CN107577039A - Inside peep and use objective lens optical system - Google Patents

Inside peep and use objective lens optical system Download PDF

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Publication number
CN107577039A
CN107577039A CN201710935996.9A CN201710935996A CN107577039A CN 107577039 A CN107577039 A CN 107577039A CN 201710935996 A CN201710935996 A CN 201710935996A CN 107577039 A CN107577039 A CN 107577039A
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China
Prior art keywords
lens
optical system
group
focal length
lens group
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CN201710935996.9A
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Chinese (zh)
Inventor
蒋千年
涂小芹
涂孝涛
陈霞光
沈小云
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Dongguan Yuguang Photoelectric Technology Co Ltd
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Dongguan Yuguang Photoelectric Technology Co Ltd
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Priority to CN201710935996.9A priority Critical patent/CN107577039A/en
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Abstract

The invention discloses being peeped in one kind with objective lens optical system, include the first lens group with negative power, diaphragm and the second lens group with positive light coke successively from object side to image side, satisfy the following conditional expression:f/H(L1r1)<2.5;H(L1r1)/IMH<0.6;Wherein, f is the interior focal length peeped with objective lens optical system, H (L1r1) refers to height of the chief ray corresponding to by the face of the object side of the first lens group corresponding to maximum image height during normal observation, maximum image height when IMH is normal observation on corresponding chip photosurface.Peeped in provided by the invention with objective lens optical system, there is the characteristics of pixel is high, bore is minimum and the depth of field is excellent.

Description

Inside peep and use objective lens optical system
Technical field
The present invention relates to peep to use objective lens optical system in one kind.
Background technology
Endoscopic technique undergoes the development of more than 100 years, and various technologies continue to bring out, particularly fujinon electronic video endoscope technology because Tool is by image clearly, color is true to nature and sensitive chip pixel more and more higher, progressively substitutes fibre opic endoscope in certain field.In the past Fujinon electronic video endoscope technology can realize 80,000 pixels to the downsizing of 300,000 pixels, such as in patent document CN201280004447 Described in a kind of objective lens optical system for endoscope, its 1st lens for including being made up of negative simple lens successively from object side, by The 2nd lens that positive simple lens is formed, brightness aperture, the 3rd lens being made up of positive simple lens and by positive cemented lens The 4th lens formed.
But the endoscope lens system has the field of view angle, less bore and preferable aberration of relative narrower, but It can not match the chip of 2 mega pixels, can not then meet to realize small-bore and 2,000,000 high definitions simultaneously according to its structure scaling The requirement of imaging;In addition, although it is used can play certain chromatic aberration correction effect with reference to lens, microminiature lens are particularly Minimum bore lens are bonded in manufacturing process it is difficult to ensure that cemented lens influences imaging performance with one heart, not only manufacture efficiency Low and production fraction defective is too high, is extremely unfavorable for producing in batches.
The content of the invention
It is an object of the invention to provide a kind of minimal type, high definition and it can match in the shooting of 2 mega pixels and peep and use object lens Optical system.
Technical scheme disclosed by the invention is:
Peeped in one kind with objective lens optical system, include the first lens with negative power successively from object side to image side Group, diaphragm and the second lens group with positive light coke, are satisfied the following conditional expression:
f/H(L1r1)<2.5;
H(L1r1)/IMH<0.6;
Wherein, f is the interior focal length peeped with objective lens optical system, and H (L1r1) refers to that maximum image height is corresponding during normal observation Height of the chief ray corresponding to by the face of the object side of the first lens group, corresponding chip is photosensitive when IMH is normal observation Maximum image height on face.
Preferably, first lens group also satisfies the following conditional expression:
-0.92<f/f_G1<-0.3;
Wherein, f_G1 is the focal length of above-mentioned first lens group.
Preferably, first lens group includes the first lens and the second lens from object side to image side, described First lens are the negative lens that image side surface is concave surface, and second lens are the positive lens that thing side is convex surface, and described first is saturating Microscope group satisfies the following conditional expression:
-1.5<f/f1<-1.0;
0.2<f/f2<0.65;
Wherein, f1 is the focal length of first lens, and f2 is the focal length of second lens.
Preferably, second lens group satisfies the following conditional expression:
0.7<f/f_G2<1.1;
Wherein, f_G2 is the focal length of above-mentioned second lens group.
Preferably, second lens group includes the 3rd lens, the 4th lens, the successively from object side to image side Five lens and the 6th lens, the 3rd lens are positive lens, and the 4th lens and the 5th lens are that image side surface is convex The positive lens in face, the 6th lens are the meniscus shaped negative lens that image side surface is convex surface.
Preferably, second lens group also satisfies the following conditional expression:
0.6<f/f34<1.1;
-0.4<f/f56<-0.05;
Wherein f34 is the combined focal length of the 3rd lens and the 4th lens, and f56 is the 5th lens and the 6th lens Combined focal length.
Preferably, first lens group and the second lens group also satisfy the following conditional expression:
d_G12/f<0.11;
|1/(f1*V1)+1/(f2*V2)|<0.02;
|1/(f3*V3)+1/(f4*V4)+1/(f5*V5)+1/(f6*V6)|<0.02;
Wherein, d_G12 is the airspace of the first lens group and second lens group axial direction, and f3 is the 3rd lens Focal length, f4 is the focal length of the 4th lens, and f5 is the focal length of the 5th lens, and f6 is the focal length of the 6th lens, V1 is the Abbe number of first lens material, and V2 is the Abbe number of second lens material, and V3 is the 3rd lens material The Abbe number of material, V4 are the Abbe numbers of the 4th lens material, and V5 is the Abbe number of the 5th lens material, and V6 is described The Abbe number of 6th lens material.
Preferably, first lens, the second lens, the 3rd lens, the 4th lens, the 5th lens and the 6th are saturating Mirror is spherical lens.
Peeped in disclosed by the invention is with the beneficial effect of objective lens optical system:By using conditional f/H (L1r1)< The focal length of 2.5 pairs of objective lens optical systems is defined, and wide angle, conditional H (L1r1)/IMH is better achieved<0.6 by right During normal observation chief ray corresponding to maximum image height by the height H (L1r1) corresponding to the face of the object side of the first lens group with The ratio between maximum image height IMH during normal observation on corresponding chip photosurface is defined, and is realizing downsizing Under the premise of, optimize curvature of the image, and suppress to being differed outside axle so that objective lens optical system provided by the invention, be minimum Interior peep of type, high definition and satisfaction matching 2 mega pixels shooting uses objective lens optical system.
Brief description of the drawings
Fig. 1 is that the structural representation with objective lens optical system is peeped in the present invention;
Fig. 2 is that the light beam incidence schematic diagram with objective lens optical system is peeped in the present invention;
Fig. 3 is that the structural representation with objective lens optical system embodiment one is peeped in the present invention;
Fig. 4 is that the aberration curve schematic diagram with objective lens optical system embodiment one is peeped in the present invention;
Fig. 5 is that the structural representation with objective lens optical system embodiment two is peeped in the present invention;
Fig. 6 is that the aberration curve schematic diagram with objective lens optical system embodiment two is peeped in the present invention;
Fig. 7 is that the structural representation with objective lens optical system embodiment three is peeped in the present invention;
Fig. 8 is that the aberration curve schematic diagram with objective lens optical system embodiment three is peeped in the present invention.
Embodiment
The present invention is further elaborated and illustrated with reference to specific embodiment and Figure of description:
Fig. 1 is refer to, a kind of interior peep is included with negative power successively with objective lens optical system from object side to image side First lens group 10, diaphragm 30, the second lens group 20, optical filter 40, plate glass 50 and the sensor sense with positive light coke Smooth surface 60, the optical filter 40 are mainly used for ending specific wavelength, and the plate glass 50 mainly protects the photosensitive of sensor Face 60.First lens group 10 by the first lens 11 and thing side side of negative power that image side surface is concave surface be convex surface just Second lens 12 of focal power are formed, and the second lens group 20 is convex surface and light focus by the 3rd lens 21, the image side surface of positive light coke Spend for the 4th positive lens 22, image side surface is convex surface and focal power is positive the 5th lens 23 and image side surface is convex surface and with negative 6th lens 24 of the meniscus shaped of focal power are formed, first lens 11, the second lens 12, the 3rd lens 21, the 4th lens 22nd, the 5th lens 23 and the 6th lens 24 are spherical lens.
Inside peep and satisfied the following conditional expression with objective lens optical system:
f/H(L1r1)<2.5;(1)
H(L1r1)/IMH<0.6;(2)
-0.92<f/f_G1<-0.3;(3)
-1.5<f/f1<-1.0;(4)
0.2<f/f2<0.65;(5)
0.7<f/f_G2<1.1;(6)
0.6<f/f34<1.1;(7)
-0.42<f/f56<-0.05;(8)
d_G12/f<0.11;(9)
|1/(f1*V1)+1/(f2*V2)|<0.02;(10)
|1/(f3*V3)+1/(f4*V4)+1/(f5*V5)+1/(f6*V6)|<0.02;(11)
Wherein, f is the focal length of the objective lens optical system, and f1 is the focal length of the first lens 11, and f2 is Jiao of the second lens 12 Away from f3 is the focal length of the 3rd lens 21, and f4 is the focal length of the 4th lens 22, and f5 is the focal length of the 5th lens 23, and f6 is the 5th saturating The focal length of mirror 24, H (L1r1) refer to that chief ray corresponding to maximum image height passes through the object side of the first lens group 10 during normal observation Face corresponding to height, maximum image height when IMH is normal observation on corresponding chip photosurface, f_G1 is above-mentioned first saturating The focal length of microscope group 10, f_G2 are the focal lengths of the second lens group 20, and V1 is the Abbe number of the first lens 11, and V2 is the second lens 12 Abbe number, V3 are the Abbe numbers of the 3rd lens 21, and V4 is the Abbe number of the 4th lens 22, and V5 is the Abbe number of the 5th lens 23,6 It is the Abbe number of the 5th lens 24, f34 is the combined focal length of the 3rd lens 21 and the 4th lens 22, and f56 is the He of the 5th lens 23 The combined focal length of 6th lens 24, d_G12 are the axial airspaces of the first lens group 10 and the second lens group 20.
Fig. 2 is refer to, observation axle outer light beam is understood, in the thing side 1 of the first lens 11, the axle outer light beam from wide-angle With larger incident angles to the thing side of the first lens 11, it is compressed into after the refraction of the first lens group 10 through diaphragm smaller Angle it is incident enter the second lens group 20, the first lens group 10 has negative power, will transmit through the light beam of the first lens group 10 Diverging, the second lens group 20 have positive light coke, and the light beam that will transmit through the second lens group 20 is assembled.
It can be seen that the focal length for reducing objective lens optical system is advantageous to the wide angle of objective lens optical system by above-mentioned opticpath, But reduce the focal length of optical system, then can produce stronger curvature of the image, and differed outside axle and suppress more difficult.
Thus for conditional (1) by being defined to the focal length of objective lens optical system, f/H (L1R1) exceedes the upper limit, then difficult So that wide angle is better achieved;
The object side that chief ray corresponding to maximum image height passes through the first lens group when conditional (2) is by normal observation The ratio between the maximum image height IMH on height H (L1r1) chip photosurfaces corresponding with during normal observation corresponding to face enters Row limits, and on the premise of downsizing is realized, optimizes curvature of the image, and suppresses to being differed outside axle, and H (L1r1)/IMH surpasses The upper limit is crossed, then can not meet that bore refines.
Conditional (3) is defined to the angular of the first lens group, objective lens optical system configuration is had rationally negative light First lens group of focal power, the downsizing of objective lens optical system can be realized, make its fully turn back off-axis ray while will not Bring the curvature of field aberration of the outer visual field of extra increased aberration, particularly axle into, if f/f_G1 exceedes the upper limit, configure the first lens group Negative power can be excessively weak, can not effectively turn back off-axis ray;Conversely, if f/f_G1 is less than lower limit, the first lens group is configured Negative power can be too strong, in order to balance focal power, the second lens group need to configure stronger focal power, while it is saturating also to increase second The correction of microscope group aberration particularly off-axis aberration.
It is preferred that interior peep is concave surface by image side surface with the first lens group of imaging lens optical system and has negative power First lens and thing side are convex surface and the second lens with positive light coke are formed.
By the optical power profile of the lens group of reasonable disposition first, it is set preferably to compress big field rays simultaneously effectively poly- Burnt light.If f/f1 exceedes the upper limit of the condition (4), the negative power of the first lens is excessively weak, it is impossible to the light of the outer visual field of axle Line is effectively turned back;If f/f1 is less than the lower limit of the condition (4), the negative power of the first lens group is too strong, increases The aberration correction difficulty of the outer visual field of axle.
If f/f2 exceedes the upper limit of the condition (5), the positive light coke of the second lens group is too strong, heavy system spherical aberration Correction and the correction of the off-axis aberration particularly curvature of field;If f/f1 is less than the lower limit of the condition (5), the second power of lens Cross weak, it is impossible to effectively focus on light, increase the structure length of system.
Further, conditional (6) limits the distribution of the second lens group focal power, if f/f_G2 exceedes the condition (6) The upper limit, then it is too strong to configure the second lens group focal power, and off-axis aberration correction is difficult;Conversely, if f/f_G2 is less than the condition (6) lower limit, then configure the second lens group light focus and spend weak, be unfavorable for light focusing imaging, and system architecture length can be caused Lengthen.
Further, second lens group includes the 3rd lens, the 4th lens, the 5th saturating from object side to image side successively Mirror and the 6th lens, the 3rd lens are positive lens, and the 4th lens and the 5th lens are that image side surface is convex surface Positive lens, the 6th lens are the meniscus shaped negative lens that image side surface is convex surface.
Further, conditional (7) limits the power configuration of the 3rd lens and the 4th lens combination, if f/f34 More than conditional (7) upper limit, then the combination focal power configured is too strong, and off-axis aberration correction difficulty increases, and increases the 5th lens With the aberration correction difficulty of the 6th lens;If conversely, be less than conditional (7) lower limit, the combination light focus configured spend it is weak, it is unfavorable It is imaged in light focusing, and system architecture extended length can be caused.
Further, conditional (8) limits the power configuration of the 5th lens and the 6th lens combination, if f/f56 More than the upper limit of conditional (8), it is being unfavorable for the recalibration of rim ray aberration just;Conversely, if f/f56 is less than under conditional (8) Limit, it is unfavorable for light focusing imaging, and system architecture extended length can be caused.It is preferred that the 5th lens and the 6th lens configured separate, It is advantageous that avoid the shortcomings that small bore lens joint technology efficiency is low and fraction defective is high.
Meet conditional (10) and conditional (11) by limiting the first lens group and the second lens group, can fully correct System aberration, obtain high performance imaging effect.
, can further reduction system bore and system architecture length it is preferred that meet conditional (9).In order to reduce object lens light The cost of system, each lens of constitute the objective lens optical system all select spherical lens.
Hereinafter, the embodiment 1-3 that Fig. 1-Fig. 8 illustrates the objective lens optical system of the embodiment above is refer to, in each reality Apply in example, r represents radius of curvature (unit mm), as r1 represents the radius of curvature of the first lens thing side, r2 the first lens of expression The radius of curvature of image side surface, r3 represent the radius of curvature of the second lens thing side, the like, d represents face interval, as d1 is represented The interval of first lens thing side and image side surface on optical axis, d2 represent the image side surface of the first lens and the thing side of the second lens Interval on optical axis, the like, Nd represents the refractive index of relative d lines, and Vd represents the Abbe number of relative d lines.
Embodiment 1
Fig. 3 is refer to, peeped in one kind is included with negative light focus successively with imaging lens optical system from object side to image side First lens group 10 of degree, diaphragm 30, the second lens group 20, optical filter 40, plate glass 50 and the chip with positive light coke Photosurface 60.The optical filter 40 is mainly used for ending specific wavelength, and the plate glass 50 mainly protects the photosensitive of chip Face 60.
First lens group 10 is by the first lens 11 with negative power and the second lens 12 with positive light coke Form, the thing side of first lens 11 is plane, and image side surface is concave surface, and the thing side of the second lens 12 and image side surface are Convex surface;Second lens group 20 by thing side be convex surface and the 3rd lens 21, image side surface with positive light coke be convex surface and with The 4th lens 22, thing side and the image side surface of positive light coke are convex surface and the 5th lens 23, image side surface with positive light coke Formed for convex surface and with the lens 24 of negative power curved month type the 6th.Peeped in the present embodiment and realize picture with imaging lens optical system High 1.75mm, the chip of 1/5 inch of matching, pixel are then more than 2,000,000, and full filed angle is more than 100 degree, and bore is less than 2.5mm, It is 10mm to 200mm to realize field depth.Following table is to peep the data with imaging lens optical system, the present embodiment in the present embodiment Various aberration curve figures refer to Fig. 4.As table 1 below shows each lens data and optics of the objective lens optical system of the present embodiment Supplemental characteristic.
Table 1
Embodiment 2
Fig. 5 is refer to, peeped in one kind is included with negative light focus successively with imaging lens optical system from object side to image side First lens group 10 of degree, diaphragm 30, the second lens group 20, optical filter 40, plate glass 50 and the chip with positive light coke Photosurface 60.The optical filter 40 is mainly used for ending specific wavelength, and the plate glass 50 mainly protects the photosensitive of chip Face 60.
First lens group 10 is by the first lens 11 with negative power and the second lens 12 with positive light coke Form, the thing side of first lens 11 is plane, and image side surface is concave surface, and the thing side of the second lens 12 and image side surface are Convex surface;Second lens group 20 by thing side be convex surface and the 3rd lens 21, image side surface with positive light coke be convex surface and with The 4th lens 22, thing side and the image side surface of positive light coke are convex surface and with the 5th lens, the image side surface of positive light coke are Convex surface and with the lens of negative power curved month type the 6th form.Peeped in the present embodiment and realize image height with imaging lens optical system 1.75mm, full filed angle are more than 100 degree, and bore is less than 2.5mm, and it is 8mm to 160mm to realize field depth.Following table is this implementation The data with imaging lens optical system are peeped in example, the various aberration curve figures of the present embodiment refer to Fig. 6.As table 2 below is shown Each lens data and optical parameter data of the objective lens optical system of the present embodiment.
Table 2
Embodiment 3
Fig. 7 is refer to, peeped in one kind is included with negative light focus successively with imaging lens optical system from object side to image side First lens group 10 of degree, diaphragm 30, the second lens group 20, optical filter 40, plate glass 50 and the chip with positive light coke Photosurface 60.The optical filter 40 is mainly used for ending specific wavelength, and the plate glass 50 mainly protects the photosensitive of chip Face 60.
First lens group 10 is by the first lens 11 with negative power and the second lens 12 with positive light coke Form, the thing side of first lens 11 is plane, and image side surface is concave surface, and the thing side of the second lens 12 and image side surface are Convex surface;Second lens group 20 by thing side be convex surface and the 3rd lens 21, image side surface with positive light coke be convex surface and with The 4th lens 22, thing side and the image side surface of positive light coke are convex surface and with the 5th lens, the image side surface of positive light coke are Convex surface and with the lens of negative power curved month type the 6th form.Peeped in the present embodiment and realize image height with imaging lens optical system 1.75mm, full filed angle are more than 100 degree, and bore is less than 2.5mm, and it is 7mm to 150mm to realize field depth.Following table is this implementation The data with imaging lens optical system are peeped in example, the various aberration curve figures of the present embodiment refer to Fig. 8.As table 3 below is shown Each lens data and optical parameter data of the objective lens optical system of the present embodiment.
Table 3
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention Matter and scope.

Claims (8)

1. peeped in one kind with objective lens optical system, include successively from object side to image side the first lens group with negative power, Diaphragm and the second lens group with positive light coke, it is characterised in that satisfy the following conditional expression:
f/H(L1r1)<2.5;
H(L1r1)/IMH<0.6;
Wherein, f is the interior focal length peeped with objective lens optical system, and H (L1r1) refers to main corresponding to maximum image height during normal observation Height of the light corresponding to by the face of the object side of the first lens group, when IMH is normal observation on corresponding chip photosurface Maximum image height.
2. it is according to claim 1 in peep with objective lens optical system, it is characterised in that first lens group also meet with Lower conditional:
-0.92<f/f_G1<-0.3;
Wherein, f_G1 is the focal length of above-mentioned first lens group.
3. peeped according to claim 2 with objective lens optical system, it is characterised in that first lens group is from object side Include the first lens and the second lens to image side, first lens are the negative lens that image side surface is concave surface, second lens For the positive lens that thing side is convex surface, first lens group satisfies the following conditional expression:
-1.5<f/f1<-1.0;
0.2<f/f2<0.65;
Wherein, f1 is the focal length of first lens, and f2 is the focal length of second lens.
4. peeped according to claim any one of 1-3 with objective lens optical system, it is characterised in that second lens group Satisfy the following conditional expression:
0.7<f/f_G2<1.1;
Wherein, f_G2 is the focal length of above-mentioned second lens group.
5. peeped according to claim 4 with objective lens optical system, it is characterised in that second lens group is from object side Include the 3rd lens, the 4th lens, the 5th lens and the 6th lens successively to image side, the 3rd lens are positive lens, described 4th lens and the 5th lens are the positive lens that image side surface is convex surface, and the 6th lens are the bent moon that image side surface is convex surface Shape negative lens.
6. it is according to claim 5 in peep with objective lens optical system, it is characterised in that second lens group also meet with Lower conditional:
0.6<f/f34<1.1;
-0.4<f/f56<-0.05;
Wherein f34 is the combined focal length of the 3rd lens and the 4th lens, and f56 is the group of the 5th lens and the 6th lens Complex focus.
7. peeped according to claim 6 with objective lens optical system, it is characterised in that first lens group and second saturating Microscope group also satisfies the following conditional expression:
d_G12/f<0.11;
|1/(f1*V1)+1/(f2*V2)|<0.02;
|1/(f3*V3)+1/(f4*V4)+1/(f5*V5)+1/(f6*V6)|<0.02;
Wherein, d_G12 is the airspace of the first lens group and second lens group axial direction, and f3 is Jiao of the 3rd lens Away from f4 is the focal length of the 4th lens, and f5 is the focal length of the 5th lens, and f6 is the focal length of the 6th lens, and V1 is The Abbe number of first lens material, V2 are the Abbe numbers of second lens material, and V3 is the 3rd lens material Abbe number, V4 are the Abbe numbers of the 4th lens material, and V5 is the Abbe number of the 5th lens material, and V6 is the described 6th The Abbe number of lens material.
8. it is according to claim 7 in peep with objective lens optical system, it is characterised in that first lens, the second lens, 3rd lens, the 4th lens, the 5th lens and the 6th lens are spherical lens.
CN201710935996.9A 2017-10-10 2017-10-10 Inside peep and use objective lens optical system Pending CN107577039A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020215196A1 (en) * 2019-04-23 2020-10-29 北京数字精准医疗科技有限公司 Endoscope optical system

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JPH09179022A (en) * 1995-12-22 1997-07-11 Hitachi Ltd Single-focus lens
US6181481B1 (en) * 1998-11-30 2001-01-30 Fuji Photo Optical Co., Ltd. Objective lens for endoscope
JP2002228926A (en) * 2001-02-02 2002-08-14 Asahi Optical Co Ltd Endoscopic objective lens system
CN102736223A (en) * 2011-04-15 2012-10-17 大立光电股份有限公司 Image capturing lens
CN207541330U (en) * 2017-10-10 2018-06-26 东莞市宇光光电科技有限公司 It inside peeps and uses objective lens optical system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5633758A (en) * 1994-09-21 1997-05-27 Minolta Co., Ltd. Variable magnification lens system
JPH09179022A (en) * 1995-12-22 1997-07-11 Hitachi Ltd Single-focus lens
US6181481B1 (en) * 1998-11-30 2001-01-30 Fuji Photo Optical Co., Ltd. Objective lens for endoscope
JP2002228926A (en) * 2001-02-02 2002-08-14 Asahi Optical Co Ltd Endoscopic objective lens system
CN102736223A (en) * 2011-04-15 2012-10-17 大立光电股份有限公司 Image capturing lens
CN207541330U (en) * 2017-10-10 2018-06-26 东莞市宇光光电科技有限公司 It inside peeps and uses objective lens optical system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020215196A1 (en) * 2019-04-23 2020-10-29 北京数字精准医疗科技有限公司 Endoscope optical system

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