CN112190347A

CN112190347A - Micro-endoscope and micro-endoscope system

Info

Publication number: CN112190347A
Application number: CN202011241185.7A
Authority: CN
Inventors: 胡善云; 刘鹏; 丘永洪
Original assignee: Zhuhai Weierkang Biotechnology Co ltd
Current assignee: Zhuhai Weierkang Biotechnology Co ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-01-08

Abstract

The invention discloses a micro endoscope, which comprises a fixing unit and an imaging unit, wherein the imaging unit comprises two groups of optical processing components which are arranged in parallel, each optical processing component comprises an objective lens, a focusing module, a CMOS (complementary metal oxide semiconductor), an illuminating optical fiber, an optical fiber interface and a signal wire, wherein the rear end of the imaging unit is connected with the fixing unit, the front end of the imaging unit is provided with the objective lens, one side of the objective lens is provided with the focusing module, the illuminating optical fiber penetrating through the front and the rear of the imaging unit is arranged between the two objective lenses, and the illuminating optical fiber enters the presenting unit through the optical fiber interface and extends to the front end of an eyepiece; the objective lens is connected to the CMOS, and the target area forms a three-dimensional image in the CMOS through the objective lens and is output through a signal line. The invention provides a micro-endoscope and a micro-endoscope system, which can directly acquire 3D images and simplify the system structure.

Description

Micro-endoscope and micro-endoscope system

Technical Field

The invention relates to the field of medical instruments, in particular to a micro endoscope and a micro endoscope system.

Background

In 1921, the Swedish otorhinolaryngologist Nylen performed a first microsurgical procedure using a self-designed, fixed monocular surgical microscope. Over the course of 100 years, surgical microscopes have increasingly become an important tool for performing delicate surgical procedures commonly used in microsurgery.

During the process of using the surgical microscope, the angle of the surgical microscope needs to be adjusted frequently to meet different observation fields. Due to the depth of the observation site, a microscope stand is required to be able to accurately adjust the position of the microscope. The operation microscope is mainly suitable for operation operations of fine tissues, tiny blood vessels and nerves and other fine operations needing to be performed by means of the microscope, in order to obtain a stereoscopic image, two persons can perform the operation operations conveniently at the same time, the operation microscope is usually designed into a single binocular or double multiple eyes and is usually provided with an electronic eyepiece, and the electronic eyepiece can transmit the image to a display for teaching or video recording. In order to move the operation microscope stably and conveniently, the operation microscope is also provided with a set of support, the requirement causes the optical system to have a complex structure and a large weight and size, the optical system can shield an operation area, a larger support structure is needed to maintain sufficient balance, and finally, the equipment is expensive, large and heavy, the flexibility is greatly limited, and the operation microscope is not convenient to move. Because the observation mode is that the doctor observes through the eyepiece with the eye, when constantly switching observation field and operation region, the lens needs frequent big regulation, leads to eye fatigue easily.

With the continuous development of life science, the traditional micro-endoscope can not meet the requirements of the existing operation, and a micro-endoscope system which can simply, conveniently and quickly provide an operation area image is urgently needed to be designed.

Disclosure of Invention

In view of the deficiencies of the prior art, the present invention aims to provide a micro-endoscope and a micro-endoscope system, which can directly acquire 3D images and simplify the system structure.

In order to achieve the purpose, the invention adopts the following technical scheme: a kind of micro-endoscope, including fixed unit and imaging unit, the said imaging unit includes two groups of optical processing assemblies juxtaposed, the said optical processing assembly includes objective lens, focusing module, CMOS, lighting optic fibre, optical fiber interface and signal line, wherein, the rear end of the said imaging unit connects the said fixed unit, the front end of the said imaging unit sets up the objective lens, one side of the said objective lens sets up the focusing module, set up the lighting optic fibre which runs through the imaging unit front and back between two objective lenses, the said lighting optic fibre enters the said presentation unit and extends to the anterior end of eyepiece through the said optical fiber interface; the objective lens is connected to the CMOS, and the target area forms a three-dimensional image in the CMOS through the objective lens and is output through a signal line.

Furthermore, the micro-endoscope further comprises a rod lens, the CMOS is located in the fixing unit, the focusing module and the rod lens are located between the objective lens and the CMOS, and the signal line and the optical fiber interface are located at the rear end of the fixing unit.

Further, the rod mirrors comprise a first rod mirror and a second rod mirror, and the first rod mirror and the second rod mirror are connected between the focusing module and the CMOS in series.

Furthermore, the micro-endoscope further comprises a fixing bayonet, the fixing bayonet is located in the fixing unit, the signal line and the optical fiber interface are located at the rear end of the fixing unit, and the CMOS is located at the rear end of the focusing module.

Furthermore, the imaging unit further comprises a circuit board, wherein the circuit board is located at the rear end of the CMOS and used for outputting a three-dimensional image formed by the CMOS through a signal line.

Furthermore, the micro-endoscope further comprises a 3D camera, the 3D camera is connected to the other end of the fixing unit, the CMOS is located in the 3D camera, the signal line is located at the rear end of the 3D camera, and the optical fiber interface is located on one side of the imaging unit.

Furthermore, the micro-endoscope also comprises a rod lens, the focusing module is positioned at the front end of the objective lens, and the rod lens is positioned at the rear end of the objective lens.

A microendoscope system, comprising the microendoscope of claim 1, a support, a display screen and a processing host, wherein the display screen and the support are positioned above the processing host, the front end of the support is connected with the limiting endoscope, and an image acquired by the limiting endoscope is transmitted to the display screen through a signal line for displaying.

Further, the support is an M-axis mechanical arm, and M is any number greater than 2 and smaller than 8.

Further, the display is any type of 3D display.

The invention has the beneficial effects that: the display screen image of the microscopic endoscopic surgery system can present a 3D effect with good stereoscopic impression, and a doctor can perform surgery only by looking at the display screen, so that compared with the existing 2D microscopic endoscopic surgery system (MED) or Karl Storz surgery teaching endoscopic system, the real 3D image can be obtained, and the requirement of precise surgery is met; compared with the structure adopting the traditional operation microscope, the technical scheme of the invention obviously reduces the volume and the weight, so that the placement of the microscope endoscope is more flexible, and the operation area can be prevented from being shielded or the operation of a doctor can be prevented from being interfered because the technology of stabilizing the three axes of the holder or tracking the image at any visual direction angle can be realized; the invention can also meet the requirement of the disinfection method adopted by the existing medical apparatus and instruments, and can simultaneously meet the requirement of observing the three-dimensional image of the operation area by a plurality of people; the microscope endoscope eyepiece used by the invention is far away from the operation area, so that the liquid in the operation can be prevented from polluting the eyepiece, and the system can be prevented from polluting the operation area by enough distance.

Drawings

FIG. 1 is a schematic view of the external structure of a microendoscope of the present invention;

FIG. 2 is a schematic structural view of a microendoscope in example 1;

FIG. 3 is a schematic structural view of a microendoscope in example 2;

FIG. 4 is a schematic structural view of a microendoscope in example 3;

FIG. 5 is a schematic structural view of a microendoscope system of the present invention.

Reference numerals: the system comprises an imaging unit 1, a fixing unit 2, an objective lens 11, a focusing module 12, a CMOS 13, an illuminating optical fiber 14, a signal line 15, a first rod lens 16, a second rod lens 17, an optical fiber interface 18, a fixing bayonet 19, a circuit board 20, a lens bayonet 21, a 223D camera, a 3 micro endoscope 31, a support 31, a display screen 32, a processing host 33, an operation screen 34 and an interface 35.

Detailed Description

The invention will be further described with reference to the accompanying drawings and the detailed description below:

referring to the attached drawing 1, the invention provides a micro endoscope, which comprises a fixing unit 2 and an imaging unit 1, wherein the imaging unit comprises two groups of parallel optical processing components, each optical processing component comprises an objective lens, a focusing module, a CMOS (complementary metal oxide semiconductor), an illuminating optical fiber, an optical fiber structure and a signal line, the rear end of the imaging unit is connected with the fixing unit, the front end of the imaging unit is provided with the objective lens, one side of the objective lens is provided with the focusing module, the illuminating optical fiber penetrating through the front and the rear of the imaging unit is arranged between the two objective lenses, the objective lens is connected to the CMOS, imaging contents of the objective lens are converted into three-dimensional images by the CMOS, and the. Wherein, the illumination optical fiber enters the imaging unit from the optical fiber interface and extends to the front of the objective lens for illuminating a target area.

The focusing module can adopt an electronic focusing module or a zooming focusing module, electronic focusing or zooming is added at the front end or the rear end of the eyepiece and matched with control software to realize automatic focusing and zooming at any position, and the micro-endoscope can acquire clear images within a certain distance range. The invention adopts two groups of parallel optical processing components, the two groups of parallel optical processing components provide three-dimensional images like a stereo microscope and binocular vision, and the three-dimensional images are displayed by a three-dimensional display technology and can be used for multiple people to simultaneously obtain three-dimensional stereo vision and used for operation or teaching.

Example 1

As shown in fig. 2, the imaging unit of the microendoscope of the present invention includes two sets of parallel optical processing components, which include an objective lens 11, a focusing module 12, a CMOS 13, an illumination fiber 14, a rod lens, a signal line 15, and a fiber interface 18. The rod lens comprises a first rod lens 16 and a second rod lens 17 which are connected in series, the rear end of an imaging unit is connected with a fixing unit, the front end of the imaging unit is provided with an objective lens 11, the rear end of the objective lens 11 is provided with a focusing module 12, the rear end of the focusing module 12 is provided with the first rod lens 16, and the rear end of the first rod lens is provided with the second rod lens 17; in view of the juxtaposition of the two optical processing components between which the illumination fiber 14 is disposed, as shown in fig. 2, the illumination fiber 14 is located in the very center of the imaging unit for illuminating the target area. Two parallel optical processing assemblies are symmetrically distributed on two sides of the illumination optical fiber. The illumination optical fiber enters the imaging unit through the optical fiber interface and extends to the foremost end of the imaging unit. Light emitted by the light source is transmitted to a target area in front of the objective lens through the illumination optical fiber.

The CMOS 13 is located in a fixed unit and the target area is imaged in the CMOS after passing through the objective lens and the rod lens, and the image acquired in the CMOS is a three-dimensional image similar to the binocular vision of the human eye in view of the objective lens being two objective lenses in parallel. The signal line and the optical fiber interface are both positioned at the rear end of the fixing unit.

Preferably, in order to better acquire the image of the region to be operated on, a deflection prism can be arranged in the optical imaging assembly, and the image observed by the objective lens can be effectively presented on a CMOS. In the embodiment, the objective lens and the adjusting module are mutually matched to form the ultrasonic focusing objective lens with two objective lenses for synchronously focusing.

Example 2

As shown in fig. 3, the imaging unit of the microendoscope of the present invention includes two sets of parallel optical processing components, which include an objective lens 11, a focusing module 12, a CMOS 13, an illumination fiber 14, a signal line 15, and a fiber interface 18. The fixing unit comprises a fixing bayonet 19, and the fixing bayonet 19 is used for fixing the limiting endoscope at the front end of the bracket or any other place which can be fixed. The front end of the imaging unit is provided with an objective lens 11, the rear end of the objective lens 11 is provided with a focusing module 12, the rear end of the focusing module 12 is provided with a CMOS 13, the rear end of the CMOS 13 is provided with a circuit board 20, the circuit board 20 is used for transmitting image signals acquired by the CMOS to a display screen through a signal line for displaying, the distance between the circuit board and the CMOS cannot be too far, otherwise, the image signals of the CMOS are easily interfered.

Considering that the two optical processing components are arranged side by side, an illumination fiber is arranged between the two optical processing components, as shown in fig. 3, and the illumination fiber is positioned at the very center of the imaging unit and is used for illuminating the target area. Two parallel optical processing assemblies are symmetrically distributed on two sides of the illumination optical fiber. The illumination optical fiber enters the imaging unit through the optical fiber interface and extends to the foremost end of the imaging unit. The light emitted by the light source is transmitted to a target area in front of the objective lens through the illumination optical fiber

The target area is imaged in the CMOS after passing through the objective lens, and the objective lens is two parallel objective lenses, so that an image acquired in the CMOS is a three-dimensional image similar to a binocular object of human eyes; and the three-dimensional image after imaging is transmitted out through a fine signal line of the circuit board. The signal line and the optical fiber interface are both positioned at the rear end of the fixing unit.

Example 3

As shown in fig. 4, the micro-endoscope of the present invention includes an imaging unit, a lens mount and a 3D camera 22, wherein the lens mount is a fixing unit, the imaging unit and the 3D camera 22 are fixed together by the lens mount 21, a CMOS is located in the 3D camera, and a signal line is located at the rear end of the 3D camera.

The optical processing assembly comprises an objective lens 11, a focusing module 12, a CMOS 13, an illumination optical fiber 14, a rod lens, a signal wire 15 and an optical fiber interface 18. The rod lens comprises a first rod lens 16 and a second rod lens 17 which are connected in series, the rear end of an imaging unit is connected with a fixing unit, the front end of the imaging unit is provided with an objective lens 11, the front end of the objective lens 11 is provided with a focusing module 12, the rear end of the objective lens 11 is provided with the first rod lens 16, and the rear end of the first rod lens 16 is provided with the second rod lens 17; in view of the juxtaposition of the two optical processing assemblies, between which an illumination fiber is disposed, as shown in fig. 4, the illumination fiber is located at the very center of the imaging unit for illuminating the target area. Two parallel optical processing assemblies are symmetrically distributed on two sides of the illumination optical fiber. The illumination optical fiber enters the imaging unit through the optical fiber interface and extends to the foremost end of the imaging unit; the optical fiber interface is positioned at one side of the imaging unit, and light emitted by the light source is transmitted to a target area in front of the objective lens through the illumination optical fiber.

The target area is imaged in the CMOS after passing through the objective lens and the rod lens, and the image acquired in the CMOS is a three-dimensional image similar to a binocular object of human eyes due to the fact that the objective lens is two objective lenses which are arranged in parallel. In this embodiment, the 3D camera including the CMOS and the imaging unit are detachable structures and are connected by a lens mount, and the 3D camera may include a single CMOS, a dual CMOS, or a triple CMOS.

Preferably, in order to better acquire the image of the region to be operated on, a deflection prism can be arranged in the optical imaging assembly, and the image observed by the objective lens can be effectively presented on a CMOS. In this embodiment, the objective lens and the adjusting module are mutually matched to form an optical focusing objective lens with two objective lenses for synchronously focusing.

It should be noted that, in the foregoing embodiment of the present invention, the focusing module may adopt an electronic focusing module or a zooming focusing module, and the focusing module may be located at the front end or the rear end of the objective lens, and cooperate with a corresponding control program to perform imaging adjustment on the objective lens. In the practical application process, the distance between the objective lens and the target area is usually set to be 10-100cm, high-definition imaging can be realized through focusing in the distance range, and the distance area can avoid the pollution of the objective lens and the blockage of an endoscope in the operation.

The optical structure of the optical processing assembly is similar to an endoscope, the size is remarkably reduced compared with that of a traditional operation microscope, meanwhile, any visual direction angle (the angle of the traditional operation microscope is only zero degree) can be realized, and when a proper angle is increased, the shielding of the instrument visual field can be greatly reduced in the vertical direction; the two optical systems provide three-dimensional images like a stereo microscope and binocular vision, and after the three-dimensional images are displayed by a three-dimensional display technology (such as a naked eye 3D display or other 3D displays) the three-dimensional images can be simultaneously obtained by multiple people and used for operation or teaching.

As shown in fig. 5, the microendoscope system provided by the present invention includes the microendoscope mentioned in the above embodiment, a support, a display screen and a processing host, the display screen and the support are located above the processing host, the front end of the support is connected to a limiting endoscope, and an image acquired by the limiting endoscope is transmitted to the display screen through a signal line for displaying. The support is directly connected with the micro-endoscope through a bedside mechanical arm and a three-axis tracking holder and a quick interface connected with the micro-endoscope or a 3-7-axis robot beside the bed or arranged on a trolley, and can also be arranged on the ceiling of an operating room by adopting a suspension design. The outer side of the processing host machine also comprises an operation screen 34 and an interface 35, wherein the operation screen is provided with an adjusting button for adjusting various parameters of the micro endoscope and the micro endoscope system; the interface is used for connecting the system and external power supply and other devices.

The display 32 is used to show images captured by the three-dimensional imaging system and may output the images for use by a 3D, 2D display or AR glasses.

The CMOS and other electronic imaging elements transmit the optical long-focus micro-endoscope image to the processing host computer through signal lines, and the processed image is transmitted to the display equipment, so that a two-dimensional or three-dimensional image of a target area can be observed. High-definition imaging can be realized by focusing according to the requirement of operation and setting the vertical distance of 10-100cm from the operation area (the distance can avoid pollution and obstruct the operation of instruments). When the 3D camera is connected, a 3D effect can be presented on the display equipment. The interface is designed for quick connection to a support.

The micro endoscope can perform high-pressure steam sterilization or low-temperature plasma sterilization due to compact and small structure. The optical structure of the optical processing assembly is similar to an endoscope, the size is remarkably reduced compared with that of a traditional operation microscope, meanwhile, any visual direction angle (the angle of the traditional operation microscope is only zero degree) can be realized, and when a proper angle is increased, the shielding of the instrument visual field can be greatly reduced in the vertical direction; the two groups of optical processing systems provide three-dimensional images like a stereo microscope and binocular vision, and after the three-dimensional images are displayed by a three-dimensional display technology (such as a naked eye 3D display or other 3D displays) the three-dimensional images can be simultaneously obtained by multiple people and used for operations or teaching.

The invention designs the front end of the objective lens, adds electronic focusing or zooming and matches with software to realize automatic focusing and zooming at any position, which is also a remarkable characteristic different from the existing endoscope and operation microscope.

The display screen image of the micro-endoscope operation system can present a 3D effect with good stereoscopic impression, a doctor can perform an operation by only looking at the display screen, and compared with the existing 2D micro-endoscope operation system (MED) or Karl Storz operation teaching system, the real 3D image can be obtained, and the requirement of precise operation is met.

Compared with the structure adopting the traditional operation microscope, the technical scheme of the invention obviously reduces the volume and the weight, so that the placement of the microscope endoscope is more flexible, and the operation area can be prevented from being shielded or the operation of a doctor can be prevented from being interfered because the technology of stabilizing the three axes of the holder or tracking the image at any visual direction angle can be realized.

The invention can also meet the requirement of the disinfection method adopted by the existing medical instruments and can simultaneously meet the requirement of observing the three-dimensional image of the operation area by a plurality of people.

The three-dimensional microscopic endoscope operation system is lighter and can adopt a more flexible and lighter support, the structure is obviously simpler than that of a microscope and a multi-joint support of the existing operation microscope system, and all the manufacturing cost is greatly reduced.

The microscope endoscope eyepiece used by the invention is far away from the operation area, so that the liquid in the operation can be prevented from polluting the eyepiece, and the system can be prevented from polluting the operation area by enough distance.

The optical imaging assembly design of the present invention is more efficient than conventional surgical microscopes because the optical system does not require multiple split screens to meet the multi-path viewing requirements, and therefore a smaller diameter optical system can be used with the resolution.

Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.

Claims

1. A kind of micro-endoscope, characterized by, including fixed unit and imaging unit, the said imaging unit includes two groups of optical processing assemblies juxtaposed, the said optical processing assembly includes objective, focusing module, CMOS, lighting optic fibre, optical fiber interface and signal line, wherein, the rear end of the said imaging unit connects the said fixed unit, the front end of the said imaging unit sets up the objective, one side of the said objective sets up the focusing module, set up the lighting optic fibre which runs through the imaging unit front and back between two objectives, the said lighting optic fibre enters the said presentation unit and extends to the anterior end of eyepiece through the said optical fiber interface; the objective lens is connected to the CMOS, and the target area forms a three-dimensional image in the CMOS through the objective lens and is output through a signal line.

2. A microendoscope as claimed in claim 1, further comprising a rod lens, the CMOS being located in the fixed unit, the focusing module and rod lens being located between the objective lens and CMOS, the signal lines and fiber optic interfaces being located at a rear end of the fixed unit.

3. A microendoscope as claimed in claim 2, wherein the rod mirrors comprise first and second rod mirrors, the first and second rod mirrors being connected in series between the focusing module and the CMOS.

4. The microendoscope of claim 1, further comprising a mounting bayonet in the mounting unit, wherein the signal line and fiber interface are located at a rear end of the mounting unit, and wherein the CMOS is located at a rear end of the focusing module.

5. The microendoscope of claim 4, further comprising a circuit board at the rear end of the CMOS for outputting a three-dimensional image formed by the CMOS through a signal line.

6. The microendoscope of claim 1, further comprising a 3D camera, wherein the 3D camera is connected to the other end of the fixing unit, the CMOS is located in the 3D camera, the signal line is located at the rear end of the 3D camera, and the optical fiber interface is located at one side of the imaging unit.

7. The microendoscope of claim 6, further comprising a rod lens, wherein the focusing module is located at a front end of the objective lens and the rod lens is located at a rear end of the objective lens.

8. A microendoscope system, characterized in that, includes the microendoscope of claim 1, support, display screen and processing host computer, display screen and support are located the processing host computer top, the front end of support connects spacing endoscope, the image that spacing endoscope acquireed transmits to the display screen through the signal line and shows.

9. A microendoscopy system as claimed in claim 8, wherein the support is an M-axis robotic arm, M being any number greater than 2 and less than 8.

10. A microendoscopy system as claimed in claim 8, wherein the display is a 3D display.