Medical observation device, medical observation system, and image shake correction method

Patent metadata

Field	Value
Publication number	US-11284000-B2
Application number	US-201916553174-A
Country	US
Kind code	B2
Filing date	Aug 28, 2019
Priority date	Jan 19, 2016
Publication date	Mar 22, 2022
Grant date	Mar 22, 2022

Abstract

There is provided a medical observation device, including: an observation unit configured to perform magnified observation of a surgical site; a vibration sensor that detects a vibration of the observation unit; a support unit that supports the observation unit; and a control unit that conducts an image shake correction that corrects a shake in an image observed by the observation unit, based on a detection value from the vibration sensor.

First claim

What is claimed is:

1. A medical observation device, comprising:
an arm that supports a camera; and
circuitry configured to:
determine a vibration characteristic of the camera according to a state of the arm,
on condition that the vibration characteristic is a first vibration characteristic, stabilize an image captured by the camera based on a first control parameter corresponding to the first vibration characteristic, and
on condition that the vibration characteristic is a second vibration characteristic, stabilize an image captured by the camera based on a second control parameter corresponding to the second vibration characteristic and different from the first control parameter.

2. The medical observation device according to claim 1 , wherein
the circuitry is configured to determine the vibration characteristic based on a detected user operation of an input device configured to change an operating mode of the arm.

3. The medical observation device according to claim 1 , wherein
the vibration characteristic is determined as a mode of vibration accordance with
at least one from among
a footstep vibration produced by a person walking inside an operating room;
a camera movement vibration produced by the camera moving; and
a camera locking vibration produced by the camera being locked at a position after moving.

4. The medical observation device according to claim 1 , wherein
the camera includes an imaging device that generates an image by sensing observation light with an image sensor, and
the circuitry is configured to stabilize an image observed by the camera in accordance with an electronic correction method that corrects a shake in an image by correcting a capture position of observation light for each pixel in the image sensor.

5. The medical observation device according to claim 1 , wherein
the circuitry is configured to stabilize an image observed by the camera in accordance with an optical correction method using a lens shift technique that corrects a shake in an image by moving a position of an optical system that guides observation light in the camera.

6. The medical observation device according to claim I, wherein
the camera includes an imaging device that generates an image by sensing observation light with an image sensor, and
the circuitry is configured to stabilize the image observed by the camera in accordance with an optical correction method with an imager shift technique that corrects a shake in an image by moving a position of the image sensor.

7. The medical observation device according to claim 1 , wherein
the camera includes a housing on which a grip handle is provided.

8. The medical observation device according to claim 1 . wherein
the arm includes rotation axis links, and
each of the rotation axis links is provided with a vibration suppression mechanism. that suppresses vibration in the rotation axis link.

9. The medical observation device according to claim 1 , wherein
the camera includes an endoscope and a camera head connected to a base end of the endoscope that generates an image by sensing observation light internally with an image sensor, and
the medical observation device is an endoscopic device in which the camera head is supported by the arm.

10. A medical observation system, comprising:
a medical observation device including a camera that captures an image of a surgical site;
an arm that supports the camera;
circuitry configured to:
determine a vivibration characteristic of the camera according to a state of the arm, on condition that the vibration characteristic is a first vibration characteristic, stabilize an image captured by the camera based on a first control parameter correspondin to the first vibration characteristic, and
on condition that the vibration characteristic is a second vibration characteristic, stabilize an image captured by the camera based on a second control parameter corresponding to the second vibration characteristic and different from the first control parameter; and
a display that displays the image stabilized by the circuitry.

11. A method conducted in a medical observation system that includes an arm that supports a camera, the method comprising:
determining a vibration characteristic indicating a vibration characteristic of the camera according to a state of the arm;
on condition that the vibration characteristic is a first vibration characteristic, stabilizing an image captured by the camera based on a first control parameter corresponding to the first vibration characteristic; and
on condition that the vibration characteristic is a second vibration characteristic, stabilizing an image captured by the camera based on a second control parameter corresponding the second vibration characteristic and different from the first control parameter.

12. The medical observation device according to claim 1 , further comprising a sensor that detects vibration in a plane parallel to a photosensitive face of the camera.

13. The medical observation system according to claim 10 , further comprising a sensor that detects vibration in a plane parallel to a photosensitive face of the camera.

14. The medical observation system according to claim 10 , wherein the circuitry is configured to:
wherein
the vibration characteristic is determined in accordance with:
at least one from among a footstep vibration produced by a person walking inside an operating room;
a camera movement vibration produced by the camera moving; and
a camera locking vibration produced by the camera being locked at a position after moving.

15. The method according to claim 11 , wherein detecting includes detecting vibration in a plane parallel to a photosensitive face of the camera.

16. The method according to claim 11 , further comprising:
wherein
the vibration characteristic is determined in accordance with
at least one from among
a footstep vibration produced by a person walking inside an operating room;
a camera movement vibration produced by the camera moving; and
a camera locking vibration produced by the camera being locked at a position after moving.

Assignees

• Sony Olympus Medical Solutions Inc
• Sony Olympus Mfdical Solutions Inc

Inventors

• Tamura Shigeru

Classifications

• A61B90/20 Primary

  Surgical microscopes characterised by non-optical aspects · CPC title

• H04N23/687 Primary

  by shifting the lens or sensor position · CPC title

• H04N23/683

  performed by a processor, e.g. controlling the readout of an image memory · CPC title

• H04N23/555

  for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes · CPC title

• H04N23/6812

  based on additional sensors, e.g. acceleration sensors · CPC title