具 5 0 1 7として、 気腹チユーブ 5 0 1 9、 エネルギー処置具 5 0 2 1及び鉗子 5 0 2 3が、 患者 5 0 7 1の体腔内に挿入されている。 ま た、 エネルギー処置具 5 0 2 1は、 高周波電流や超音波振動により、 組織の 切開及び剥離、 又は血管の封止等を行う処置具である。 ただし、 図示する術 具 5 0 1 7はあくまで一例であり、 術具 5 0 1 7としては、 例えば攝子、 レ トラクタ等、 一般的に内視鏡下手術において用いられる各種の術具が用いら 〇 2020/174876 17 卩（：171? 2019 /051521 A plurality of tubular opening devices called 5 0 25 are punctured in the abdominal wall. And

The lens barrel 5003 of the endoscope 5001 and other surgical tools 5017 are inserted into the body cavity of the patient 5001. In the example shown in the figure, pneumoperitoneum tube 5019, energy treatment tool 5021, and forceps 5023 are inserted into the body cavity of patient 5017 as other surgical instruments. There is. In addition, the energy treatment tool 520 21 is a treatment tool that performs incision and separation of tissue, sealing of blood vessels, and the like by high-frequency current or ultrasonic vibration. However, the surgical tool 517 shown is merely an example, and various surgical tools generally used in endoscopic surgery such as a concussion and a retractor are used as the surgical tool 517. 〇 2020/174876 17 卩 (: 171? 2019 /051521

You can

[0112] An image of the surgical site in the body cavity of the patient 5 071 taken by the endoscope 5 0 0 1 is displayed on the display device 5 0 4 1. The surgeon 5 0 6 7 uses the energy treatment tool 5 0 2 1 and forceps 5 0 2 3 while cutting the affected area while viewing the image of the surgical area displayed on the display device 5 0 4 1 in real time. Take action such as Although not shown, the pneumoperitoneum tube 5019, the energy treatment tool 5021, and the forceps 5023 are supported by an operator 5067 or an assistant during surgery. Be done

[01 13] (Support arm device)

The support arm device 5027 includes an arm portion 5031 extending from the base portion 5029. In the example shown in the figure, the arm portion 5031 is composed of joint portions 5033333, 5303, 5303, and links 5033,5303. And is driven by the control from the arm control unit 5 0 45. The arm 5003 supports the endoscope 5001, and its position and posture are controlled. Thereby, stable fixation of the position of the endoscope 5001 can be realized.

[01 14] (Endoscope)

The endoscope 5001 is connected to a lens barrel 5003 in which a region of a predetermined length from the distal end is inserted into the body cavity of the patient 5001 and a proximal end of the lens barrel 5003. It is composed of the camera head and the camera head. In the illustrated example, the endoscope 5001 configured as a so-called rigid endoscope having a rigid lens barrel 5003 is illustrated, but the endoscope 5001 is a flexible mirror. It may be configured as a so-called flexible mirror having a cylinder 5003.

[0115] An opening in which the objective lens is fitted is provided at the tip of the lens barrel 5003. A light source device 5043 is connected to the endoscope 5001, and light generated by the light source device 5043 is extended to the inside of the lens barrel 5003. The light is guided to the tip of the lens barrel by the guide, and is irradiated toward the observation target in the body cavity of the patient 507 1 through the objective lens. The endoscope 5001 may be a direct-viewing endoscope, or a perspective or side-viewing endoscope. [0116] An optical system and an image pickup device are provided inside the camera head 5005, and reflected light (observation light) from an observation target is focused on the image pickup device by the optical system. The observation light is photoelectrically converted by the imaging device, and an electric signal corresponding to the observation light, that is, an image signal corresponding to the observation image is generated. The image signal is sent as RAW data to the camera control unit (CCU) 5039. The camera head 5005 is equipped with the function of adjusting the magnification and focal length by appropriately driving the optical system.

[0117] Note that, for example, to support stereoscopic viewing (3D display), etc., the camera head 50

A plurality of image pickup devices may be provided in 05. In this case, a plurality of relay optical systems are provided inside the lens barrel 5003 to guide the observation light to each of the plurality of image pickup devices.

[0118] (Various devices installed in one unit)

The CCU 5039 is configured by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like, and integrally controls the operations of the endoscope 5001 and the display device 5041. Specifically, the CCU 5039 performs various image processing such as development processing (demosaic processing) on the image signal received from the camera head 5005 to display an image based on the image signal. Give. The CCU 5039 provides the image signal subjected to the image processing to the display device 5041. The CCU 5039 also sends a control signal to the camera head 5005 to control its drive. The control signal may include information regarding imaging conditions such as magnification and focal length.

[0119] The display device 5041 is controlled by the CC U 5039, and the CCU 50

An image based on the image signal subjected to the image processing by 39 is displayed. If the endoscope 5001 is compatible with high-resolution shooting, such as 4 K (horizontal pixel number 3840 x vertical pixel number 2 1 60) or 8 K (horizontal pixel number 7680 x vertical pixel number 4320), and If the device is compatible with 3D display, the display device 504 1 can support high-resolution display. And/or 3D displayable may be used. If the device is compatible with high-resolution shooting such as 4 K or 8 K, a more immersive feeling can be obtained by using a display device 5041 of a size of 55 inches or more. Further, a plurality of display devices 5041 having different resolutions and sizes may be provided depending on the application.

[0120] The light source device 5043 is configured by a light source such as an LED (Ught emitting diode), for example, and supplies the endoscope 5001 with irradiation light at the time of imaging a surgical site.

The arm control device 5045 is configured by a processor such as C PU, for example, and operates according to a predetermined program to control the drive of the arm portion 5031 of the support arm device 5027 according to a predetermined control method.

The input device 5047 is an input interface for the endoscopic surgery system 5000. The user can input various kinds of information and instructions to the endoscopic surgery system 5000 via the input device 5047. For example, the user inputs various kinds of information regarding the surgery, such as the physical information of the patient and the information regarding the surgical procedure, through the input device 5047. Further, for example, the user may, via the input device 5047, instruct to drive the arm unit 5031 and change the imaging conditions (type of irradiation light, magnification, focal length, etc.) of the endoscope 5001. And the instruction to drive the energy treatment device 5021.

[0123] The type of the input device 5047 is not limited, and the input device 5047 may be various known input devices. As the input device 5047, for example, a mouse, a keyboard, a touch panel, a switch, a foot switch 5057, and/or a lever can be applied. When a touch panel is used as the input device 5047, the touch panel may be provided on the display surface of the display device 5041.

[0124] Alternatively, the input device 5047 is a device worn by the user, such as a glasses-type wearable device or HMD (Head Mounted Display), and the user's gesture or visual sense detected by these devices is used. 〇 2020/174876 20 卩 (: 171? 2019 /051521

Various inputs are made according to the line. Further, the input device 5047 includes a camera capable of detecting the movement of the user, and various inputs are performed according to the user's gesture or line of sight detected from the image captured by the camera. Further, the input device 5047 includes a microphone capable of collecting the user's voice, and various inputs are performed by voice through the microphone. In this way, the input device 5047 is configured to be able to input various types of information in a contactless manner, so that a user who belongs to a clean area (for example, an operator 5067) operates a device that belongs to a dirty area in a contactless manner. It becomes possible. In addition, the user can operate the device without releasing his/her hand from the surgical tool, which improves the convenience of the user.

[0125] The treatment instrument control device 5049 controls driving of the energy treatment instrument 5021 for cauterization of tissue, incision, sealing of blood vessels, and the like. The pneumoperitoneum device 505 1 is used to inflate the body cavity of the patient 507 1 through the pneumoperitoneum tube 5019 for the purpose of securing the visual field by the endoscope 5001 and the working space of the operator. Send a gas inside. The recorder 5053 is a device capable of recording various information regarding surgery. The printer 5055 is a device capable of printing various information regarding surgery in various formats such as text, images, and graphs.

[0126] Hereinafter, the particularly characteristic configuration of the endoscopic surgery system 5000 will be described in more detail.

[0127] (Support arm device)

The support arm device 5027 includes a base portion 5029 that is a base and an arm portion 5031 that extends from the base portion 5029. In the illustrated example, the arm part 5031 is composed of a plurality of joint parts 50333, 5033, 5033, and a plurality of links 50353, 5035 connected by the joint part 5033. In FIG. 11, for simplification, the structure of the arm portion 5031 is simplified and shown. In practice, the shape, number and arrangement of the joints 50333 to 5033 and the links 50353 and 50356, and the rotation of the joints 50333 to 5033 so that the arm 5031 has a desired degree of freedom. 〇 2020/174876 21 卩 (: 171? 2019 /051521

The axis direction and the like can be set appropriately. For example, the arm portion 5031 may preferably be configured to have 6 or more degrees of freedom. As a result, it becomes possible to freely move the endoscope 5001 within the movable range of the arm unit 5031, so that the lens barrel 5001 of the endoscope 5001 can be moved from a desired direction. It is possible to insert 3 into the body cavity of patient 507 1.

[0128] The joints 5 0 3 3 3 to 5 0 3 3 0 are equipped with actuators, and the joints 5 0 3 3 3 to 5 0 3 3 0 are driven by the actuators to rotate around a predetermined rotation axis. It is configured to be rotatable. By controlling the drive of the actuator by the arm control unit 5 0 45, the rotation angles of the joints 5 0 3 3 3 to 5 0 3 3 0 are controlled and the drive of the arm 5 0 3 1 is controlled. To be done. With this, control of the position and orientation of the endoscope 5001 can be realized. At this time, the arm control device 5045 can control the drive of the arm unit 5031 by various known control methods such as force control or position control.

[0129] For example, the surgeon 5 0 6 7 makes an appropriate operation input via the input device 5 0 4 7 (including the foot switch 5 0 5 7), and arm control is performed according to the operation input. The drive of the arm unit 5031 may be appropriately controlled by the device 5045 to control the position and posture of the endoscope 5001. By this control, after moving the endoscope 5001 at the tip of the arm unit 5031 from any position to any position, it can be fixedly supported at the position after the movement. The arm unit 5031 may be operated by a so-called master slave method. In this case, the arm unit 5031 can be remotely operated by the user via the input device 5047 installed at a place apart from the operating room.

[0130] When force control is applied, the arm control device 5045 receives an external force from the user, and the arm unit 5031 moves smoothly in accordance with the external force. It is also possible to perform so-called power assist control, which drives the actuators of the joints 5033 to 5033. Accordingly, when the user moves the arm unit 5031 while touching the direct arm unit 5031, the arm unit 5031 can be moved with a comparatively light force. Therefore, more 〇 2020/174876 22 卩 (: 171? 2019 /051521

It is possible to intuitively move the endoscope 5001 by a simpler operation, and the convenience of the user can be improved.

[0131] Here, in general, in endoscopic surgery, a doctor called a scopist supports the endoscope 5001. On the other hand, by using the supporting arm device 5027, the position of the endoscope 501 can be fixed more reliably without the need for manual operation, and the image of the surgical site can be stabilized. It is possible to obtain the desired results and to perform the procedure smoothly.

[0132] Note that the arm controller 5045 does not necessarily have to be provided in the force controller 5037. Further, the arm control device 5045 does not necessarily have to be one device. For example, the arm control device 5045 may be provided in each of the joint parts 5033333 to 530330 of the arm section 53031 of the support arm device 52027. The drive control of the arm unit 5031 may be realized by the plurality of arm control devices 5045 working together.

[0133] (Light source device)

巳レーザ光源それぞれからのレーザ光を時分割 で観察対象に照射し、 その照射タイミングに同期してカメラへッ ド 5 0 0 5 の撮像素子の駆動を制御することにより、

◦巳それぞれに対応した画像を 時分割で撮像することも可能である。 当該方法によれば、 当該撮像素子に力 ラーフイルタを設けなくても、 カラー画像を得ることができる。 The light source device 5043 supplies the endoscope 5001 with irradiation light for imaging the surgical site. The light source device 5043 is composed of, for example, !_Mi, 0, a laser light source, or a white light source configured by a combination thereof. At this time, when the white light source is formed by combining the three-dimensional laser light sources, the output intensity and output timing of each color (each wavelength) can be controlled with high accuracy, so that the light source device 50 In 4 3, it is possible to adjust the white balance of the captured image. Also, in this case,

The laser light from each of the laser light sources is time-divided onto the observation target, and the driving of the image sensor of the camera head 500 is controlled in synchronization with the irradiation timing.

◦It is also possible to take images corresponding to each of the images in a time division manner. According to this method, a color image can be obtained without providing a force filter on the image sensor.

[0134] Further, the drive of the light source device 5043 may be controlled so as to change the intensity of the output light at predetermined time intervals. The drive of the image sensor of the camera head 505 is controlled in synchronization with the timing of the change of the light intensity to display an image in time division. By acquiring and synthesizing the images, it is possible to generate a high dynamic range image without so-called blackout and overexposure.

[0135] Further, the light source device 5043 may be configured to be able to supply light in a predetermined wavelength band corresponding to special light observation. In the special light observation, for example, the wavelength dependence of the absorption of light in body tissues is used to irradiate a narrow band of light as compared with the irradiation light (that is, white light) at the time of normal observation. The so-called narrow band imaging (Narrow Band Imaging) is performed to image certain tissues such as blood vessels with high contrast. Alternatively, in the special light observation, fluorescence observation may be performed in which an image is obtained by fluorescence generated by irradiating the excitation light. In fluorescence observation, the body tissue is irradiated with excitation light to observe fluorescence from the body tissue (autofluorescence observation), or a reagent such as indocyanine green (ICG) is locally injected into the body tissue and the body tissue is injected. For example, the tissue may be irradiated with excitation light corresponding to the fluorescence wavelength of the reagent to obtain a fluorescent image. The light source device 5043 can be configured to be able to supply the narrow band light and/or the excitation light corresponding to such special light observation.

[0136] (Camera head and CCU)

The functions of the camera head 5005 and CCU 5039 of the endoscope 5001 will be described in more detail with reference to FIG. FIG. 12 is a block diagram showing an example of the functional configuration of the camera head 5005 and CCU 5039 shown in FIG.

[0137] Referring to FIG. 12, the camera head 5005 has, as its functions, a lens unit 5007, an image pickup section 5009, a driving section 5011, a communication section 5013, a camera head control section 5015, and Have. The CCU 5039 also has, as its functions, a communication unit 5059, an image processing unit 5061, and a control unit 5063. The camera head 5005 and the CCU 5039 are bidirectionally connected by a transmission cable 5065.

[0138] First, the functional configuration of the camera head 5005 will be described. The lens unit 5007 is an optical system provided at a connection portion with the lens barrel 5003. The observation light taken from the tip of the lens barrel 5 003 is guided to the camera head 5005. And enters the lens unit 507. The lens unit 5007 is configured by combining a plurality of lenses including a zoom lens and a focus lens. The optical characteristics of the lens unit 5007 are adjusted so that the observation light is condensed on the light receiving surface of the image pickup device of the image pickup unit 500. Further, the zoom lens and the focus lens are configured so that their positions on the optical axis can be moved in order to adjust the magnification and focus of the captured image.

[0139] The image pickup section 500 is composed of an image pickup element, and is arranged at the subsequent stage of the lens unit 5007. The observation light that has passed through the lens unit 507 is condensed on the light-receiving surface of the image sensor, and photoelectric conversion generates an image signal corresponding to the observation image. The image signal generated by the image pickup unit 500 is provided to the communication unit 5013.

[0140] As an image pickup device that constitutes the image pickup unit 500, for example, there is a CMOS (Complementary Metal Oxide de Sem i conductor) type image sensor, which has a Bayer array and is capable of color imaging. Used. It should be noted that as the imaging element, for example, an imaging element that can be used to capture a high-resolution image of 4 K or more may be used. By obtaining the image of the operative site with high resolution, the operator 506 7 can grasp the state of the operative site in more detail, and the operation can proceed more smoothly.

[0141] Further, the image pickup device constituting the image pickup unit 500 is configured to have a pair of image pickup devices for respectively acquiring image signals for the right eye and the left eye corresponding to 3D display. .. By performing the 3D display, the operator 506 can grasp the depth of the living tissue in the operation site more accurately. When the image pickup unit 500 is configured by a multi-plate type, a plurality of lens unit 5007 are provided corresponding to each image pickup device.

[0142] Further, the image capturing section 500 is not necessarily provided in the camera head 500. For example, the imaging unit 509 may be provided inside the lens barrel 5003 immediately after the objective lens.

[0143] The drive unit 5 0 1 1 is composed of an actuator and controls the camera head. Under the control of the unit 5015, the zoom lens and the focus lens of the lens unit 5007 are moved by a predetermined distance along the optical axis. With this, the magnification and focus of the image captured by the image capturing unit 5009 can be adjusted appropriately.

The communication unit 5013 is composed of a communication device for transmitting and receiving various information to and from the CCU 5039. The communication unit 5013 sends the image signal obtained from the image pickup unit 5009 to the CCU 5039 via the transmission cable 5065 as RAW data. At this time, it is preferable that the image signal is transmitted by optical communication in order to display the captured image of the surgical site with low latency. During surgery, the surgeon 5067 performs surgery while observing the condition of the affected area with the captured images, so for safer and more reliable surgery, the moving image of the surgery area is displayed as real time as possible. This is because it is required to be done. When optical communication is performed, the communication unit 5013 is provided with a photoelectric conversion module that converts an electric signal into an optical signal. The image signal is converted into an optical signal by the photoelectric conversion module, and then transmitted to the CCU 5039 via the transmission cable 5065.

Also, the communication unit 5013 receives from the CCU 5039 a control signal for controlling the driving of the camera head 5005. The control signal includes, for example, information that specifies the frame rate of the captured image, information that specifies the exposure value at the time of capturing, and/or information that specifies the magnification and focus of the captured image. It contains information about imaging conditions. The communication unit 501 3 provides the received control signal to the camera head control unit 5015. The control signal from CCU 5039 may also be transmitted by optical communication. In this case, the communication unit 5013 is provided with a photoelectric conversion module that converts an optical signal into an electric signal, and after the control signal is converted into an electric signal by the photoelectric conversion module, it is sent to the camera head control unit 5015. Provided.

[0146] Note that the imaging conditions such as the frame rate, the exposure value, the magnification, and the focus described above are automatically set by the control unit 5063 of the CCU 5039 based on the acquired image signal. In other words, the so-called AE (Auto Exposure) function, AF (Auto Focus) function, and AWB (Auto White Balance) function are provided in the endoscope 5001. 〇 2020/174876 26 卩 (: 171? 2019 /051521

Will be installed.

[0147] The camera head control unit 5 0 1 5 receives the information via the communication unit 5 0 1 3.

The drive of the camera head 505 is controlled based on the control signal from the camera 500. For example, the camera head control unit 501 may capture the image of the image capturing unit 500 based on the information indicating the frame rate of the captured image and/or the information indicating the exposure at the time of image capturing. Control the drive of the device. In addition, for example, the camera head control unit 5 0 15 controls the zoom lens of the lens unit 5 0 7 via the drive unit 5 0 1 1 on the basis of the information to specify the magnification and focus of the captured image. Move the focus lens appropriately. The camera head control unit 5001 may further have a function of storing information for identifying the lens barrel 5003 and the camera head 5005.

[0148] In addition, by arranging the configuration of the lens unit 5007, the imaging unit 5009, and the like in a hermetically sealed and highly waterproof hermetic structure, It can be made resistant to autoclave sterilization.

[0149] Next, the functional configuration of 0 (3 II 539) will be described. The communication unit 5509 is a communication for transmitting and receiving various types of information to and from the camera head 5005. The communication unit 505 receives the image signal transmitted from the camera head 505 through the transmission cable 506. At this time, as described above. In this case, the image signal can be preferably transmitted by optical communication.In this case, in response to the optical communication, the communication unit 550 is provided with a photoelectric conversion module for converting the optical signal into an electric signal. The communication unit 5059 provides the image signal converted to an electric signal to the image processing unit 5061.

[0150] In addition, the communication unit 505 is different from the camera head 505 with respect to the camera head.

A control signal for controlling the driving of 500 is transmitted. The control signal may also be transmitted by optical communication.

[0151] Image processing unit 5 0 6 1 was sent from camera head 5 0 5

処理及び/又は手ブレ補正処理等） 、 並びに/又は拡大処理 （電 子ズーム処理） 等、 各種の公知の信号処理が含まれる。 また、 画像処理部 5 0 6 1は、 日、 及び 巳を行うための、 画像信号に対する検波処理 を行う。 Various kinds of image processing are performed on the image signal in the evening. As the image processing, for example, development processing, high image quality processing (band emphasis processing, super-resolution processing, (N0 186 〇 2020/174876 27 卩 (: 171? 2019 /051521

Processing and/or camera shake correction processing), and/or enlargement processing (electronic zoom processing), and various other known signal processing are included. Further, the image processing unit 506 1 performs detection processing on the image signal for performing day and sun.

[0152] The image processing unit 5061 is configured by a processor such as 〇II or ◦II, and the image processing and the detection processing described above can be performed by the processor operating according to a predetermined program. When the image processing unit 506 1 is composed of multiple ◦ II, the image processing unit 506 1 appropriately divides the information related to the image signal and parallelizes the multiple ◦ II. Perform image processing.

[0153] The control unit 5006 performs various controls relating to the imaging of the surgical site by the endoscope 5001 and the display of the captured image. For example, the control unit 5006 generates a control signal for controlling the driving of the camera head 5005. At this time, when the imaging condition is input by the user, the control unit 5006 generates a control signal based on the input by the user. Alternatively, when the endoscope 5001 is equipped with the eight function, the function, and the function, the control unit 5063 responds to the result of the detection processing by the image processing unit 5061. , The optimum exposure value, focal length and white balance are calculated as appropriate, and the control signal is generated.

[0154] Further, the control unit 5 06 3 causes the display device 5 0 4 1 to display the image of the operation unit based on the image signal subjected to the image processing by the image processing unit 5 06 1. At this time, the control unit 506 3 recognizes each kind of object in the surgical region image using various image recognition techniques. For example, the control unit 506 3 detects the shape and color of the edge of the object included in the operative image, so that the surgical instrument such as forceps, a specific living body part, bleeding, and energy treatment device 520 1 The mist etc. at the time of use can be recognized. When displaying the image of the surgical site on the display device 5041, the control unit 5063 uses the recognition result to superimpose and display various types of surgical support information on the image of the surgical site. By displaying the surgery support information in a superimposed manner and presenting it to the operator 506, it is possible to proceed with the surgery more safely and reliably.

を接続する伝送ケーブル 5 0 6 〇 2020/174876 28 卩（：171? 2019 /051521 [0155] Camera

Transmission cable for connecting 〇 2020/174876 28 卩 (: 171? 2019 /051521

5 is an electrical signal cable compatible with electrical signal communication, an optical fiber compatible with optical communication, or a composite cable of these.

[0156] Here, in the example shown in the figure, wired communication is performed using the transmission cable 5605, but the communication between the camera head 5005 and the XXII5003 9 is performed. The communication may be wireless. If the communication between the two is performed wirelessly, it is not necessary to lay the transmission cable 5065 inside the operating room, and therefore the movement of medical staff in the operating room is hindered by the transmission cable 5065. The situation can be canceled.

Heretofore, an example of the endoscopic surgery system 500 to which the technology according to the present disclosure can be applied has been described. In addition, here, the endoscopic surgery system 500 is described as an example, but the system to which the technology according to the present disclosure can be applied is not limited to such an example. For example, the technique according to the present disclosure may be applied to a flexible endoscope system for inspection and a microscopic surgery system.

The technology according to the present disclosure can be suitably applied to a lens barrel such as a lens barrel and an imaging device among the configurations described above. Specifically, a clearer image of the surgical site can be obtained, which allows safer and more reliable surgery.

[0159] The technology according to the present disclosure can be applied to various products. For example, the technology related to this disclosure can be used for automobiles, electric vehicles, hybrid electric vehicles, motorcycles, bicycles, personal mobility, airplanes, drones, ships, robots, construction machinery, agricultural machinery (tractors), etc. It may be realized as a device mounted on a mobile body of this type.

[0160] FIG. 13 is a block diagram showing a schematic configuration example of a vehicle control system 700 that is an example of a mobile body control system to which the technology according to the present disclosure can be applied. The vehicle control system 700 includes a plurality of electronic control units connected via a communication network 7100. In the example shown in Fig. 13, the vehicle control system 700 is a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, and vehicle exterior information. Detection unit 7400, car The internal information detection unit 7500 and the integrated control unit 7600 are provided. The communication network 7010 connecting these plural control units is, for example, CAN (Contro Iller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network) or FI ex R ay ( It may be an in-vehicle communication network conforming to any standard such as registered trademark).

[0161] Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores a program executed by a microcomputer or parameters used for various arithmetic operations, and devices to be controlled. And a drive circuit for driving. Each control unit is equipped with a network/F for communicating with other control units via the communication network 7010, and also with devices inside or outside the vehicle, sensors, etc. It is equipped with a communication system /F for performing communication by wire communication or wireless communication. In Fig. 13, as the functional configuration of the integrated control unit 7600, a microcomputer 7610, general-purpose communication I/F 7620, dedicated communication I/F 7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I/F 7660 The audio/video output unit 7670, the in-vehicle network I/F 7680, and the storage unit 7690 are illustrated. Similarly, the other control units are also equipped with a microcomputer, communication/F, and storage.

[0162] The drive system control unit 7100 controls the operation of devices related to the drive system of the vehicle according to various programs. For example, the drive system control unit 7100 is a drive force generation device for generating drive force of a vehicle such as an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting drive force to wheels, It functions as a steering mechanism that adjusts the steering angle and as a control device such as a braking device that generates the braking force of the vehicle. The drive system control unit 7100 may have a function as a control device such as an ABS (Anti lock Brake System) or an ESC (Electronic Stability Control).

[0163] The vehicle state detection unit 711 is connected to the drive system control unit 710. The vehicle state detection unit 711 detects, for example, the angular velocity of the axial rotation motion of the vehicle body. Gyro sensor, an acceleration sensor that detects the acceleration of the vehicle, or a sensor that detects the operation amount of the axel pedal, the operation amount of the brake pedal, the steering angle of the steering wheel, the engine speed or the wheel speed, etc. At least one of the following is included. The drive system control unit 7100 controls the internal combustion engine, drive motor, electric power steering device, brake device, etc. by performing arithmetic processing using signals input from the vehicle state detection unit 7110. ..

[0164] The body system control unit 7200 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 720 is used as a keyless entry system, smart key system, power window device, or as a control device for various lamps such as headlamps, back lamps, brake lamps, win-win or fog lights. Function. In this case, radio waves or signals from various switches transmitted from a portable device that substitutes for a key can be input to the body system control unit 700. The body system control unit 7200 receives these radio waves or signals and controls the vehicle door lock device, power window device, lamp, and the like.

[0165] The battery control unit 7300 controls the secondary battery 7310 that is a power supply source for the driving mode according to various programs. For example, information such as the battery temperature, the battery output voltage, or the remaining capacity of the battery is input to the battery control unit 7300 from the battery device including the secondary battery 7310. The battery control unit 7300 performs arithmetic processing using these signals to control the temperature of the secondary battery 7310 or the cooling device provided in the battery device.

[0166] The vehicle exterior information detection unit 740 detects information outside the vehicle equipped with the vehicle control system 7000. For example, at least one of the image pickup unit 7410 and the exterior information detection unit 7420 is connected to the exterior information detection unit 7400. The imaging unit 7410 includes at least one of a T F (Time Of Fli ght) camera, a stereo camera, a monocular camera, an infrared camera and other cameras. For example, the outside-vehicle information detection unit 7420 may display the current weather condition or Is at least one of an environment sensor for detecting weather, or a surrounding information detection sensor for detecting another vehicle around the vehicle equipped with the vehicle control system 7000, an obstacle, a pedestrian, etc. Be done.

[0167] The environment sensor may be, for example, at least one of a raindrop sensor that detects rainy weather, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall. The ambient information detection sensor may be at least one of an ultrasonic sensor, a radar device, and an L DAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device. The image pickup unit 74 10 and the vehicle exterior information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which a plurality of sensors or devices are integrated.

[0168] Here, Fig. 14 shows an example of the installation positions of the image pickup unit 7410 and the vehicle exterior information detection unit 7420. The imaging unit 79 1 0, 79 1 2, 79 1 4, 79 1 6, 79 1 8 is, for example, at least one of the front nose of the vehicle 7900, the side mirror, the rear bumper, the back door, and the upper part of the windshield inside the vehicle. It is provided in one position. The image pickup unit 79 10 provided on the front nose and the image pickup unit 79 18 provided on the upper part of the windshield in the vehicle interior mainly acquire images in front of the vehicle 7900. The imaging unit 79 1 2, 7 9 14 provided in the side mirror mainly acquires an image of the side of the vehicle 7900. The image pickup unit 79 16 provided in the rear bumper or the back door mainly acquires an image of the rear of the vehicle 7900. The imaging unit 79 18 provided on the upper part of the windshield inside the vehicle is mainly used for detecting a preceding vehicle or a pedestrian, an obstacle, a traffic signal, a traffic sign or a lane.

[0169] In addition, in FIG. 14, the imaging units 79 1 0, 79 1 2, 79 1 4, 7 are shown.

An example of a shooting range of 9 16 is shown. Imaging range a indicates the imaging range of the imaging unit 79 10 provided on the front nose, and imaging ranges b and c indicate the imaging range of the imaging units 79 1 2, 79 1 4 provided on the side mirrors, respectively. The image capturing range d is the image captured by the image capturing unit 79 16 provided on the rear bumper or the back door. 〇 2020/174876 32 卩 (: 171? 2019 /051521

Indicates the range. For example, by overlaying the image data taken by the imaging units 7 9 1 0, 7 9 1 2, 7 9 1 4 and 7 9 1 6, a bird's-eye view of the vehicle 7 9 0 0 seen from above. Is obtained.

[0170] Vehicle exterior information detection unit 7 9 2 0 ,7 9 2 2 ,7 9 2 4 ,7 9 2 provided at the front, rear, side, corners of the vehicle 7900 and above the front glass in the vehicle interior. 6, 7 9 2 8 and 7 9 30 may be, for example, ultrasonic sensors or radar devices. The vehicle exterior information detectors 7 9 2 0 ,7 9 2 6 ,7 9 3 0 provided on the front nose, rear bumper, back door and upper windshield of the vehicle 7900 are, for example, !_ It may be eight devices. These outside-vehicle information detection units 7920 to 7930 are mainly used to detect a preceding vehicle, a pedestrian, an obstacle, or the like.

[0171] Returning to FIG. 13 and continuing the explanation. The exterior information detection unit 7400 is

The image of the outside of the vehicle is captured by the 7410, and the captured image data is received. The vehicle exterior information detection unit 7400 receives the detection information from the vehicle exterior information detection unit 7420 connected to the vehicle exterior information detection unit 7400. When the vehicle exterior information detection unit 7420 is an ultrasonic sensor, radar device or !_ 口口装置, the vehicle exterior information detection unit 7400 transmits ultrasonic waves or electromagnetic waves and receives them. Receives the reflected wave information. The vehicle exterior information detection unit 740 may perform object detection processing or distance detection processing such as people, vehicles, obstacles, signs, or characters on the road surface based on the received information. The exterior information detection unit 7400 may perform environment recognition processing for recognizing rainfall, fog, road surface conditions, etc. based on the received information. The vehicle exterior information detection unit 7400 may calculate the distance to an object outside the vehicle based on the received information.

[0172] In addition, the exterior information detection unit 740 performs image recognition processing or distance detection processing that recognizes people, vehicles, obstacles, signs, characters on the road surface, etc. based on the received image data. You can go. The exterior information detection unit 7400 performs processing such as distortion correction or position adjustment on the received image data, and combines the image data captured by different image capturing units 7410. Bird's-eye view image or panora Image may be generated. The vehicle exterior information detection unit 7400 may perform viewpoint conversion processing using image data captured by different image capturing units 7410.

[0173] The in-vehicle information detection unit 750 detects in-vehicle information. To the in-vehicle information detection unit 750, for example, a driver state detection unit 750 that detects the state of the driver is connected. The driver state detection unit 7510 may include a camera for capturing an image of the driver, a biometric sensor for detecting biometric information of the driver, a microphone for collecting voice in the vehicle, and the like. The biometric sensor is provided on, for example, a seat surface or a steering wheel, and detects biometric information of a passenger sitting in a seat or a driver who holds a steering wheel. The in-vehicle information detection unit 750 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 750. You may decide whether you are sleeping or not. The in-vehicle information detection unit 750 may perform processing such as noise canceling processing on the collected audio signal.

[0174] The integrated control unit 760 controls overall operations in the vehicle control system 7000 according to various programs. An input unit 780 is connected to the integrated control unit 760. The input unit 780 is realized by a device such as a touch panel, a button, a microphone, a switch or a lever that can be operated by a passenger. The integrated control unit 760 may be input with data obtained by voice recognition of voice input by Microphone. The input unit 7800 may be, for example, a remote control device using infrared rays or other radio waves, or may be a mobile phone or a PDA (Personal lDigi) that supports the operation of the vehicle control system 7800. It may be an externally connected device such as ta l Assistant). The input unit 780 may be, for example, a camera, in which case the passenger can input information by gesture. Alternatively, the data obtained by detecting the movement of the wearable device worn by the passenger may be input. Further, the input unit 780 is input based on the information input by the passenger or the like using the input unit 780 described above, for example. It may include an input control circuit that generates a force signal and outputs it to the integrated control unit 7600. By operating the input unit 7800, a passenger or the like inputs various data to the vehicle control system 7000 and instructs a processing operation.

[0175] The storage unit 7690 includes a ROM (Read Only Memory) that stores various programs executed by the micro-computer, and a RAM (Random Access Memory) that stores various parameters, calculation results, sensor values, and the like. You may stay. The storage unit 7690 may be realized by a magnetic storage device such as an HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like.

[0176] The general-purpose communication /F 7620 is a general-purpose communication /F that mediates communication with various devices existing in the external environment 7750. General-purpose communication I/F 7620 is compatible with GSM (registered trademark) (Global System of Mobile communications) _% W i MAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LT E— A (LTE- A cellular communication protocol such as Advanced) or a wireless LAN (also referred to as Wi-Fi (registered trademark)), or other wireless communication protocol such as Bluetooth (registered trademark) may be implemented. A general-purpose communication device/F 7620 is a device (for example, the device existing on the external network (for example, the Internet, the cloud network or the network unique to the operator)) via the base station or the access point (for example, Application server or control server). In addition, the general-purpose communication system /F 7620 uses, for example, P 2 P (Peer To Peer) technology to connect terminals (e.g., drivers, pedestrians or shops, or MTC (Machine Type Communic at ion) terminal).

[0177] Dedicated Communication/F 7630 is a communication/F that supports communication protocols designed for use in vehicles. The dedicated communication I/F 7630 is, for example, WAVE (Wi less access in Vehicle Enviro) which is a combination of the lower layer EEE 802.1 p and the upper layer EEE 1609. nment), DSRC (Dedicated Short Range Communications) _% or a cellular communication protocol may be implemented. Dedicated communication/F 7630 is typically used for vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication and pedestrian-to-vehicle communication. Vehicle to Pedestrian) Perform V 2 X communication, which is a concept that includes one or more of communication.

[0178] The positioning unit 7640 executes positioning, for example, by receiving a G NSS signal from a GNSS (Global Navigation Satellite System) satellite (for example, a G PS signal from a G PS (Global Positioning System) satellite). Generates location information including vehicle latitude, longitude and altitude. Note that the positioning unit 7640 may specify the current position by exchanging a signal with a wireless access point, or may acquire position information from a terminal having a positioning function, such as a mobile phone, PHS, or smartphone.

[0179] The beacon receiving unit 7650 receives, for example, radio waves or electromagnetic waves transmitted from a wireless station or the like installed on the road, and acquires information such as the current position, traffic congestion, traffic closure, and required time. The function of the beacon receiving unit 7650 may be included in the above-described dedicated communication/F 7630.

[0180] The in-vehicle device/F 7660 is a communication interface that mediates a connection between the micro computer 7610 and various in-vehicle devices 7760 existing in the vehicle. The in-vehicle device I/F 7660 may establish a wireless connection using a wireless communication protocol such as a wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless U SB). In addition, the in-vehicle device /F 7660 can be connected to the USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface, Alternatively, a wired connection such as MH L (Mobile Hig-definition Link) may be established.The in-vehicle device 7760 is, for example, a mobile device or wearable device possessed by the passenger, or an information device carried in or attached to the vehicle At least one of You can leave it. The in-vehicle device 7760 may also include a navigation device that searches for a route to an arbitrary destination. The in-vehicle device / 7660 exchanges control signals or data signals with these in-vehicle devices 7760.

[0181] The in-vehicle network/F 7680 is an interface that mediates communication between the micro computer 76 10 and the communication network 7010. The on-board network / F 7680 sends and receives signals, etc. according to a predetermined protocol supported by the communication network 7010.

[0182] The integrated control unit 7600 Micro-Computer 76 10 is a universal communication

Based on information acquired via at least one of I/F 7620, dedicated communication /F 7630, positioning unit 7640, beacon reception unit 7650, in-vehicle device /F 7660, and vehicle network /F 7680. Control the vehicle control system 7000 according to various programs. For example, the micro computer 76 100 calculates the control target value of the driving force generation device, the steering mechanism or the braking device based on the acquired information on the inside and outside of the vehicle, and the calculated value is sent to the drive system control unit 7 100. Alternatively, a control command may be output. For example, the micro-computer 7610 includes ADAS (Advanced Driver Assistance) that includes vehicle collision avoidance or impact mitigation, vehicle-based follow-up driving, vehicle speed maintenance driving, vehicle collision warning, vehicle lane departure warning, etc. Coordinated control may be performed for the purpose of realizing the function of System). In addition, the micro-computer 7610 controls the driving force generator, the steering mechanism, the braking device, etc. based on the acquired information about the surroundings of the vehicle so that the micro-computer 7610 can autonomously operate without depending on the operation of the driver. Coordinated control may be performed for the purpose of automatic driving while driving.

[0183] The micro computer 76 10 is a general-purpose communication device/F 7620, a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I/F 7660, and an in-vehicle network I/F 7680. Based on the information acquired via at least one, it generates three-dimensional distance information between the vehicle and surrounding objects such as structures and people, and the local map information including the surrounding information of the current position of the vehicle. You may create a report. Further, the micro computer 760 may generate a warning signal by predicting a danger such as a vehicle collision, a proximity of a pedestrian or the like, or an approach to a closed road, based on the acquired information. The warning signal may be, for example, a signal for generating a warning sound or lighting a warning lamp.

[0184] The audio/video output unit 7670 is configured to output at least one of audio and images to an output device capable of visually or audibly notifying information to an occupant of the vehicle or the outside of the vehicle. Send the output signal of. In the example shown in FIG. 13, an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are illustrated as output devices. The display unit 7720 may include at least one of an onboard display and a head-up display, for example. The display unit 7720 may have an A R (Augmented Reality) display function. In addition to these devices, the output device may be a headphone, a wearable device such as a glasses-type display worn by a passenger, a projector, or another device such as a lamp. When the output device is a display device, the display device displays the results obtained by various processes performed by the microcomputer 7610 or the information received from another control unit as text, images, tables, and graphs. Visually display in various formats such as. When the output device is an audio output device, the audio output device converts an audio signal composed of reproduced audio data or acoustic data into an analog signal and outputs it audibly.

In the example shown in FIG. 13, at least two control units connected via the communication network 710 may be integrated as one control unit. Alternatively, each control unit may be composed of multiple control units. Further, the vehicle control system 700 may include another control unit (not shown). Further, in the above description, some or all of the functions of one of the control units may be given to another control unit. In other words, as long as information is transmitted and received via the communication network 710, the specified arithmetic processing is performed by either control unit. 〇 2020/174876 38 卩 (: 171? 2019 /051521

You may come to be able to. Similarly, a sensor or device that is connected to one of the control units is connected to another control unit, and multiple control units can detect each other over the communication network 710. You may send and receive information.

[0186] <This technology>

The present technology may also be configured as below.

[0187] (1)

An outer cylinder whose axial direction is the optical axis direction and whose inner space is formed as a placement space and whose end on the object side is provided as a fixing end;

It has an annular lens holding portion arranged in the arrangement space for holding the lens, a fixing portion fixed to the fixing end portion, and a pressing portion elastically deformable and pressed against the outer peripheral surface of the lens holding portion. And an elastic body formed in a ring shape

Lens barrel.

[0188] (2)

The fixing portion is provided with at least a first portion fixed to the tip end surface of the fixing end portion.

The lens barrel according to (1) above.

[0189] (3)

The fixing portion is provided with a first portion that covers the tip surface of the fixing end portion and a second portion that is fixed to the outer peripheral surface of the fixing end portion.

The lens barrel according to (1) above.

[0190] (4)

A portion of the elastic body between the pressing portion and the fixing portion is provided as a connecting portion positioned in the arrangement space,

A filler is provided between the inner peripheral surface of the outer cylinder and the connecting portion.

The lens barrel according to any one of (1) to (3) above.

[0191] (5) 〇 2020/174876 39 卩 (: 171? 2019 /051521

The lens barrel according to (4), wherein the inner peripheral surface of the outer cylinder and the outer peripheral surface of the connecting portion are bonded to the filling material.

[01 92] (6)

A portion of the elastic body between the pressing portion and the fixing portion is provided as a connecting portion positioned in the arrangement space,

The lens barrel according to any one of (1) to (5) above, wherein the elastic body is provided with an annular protrusion that protrudes from the connecting portion to the inner peripheral side.

[01 93] (7)

The pressing portion has a contact portion that is pressed against the outer peripheral surface of the lens holding portion, and a contact portion that is continuous with one end of the contact portion opposite to the subject and that is closer to the inner peripheral surface of the outer cylinder with respect to the contact portion. And a bent portion that is bent in the direction

The lens barrel according to any one of (1) to (6) above.

[01 94] (8)

The lens holding portion has an annular lens frame, and a pressing ring that presses the lens against the lens frame and has a subject-side end located on the subject side of the lens frame,

The pressing portion is pressed against the outer peripheral surface of the pressing ring.

The lens barrel according to any one of (1) to (7) above.

[01 95] (9)

It is equipped with a lens barrel that captures an optical image and an image sensor that converts the captured optical image into an electrical signal.

The lens barrel is

An outer cylinder whose axial direction is the optical axis direction and whose inner space is formed as a placement space and whose end on the object side is provided as a fixing end;

It has an annular lens holding portion arranged in the arrangement space for holding the lens, a fixing portion fixed to the fixing end portion, and a pressing portion elastically deformable and pressed against the outer peripheral surface of the lens holding portion. And an elastic body formed in a ring shape \¥02020/174876 40 40 (: 171?2019/051521

Imaging device.

Explanation of symbols

[0196] 1 00 image pickup device, 204 image pickup element, 1 lens barrel, 2 outer tube, 7 fixing end, 9 elastic body, 10 fixing part, 1 1 connecting part, 1 2 pressing part, 1 3 1 part, 1 4 2nd part, 1 5 contact part, 1 6 bent part, 1 7 lens holding part, 1 8 lens frame, 1 9 retaining ring, 22 lens, 30 filling material, 40 protrusion, gap

Claims

\¥02020/174876 41 卩(: 17 2019/051521 Claims [Claim 1] An outer cylinder in which an axial direction is an optical axis direction, an internal space is formed as an arrangement space, and an end portion on a subject side is provided as a fixing end portion, An annular lens holding portion arranged in the arrangement space for holding the lens, a fixing portion fixed to the fixing end portion, and a pressing portion elastically deformable and pressed against the outer peripheral surface of the lens holding portion. And an elastic body formed in an annular shape Lens barrel. [Claim 2] The fixing portion is provided with at least a first portion fixed to a tip surface of the fixing end portion. The lens barrel according to claim 1. [Claim 3] The fixing portion is provided with a first portion that covers a tip surface of the fixing end portion and a second portion that is fixed to an outer peripheral surface of the fixing end portion. The lens barrel according to claim 1. [Claim 4] A portion of the elastic body between the pressing portion and the fixing portion is provided as a connecting portion positioned in the arrangement space, The lens barrel according to claim 1, wherein a filler is provided between the inner peripheral surface of the outer barrel and the connecting portion. [Claim 5] The inner peripheral surface of the outer cylinder and the outer peripheral surface of the connecting portion are adhered to the filler. The lens barrel according to claim 4. [Claim 6] A portion of the elastic body between the pressing portion and the fixing portion is provided as a connecting portion positioned in the arrangement space, The elastic body is provided with an annular protrusion protruding from the connecting portion to the inner peripheral side. The lens barrel according to claim 1. [Claim 7] The pressing portion includes a contact portion that is pressed against the outer peripheral surface of the lens holding portion, and a contact portion that is continuous with one end of the contact portion opposite to the subject and faces the contact portion. \¥02020/174876 42 卩 (: 17 2019/051521 And a bent portion bent toward the inner peripheral surface of the outer cylinder is provided. The lens barrel according to claim 1. [Claim 8] The lens holding portion has an annular lens frame and a pressing ring that presses the lens against the lens frame and has a subject-side end located on the subject side of the lens frame, The pressing portion is pressed against the outer peripheral surface of the pressing ring. The lens barrel according to claim 1. [Claim 9] A lens barrel for capturing an optical image, and an image sensor for converting the captured optical image into an electrical signal, The lens barrel is An outer cylinder whose axial direction is the optical axis direction and whose inner space is formed as an arrangement space, and whose end on the subject side is provided as a fixing end. An annular lens holding portion arranged in the arrangement space for holding the lens, a fixing portion fixed to the fixing end portion, and a pressing portion elastically deformable and pressed against the outer peripheral surface of the lens holding portion. And an elastic body formed in an annular shape Imaging device.