Patent Description:
Vitreous body surgery is known which restores a retina to a normal state by sucking and removing a vitreous body within an eyeball, for example, for treatment of maculopathy, retinal detachment, or the like.

In ordinary vitreous body surgery, an operator (surgeon) observes the inside of the eyeball through the pupil of a subject (patient) by a surgical microscope or the like. There is a limit to a range in which the inside of the eyeball can be observed through the pupil. In order to bring the part that cannot be observed into a viewable range, the eyeball needs to be pressed from the outside. Such pressing may cause a pain during the surgery or inflammation after the surgery.

Accordingly, a method of using an endoscope for vitreous body surgery as illustrated in PTL <NUM> has been proposed.

When the endoscope is inserted into the eyeball of the subject, an image of the inside of the eyeball is displayed by display means such as a monitor. The operator can easily observe a part normally unable to be viewed from the pupil by moving the endoscope within the eyeball.

The vitreous body surgery using such an endoscope obviates a need for pressing the eyeball in observing the inside of the eyeball. A burden on the eyeball of the subject can therefore be reduced.

Further, PTL2 discloses a device comprising an arm unit having arms, and a configuration in which an intermediate part of an endoscope is detachably attached to a grip part at a distal end of the arm unit. The device comprises a camera control unit performing drive control of a camera head and a display on TV monitor. The device can further contain an operating unit for rotating the endoscope captured image.

The vitreous body surgery is performed by inserting treatment instruments such as a vitreous body cutter, forceps, and an injector of a perfusate or the like into the eyeball. The operator performs surgery on the inside of the eyeball while checking an endoscope captured image based on imaging by the endoscope on a monitor.

Here, when the imaging direction of the endoscope is shifted for positional adjustment or the like, a twist about a longitudinal axis may occur in the endoscope. When the endoscope images the inside of the eyeball in a state in which such a twist has occurred, the endoscope captured image whose upper and lower sides and left and right sides do not match the direction in which the operator is performing the surgery within the eyeball by the treatment instruments is displayed on a liquid crystal.

The display of such an endoscope captured image may cause a feeling of strangeness to the operator and may hinder smooth proceeding with the surgery.

It is accordingly an object of the present invention to display an endoscope captured image reflecting an intention of the operator.

The object is solved by a surgery assistance device according to claim <NUM>. A surgery assistance device according to the present invention includes an arm unit including a holder for holding an endoscope and configured to adjust a position of the endoscope in a state in which the holder holds the endoscope, a display control section configured to perform display control of an endoscope captured image that is obtained by the endoscope held by the holder, and an operating unit for rotating the endoscope captured image. The surgery assistance device further includes a computation and control unit configured to obtain image rotational angle data indicating a rotational direction and a rotational angle of the captured image data from the endoscope, to generate image data of the endoscope captured image on the basis of the captured image data from the endoscope and the image rotational angle data, and when detecting an operating input from the operating unit, to update the image rotational angle data according to an operation amount of the operating input.

Consequently, the endoscope captured image reflecting an intention of the operator performing the operation is displayed.

In the surgery assistance device described above, when an imaging direction of the endoscope held by the holder is shifted, the endoscope captured image maintaining an immediately preceding rotational state may be displayed.

Consequently, the endoscope captured image at a shifted position is subjected to rotation processing based on the same angle as before the positional shift and is displayed on a monitor.

In the surgery assistance device described above, the endoscope captured image may be a captured image of an inside of an eyeball of a subject from the endoscope inserted in the eyeball, and the display control section may display the endoscope captured image and an ocular map image indicating the position of the endoscope on a three-dimensional ocular model within the same screen.

Consequently, in performing the surgery while visually checking the endoscope captured image, it is possible to check the ocular map image without moving a line of sight to another monitor.

In the surgery assistance device described above, the operating unit may be a foot pedal.

Consequently, the operator can perform rotational operation of the endoscope captured image by a foot.

According to the present invention, it is possible to display an endoscope captured image reflecting an intention of the operator.

An embodiment of the present invention will be described with reference to <FIG>. The drawings extract and illustrate principal parts and peripheral configurations thereof recognized to be necessary for description. In addition, the drawings are schematic, and the dimensions, ratios, and the like of respective structures included in the drawings are mere examples. Hence, various changes can be made according to design or the like without departing from technical ideas of the present invention. In addition, configurations described once may be subsequently identified by the same reference numerals, and description thereof may be omitted.

The embodiment will hereinafter be described in the following order.

A configuration of a surgery system <NUM> in ocular surgery will be described.

<FIG> schematically illustrates an example of the configuration of the surgery system <NUM>.

The surgery system <NUM> includes an operating table <NUM> and a surgery assistance device <NUM>.

The operating table <NUM> and the surgery assistance device <NUM> are installed in an operating room.

A subject (patient) <NUM> is laid down on his or her back on the operating table <NUM>. An operator (surgeon) <NUM> is positioned on the head side of the subject <NUM>, and performs surgery within an eyeball <NUM> (see <FIG>) of the subject <NUM> by using various kinds of treatment instruments <NUM>. Used as the treatment instruments <NUM> are, for example, a vitreous body cutter, forceps, an injector of a perfusate or the like, and the like.

<FIG> schematically illustrates a sectional configuration of the eyeball <NUM>. The surface of the eyeball <NUM> is covered by a cornea <NUM> and a conjunctiva <NUM>. An iris <NUM> in which a pupil <NUM> is formed is present in the rear of the cornea <NUM>. A crystalline lens <NUM> is present in the rear of the iris <NUM>. In addition, a retina <NUM> is present on the whole surface of an ocular fundus within the eyeball <NUM>.

The operator <NUM>, for example, inserts the treatment instruments <NUM> through the conjunctiva <NUM>, and performs surgery within the eyeball <NUM>.

The surgery assistance device <NUM> assists in the surgery on the eyeball <NUM> by the operator <NUM>.

<FIG> schematically illustrates an example of a configuration of the surgery assistance device <NUM>.

The surgery assistance device <NUM> includes an endoscope holding device <NUM>, an endoscope <NUM>, an operating unit <NUM>, a computation and control unit <NUM>, and a monitor <NUM>.

The endoscope holding device <NUM> includes a base unit <NUM> and an arm unit <NUM>.

The base unit <NUM> is mounted on the floor of the operating room or the like. The arm unit <NUM> is attached to the base unit <NUM>. The arm unit <NUM> is pivotally supported by the base unit <NUM> in a rotatable manner.

The arm unit <NUM> includes one or a plurality of joint sections and rotary sections, and is formed as a mechanism that can move an arm distal end section <NUM> to a given position.

A configuration of the arm distal end section <NUM> will be described in the following.

<FIG> schematically illustrates an example of the configuration of the arm distal end section <NUM>.

The arm distal end section <NUM> includes a holder <NUM> for holding the endoscope <NUM> and a measuring unit <NUM> used to measure a distance to the cornea <NUM> of the subject <NUM>.

The holder <NUM> is formed as a mechanism that allows the endoscope <NUM> to be attached to and detached from the holder <NUM>. The endoscope <NUM> is fixed to the holder <NUM> by fitting the endoscope <NUM> into the holder <NUM>. The endoscope <NUM> can be freely moved to a given position by operating the arm unit <NUM> in a state in which the endoscope <NUM> is fixed to the holder <NUM>.

When the holder <NUM> holds the endoscope <NUM> inserted in the eyeball <NUM> of the subject <NUM>, the operator <NUM> does not need to hold the endoscope <NUM> with a hand. Hence, the operator <NUM> can perform surgery on the eyeball <NUM> with both hands.

The measuring unit <NUM> includes an irradiating unit <NUM> and an imaging unit <NUM>.

The irradiating unit <NUM> includes an LED (Light Emitting Diode), for example. The irradiating unit <NUM> outputs light that irradiates the eyeball <NUM> of the subject <NUM>.

The imaging unit <NUM> includes imaging units <NUM> and 24R to be able to perform distance measurement by what is called a stereo method. The imaging units <NUM> and 24R are, for example, arranged at a predetermined interval from each other in the vicinity of an upper portion of the holder <NUM>. Optical axes of the imaging units <NUM> and 24R are parallel with each other, and respective focal lengths of the imaging units <NUM> and 24R are the same value. In addition, frame periods thereof are in synchronism with each other, and frame rates thereof coincide with each other.

Captured image signals obtained by respective imaging elements of the imaging units <NUM> and 24R are each subjected to A/D (Analog/Digital) conversion, and are thereby converted into digital image signals (captured image data) indicating luminance values based on a predetermined gray scale in pixel units.

Distances from the imaging units <NUM> and 24R to the cornea <NUM> of the subject <NUM> can be measured on the basis of the captured image signals obtained by the respective imaging elements of the imaging units <NUM> and 24R in a state in which the irradiating unit <NUM> irradiates the eyeball <NUM>.

In the measuring unit <NUM>, relative positional relation between the irradiating unit <NUM> and the imaging units <NUM> and 24R is fixed. In addition, relative positional relation between the imaging units <NUM> and 24R and the above-described holder <NUM> is fixed. Hence, relative positional relation of the irradiating unit <NUM> and the imaging units <NUM> and 24R to the endoscope <NUM> is fixed by fixing the endoscope <NUM> to the holder <NUM>.

Returning to <FIG>, the endoscope <NUM> of the surgery assistance device <NUM> is inserted into the eyeball <NUM> in a state in which the endoscope <NUM> is fixed to the holder <NUM> (see <FIG>). A state within the eyeball <NUM> is obtained by the inserted endoscope <NUM>. Captured image signals obtained by the imaging element of the endoscope <NUM> are each subjected to A/D conversion, and are thereby converted into digital image signals (captured image data) indicating luminance values based on a predetermined gray scale in pixel units.

A captured image based on the captured image data from the endoscope <NUM> is displayed on the liquid crystal of the monitor <NUM>.

The operating unit <NUM> comprehensively represents operating equipment used to perform an operation of the arm unit <NUM>, a rotational operation of the captured image, which is displayed on the monitor <NUM>, based on imaging by the endoscope <NUM>, and the like. The operating unit <NUM> may be a foot pedal, or may be a manually operated remote operating device (remote controller) or the like. <FIG> illustrates a foot pedal as an example. However, as described above, the operating unit <NUM> is not limited to this.

Details of a method for rotational operation of the captured image based on imaging by the endoscope <NUM> will be described later.

The computation and control unit <NUM> performs various kinds of processing necessary to implement the present embodiment, such as control of operation of the arm unit <NUM>, processing of generating various kinds of images to be displayed on the monitor <NUM>, and processing of controlling display on the monitor <NUM>.

The computation and control unit <NUM>, for example, includes a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The computation and control unit <NUM> is implemented by one or a plurality of microcomputers.

The computation and control unit <NUM> is, for example, included in the base unit <NUM> of the endoscope holding device <NUM>. Incidentally, the computation and control device <NUM> may be included in another external apparatus.

The monitor <NUM> displays a display image <NUM> on the liquid crystal under display control from the computation and control unit <NUM>.

<FIG> illustrates an example of the display image <NUM> displayed on the monitor <NUM>.

The display image <NUM>, for example, including an endoscope captured image <NUM>, an ocular map image <NUM>, an endoscope viewpoint map image <NUM>, an insertion length presenting image <NUM>, and the like is displayed on the monitor <NUM>. The display image <NUM> also includes images related to various kinds of information as required.

The endoscope captured image <NUM> is the captured image based on the captured image data from the endoscope <NUM>. A state inside the eyeball <NUM>, which is obtained by the endoscope <NUM>, for example, is displayed as the endoscope captured image <NUM>. The endoscope captured image <NUM> can be rotated by an operation using the operating unit <NUM>. Details of a method for rotating the endoscope captured image <NUM> will be described later.

The ocular map image <NUM> illustrates positional relation between the eyeball <NUM> and the endoscope <NUM>.

The ocular map image <NUM> displays the eyeball <NUM> by a three-dimensional ocular model 30A. In addition, the position of the endoscope <NUM> with respect to the eyeball <NUM> is displayed by an endoscope model 12A.

The endoscope viewpoint map image <NUM> displays a three-dimensional model image of the subject <NUM> from the viewpoint of the endoscope <NUM>. The endoscope viewpoint map image <NUM> is rotated in conjunction with rotation of the endoscope captured image <NUM>.

The insertion length presenting image <NUM> displays the numerical value of an insertion length of the endoscope <NUM> with respect to the eyeball <NUM> and the numerical value of a distance from an endoscope distal end portion <NUM> to the retina <NUM>.

The operator <NUM> performs surgery on the eyeball <NUM> while checking the display image <NUM> displayed on the monitor <NUM>.

A functional configuration of the computation and control unit <NUM> in the surgery assistance device <NUM> will be described.

<FIG> illustrates, as a block diagram, an example of a configuration of the surgery assistance device <NUM>.

The computation and control unit <NUM> includes a driving control section <NUM>, an image processing section <NUM>, a position determining section <NUM>, an image generating section <NUM>, and a display control section <NUM>.

The driving control section <NUM> performs operation control on the joint section(s) and the rotary section(s) of the arm unit <NUM> of the endoscope holding device <NUM> on the basis of an operation signal input from the operating unit <NUM>, for example. The driving control section <NUM> can move the position of the endoscope <NUM> fixed to the holder <NUM> of the arm distal end section <NUM> by performing operation control on the arm unit <NUM>.

In addition, the driving control section <NUM> performs output control on the irradiating unit <NUM> and imaging control on the imaging unit <NUM>.

The image processing section <NUM> subjects the image signal based on imaging by the endoscope <NUM> to various kinds of signal processing such as luminance signal processing, color processing, resolution conversion processing, and codec processing. The image processing section <NUM> outputs the image signal resulting from the various kinds of signal processing to the image generating section <NUM>.

The position determining section <NUM> obtains distance information from the imaging unit <NUM> to the cornea <NUM> on the basis of the captured image signals of the eyeball <NUM> from the respective imaging elements of the imaging units <NUM> and 24R, the captured image signals being input from the imaging unit <NUM>.

In addition, the position determining section <NUM> computes relative positional relation between the eyeball <NUM> and the endoscope distal end portion <NUM> on the basis of the distance information.

The position determining section <NUM> outputs a determination result (relative positional relation between the eyeball <NUM> and the endoscope distal end portion <NUM>) to the image generating section <NUM>.

The image generating section <NUM> generates the display image <NUM> as illustrated in <FIG> by using various kinds of input information from the image processing section <NUM>, the position determining section <NUM>, the operating unit <NUM>, and the like. Details of a method for generating various kinds of images constituting the display image <NUM> will be described later.

The image generating section <NUM> outputs an image signal of the generated display image <NUM> to the display control section <NUM>.

The display control section <NUM> performs control that displays the display image <NUM> on the monitor <NUM> on the basis of the image signal input from the image generating section <NUM>.

Description will be made of processing performed by the computation and control unit <NUM> of the surgery assistance device <NUM> in order to implement the present embodiment. Here, suppose, as an example, that the operator <NUM> is performing surgery while positioned on the head side of the subject <NUM> (see <FIG>).

<FIG> is a flowchart illustrating an example of the processing performed by the computation and control unit <NUM>. The computation and control unit <NUM> repeatedly performs the processing of <FIG> in timing of each frame of the image.

In step S101, the computation and control unit <NUM> obtains the captured image data input from the endoscope <NUM>. The computation and control unit <NUM> stores, in an internal memory, each piece of frame image data, which is the captured image data obtained by imaging the inside of the eyeball <NUM> by the endoscope <NUM>.

In step S102, the computation and control unit <NUM> obtains image rotational angle data.

The image rotational angle data is information indicating a rotational direction and a rotational angle of the captured image data from the endoscope <NUM>, which is used to perform rotation processing on the captured image data.

The image rotational angle data is updated as appropriate according to operating input from the operating unit <NUM>. However, the image rotational angle data is not updated when an imaging direction of the endoscope <NUM> is shifted according to operation of the arm unit <NUM>.

During a period from a start of the processing of <FIG> by the computation and control unit <NUM> to detection of an operating input by the operating unit <NUM> (the period will hereinafter be described also as an initial state), the image rotational angle data is a value indicating an angle of <NUM>° in rotation processing on the endoscope captured image.

When the computation and control unit <NUM> detects an operating input from the operating unit <NUM>, the computation and control unit <NUM> updates the image rotational angle data according to an operation amount of the operating input. The rotational direction is indicated by a positive or negative angle of the updated image rotational angle data, for example. Details of update processing on the image rotational angle data will be described later.

In the step S <NUM>, the computation and control unit <NUM> generates image data of the endoscope captured image <NUM> on the basis of the captured image data from the endoscope <NUM> and the image rotational angle data.

In this case, the computation and control unit <NUM> at least generates the image data of the endoscope captured image <NUM> obtained by rotating the captured image data from the endoscope <NUM> on the basis of the direction and the angle based on the image rotational angle data.

In addition, in a case of the initial state, a rotational angle of <NUM>° is indicated as image rotational angle data, and therefore the computation and control unit <NUM> generates the image data as the endoscope captured image <NUM> without rotating the captured image data from the endoscope <NUM>.

In step S104, the computation and control unit <NUM> generates image data of the display image <NUM>.

The computation and control unit <NUM> generates the image data of the display image <NUM> by synthesizing the endoscope captured image <NUM>, the ocular map image <NUM>, the endoscope viewpoint map image <NUM>, the insertion length presenting image <NUM>, and image data of other necessary images.

Here, description will be made of an example of a method for generating image data of various kinds of images other than the endoscope captured image <NUM> described above.

The computation and control unit <NUM> performs various kinds of image analysis processing such, for example, as recognition of light spots of light <NUM> from the irradiating unit <NUM>, which appear on the eyeball <NUM> or the cornea <NUM> on the basis of the pair of captured image data as respective frames obtained by imaging the eyeball <NUM> by the imaging units <NUM> and 24R.

For the pair of captured image data (stereo images), the computation and control unit <NUM> computes an imaging distance, which is a distance from the imaging unit <NUM> to the cornea <NUM>, by a principle of triangulation from an amount of offset between the positions of the light spots appearing on the cornea <NUM>.

The computation and control unit <NUM> determines positional relation between the imaging unit <NUM> and the eyeball <NUM> on the basis of the computed imaging distance, and determines the positional relation between the endoscope <NUM> (endoscope distal end portion <NUM>), whose relative positional relation to the imaging unit <NUM> is fixed, and the eyeball <NUM>.

The computation and control unit <NUM> generates image data of the ocular map image <NUM> illustrating the determined positional relation between the eyeball <NUM> and the endoscope <NUM> (endoscope distal end portion <NUM>) as positional relation between the three-dimensional ocular model 30A and the endoscope model 12A.

The computation and control unit <NUM> generates image data of the endoscope viewpoint map image <NUM> displaying a three-dimensional model image of the subject <NUM> from the viewpoint of the endoscope <NUM>.

Preset three-dimensional model data of a head portion of a human is used as the three-dimensional model of the subject <NUM>. A value indicating the angle of the head portion of the subject <NUM> with respect to the endoscope <NUM> is set as head portion angle data in advance on an assumption that the subject <NUM> is laid down on his or her back on the operating table <NUM> and an installation angle of the endoscope holding device <NUM> with respect to the operating table <NUM> is defined.

The computation and control unit <NUM> generates the three-dimensional model image including the three-dimensional ocular model image on the basis of the three-dimensional model data and the head portion angle data.

Then, the computation and control unit <NUM> generates the image data of the endoscope viewpoint map image <NUM> by synthesizing the three-dimensional model image and the endoscope model image on the basis of the positional relation between the eyeball <NUM> and the endoscope <NUM>.

The computation and control unit <NUM> computes information regarding the insertion length of the endoscope <NUM> in the eyeball <NUM> and information regarding the distance from the endoscope distal end portion <NUM> to the retina <NUM> of the subject <NUM> from the determined positional relation between the eyeball <NUM> and the endoscope <NUM> (endoscope distal end portion <NUM>).

Then, the computation and control unit <NUM> generates the image data of the insertion length presenting image <NUM> on the basis of these pieces of information.

The image data of the various kinds of images necessary to generate the image data of the display image <NUM> is generated by the method described above.

In the following step S105, the computation and control unit <NUM> performs display control for displaying the display image <NUM> on the liquid crystal of the monitor <NUM>. The display image <NUM> as illustrated in <FIG> is thereby displayed within the same screen of the monitor <NUM>.

Incidentally, during the surgery on the eyeball <NUM> by the operator <NUM>, treatment instruments <NUM> may appear in the endoscope captured image <NUM>, as illustrated in <FIG>. In this case, as is clear from the display positions of the treatment instruments <NUM>, the upper and lower sides and left and right sides of the endoscope captured image <NUM> do not match a direction in which the operator <NUM> illustrated in <FIG> performs the surgery on the inside of the eyeball <NUM>.

This is caused by the occurrence of a twist in the endoscope <NUM> about a longitudinal axis at a time of adjustment of the position of the endoscope <NUM> inserted into the eyeball <NUM>. When the endoscope <NUM> images the inside of the eyeball <NUM> in a state in which such a twist has occurred, the endoscope captured image <NUM> whose upper and lower sides and left and right sides do not match the direction in which the operator <NUM> is performing the surgery is displayed on the monitor <NUM>.

In such a case, the operator <NUM> needs to rotate the endoscope captured image <NUM> to an easily viewable position (for example, a position illustrated in <FIG>) by operating the operating unit <NUM> in order to proceed with the surgery smoothly.

The computation and control unit <NUM> therefore performs the processing of steps S106 and S <NUM>.

In step S106, the computation and control unit <NUM> determines whether or not an operating input from the operating unit <NUM> is detected. An operating input is, for example, performed by the operator <NUM> by operating the foot pedal with a foot.

When no operating input is detected in step S106, the computation and control unit <NUM> returns the processing to step S101, and subsequently performs similar processing.

That is, in the initial state, the endoscope captured image <NUM> in a non-rotated state are displayed on the monitor <NUM>.

When an operating input is detected in step S106, on the other hand, the computation and control unit <NUM> advances the processing from step S106 to S107.

In step S107, the computation and control unit <NUM> performs update processing on the image rotational angle data.

The computation and control unit <NUM> updates the rotational direction and the rotational angle as the image rotational angle data on the basis of the operating input from the operating unit <NUM>.

After performing the processing of step S107, the computation and control unit <NUM> returns the processing to step S101. Then, the computation and control unit <NUM> performs the processing from step S101 to S103, and thereby generates the image data of the endoscope captured image <NUM> obtained by rotating the captured image data from the endoscope <NUM> on the basis of the updated image rotational angle data.

When such processing is performed, the endoscope captured image <NUM> displayed on the monitor <NUM> can continue to be rotated according to the operation of the operating unit <NUM> without causing a positional displacement of the endoscope <NUM> within the eyeball <NUM>. For example, the endoscope captured image <NUM> can be rotated from a position illustrated in <FIG> to a position illustrated in <FIG>.

In the following step S104, the computation and control unit <NUM> generates the image data of the display image <NUM> including the endoscope captured image <NUM> as described above.

In step S105, the computation and control unit <NUM> performs display control for displaying the display image <NUM> on the liquid crystal of the monitor <NUM>. The endoscope captured image <NUM> rotated according to the operation of the operating unit <NUM> by the operator <NUM> is displayed on the monitor <NUM>.

While the operator <NUM> continues operating the operating unit <NUM>, the computation and control unit <NUM> continues performing the processing from step S101 to step S107.

The operator <NUM>, for example, continues operating the operating unit <NUM> to rotate the endoscope captured image <NUM> until the treatment instruments <NUM> appearing in the endoscope captured image <NUM> are located at positions that facilitate the surgery.

When the operator <NUM> ends the operation of the operating unit <NUM>, the computation and control unit <NUM> determines that no operating input is detected in step S106. In this case, the computation and control unit <NUM> returns the processing from step S106 to S101, and thereafter repeatedly performs the processing from step S101 to step S106 until an operating input is detected in step S106.

At this time, the computation and control unit <NUM> generates the image data of the endoscope captured image <NUM> on the basis of the last updated image rotational angle data, and performs display control on the monitor <NUM>. Thus, the endoscope captured image <NUM> is displayed on the monitor <NUM> in a state in which the rotational angle at a time point of a stop of the rotation is maintained.

Incidentally, the computation and control unit <NUM> does not update the image rotational angle data even when the endoscope <NUM> held by the holder <NUM> is moved by operation control on the arm unit <NUM> to shift the imaging direction of the endoscope <NUM>.

Hence, on the monitor <NUM>, the endoscope captured image <NUM> obtained by shifting only the imaging direction is displayed in a state in which the rotation based on the last updated image rotational angle data is maintained.

Hence, the operator <NUM> does not need to rotate the endoscope captured image <NUM> again by operating the operating unit <NUM> when the imaging direction of the endoscope <NUM> is shifted.

When the computation and control unit <NUM> detects an operating input again in step S106 while repeatedly performing the processing from step S101 to step S106, the computation and control unit <NUM> advances the processing in order of steps S107 and S101, and thereafter performs similar processing.

The surgery assistance device <NUM> in the embodiment of the present invention includes the arm unit <NUM> including the holder <NUM> for holding the endoscope <NUM> and configured to adjust the position of the endoscope <NUM> in a state in which the holder <NUM> holds the endoscope <NUM>, the display control section <NUM> configured to perform display control of the endoscope captured image <NUM> that is obtained by the endoscope <NUM> held by the holder <NUM>, and the operating unit <NUM> for rotating the endoscope captured image <NUM>. The displayed endoscope captured image <NUM> is rotated according to operation of the operating unit <NUM> without a positional displacement of the endoscope <NUM> being caused (see <FIG>, <FIG>, and the like).

Consequently, the endoscope captured image <NUM> reflecting an intention of the operator <NUM> operating the operating unit <NUM> is displayed.

Hence, even when the endoscope captured image <NUM> whose upper and lower sides and left and right sides do not match the direction in which the operator <NUM> is performing the surgery within the eyeball <NUM> is displayed on the monitor <NUM> (see <FIG>), the endoscope captured image <NUM> can be adjusted, by an operation, to a position (see <FIG>) that facilitates the operator <NUM> performing the surgery. It is therefore possible to facilitate smooth proceeding with the surgery.

In the surgery assistance device <NUM> in the present embodiment, when the imaging direction of the endoscope <NUM> held by the holder <NUM> is shifted, the endoscope captured image <NUM> maintaining an immediately preceding rotational state is displayed (see S103 in <FIG> and the like).

Consequently, the endoscope captured image <NUM> at a shifted position is subjected to rotation processing based on the same angle as before the positional shift, and is displayed on the monitor <NUM>.

Hence, the endoscope captured image <NUM> reflecting an intention of the operator <NUM> to maintain the rotational state can be displayed. In addition, the operator <NUM> does not need to operate the operating unit <NUM> each time the position of the endoscope <NUM> is shifted. Thus, smooth proceeding with the surgery can be facilitated.

In the surgery assistance device <NUM> in the present embodiment, the endoscope captured image <NUM> is a captured image of the inside of the eyeball <NUM> from the endoscope <NUM> inserted in the eyeball <NUM> of the subject <NUM>, and the display control section <NUM> displays the endoscope captured image <NUM> and the ocular map image <NUM> indicating the position of the endoscope <NUM> on the three-dimensional ocular model 30A within the same screen (see S105 in <FIG> and the like).

Consequently, by visually checking the monitor <NUM> displaying the endoscope captured image <NUM>, it is possible also to grasp the position of the endoscope <NUM> inserted in the eyeball <NUM> of the subject <NUM>.

Hence, the operator <NUM> can check the position of the endoscope <NUM> inserted within the eyeball <NUM> without moving a viewpoint from the display screen <NUM> displaying video of the inside of the eyeball <NUM>. It is therefore possible to proceed with the surgery on the eyeball <NUM> more smoothly.

In the surgery assistance device <NUM> in the present embodiment, the operating unit <NUM> is a foot pedal (see <FIG> and the like).

Consequently, the operator <NUM> can perform rotational operation of the endoscope captured image <NUM> by a foot.

Hence, the endoscope captured image <NUM> reflecting an intention of the operator <NUM> can be displayed even when both hands of the operator <NUM> are full during the surgery. In other words, the operator <NUM> can use both hands freely even while performing a rotational operation of the endoscope captured image <NUM>. It is therefore possible to proceed with the surgery smoothly.

Claim 1:
A surgery assistance device (<NUM>) comprising:
an arm unit (<NUM>) including a holder (<NUM>) for holding an endoscope (<NUM>) and configured to adjust a position of the (<NUM>) endoscope in a state in which the holder (<NUM>) holds the endoscope (<NUM>);
a display control section (<NUM>) configured to perform display control of an endoscope captured image (<NUM>) that is obtained by the endoscope (<NUM>) held by the holder (<NUM>); and
an operating unit (<NUM>) configured to provide an operating input from an operator for rotating the endoscope captured image (<NUM>),
a computation and control unit (<NUM>) which is configured to obtain image rotational angle data indicating a rotational direction and a rotational angle of the captured image data from the endoscope (<NUM>), to generate image data of the endoscope captured image (<NUM>) on the basis of the captured image data from the endoscope (<NUM>) and the image rotational angle data, and when detecting the operating input from the operating unit (<NUM>), to update the image rotational angle data according to an operation amount of the operating input.