CN103702604A - 多照相机内窥镜 - Google Patents
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Abstract
本文提供多照相机内窥镜的末端段,该末端段包括:两个或更多个指向侧面的照相机,该两个或更多个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中所述两个或更多个指向侧面的照相机中的每一个具有与之相关联的分立的照明器,其中由两个或更多个指向侧面的照相机提供的视场覆盖前视野和侧视野;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
Description
领域
本公开内容的实施方式涉及多照相机内窥镜。
背景
由于内窥镜提供了用于以最小的患者创伤来进行手术的方式,同时使得医生能够观察患者的内部解剖构造,因此内窥镜在医学界中已经获得了好的接受性。多年以来,已经发展了许多内窥镜并根据特定的应用进行分类,比如膀胱镜检查、结肠镜检查、腹腔镜检查、上消化道内窥镜检查及其它。内窥镜可以插入到身体的自然孔口中或穿过皮肤中的切口插入。
内窥镜通常是在其远端处具有摄像机或光纤透镜组件的刚性的或柔性的长形管状轴。轴被连接到手柄,手柄有时包括用于直接观察的目镜。经由外部的屏幕进行观察通常也是可能的。可穿过内窥镜中的工作通道插入各种手术工具,以用于进行不同的外科手术。
相关技术的前述例子及与其相关的限制意在是说明性的且不是排他性的。在阅读说明书及学习附图时,相关技术的其它限制将对本领域的技术人员变得明显。
概述
以下实施方式及其方面连同系统、工具和方法一起来描述和说明,其意图是解释性和说明性的,而没有在范围上限制。
根据一些实施方式,提供了多照相机内窥镜的末端段,该末端段包括:两个或更多个指向侧面的照相机,该两个或更多个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖了前视野和侧视野;一个或多个分立的照明器;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
根据一些实施方式,提供了多照相机内窥镜的末端段,该末端段包括:三个指向侧面的照相机,该三个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述三个指向侧面的照相机提供的视场覆盖了前视野和侧视野;一个或多个分立的照明器;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜被插入到其中的体腔。
根据一些实施方式,提供了多照相机内窥镜的末端段,该末端段包括:三个指向侧面的照相机,该三个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述三个指向侧面的照相机提供的视场覆盖了前视野和侧视野;三个分立的照明器(比如LED),每一个与三个指向侧面的照相机中的每一个相关联;以及工作通道,该工作通道配置成用于手术工具的插入。
根据一些实施方式,提供了多照相机内窥镜的末端段,该末端段包括:三个指向侧面的照相机,该三个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述三个指向侧面的照相机提供的视场覆盖前视野和侧视野;一个分立的前照明器(比如LED);以及工作通道,该工作通道配置成用于手术工具的插入。
末端段还可以包括通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
根据一些实施方式,提供了一种多照相机内窥镜,其包括:长形轴,该长形轴以通过弯曲段可转动的末端段来终止,其中所述末端段包括:两个或更多个指向侧面的照相机,该两个或更多个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖前视野和侧视野;一个或多个分立的照明器;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
根据一些实施方式,提供了一种多照相机内窥镜,其包括:长形轴,该长形轴以通过弯曲段可转动的末端段来终止,其中所述末端段包括:三个指向侧面的照相机,该三个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述三个指向侧面的照相机提供的视场覆盖前视野和侧视野;三个分立的照明器(比如LED),每一个与三个指向侧面的照相机中的每一个相关联;以及工作通道,该工作通道配置成用于手术工具的插入。
根据一些实施方式,提供了一种多照相机内窥镜,其包括:长形轴,该长形轴以通过弯曲段可转动的末端段来终止,其中所述末端段包括:三个指向侧面的照相机,该三个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中由所述三个指向侧面的照相机提供的视场覆盖前视野和侧视野;一个分立的前照明器(比如LED);以及工作通道,该工作通道配置成用于手术工具的插入。
多照相机内窥镜还可以包括用于充注和/或清洁内窥镜插入到其中的体腔的通路流体注射器。
根据一些实施方式,提供了多照相机内窥镜的末端段,该末端段包括:两个或更多个指向侧面的照相机,该两个或更多个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中所述两个或更多个指向侧面的照相机中的每一个具有与之相关联的分立的照明器,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖前视野和侧视野;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
根据一些实施方式,提供了一种多照相机内窥镜,其包括:长形轴,该长形轴以通过弯曲段可转动的末端段来终止,其中所述末端段包括:两个或更多个指向侧面的照相机,该两个或更多个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中所述两个或更多个指向侧面的照相机中的每一个具有与之相关联的分立的照明器,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖前视野和侧视野;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
末端段还可以包括配置成用于清洁所述两个或更多个指向侧面的照相机和/或所述分立的侧面照明器的两个或更多个侧面流体注射器。两个或更多个指向侧面的照相机可以在实质上彼此相反的方向上指向。末端段可以包括三个或更多个指向侧面的照相机。根据一些实施方式,三个或更多个指向侧面的照相机可以沿着所述末端段的周边以距彼此实质上相等的距离定位。
根据一些实施方式,提供了多照相机内窥镜的末端段,该末端段包括:指向前方的照相机和与之相关联的分立的前照明器;前流体注射器,该前流体注射器配置成用于清洁所述指向前方的照相机和所述分立的前照明器中的至少一个;指向侧面的照相机;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
根据一些实施方式,提供了一种多照相机内窥镜,其包括长形轴,该长形轴以通过弯曲段可转动的末端段来终止,其中所述末端段包括:两个或更多个指向侧面的照相机,该两个或更多个指向侧面的照相机定位在所述末端段的远端处或定位在所述末端段的远端附近,其中所述两个或更多个指向侧面的照相机中的每一个具有与之相关联的分立的照明器,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖前视野和侧视野;工作通道,该工作通道配置用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。末端段还可以包括与指向侧面的照相机相关联的分立的侧面照明器。末端段还可以包括配置成用于清洁所述指向侧面的照相机和/或所述分立的侧面照明器的侧面流体注射器。
根据一种实施方式,提供了一种多照相机内窥镜,其包括:长形轴,该长形轴以通过弯曲段可转动的末端段来终止,其中所述末端段包括:指向前方的照相机和与之相关联的分立的前照明器;前流体注射器,该前流体注射器配置成用于清洁所述指向前方的照相机和所述分立的前照明器中的至少一个;指向侧面的照相机和与之相关联的分立的侧面照明器;侧面流体注射器,该侧面流体注射器配置成用于清洁所述指向侧面的照相机和所述分立的侧面照明器中的至少一个;工作通道,该工作通道配置成用于手术工具的插入;以及通路流体注射器,该通路流体注射器用于充注和/或清洁内窥镜插入到其中的体腔。
根据一种实施方式,还提供了包括一种多照相机内窥镜系统,其包括内窥镜,该内窥镜包括手柄和以通过弯曲段可转动的末端段来终止的长形轴,其中所述末端段包括:指向前方的照相机和与之相关联的分立的前照明器、配置成用于清洁所述指向前方的照相机和所述分立的前照明器中的至少一个的前流体注射器、指向侧面的照相机和与之相关联的分立的侧面照明器、配置成用于清洁所述指向侧面的照相机和所述分立的侧面照明器中的至少一个的侧面流体注射器、配置成用于手术工具的插入的工作通道以及用于充注和/或清洁内窥镜插入到其中的体腔的通路流体注射器;控制器,该控制器通过实用电缆(utility cable)连接到所述内窥镜的所述手柄;以及显示器,该显示器连接到所述控制器且配置成显示从所述指向前方的照相机和所述指向侧面的照相机接收的视频流。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机在实质上垂直于彼此的方向上指向。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机相对于彼此大约100度至145度地指向。
在一些实施方式中,所述指向侧面的照相机的中心被定位成距所述末端段的远端大约7毫米至11毫米。
在一些实施方式中,所述分立的前照明器和所述分立的侧面照明器中的每一个包括发光二极管(LED)。
在一些实施方式中,所述分立的前照明器和所述分立的侧面照明器中的至少一个配置成发射白光。
在一些实施方式中,所述分立的前照明器和所述分立的侧面照明器中的至少一个配置成发射紫外光。
在一些实施方式中,所述分立的前照明器和所述分立的侧面照明器中的至少一个配置成发射红外光。
在一些实施方式中,所述分立的前照明器和所述分立的侧面照明器中的至少一个配置成发射近红外光。
在一些实施方式中,所述分立的前照明器和所述分立的侧面照明器配置成发射不同波长的光。
在一些实施方式中,所述末端段还包括配置成发射具有不同于所述分立的前照明器的波长的光的另外的分立的前照明器。
在一些实施方式中,所述另外的分立的前照明器和所述分立的前照明器配置成同时发射光,每一个以不同的波长发射光。
在一些实施方式中,所述末端段还包括配置成发射具有不同于所述分立的侧面照明器的波长的光的另外的分立的侧面照明器。
在一些实施方式中,所述另外的分立的侧面照明器和所述分立的侧面照明器配置成同时发射光,每一个以不同的波长发射光。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机中的每一个包括电荷耦合装置(CCD)或互补金属氧化物半导体(CMOS)图像传感器。
在一些实施方式中,所述前流体注射器和所述侧面流体注射器连接到相同的流体供应通道。
在一些实施方式中,所述通路流体注射器与所述前流体注射器和所述侧面流体注射器一起连接到所述流体供应通道。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机中的至少一个包括提供90度或更大的视场的透镜组件。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机中的至少一个包括提供120度或更大的视场的透镜组件。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机中的至少一个包括提供150度或更大的视场的透镜组件。
在一些实施方式中,所述指向前方的照相机包括提供大约3-100毫米的焦点长度的透镜组件。
在一些实施方式中,所述指向侧面的照相机包括提供大约2-33毫米的焦点长度的透镜组件。
在一些实施方式中,所述末端段还包括相对的指向侧面的照相机,所述相对的指向侧面的照相机在实质上与所述指向侧面的照相机相反的方向上指向。
在一些实施方式中,所述末端段还包括垂直的指向侧面的照相机,所述垂直的指向侧面的照相机在实质上与所述指向侧面的照相机垂直的方向上指向。
在一些实施方式中,所述内窥镜为结肠镜。
在一些实施方式中,所述指向前方的照相机和所述指向侧面的照相机的视场至少部分重叠,使得经由所述指向侧面的照相机观察到的感兴趣的对象保持在所述指向侧面的照相机的视场中,同时所述末端段朝着对象转动,且至少直到对象通过所述指向前方的照相机变得可见。
在一些实施方式中,所述实用电缆包括:流体通道,其用于将流体提供给所述注射器中的至少一个;数据电缆,其用于接收来自所述指向前方的照相机和所述指向侧面的照相机的视频信号;以及电力电缆,其用于将电功率提供给所述指向前方的照相机和所述指向侧面的照相机以及提供给所述分立的前照明器和所述分立的侧面照明器。
在一些实施方式中,所述控制器配置成将接收自所述指向前方的照相机和所述指向侧面的照相机的视频信号处理并结合成单一的全景视频视图。
除了上文所描述的示例性方面和实施方式以外,通过参考附图且通过学习以下的详细描述,另外的方面和实施方式将变得明显。
附图简述
参考附图图示了示例性的实施方式。为了介绍的方便和清楚通常选择附图中所示的部件的尺寸和特征,且不一定按比例示出。本文所公开的实施方式和附图意在被认为是说明性的,而不是限制性的。附图在以下列出:
图1示出了现有技术内窥镜的横截面图;
图2示出了根据一些实施方式的多照相机内窥镜的横截面;
图3示出了根据一些实施方式的多照相机内窥镜的透视图;
图4示出了根据一些实施方式的多照相机内窥镜的弯曲段的横截面图;
图5示出了根据一些实施方式的多照相机内窥镜的末端段的横剖视图;
图6示出了根据一些实施方式的多照相机内窥镜系统的半绘画性视图(semi-pictorial view);
图7A-7D示出了根据一些实施方式的多个末端段构造的透视图;
图8示出了根据一些实施方式的多照相机内窥镜的透视图;以及
图9示出了根据一些实施方式的多照相机内窥镜的透视图。
详述
一些实施方式的方面涉及内窥镜,该内窥镜具有安装有两个或更多个照相机的末端段。根据一种实施方式,照相机中的一个定位在末端段的远端且指向前方,且剩余的照相机在末端段中进一步向后定位且指向侧面。
根据另一种实施方式,照相机中的一个定位在末端段的远(前)端表面处且指向前方,且剩余的照相机在末端段中进一步向后定位且指向侧面。
根据另一种实施方式,两个或更多个照相机(例如,三个、四个或更多个)定位在末端段的远端附近或定位在末端段的远端处且指向侧面,使得由照相机提供的视场覆盖了前视野和侧视野。根据一些实施方式,即使在这样的构造中没有照相机定位在末端段的远(前)端表面处(或换而言之,没有照相机直接指向前方),侧面照相机的视场仍然允许末端的前方向的视野且因此允许内窥镜的前方向的视野。
有利地,与常规构造相比,这种构造可允许存在于内窥镜在其内操作的体腔中的病理学对象的更高的检出率。
存在于末端段中的照相机及可选择的其它元件(比如光源、工作通道、流体注射器和/或类似物)被独特地按比例确定、配置且包装,使得它们适合在末端段内可利用的最小化空间内,同时仍旧提供有价值的结果。
现在参考图1,图1示出了现有技术内窥镜的横截面图,在这个例子中,内窥镜100用于患者的结肠120内。人的结肠包括一系列的环形肌肉,环形肌肉在这个图中表现为从结肠的内表面124突出的皱襞122。
内窥镜100包括定位在结肠镜的远端102处的指向前方的照相机104。照相机104通常具有宽的视场106。当内窥镜100用在诸如结肠120的体腔内时,操作者推进内窥镜100,同时观察由照相机104传输的图像(通常为视频)。当在结肠120的壁上发现诸如息肉110或息肉112的息肉时,操作者可穿过工作通道105插入手术工具(未示出),以除去、处理和/或提取息肉的样品或其全部,以用于活组织检查。
然而,在一些情况下,诸如息肉114的息肉可位于皱襞126的内侧上,使得其从照相机104的视场106隐藏。这种现象据说极大地影响了常见的统计,根据该统计,多达12%-24%的息肉在结肠镜检查中被漏掉。漏掉的息肉或“假阴性”诊断可导致癌症的迟的发现。
现在参考图2,图2示出了根据一种实施方式的多照相机内窥镜200的横剖视图。内窥镜200可以包括以末端段202终止的长形轴203(未完全示出),末端段202通过弯曲段204可转动。有利地,末端段可包括指向前方的照相机206以及指向侧面的照相机210。虽然指向前方的照相机206可能够基于其视场208来检测诸如息肉218和息肉220的息肉,但是指向侧面的照相机210可进一步能够检测通常从指向前方的照相机被隐藏的息肉,比如息肉216。通过围绕其长度旋转内窥镜200,指向侧面的照相机210可以围绕内窥镜360度地周向地检测息肉。这可以使能够检测诸如息肉222的息肉,息肉222类似于位于皱襞内侧上的息肉216。在另外的构造(未示出)中,两个或更多个指向侧面的照相机可存在于末端段中,每一个具有不同(或在某种程度上重叠)的视场。
有利地,指向前方的照相机206和指向侧面的照相机210的视场至少部分重叠,使得通过指向侧面的照相机观察到的感兴趣的对象(比如息肉或另外的病理)保持在这个照相机的视场中,同时末端段朝着对象转动,且至少直到对象通过指向前方的照相机变得可见。当通过指向侧面的照相机210发现息肉且操作者期望使用穿过工作通道(图中未示出)而插入的手术工具对该息肉进行外科手术时,这可以是有益的,该工作通道具有在末端段202的远端表面中、紧挨指向前方的照相机206的开口。为了进行外科手术,末端段202可需要朝着息肉转动。如果指向前方的照相机206和指向侧面的照相机210的视场具有一些重叠,使得在末端段的整个转动期间息肉保持看得见且操作者没有变得辨不清方向,则其可以极大地帮助操作者。
现在参考图3,图3更详细地示出了根据一种实施方式的多照相机内窥镜300的透视图。内窥镜300可以包括长形轴(未示出)、弯曲段(部分示出)302和终止内窥镜的末端段304。
弯曲段302可以包括多个连接件,比如连接件302a-302c,这使末端段304能够在不同的方向上转动。在不同的构造(未示出)中,弯曲段可以被不同地构建,只要其使末端段能够在不同的方向上转动。弯曲段302可覆盖有弹性鞘(未示出),弹性鞘还可延伸以覆盖长形轴。
末端段304可以包括在其中的指向前方的照相机304,指向前方的照相机304可以通过末端段的远端表面306中的孔捕捉图像。可选择地为发光二极管(LED)的分立的前照明器308可以与指向前方的照相机304相关联且用于通过远端表面306中的另一个孔照明其视场。LED可以是白光LED、红外光LED、近红外光LED或紫外光LED。关于前照明器308的术语“分立的”可以指照明源,该照明源内部地产生光–与非分立的照明器相比,非分立的照明器可以是例如仅传输远程产生的光的光纤。在不同的构造(未示出)中,两个或更多个分立的前照明器可以存在于末端段中,以比如用于提供整体更强的照明和/或用于增加照明的角度覆盖。这些两个或更多个分立的前照明器可彼此紧挨地定位,使得它们共用末端段的远端表面上的相同的保护窗。
前流体注射器310可用于清洁指向前方的照相机304和分立的前照明器308中的至少一个。前流体注射器310可以从远端表面306被稍微提升,以使前流体注射器310能够从其侧面310a将流体注射到指向前方的照相机304和分立的前照明器308。前流体注射器310可配置成注射诸如水、空气和/或类似物的流体。
远端表面306还可以包括界定工作通道312的孔。工作通道312可以是中空管,该中空管配置成用于插入手术工具以对各种组织进行手术。例如,微型镊子可以穿过工作通道312插入,以便除去息肉或息肉样品以用于活组织检查。
由远端表面306中的另一个孔界定的通路流体注射器314可用于充注和/或清洁内窥镜300插入到其中的体腔。充注可通过使空气或另一气体穿过通路流体注射器314流动来进行,且对于诸如结肠的体腔是皱缩的或另外不允许有效的检查的情况,可以是有益的。例如,清洁可以通过在体腔的不洁净区域上注射诸如水或盐水的液体来实现。而且,通路流体注射器314(或不同的管子,未示出)可用于施加抽吸,以便排出存在于体腔中且干扰检查的各种液体和/或固体。
末端段304还可包括在其中的指向侧面的照相机316,指向侧面的照相机316可以通过末端段的圆柱面305中的孔捕捉图像。可选择地类似于分立的前照明器308的分立的侧面照明器322可与指向前方的照相机304相关联且用于通过圆柱面305中的另一个孔照明其视场。在不同的构造(未示出)中,两个或更多个分立的侧面照明器可存在于末端段中,以比如用于提供整体更强的照明和/或用于增加照明的角度覆盖。这些两个或更多个分立的侧面照明器可彼此紧挨地定位,使得它们共用在末端段的圆柱面上的相同的保护窗。
侧面流体注射器320可用于清洁指向侧面的照相机304和分立的侧面照明器322中的至少一个。为了防止当末端段304的圆柱面305接触体腔的侧壁时的组织损伤,侧面流体注射器320和指向侧面的照相机316可定位在圆柱面中的凹部318中。这样,侧面流体注射器320可从凹部318提升,但仍没有从圆柱面305的水平显著突出。侧面流体注射器320的提升可以使侧面流体注射器320能够从其侧面320a将流体注射到指向侧面的照相机316上。在可选择的构造(未示出)中,一个或多个分立的侧面照明器还可包括在凹部中,使得从侧面流体注射器注射的流体可到达该侧面照明器。在另外的构造(未示出)中,指向侧面的照相机、一个或多个侧面照明器和侧面流体注射器可不定位在凹部中,而是定位在与末端段的圆柱面实质上相同的水平上。
现在参考图4,图4示出了诸如图3的多照相机内窥镜300的多照相机内窥镜的弯曲段400的横剖视图。诸如四个眼状物408的多个转向缆线眼状物定位在弯曲段400的内壁上。转向缆线穿过这些眼状物408,以实现弯曲段400的操纵。弯曲段400还可包括:工作通道402,手术工具可通过该工作通道402插入;流体通道406,流体和/或液体可通过该流体通道406注入;以及电气通道404,多个电缆可以穿过该电气通道404,以用于传输来自照相机的视频信号以及用于为照相机和分立的照明器提供电力。
为了陈述的简化,图4仅示出单一的工作通道402,尽管在不同的构造(未示出)中可存在多于一个工作通道,以实现同时插入多个手术工具。类似地,仅示出了一个流体通道406,尽管在不同的构造(未示出)中可使用多于一个流体通道,以比如用于分别供给前流体注射器、侧面流体注射器和/或通路流体注射器中的至少一个,以及用于分别提供通过通路流体注射器的抽吸。此外,图4仅示出单一的电气通道404,但在其它构造(未示出)中,穿过长形轴和/或弯曲段的一个或多个电缆可分离到多个管子中,例如以便将引起磁感应的电缆与可受到这种现象的影响的电缆隔开。
现在参考图5,图5示出了根据一种实施方式的多照相机内窥镜的末端段500的横截面视图。末端段500可以包括指向前方的图像传感器502,比如电荷耦合装置(CCD)或互补金属氧化物半导体(CMOS)图像传感器。指向前方的图像传感器502可以安装在集成电路板506上,集成电路板506可以为刚性的或柔性的。集成电路板506可为指向前方的图像传感器502提供必要的电力,且可导出由图像传感器捕捉的静态图像和/或视频馈入。集成电路板506可连接到一组电缆(未示出),该电缆可穿过贯穿内窥镜的长形轴的电气通道。指向前方的图像传感器502可具有透镜组件504,该透镜组件504安装在图像传感器502之上且提供必要的光学器件以用于接收图像。透镜组件504可以包括静止的或可移动的多个透镜,该多个透镜可提供至少90度且高达实质上180度的视场。透镜组件504可以提供约3毫米至100毫米的焦点长度。不管具有或不具有集成电路板506,指向前方的图像传感器502和透镜组件504可共同地称为“指向前方的照相机”。
一个或多个分立的前照明器508可紧挨透镜组件504放置,以用于照明其视场。可选择地,分立的前照明器508可附接到指向前方的图像传感器502安装在其上的相同的集成电路板506(未示出这个构造)。
末端段500可包括指向侧面的图像传感器512,比如电荷耦合装置(CCD)或互补金属氧化物半导体(CMOS)图像传感器。指向前方的图像传感器502可安装在集成电路板516上,该集成电路板516可以为刚性的或柔性的。集成电路板516可以为指向侧面的图像传感器512提供必要的电力,且可以导出由图像传感器捕捉的静态图像和/或视频馈入。集成电路板516可连接到一组电缆(未示出),该电缆可穿过贯穿内窥镜的长形轴的电气通道。
指向侧面的图像传感器512可以具有透镜组件514,透镜组件514安装在图像传感器512之上且提供必要的光学器件以用于接收图像。透镜组件514可以包括静止的或移动的多个透镜,该多个透镜可以提供至少90度且高达实质上180度的视场。透镜组件514可以提供约2毫米至33毫米的焦点长度。不管具有或不具有集成电路板516,指向侧面的图像传感器512和透镜组件514可共同地称为“指向侧面的照相机”。
一个或多个分立的侧面照明器518可紧挨透镜组件514放置,以用于照明其视场。可选择地,分立的前照明器518可附接到指向侧面的图像传感器512安装在其上的相同集成电路板516(未示出这个构造)。
在另一个构造(未示出)中,集成电路板506和集成电路板516可以是单一的集成电路板,指向前方的图像传感器502和指向侧面的图像传感器512均安装在该单一的集成电路板上。为了这个目的,集成电路板可以是实质上L型的。
在例如视场、分辨率、光敏性、像素尺寸、焦点长度、焦距和/或类似物方面,指向前方的图像传感器502和指向侧面的图像传感器512可以是相似的或相同的。
可选择地,指向侧面的图像传感器512和透镜组件514有利地定位成相对接近末端段500的远端表面。例如,指向侧面的照相机的中心(其为指向侧面的图像传感器512和透镜组件514的中心轴线)定位成距末端段的远端大约7毫米至11毫米。这通过指向前方的照相机和指向侧面的照相机的有利的微型化来实现,其允许在末端段中的充足的内部空间以用于照相机的成角度的定位而没有碰撞。
现在参考图6,图6示出了多照相机内窥镜系统600的半绘画性的视图。系统600可包括多照相机内窥镜602,比如图2、图3、图4和/或图5的内窥镜。多照相机内窥镜602可包括手柄604,长形轴606从该手柄604引出。长形轴606以末端段608终止,末端段608通过弯曲段610可转动。手柄604可用于操纵体腔内的长形轴606;手柄可以包括控制弯曲段610以及诸如流体注射和抽吸的功能的一个或多个按钮和/或开关605。手柄604还可包括工作通道开口612,手术工具可穿过该工作通道开口612插入。
实用电缆614可连接在手柄604和控制器616之间。实用电缆614可包括在其中的一个或多个流体通道以及一个或多个电气通道。电气通道可包括用于接收来自指向前方的照相机和指向侧面的照相机的视频信号的至少一个数据缆线,以及用于为照相机和分立的照明器提供电力的至少一个电力缆线。
控制器616可支配至内窥镜602的末端段608的电力传输,该电力传输比如用于末端段的照相机和照明器。控制器616还可以控制为内窥镜602提供相应的功能的一个或多个流体泵、液体泵和/或抽吸泵。一个或多个输入装置,比如键盘618,可连接到控制器616上,以用于人与控制器的互动的目的。在另一个构造(未示出)中,诸如键盘的输入装置可与控制器一体化在相同的壳体中。
显示器620可以连接到控制器616,且配置成显示从多照相机内窥镜602的照相机接收的图像和/或视频流。显示器620还可操作以显示用户界面,以用于允许人类操作者设置系统600的各种特征。
可选择地,从多照相机内窥镜602的不同照相机接收的视频流可以或并排地或可互换地(即,操作者可以在来自不同照相机的视图之间手动切换)分别显示在显示器620上。可选择地,这些视频流可由控制器616来处理,以基于照相机的视场之间的重叠将这些视频流组合成单一的全景视频帧。
在另一个构造(未示出)中,两个或更多个显示器可连接到控制器616,每一个用于显示来自多照相机内窥镜的不同照相机的视频流。
现在参考图7A-7D,其中显示了末端段的多种构造700、720、740和760。
在构造700中,指向前方的照相机702和指向侧面的照相机实质上垂直于彼此,且相应地具有垂直的视场。
在构造720中,指向前方的照相机722实质上垂直于第一指向侧面的照相机724和第二指向侧面的照相机726。第一指向侧面和第二指向侧面的照相机724-726垂直于彼此地指向,且实质上相距90度地定位在末端段的圆柱面中。在另一个构造(未示出)中,第一指向侧面的照相机和指向侧面的照相机可相距大于90度地定位在末端段的圆柱面中,比如相距120-150度或相距150-180度。例如,第一指向侧面和第二指向侧面的照相机可相距180度地定位在末端段的圆柱面的相对侧面中,使得第一指向侧面和第二指向侧面的照相机在相反的方向上指向。在另外的构造(未示出)中,三个或更多个指向侧面的照相机可定位在末端段的圆柱面中,例如,具有在其彼此之间为120度的三个照相机。
在构造740中,指向侧面的照相机744稍微向后指向,使得其形成相对于指向前方的照相机742的大于90度的角。作为例子,示出了120度的角。在另一个构造(未示出)中,角度为100-145度。
在构造760中,示出了两个相对的侧面照相机764和766,照相机764和照相机766稍微向后指向,使得它们各自形成相对于指向前方的照相机762的大于90度的角。作为例子,示出了120度的角。在另一个构造(未示出)中,角度为100-145度。
类似地,在其它构造(未示出)中,三个或更多个指向侧面的照相机可以定位在末端段的圆柱面中,每一个稍微向后指向且具有在彼此之间的某一角度;在三个照相机的情况下,它们可以具有在其彼此之间为120度的角。
现在参考图8,图8示出了根据一些实施方式的多照相机内窥镜的透视图。内窥镜800包括通常包括弯曲段(未示出)的长形轴802和终止内窥镜的末端段804。末端段804包括三个指向侧面的照相机816a、816b(未示出)和816c(未示出)。未示出的分立的侧面照明器(例如,LED)可以与指向侧面的照相机816a-816c相关联,以用于照明它们各自的视场817a-817c。末端段804还包括工作通道812,工作通道812可以是中空开口,该中空开口配置为用于插入对各种组织进行手术的手术工具。例如,微型镊子可穿过工作通道812插入,以便除去息肉或息肉样品以用于活组织检查。
末端804还可包括其它的元件/部件(例如,如在本文中根据各种实施方式所描述的),比如用于清洁照相机和/或照明器的流体注射器和用于充注和/或清洁内窥镜800插入到其中的体腔的通路流体注射器。
现在参考图9,图9示出了根据一些实施方式的多照相机内窥镜的透视图。内窥镜900类似于内窥镜800,然而不包括工作通道。长形轴902、末端段904、指向侧面的照相机916a、916b(未示出)和916c(未示出)及它们各自的视场917a-917c可以类似于内窥镜800的长形轴802、末端段804、指向侧面的照相机816a、816b(未示出)和816c(未示出)及它们各自的视场817a-817c。
尽管上文已经讨论了许多示例性方面和实施方式,但是本领域的技术人员将认识到某些改进、排列(permutation)、添加及其子组合(sub-combination)。因此,以下所附的权利要求和下文所介绍的权利要求意在被解读为将所有这样的改进、排列、添加及其子组合包括在它们的真实精神和范围之内。
在申请的说明书和权利要求中,词汇“包括(comprise)”、“包括(include)”和“具有(have)”及其变化形式中的每一个不一定限于在列表中该词汇可与其相关联的构件。
Claims (18)
1.一种多照相机内窥镜的末端段,所述末端段包括:
两个或更多个指向侧面的照相机,其定位在所述末端段的远端处或定位在所述末端段的远端附近,其中所述两个或更多个指向侧面的照相机中的每一个具有与之相关联的分立的照明器,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖了前视野和侧视野;
工作通道,其配置成用于手术工具的插入;以及
通路流体注射器,其用于充注和/或清洁所述内窥镜插入到其中的体腔。
2.根据权利要求1所述的末端段,还包括配置成用于清洁所述两个或更多个指向侧面的照相机和/或所述分立的侧面照明器的两个或更多个侧面流体注射器。
3.根据权利要求1所述的末端段,其中所述两个或更多个指向侧面的照相机在实质上彼此相反的方向上指向。
4.根据权利要求1所述的末端段,包括沿着所述末端段的周边以距彼此实质上相等的距离定位的三个或更多个指向侧面的照相机。
5.根据权利要求1所述的末端段,其中所述照明器中的每一个包括发光二极管(LED)。
6.一种多照相机内窥镜的末端段,所述末端段包括:
指向前方的照相机和与之相关联的分立的前照明器;
前流体注射器,其配置成用于清洁所述指向前方的照相机和所述分立的前照明器中的至少一个;
指向侧面的照相机;
工作通道,其配置成用于手术工具的插入;以及
通路流体注射器,其用于充注和/或清洁所述内窥镜插入到其中的体腔。
7.根据权利要求6所述的末端段,还包括与指向侧面的照相机相关联的分立的侧面照明器。
8.根据权利要求6所述的末端段,还包括配置成用于清洁所述指向侧面的照相机和/或所述分立的侧面照明器的侧面流体注射器。
9.根据权利要求6所述的末端段,其中所述指向前方的照相机和所述指向侧面的照相机在实质上垂直于彼此的方向上指向。
10.根据权利要求6所述的末端段,其中所述指向前方的照相机和所述指向侧面的照相机相对于彼此大约100度至145度地指向。
11.根据权利要求6所述的末端段,其中所述分立的前照明器和所述分立的侧面照明器中的每一个包括发光二极管(LED)。
12.一种多照相机内窥镜,包括:
长形轴,其以通过弯曲段可转动的末端段来终止,其中所述末端段包括:
两个或更多个指向侧面的照相机,其定位在所述末端段的远端处或定位在所述末端段的远端附近,其中所述两个或更多个指向侧面的照相机中的每一个具有与之相关联的分立的照明器,其中由所述两个或更多个指向侧面的照相机提供的视场覆盖了前视野和侧视野;
工作通道,其配置成用于手术工具的插入;以及
通路流体注射器,其用于充注和/或清洁所述内窥镜插入到其中的体腔。
13.根据权利要求12所述的多照相机内窥镜,其中所述末端段还包括配置成用于清洁所述两个或更多个指向侧面的照相机和/或所述分立的侧面照明器的两个或更多个侧面流体注射器。
14.根据权利要求12所述的多照相机内窥镜,其中所述两个或更多个指向侧面的照相机在实质上彼此相反的方向上指向。
15.根据权利要求12所述的末端段,其中所述末端段包括沿着所述末端段的周边以距彼此实质上相等的距离定位的三个或更多个指向侧面的照相机。
16.一种多照相机内窥镜,包括:
长形轴,其以通过弯曲段可转动的末端段来终止,其中所述末端段包括:
指向前方的照相机和与之相关联的分立的前照明器;
前流体注射器,其配置成用于清洁所述指向前方的照相机和所述分立的前照明器中的至少一个;
指向侧面的照相机;
工作通道,其配置成用于手术工具的插入;以及
通路流体注射器,其用于充注和/或清洁所述内窥镜插入到其中的体腔。
17.根据权利要求16所述的多照相机内窥镜,其中所述末端段还包括与指向侧面的照相机相关联的分立的侧面照明器。
18.根据权利要求16所述的多照相机内窥镜,其中所述末端段还包括配置成用于清洁所述指向侧面的照相机和/或所述分立的侧面照明器的侧面流体注射器。
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US9101268B2 (en) | 2015-08-11 |
WO2013014673A1 (en) | 2013-01-31 |
JP2014524819A (ja) | 2014-09-25 |
US11534056B2 (en) | 2022-12-27 |
US20170325672A1 (en) | 2017-11-16 |
EP2736400A1 (en) | 2014-06-04 |
US20120053407A1 (en) | 2012-03-01 |
EP2736400A4 (en) | 2015-04-08 |
US9706905B2 (en) | 2017-07-18 |
US10638922B2 (en) | 2020-05-05 |
US20200221941A1 (en) | 2020-07-16 |
US20160015257A1 (en) | 2016-01-21 |
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