CN115067857A

CN115067857A - Portable ergonomic endoscope with disposable cannula

Info

Publication number: CN115067857A
Application number: CN202210798639.3A
Authority: CN
Inventors: 欧阳小龙
Original assignee: Meguiar Vision Co
Current assignee: Meguiar Vision Co
Priority date: 2022-05-16
Filing date: 2022-07-11
Publication date: 2022-09-20
Also published as: CN219557227U

Abstract

The invention relates to a multi-camera, multi-spectral endoscope that provides a composite image formed from a white light stereo image and a fluorescence image. The fluorescence image highlights the area of abnormal tissue without obscuring the white light image. In one embodiment, the endoscope uses a white light camera and a camera with electronically controlled color filters that switch between passing white light and passing fluorescence. In another embodiment, two white light cameras produce a stereo image and the third camera is a dedicated fluorescence camera. In another embodiment, one pair of cameras produces a white light stereo image and the other pair produces a stereo fluorescence image. The endoscope can use a disposable part and a reusable part composed of a camera, and can rotate the insertion tube and bend the front end part thereof. In another embodiment, one of the disposable and reusable portions has an axial slot and the other has an axial track that slides in the slot in one direction to assemble the endoscope and in the other direction to separate the two portions.

Description

Portable ergonomic endoscope with disposable cannula

RELATED APPLICATIONS

This application is a partial continuation of U.S. patent application No. 17,473,5873, i.e., U.S. patent No. 11,330,973, filed on 13/9/2021. Us patent No. 11,330,973 is a partial continuation of: U.S. patent application No. 17/362,043, filed on 29/6/2021 and granted on 13/4/2022; international patent application No. PCT/US19/36060 filed on 7.6.2019; US patent application No. 16/363,209 filed on 25/3/2019, US patent application publication No. US 2019/0216325; international patent application No. PCT/US17/53171, filed 2017, 9, 25.

The present application incorporates by reference the entire contents of the above-mentioned patent applications and claims each of the above-mentioned patent applications as well as the applications that they are incorporated by reference directly or indirectly and the benefits that they claim, including the filing date of U.S. provisional applications, U.S. non-provisional applications, and international applications.

The U.S. patent application No. 17,473,587 claims the benefit of the following provisional applications, which are incorporated by reference:

U.S. provisional application No. 63/218,362, filed on 7/4/2021;

U.S. provisional application No. 63/213,499, filed on 22/6/2021;

U.S. provisional application No. 63/210,034, filed on 13/6/2021;

U.S. provisional application No. 63/197,639, filed on 7/6/2021;

U.S. provisional application No. 63/197,611, filed on 7/6/2021;

U.S. provisional application No. 63/183,151, filed on 3/5/2021;

U.S. provisional application No. 63/153,252, filed 24/2/2021;

U.S. provisional application No. 63/149,338, filed on 14/2/2021;

U.S. provisional application No. 63/138,751, filed on 18/1/2021;

united states provisional application No. 63/129,703 filed on 23/12/2020;

united states provisional application No. 63/124,803 filed on 12/13/2020;

united states provisional application No. 63/121,924 filed on 6.12.2020;

united states provisional application No. 63/121,246 filed on day 4, 12/2020;

united states provisional application No. 63/107,344 filed on 29/10/2020;

united states provisional application No. 63/087,935 filed on 6/10/2020;

united states provisional application No. 63/083,932 filed on 27/9/2020;

united states provisional application No. 63/077,675 filed on 13/9/2020; and

united states provisional application No. 63/077,635 filed on 13/9/2020.

The present patent application is also related to the following international, non-provisional and provisional applications, and is incorporated herein by reference:

international patent application No. PCT/US17/53171, filed 2017, 9, 25;

U.S. patent No. 8,702,594 issued on 4/22 2014;

us patent application No. 16/363,209 filed on 25/3/2019;

international patent application No. PCT/US19/36060 filed on 7.6.2019;

united states patent application No. 16/972,989, filed 12, 7, 2020;

us provisional application No. 62/816,366 filed on 11/3/2019;

us provisional application No. 62/671,445 filed on 2018, 5, 15;

us provisional application No. 62/654,295 filed on 6.4.2018;

U.S. provisional application No. 62/647,817 filed on 25.3.2018;

U.S. provisional application No. 62/558,818 filed on 9, 14, 2017;

us provisional application No. 62/550,581 filed on 26.8.2017;

us provisional application No. 62/550,560 filed 2017, 8, 25;

us provisional application No. 62/550,188 filed 2017, 8, 25;

us provisional application No. 62/502,670 filed on 6.5.2017;

U.S. provisional application No. 62/485,641 filed on 14.4.2017;

us provisional application No. 62/485,454 filed on 14/4/2017;

united states provisional application No. 62/429,368 filed on 12/2/2016;

united states provisional application No. 62/428,018 filed on 2016, 11, 30;

united states provisional application No. 62/424,381 filed on 11/18/2016;

united states provisional application No. 62/423,213 filed on 11, 17, 2016;

united states provisional application No. 62/405,915 filed on 8/10/2016;

united states provisional application No. 62/399,712 filed on 26/9/2016;

united states provisional application No. 62/399,436 filed on 25/9/2016;

united states provisional application No. 62/399,429 filed on 25/9/2016;

united states provisional application No. 62/287,901 filed on 28/1/2016;

united states provisional application No. 62/279,784 filed on date 17/1 in 2016;

united states provisional application No. 62/275,241 filed on 6/1/2016;

united states provisional application No. 62/275,222 filed on 5.1.2016;

U.S. provisional application No. 62/259,991 filed on 25/11/2015;

U.S. provisional application No. 62/254,718 filed 11/13/2015;

U.S. provisional application No. 62/139,754 filed 3/29 in 2015;

us provisional application No. 62/120,316 filed 24/2/2015; and

U.S. provisional application No. 62/119,521 filed on 23/2/2015.

All of the non-provisional, provisional and international patent applications identified above are collectively referred to herein as "commonly assigned co-pending applications".

Technical Field

The present invention relates generally to endoscopes. More particularly, some embodiments relate to a portable endoscopic device including a reusable handle portion and a disposable or single-use cannula portion.

Background

For both conventional rigid and flexible endoscopes, the lens or fiber optic system is relatively expensive and is reused multiple times. Therefore, each time it is used, it must be rigorously sterilized and disinfected. Disposable endoscopes are an emerging class of endoscopic instruments. Disposable endoscopes are an emerging class of endoscopic instruments. In some cases, the manufacturing cost of the endoscope may become inexpensive enough to be used for only a single patient. Single-use or single-use endoscopes reduce the risk of cross-contamination and nosocomial diseases.

The subject matter described or claimed in this patent specification is not limited to what has been described in terms of solving any particular disadvantages or to only what has been described in particular embodiments operating in environments such as those described above. Rather, the above background is provided merely to illustrate the feasibility of some embodiments described herein in an exemplary technology area.

Disclosure of Invention

In some embodiments, a multi-camera, multi-spectral endoscope comprises: a cannula configured to be inserted into a patient; a forward-looking camera CamW at the forward end portion of the cannula, which primarily reacts to the wavelength range of the white light; an electronically controlled color filter also located at the cannula's forward end portion, configured to selectively operate in mode A to pass light of a predominantly white wavelength range, or in mode B to pass light of a predominantly selected narrow wavelength band or fluorescent light to the camera CamF; a forward looking camera CamFA/B also located at the front end portion of the cannula observes the target from different angles and through the color electrically controlled filter; a processing system configured to selectively switch the color filter between mode A and mode B and receive image data from the cameras CamW and CamFA/B, forming a white light stereoscopic image of the target when the filter is operating in mode A, but forming a selected narrow-band light or fluorescent light image from the camera CamFA/B when the filter is operating in mode B; an image display; wherein the processing system and image display are configured to form and display a composite image as an overlay of a white light stereoscopic image and a selected narrow band light or fluorescence light image.

In some embodiments, the multi-camera, multi-spectral endoscope may further include one or more of the following features: (a) a fluid hub, said cannula extending from the hub front end, and a handle securing the fluid hub; (b) the fluid hub and cannula may include a disposable unit, and the handle may include a reusable unit that is optionally secured to the disposable unit; (c) the cannula may be configured to rotate relative to a rear end portion of the fluid hub; (e) the endoscope may include a manual bending controller, and the front end portion of the insertion tube may be configured to bend in response to an operation of the manual bending controller; (f) the spatial resolution of the camera CamF may be lower than the camera CamW at least when the filter is operating in the mode B.

In some embodiments, a multi-camera, multi-spectral endoscope comprises: a tubular cannula configured to be inserted into a patient; a first forward looking camera system, located at the forward portion of the cannula, comprising two cameras CamW1 and CamW2, viewing the same object from different angles and reacting to a CamW1 wavelength range and a CamW2 wavelength range, respectively; a second camera system, located at the forward portion of the cannula, comprising a camera CamF, which also observes the object, but reacts mainly to a CamF wavelength range different from at least one of the wavelength ranges CamW1 and CamW 2; a processing system configured to receive image data from the first and second camera systems and process the received image data into a stereoscopic image of an object using image data from CamW1 and Cam W2, a two-dimensional (2D) image of the object using image data from CamF, and a composite image of the object overlaying the stereoscopic image and the 2D image; a display configured to display the composite image.

In some embodiments, the endoscope described in the immediately preceding paragraph may further include one or more of the following features: (a) the wavelength ranges CamW1 and CamW2 overlap; (b) the wavelength ranges CamW1 and CamW2 are white light ranges; the CamF range is a selected narrow band range or fluorescent light; (c) the 2D image represents a target region that fluoresces above a threshold for possible abnormal tissue, thereby highlighting possible abnormal tissue in the composite image; (d) the composite image comprises an overlay in which regions of the 2D image are visible; (e) the camera CamF has a lower spatial resolution than at least one of the cameras CamW1 and CamW 2; (f) the endoscope further comprises at least one internal channel in which the cannula extends from a forward end thereof and communicates with the internal channel, a fluid hub, wherein the cannula is configured to rotate relative to a rearward portion of the fluid hub; (g) the endoscope further comprises a handle to which the fluid hub is selectively attached and which houses at least a portion of the treatment system; (h) the display is mounted on the handle; (i) the endoscope further includes a manual bend controller, wherein the forward end portion of the insertion tube is configured to bend in response to operation of the manual bend controller.

In some embodiments, a multi-camera, multi-spectral endoscope comprises: a cannula configured to be inserted into a patient; a first forward looking camera system located at the forward portion of the cannula, comprising a camera CamW1 and a camera CamW2 viewing the target from different angles and reacting to a CamW1 wavelength range and a CamW2 wavelength range, respectively; a second forward looking camera system, also located at the forward end of the cannula, comprising a CamF1 and a CamF2, viewing said object from different angles and respectively responsive to a CamF1 wavelength range and a CamF2 wavelength range, which are different from at least one of said CamW1 and CamW wavelengths; a processing system receives image data from the first and second camera systems and processes the received image data into a CamW image of the target according to the image data from the cameras CamW1 and CamW2 and superimposes a CamF image of the target on the composite image according to the image data from the cameras CamF1 and CamF 2; a display configured to display the composite image.

In some embodiments, the endoscope described in the immediately preceding paragraph may further include one or more of the following features: (a) the CamW1 and CamW2 wavelength ranges are white light ranges, the CamF1 and CamF2 wavelength ranges are selected wavelength bands or fluorescent light ranges; (b) each of the images CamW and CamF is a stereo image of the object and the composite image is a superposition of the images CamW and CamF in spatial registration.

In some embodiments, an endoscope comprises: an L-shaped handle portion including a downwardly extending handle and an axially extending housing; a hub removably secured to the rear end of the housing and a cannula extending from the front end of the hub; wherein: one of the housing and hub includes an axially extending slot facing downwardly and the other includes an axially extending rail facing upwardly configured to slide into the slot in a rearward direction to removably secure the hub and cannula to the handle portion; said hub and said housing including respective electrical connectors that mate and make electrical contact when the housing and hub are secured to one another; the rear end portion of the handle portion including an opening, the hub and the cannula including a bending mechanism configured to bend the front end portion of the cannula and including a rearwardly extending thumb shaft extending through the opening and out of the front end of the handle portion when the hub and handle portions are secured to one another, manual manipulation of the thumb shaft controlling bending of the front end portion of the cannula; the camera module is positioned at the front end part of the insertion pipe; and a display coupled to the camera module to receive image data thereof and to display an image therefrom.

In some embodiments, the endoscope described in the immediately preceding paragraph may further include one or more of the following features: (a) the bending mechanism includes a wheel mounted for rotation within the housing and coupled to the bending rod for rotation in response to manipulation of the bending rod, and a cable coupled to the wheel and the forward end portion of the cannula for translating rotation of the wheel into bending of the forward end portion of the cannula; (b) the hub and cannula being detached from the handle portion by manually sliding the hub relative to the handle portion in a forward direction; (c) the endoscope includes a latch on one of the housing and the hub and a catch on the other configured to engage and secure the hub to the housing when the endoscope is assembled, and a manually operated releasable device to disengage the latch and catch from each other to allow removal of the hub from the housing.

Drawings

To further clarify the above and other advantages and features of the subject matter of this patent specification, a specific embodiment is illustrated in the accompanying drawings. The drawings are to be understood as depicting exemplary embodiments only, and therefore should not be considered as limiting the scope of the patent specification or the appended claims. The subject matter of the invention will be described and explained with specificity and detail through the use of the accompanying drawings in which:

FIGS. 1A, 1B, 1C are side, top and rear views of a portable ergonomic endoscope with a disposable cannula in some embodiments of the present invention;

FIGS. 2A and 2B are perspective views of a portable ergonomic endoscope with a disposable cannula in some embodiments of the present invention;

FIGS. 3A and 3B are perspective views illustrating the engagement and disengagement of the reusable and disposable portions of the portable ergonomic endoscope in some embodiments;

FIGS. 4A and 4B are perspective and schematic views of a front tip including multiple cameras and illumination modules for use with a portable ergonomic endoscope in some embodiments of the present invention;

FIG. 5 is a schematic diagram of a dual camera dual light source system for multispectral imaging and surgical applications in some embodiments;

fig. 6 is a conceptual diagram illustrating design aspects of a dual camera dual light source system for multispectral imaging and surgical applications in some embodiments;

fig. 7 is a diagram illustrating a possible color filter array configuration for a dual camera dual light source system for multispectral imaging and surgical applications in some embodiments;

FIG. 8 is a graph showing quantum efficiency versus wavelength for Nyxel and conventional pixels;

FIG. 9 is a schematic illustrating further aspects of combining multispectral image data from a dual camera dual light source system in some embodiments;

FIG. 10 is a perspective view showing a combined, spatially registered image displayed to a user on an endoscopic system in some embodiments;

FIG. 11 is a perspective view of an endoscopic system with one or more front facing cameras in some embodiments;

FIG. 12 is a schematic diagram showing the use of one camera with electronically controlled color filters to expose the camera to white light or fluorescent light and another camera to make white light in some embodiments;

FIG. 13 is a plan view of the front end of the cannula using a pair of white light cameras and a selected narrow band or fluorescent light camera, and a light source and an internal passage within the cannula in some embodiments;

FIG. 14 is otherwise similar to FIG. 13, but in some embodiments shows a different arrangement of cameras and light sources, and a single internal channel;

FIG. 15 is a plan view of a distal end of a cannula using a pair of white light cameras and a pair of selected narrow band or fluorescent light cameras, and a light source and an internal passage within the cannula in some embodiments;

FIG. 16 is otherwise similar to FIG. 15, but in some embodiments shows a different arrangement of cameras and light sources, and a single internal channel;

FIG. 17 is a perspective view of an endoscope in some embodiments;

FIG. 18 is an exploded perspective view of an endoscope in some embodiments;

FIG. 19 is a cross-sectional view of the endoscope portion in some embodiments;

FIG. 20 is a cross-sectional view of an endoscope portion in some embodiments;

fig. 21 is a cross-sectional view of an endoscope assembly according to some embodiments;

fig. 22 is a top view of an endoscope in some embodiments.

Detailed Description

A detailed description of the preferred embodiments is provided below. While several embodiments have been described, it should be understood that the novel subject matter described in this patent specification is not limited to any one embodiment or combination of embodiments described herein, but includes many alternatives, modifications, and equivalents. In addition, while numerous specific details are set forth in the following description in order to provide a thorough understanding, some embodiments may be practiced without some or all of these specific details. Moreover, for the purpose of clarity, certain technical material that is known in the prior art has not been described in detail in order to avoid unnecessarily obscuring the new subject matter described herein. It is to be understood that each feature of one or more specific embodiments described herein may be used in combination with other features of other described embodiments. Further, like reference numbers and designations in the various drawings indicate like elements.

Some embodiments describe a portable ergonomic endoscope system that includes an imaging system having at least two independent cameras and two independent light sources. The camera and light source are configured for simultaneously imaging a target object, such as tissue. By using different illumination, different filters and controlling the spectral response, different characteristics of the target object can be captured. In some embodiments, the system processor may coordinate the camera, the light source, and in conjunction with the resulting image, display an enhanced composite image of the target object to the user. In some embodiments, the system may be configured to perform NBI (narrow band imaging). In some embodiments, the system may also be configured to perform fluorescence imaging.

As used herein, a Color Filter Array (CFA) refers to a filter placed over a pixel to allow a certain bandwidth to pass. Conventional consumer cameras, such as cell phone cameras, use RGB CFA. For other special applications, special CFAs may be designed.

Narrow Band Imaging (NBI) as used herein refers to a color imaging technique for endoscopic diagnostic medical testing in which specific blue and green wavelengths of light are used to enhance details of certain aspects of mucosal surfaces. In some embodiments, a special filter may be electronically activated by a switch in the endoscope, causing the use of ambient light, preferably at wavelengths of 415 nm (blue) and 540 nm (green). Because the light absorption peaks of hemoglobin occur at these wavelengths, the blood vessels appear very dark, allowing increased visibility and better recognition of other surface structures.

Fluorescence Imaging (FI), as used herein, refers to fluorescence imaging, sometimes using fluorescent dyes, to label, highlight, or enhance certain biological mechanisms and/or structures. Fluorescence itself is a form of luminescence that occurs when a substance emits light at a certain wavelength after absorbing electromagnetic radiation. For example, in blue light endoscopy, a fluorescent dye (Hexvix) is injected into the bladder. The tissue was then illuminated with blue light (about 405 nm) and Hexvix emitted fluorescent light at a wavelength of about 610 nm. Note that in FI the camera can see the fluorescence emitted inside the object, while in NBI the camera can see the reflection of light of various bandwidths by the object.

In some embodiments, a novel dual camera and dual light source (DCDL) system is described for multispectral or polychromatic imaging. Embodiments of a surgical application having simultaneous white light, fluorescence and infrared images are disclosed.

The method is applicable to general multispectral multiband imaging. Some embodiments include an endoscope system that includes two separate camera/LED systems that are integrated into the same cannula or endoscope. A white light camera called camera W is fitted with a W white light LED called light source. One fluorescent camera, called camera F, is fitted with a blue LED, called camera C. In this configuration, the camera F is used as an infrared camera when either or both of the light source C and the light source W are turned off.

In some embodiments, the camera W is optimized for a white light endoscope, i.e., a strong and excellent white LED is used to illuminate the object, thus achieving high image resolution. The camera F is optimized for sensitivity because the fluorescent light source is typically weak. In order to maximize the sensitivity and signal-to-noise ratio of the CMOS sensor pixels for high quality imaging, the following measures are implemented.

In some embodiments, a special Color Filter Array (CFA) is used on the pixel array (as shown in fig. 7) so that the array of CMOS sensors is sensitive to the red or infrared spectrum (near 600nm or higher). In some embodiments, to further improve sensitivity, it is preferable to use relatively large pixels (e.g., 2.2um x 2.2um) for the CMOS sensor of the camera F. In this case, the camera F preferably has a lower spatial resolution (e.g., 1.75um x1.75um or 1.0um x 1.0um) than the camera W pixels, but is much more sensitive.

Fig. 1A, 1B, and 1C are side, top, and back views of a portable ergonomic endoscope with a disposable cannula in some embodiments. The system 100 is suitable for simple and rapid use, minimizing patient discomfort and high placement accuracy. The system 100 is comprised of a disposable, or single-use, portion 102 and a reusable portion 104. The two

portions

102 and 104 may be mated and unmated to each other by connectors, as will be described in further detail below. Cannula 120 has an imaging and illumination module at its forward end 110. A cable (not shown) is located within the cannula to provide control signals and power to the camera and LED lighting modules on the front end 110 and to transmit video image data from the imaging module to the handle 140 and display screen 150 for viewing by the user. In the illustrated embodiment, the handle 140 includes two

control buttons

142 and 144, which may be configured to power on/off and image capture, respectively. In some embodiments, the handle 140 is shaped as a pistol grip as shown and includes a rechargeable battery 141 accessible through a battery door 148. In some embodiments, battery 141 is a 18650 type lithium ion battery. Also included within the handle 140 is an electronics module 143 mounted on a Printed Circuit Board (PCB) 145. The electronics module 143 and the PCB 145 are configured to perform various processes such as video processing and capture, wi-fi for transmitting data to external devices, lighting control, user interface processing, and diagnostics. The electronics module 143 is also configured to include at least one non-volatile memory module for storing video and images captured from the imaging module. In some embodiments, the display 150 may be both tilted and rotated to provide the user with an optimal viewing angle. The rotational joint 152 is configured to provide rotation of the display 150, as indicated by the dashed arrow in FIG. 1C, while the hinge joint 154 is configured to provide rotation of the display 150, as indicated by the dashed arrow in FIG. 1B. In some embodiments, the hinge joint is configured to allow the display to tilt about 90 degrees, or nearly 90 degrees, at the front end. Such tilting is useful, for example, when giving the operator an unobstructed or less obstructed view. The handle 140 also includes a thumb lever 146 that can be moved up or down, as indicated by the dashed arrow. Moving the thumb lever 146 up and down causes the front end 110 to flex up and down, respectively, as indicated by dashed

lines

180 and 182. Further details regarding the operation of thumb lever 146 to control the steering of front end 110 and cannula 120 are provided in U.S. patent application No. 17/362,043, filed on 29/6/2021, which is incorporated herein by reference and is referred to herein as the "043 application".

Cannula 120 is connected at its rearward end to a fluid hub 172, which in this embodiment includes two

fluid ports

132 and 134. At the back end of the fluidic hinge is a collar 168. In some embodiments, the collar 168 is configured to be rotatable so as to allow a "plug and twist lock" type fit of the disposable portion 102 and the reusable portion 104, as will be described in further detail below. In some embodiments, at least a portion of fluid hub 172, along with cannula 120 and front end 110, can be manually rotated along the major longitudinal axis of cannula 120 relative to handle 140, as indicated by solid arrow 124. Thus, the rotatable portion of fluid hub 172 causes rotation of cannula 120 and front end 110, as indicated by solid arrow 122. In some embodiments, rotating the combination of cannula 120 and tip 110 and moving thumb lever 146, the user can "steer" the direction of tip 110 as desired. In some embodiments, the preferred working length of the cannula 120 is about 12 inches, but shorter or longer lengths may be used depending on the medical application, with preferred outer diameters of 5.5 to 6.5 inches, but larger or smaller diameters may be used depending on the medical application and the development of camera and lighting technology.

Fig. 2A and 2B are perspective views of a portable ergonomic endoscope with a disposable cannula in some embodiments. Fig. 2A shows a syringe 230 for supplying a fluid, such as saline, through a fluid lumen (not shown) within cannula 120 via tubing 232, connector 234 and fluid port 134. In some embodiments, cannula 120 is semi-rigid. Cannula 120 is sufficiently rigid so as not to collapse under the longitudinal pushing and pulling forces expected during the medical procedure in which it is to be performed. On the other hand, cannula 120 is sufficiently flexible to bend when passing through a curved anatomical structure.

Fig. 3A and 3B are perspective views illustrating the engagement and disengagement of the reusable and disposable portions of the portable ergonomic endoscope in some examples. The disposable portion 102 and the reusable portion 104 are connectable and disconnectable by mechanical and electrical connectors. The electrical connection is made through a USB-C type plug 302 (fig. 3A) on the disposable part 102 and a USB-C type receptacle 304 (fig. 3B) on the reusable part 104. The mechanical connection includes both a structural connection that fixedly connects the disposable portion 102 and the reusable portion 104, and a steering connection through which steering inputs from the steering structure of the reusable portion 104 can be directed to the steering components of the disposable portion 102. In this embodiment, the structural connection includes a male circular portion 312 on the disposable portion 102 that is shaped to mate with a female receptacle 314 on the reusable portion 104. The structural connection also includes a twist-lock type mechanism wherein the male portion 322 may be inserted into the female opening 324 and then locked by twisting the male portion 322 approximately one-quarter turn (90 degrees). The twisting action may be performed manually by textured or knurled band 168. In this way, the connection may be configured as a "plug" connection. The steering connection is achieved by engaging a drive gear 334 on the reusable portion 104 with a driven gear 332 on the disposable portion 102.

Fig. 4A and 4B are perspective and schematic views of a front end including multiple cameras and illumination modules for a portable ergonomic endoscope in some embodiments. In fig. 4A, the leading end 110 is shown connected to the leading end of a cannula 120. In some embodiments, the front end 110 includes a housing 410 that is formed separately from the front end of the cannula 120 and bonded together. Two camera modules are housed within the housing 410: a camera F module 420 and a camera W module 430. Each camera F420 and W430 module includes a lens and a sensor. The sensors of each camera F420 and camera W430 include a color sensor, an array of color filters, and electronics and circuitry, as will be described in further detail below. On either side of the camera F-module 420 are two

blue LED lamps

422 and 424 configured to emit laser light suitable for fluoroscopic endoscopy. In some embodiments, the

blue LED lamps

422 and 424 are configured to emit light at about 410 nanometers (violet blue). On either side of the camera W module 430 are two

white light LEDs

430 and 434 configured to emit white light suitable for visible white light endoscopy. Also shown in fig. 4A is a port 412 configured to provide fluid (into or out of a patient) and/or to provide an opening (e.g., a needle) through which a tool or other device may pass. Note that although fig. 4A shows a total of four LEDs (two white and two blue), in general, other numbers of LEDs may be provided depending on the desired quality of illumination, endoscope size, and LED characteristics such as size and brightness. In some embodiments, three or fewer LEDs may be provided, and in some embodiments, 10 or more LEDs may be provided. Furthermore, the number of white and blue LEDs need not be equal, but may depend on various factors. The LED groups may be 3,4 or more. Other light sources may be substituted, such as optical fibers that transmit light generated elsewhere.

In fig. 4B, the embodiment shown includes two separate device/

fluid channels

414 and 416. In this case, the inner diameters of both are 2.2 mm. In some embodiments, channel 414 may be connected to fluid port 134 (fig. 1A), while channel 416 is connected to fluid port 132 (fig. 1A). In some embodiments, to increase sensitivity to fluorescence, the CMOS sensor of camera F420 is configured as a larger pixel than camera W430. For example, the pixels of camera F may be 2.2um x 2.2um arranged in a 400x400 matrix size, while the pixels of camera W are 1.0um x 1.0um or 1.75um x1.75um arranged in a higher spatial resolution matrix size. Since white LEDs tend to be relatively strong, the camera W430 module may include a CMOS sensor with a small pixel, such as 1.75um x1.75um or 1um x 1um, so that a higher spatial resolution may be achieved, with a matrix size of 720x 720.

In some embodiments, camera F420 is used to perform blue light (fluorescence) endoscopy with a portion of the CFA. One embodiment is shown in fig. 7, where only an R filter is used, so that blue and green light is filtered out and most of the light reaching the sensor is red. In some embodiments, an infrared camera is used as the camera F.

Fig. 5 is a schematic diagram of a dual camera dual light source system for multispectral imaging and surgical applications in some embodiments. As shown, the front end 110 includes a camera and an illumination module, i.e., a camera F, a light source C, a camera W, and a light source W. Camera F-camera 420 is configured to capture images of a particular color or bandwidth, such as narrow band fluorescence centered at 610 nanometers. The filters of camera F420 are designed to block other wavelengths of incident light, for example by using a specially designed CFA array. Camera F may be used for NBI or FI, depending on the particular application. Light source C (422 and 424) for camera F420 may be a laser in the case of fluorescence imaging, and may be simply blue or green light in the case of NBI. LEDs or special light sources may be used. In some embodiments, camera W430 is a conventional white light camera, such as a camera of a cell phone. A typical RGB CFA may be used, and in addition an infrared filter may be used. An infrared filter that filters 50% of wavelengths above 650 nm may be used. The light sources W (432 and 434) of the light source W may be LED lamps having various hues close to daylight. Cannula 120 includes

cables

450 and 452. The image F refers to the image captured by the camera F, which may be fluorescence or, in the case of NBI, the reflection of green or blue light. The graph W refers to an image captured by the camera W, possibly fluorescence or, in the case of NBI, reflection of green or blue light.

Because the endoscope has two cameras, can operate simultaneously, and has different combinations of illumination, such as light source C, light source W (or other light bands), the system takes advantage of having two "eyes" looking at the same target, but looking at different aspects of the target simultaneously, thereby extracting more information from the object and target. For example, when blue light is emitted, camera F sees most of the fluorescence emission, while camera W sees both the reflection of the object from light source C (which may be very intense) and a little fluorescence. Since the two cameras are synchronized and also spatially registered relative to each other, different kinds of integrated information are delivered to the user, improving the clinical experience compared to seeing only one of the two kinds of information about the object or target.

In some embodiments, Nyxel technology, developed by OmniVision, may be used. Nyxel pixels can be used for camera F420 with significant improvement in pixel sensitivity, especially for red and near infrared bandwidths. This is particularly useful for detecting fluorescence around 610 nm.

In the electronic module 143, front-end processing and main system processing are performed. In some embodiments, the images are composited and displayed on the display 150.

Fig. 6 is a conceptual diagram illustrating design aspects of a dual camera dual light source system for multispectral imaging and surgical applications in some embodiments. In general, it is desirable to capture a multi-color or multi-spectral image of a target object, such as human tissue. In general, the visible light image of the object plus images captured by other color bands are used to better describe the target tissue and shape. Two cameras (camera F, camera W) are associated with two light sources (light source C, light source W). The camera F is an optical camera sensitive to certain color bands, such as red and infrared. The output of camera F is image F. The light source C is a light source (C-band) instead of white light. In dual frequency imaging (DBI), the light source C may be green or blue. In fluorescence imaging, it may also be a light source that excites the object to emit a fluorescent color. The camera W is an optical camera sensitive to certain color bands (B), such as white light. The output of the camera W is the graph W. The light source W is a light source emitting a specific color band B, for example, white light.

Fig. 7 illustrates a possible color filter array configuration for a dual camera dual light source system for multispectral imaging and surgical applications in some implementations. In some embodiments, camera F uses Nyxel pixels (from Omnivision) and an array of "red only" filters, i.e., CamF RRRR filters. This configuration allows the red and/or infrared bands to pass while filtering out background blue and green light.

Compared to the Nyxel CFA or Old CFA, the camera F can achieve four times the red resolution because one of the four pixels in the Nyxel or Old CFA arrangement is used to capture red. On the other hand, each pixel in the camera F arrangement of fig. 7 is used to capture red.

Fig. 8 shows the quantum efficiency versus wavelength for Nyxel and conventional pixels. In this figure, quantum efficiency shows Nyxel pixels, a new sensor developed by OminiVision. Curve 810 is a Nyxel blue pixel. Curve 812 is a conventional blue pixel. Curve 820 is a Nyxel green pixel. Curve 822 is a conventional green pixel. Curve 830 is a Nyxel red pixel. Curve 832 is a conventional red pixel. In particular, it can be seen from

curves

830 and 832 that the sensitivity of the Nyxel red pixel to red or infrared bands is significantly higher than that of the conventional red pixel.

Fig. 9 illustrates further aspects of multiband image data incorporating a dual camera dual light source system in some embodiments. With the availability of the global shutter capability camera F, the camera W may capture image frames at different combinations of light sources C and W being "on" or "off. In "surgical example 1", the light source C (blue light) "turns on", but the light source W "turns off", and the captured images are the view F of the camera F and the view WB of the camera W. Map F and map WB are spatially registered or correlated. This can be done because there is a short time lag between the images taken by the different cameras (or full synchronization when two cameras are taking at the same time). Map WB provides a background image under illumination by light source C, which can be used to correct the background of map F. When only light source C is on, the graph F data is combined with graph WB to generate "eIMGB".

In the case of the blue endoscope, the signal-to-noise ratio of plot F is low (due to the weak fluorescence signal), so CMOS sensors with high signal-to-noise ratio pixels are used. On the other hand, the graph W has a higher signal-to-noise ratio (due to strong white light), and thus a CMOS sensor with smaller pixels can be used to improve spatial resolution.

In "surgical example 2", camera F is used to capture image IR when light source C is "off". The graph W captures a standard white light image with the light source W "on". In this case, the map IR provides a "heat map" of the target; it is useful when tissue modification is performed using energy devices such as lasers or radio frequency. The map IR may alert the user to a hot spot or a cold spot. The data of map IR and map W may be spatially registered or correlated, also due to the short (or no) time difference between the images taken by the different cameras. The graphs IR and W may also be combined or superimposed to provide precise locations of hot and cold spots. That is, hot and cold spots can be viewed in the background of a normal standard white light image, providing a viewer with a background for the positioning of hot and cold spots.

In "surgical example 3", panel W is combined with eImgB. By combining examples 1 and 2, high quality eImgB data were spatially registered with white light image map W. The viewer can obtain high resolution map W, or a synthetic map of fluorescence eImgB or both. In some embodiments, the surgeon may employ existing images to better view their target. The fluorescence image elmgb, the white light image map W and the infrared image map IR are seamlessly switched between different visualization modes.

In a fourth "example 4" (not shown in fig. 9), as clinical cases accumulate, an artificial intelligence algorithm (or machine learning) can be designed to perform the automatic diagnosis.

Fig. 10 is a perspective view in which a combined, spatially registered image is displayed to a user on an endoscopic system in some embodiments. In the displayed view, a normal white light image (fig. W)1020 is displayed over a large portion of the display screen 150. The illustrated embodiment is "example 3" shown in fig. 9, where the elmgb image is combined with a standard white light image (fig. W) and spatially registered. In this case,

regions

1010 and 1012 were derived from the eImgB data and clearly show cancerous tumors. The user can easily view a generic color image of the

cancer regions

1010 and 1012 with the surrounding tissue in spatial registration. This blending or combination provides a greatly enhanced view of the target tissue. In some embodiments, the user can easily switch between the different modes (e.g., embodiments 1,2, or 3) by pressing a toggle button, such as button 142, button 144 (shown in fig. 1B and 2B), or by soft button 1040 on the touch-sensitive display 150.

Fig. 11 is a perspective view of an endoscopic system having one or more forward facing cameras in some embodiments. The embodiment shown has two forward (distal)

cameras

1140 and 1142. The forward facing camera allows the user to see exactly where the front is without having to remove the screen. During a surgical procedure, particularly immediately following or upon initial insertion of the tip 110, the user's line of sight may be primarily focused on the display screen 150. The precise location of the front end and its surroundings can be seen on the display screen 150 by the

front facing cameras

1140 and 1142. Image enhancement, such as artificially providing depth of field, may be beneficial in certain procedures. Two cameras or other means (e.g., lidar imaging) may be used to simulate a front-centered depth of field to improve usability.

FIG. 12 is otherwise similar to FIG. 5 and shows a multi-camera, multi-spectral endoscope in which two cameras produce a white light stereo image in one mode of operation but a selected narrow band light image or fluorescence image in another mode. In fig. 12, a front view camera 430(CamW) is located at the forward portion of cannula 120 for viewing a target, primarily in response to a wavelength range of white light. An electrically controlled color filter 1202 is also at the forward end portion of the cannula and is configured to selectively operate in mode a, primarily passing light within the wavelength range of white light, or in mode B, primarily passing light of a selected narrow wavelength band or fluorescence. Examples of such filters are discussed in https:// en. wikipedia. org/wiki/Liquid _ crystal _ tunable _ filter, suitable wavelength and color filters for endoscopes are discussed in U.S. patent application No. 16/363/209, publication No. 2019/0216325a1, both of which are incorporated herein by reference. Also located at the forward portion of the cannula is a forward looking camera 12420(CamFA/B) to view the target from different angles and through the color electronically controlled filter.

Cameras

430 and 12420 view the target like the two cameras shown in fig. 6. Processing system 143 is configured to selectively switch the color filters between mode a and mode B and process the image data received from

cameras

430 and 12420 to form a white light stereoscopic image of the target when the filters are operating in mode a, but to form a selected narrow band image or fluorescent light image from camera CamFA/B when the filters are operating in mode B. The image display 150 displays the image and the processing system 143 and display 150 are configured to form and display a composite image as a superposition of a white light stereoscopic image and a selected narrow band light image or a fluorescent light image, like the image shown in fig. 10, with the difference that the area of the selected parameters is highlighted. The processing system 143 may be configured to rapidly switch the filter 1202 between modes 1 and 2, for example several or hundreds times per second or more, so that the stereoscopic images and the selected narrow band images or the actual use fluorescence images are substantially targeted for display in real time. As described above, the selected narrow band image or fluorescent light image preferably has a lower spatial resolution than the image of the white light camera. The processing system 143 and display 150 may be configured to selectively display a composite image, or a stereoscopic image, or a selected narrow band image or a fluoroscopic image, or all three images simultaneously. The composite image may be as shown in FIG. 10-a superposition of two spatially registered images of the same object, but taken with different wavelengths of illumination.

Fig. 13 illustrates a multi-camera, multi-spectral endoscope in which a first forward looking camera system provides a white light stereo image of a target, a second camera system provides a selected narrow band image or a fluorescence image of the target, and a processing system combines the two images into a composite image display that is superimposed. In fig. 13, a first front-view camera system is located at the forward portion of the cannula 120, comprising two cameras-camera 430(CamW1) and camera head 431(CamW2) are both viewing the same target, but at different angles, like the two cameras in fig. 6. The camera 430 reacts mainly to the wavelength range of the camera W1, and the camera 431 reacts mainly to the wavelength range of the camera W2. The two wavelength ranges may be the same white light. A second camera system, also located at the forward portion of cannula 120, includes a camera 420 (camera F) that also views the target but reacts primarily to camera F wavelength ranges that differ from at least one of camera W1 and camera W2 wavelength ranges. The wavelength ranges of camera W1 and camera W2 may be the same white light. The photographic wavelength camera F may be a selected narrow band or fluorescent light. A processing system 143 (fig. 6) is coupled to the first and second camera systems and is configured to receive image data from the first and second camera systems and process the received image data into a white light stereo image, a selected narrow band image, or a fluorescence light image, and a composite image overlaying the stereo image and the selected narrow band image or fluorescence light image. The processing system 143 is also configured to control the

LED light sources

242, 244, 432, 434 and 435 to be turned on or off as required by the respective images. In this embodiment, all three cameras in fig. 13 may view the target simultaneously. The processing system 143 and display 150 may be configured to optionally display a composite image, or a stereoscopic image, or a selected narrow band image or a fluoroscopic image, or all three images simultaneously. The composite image may be like FIG. 10-a superposition of two spatially registered images of the same object, but taken over different light wavelength ranges. Fig. 13 shows two channels-414 and 416-in the cannula 120, but one channel or more than two channels may be used.

Fig. 14 is otherwise similar to fig. 13, but shows a multi-camera, multi-spectral endoscope in which the three cameras and their light sources are arranged differently, with a single channel 1402 in the cannula 120.

FIG. 15 is otherwise identical to FIG. 13, but shows a multi-camera, multi-spectral endoscope wherein a second forward looking camera system includes camera F1 and camera F2, both of which image within a selected narrow band or fluorescence wavelength range, such that the system can produce stereo images under white light and selected narrow band or fluorescence light. In fig. 14, the first front view camera system at the front end portion of the cannula includes one camera head 430 (camera W1) and one camera 431 (camera W2) to observe the subject from different angles as the two cameras in fig. 6. The camera W1 and the camera W2 react to the wavelength range of the camera W1 and the wavelength range of the camera W2, respectively. A second forward looking camera system, also located at the forward end portion of the cannula, includes a camera F1 and a camera F2, viewing the target from different angles and reacting to a camera F1 wavelength range and a camera F2 wavelength range, respectively, which may be the same or overlapping and include selected narrow band light or fluorescent light. The camera W1 and camera W2 wavelength ranges are white light ranges, and may be the same or overlapping. The camera F1 and camera F2 wavelength ranges may be selected narrow band light ranges or fluorescent light ranges, and may be the same or overlapping. Processing system 143 receives image data from the first and second camera systems and processes the received image data into a composite image of the target in which a white light stereo image and a selected narrow band image or a fluorescent light image of the target are overlaid, and display 150 displays the composite image. The display 150 may display any one or more of a white light stereo image, a selected narrow band or fluorescence image, and a composite image. As long as the two cameras of the first camera system view the object from different angles, the two cameras of the second camera system also view the object from different angles, the positions of the cameras can be interchanged. Fig. 14 also shows two channels, 414 and 416, in the cannula 120, although a different number of channels may be used. Fig. 14 also shows the

light sources

242, 244, 432, 434, 433, 435, 437, and 439 for each of the four cameras, although a different number or arrangement of light sources may be used.

Fig. 16 is otherwise identical to fig. 14, but shows a multi-camera, multi-spectral endoscope in which the four cameras and their light sources are arranged differently around a channel 1502 in the cannula 12.

Fig. 17-22 illustrate an endoscope in some embodiments. Fig. 17 is a perspective view of an assembled endoscope 17100, and fig. 18 shows reusable portion 17104 and disposable portion 17102 as separate units, prior to their being removably assembled by sliding portion 1702 from the front end into portion 17104. Portion 17104 includes display 150 and L-shaped handle portion 17140 comprised of downwardly extending handle 17141 and axially extending housing 17142, said handle 17141 being graspable by a user's hand. The display 150 is mounted in section 17104. Portion 17102 includes a hub 17172 removably secured to the housing 17142 and a cannula 17120 extending from the hub to the rear end. The housing 17142 has an axially extending, downwardly facing slot 1902 (fig. 18 and 19), and the hub 17172 includes an axially extending, upwardly facing rail 1802 configured to slide into the slot 1902 in a rearward direction to removably secure the portions 17102 and 17104 to one another. The rear end of the hub 17172 has a rear facing electrical connector 1804 (fig. 18), and the housing 17142 has a mating, front facing electrical connector 1904. When the portions 17102 and 17104 are secured to one another to form the assembled endoscope 17100 of fig. 17, the two electrical connectors mate and make electrical contact. The rear end of the handle portion 17140 has an oval shaped opening 1906 through which the rear end of the thumb stick protrudes toward the rear end when the endoscope is assembled into the form shown in fig. 17. The oval-shaped opening 1906 is connected to a vertical opening 1908 that allows the shaft of the thumb stick 1910 to move up and down. The thumb lever is part of a bending mechanism, described below, which bends the forward end of the cannula into a bent position as shown in FIG. 17 and any intermediate positions. The curvature may be upward or downward.

Fig. 19 is a perspective view of portions 17102 and 17104. When viewed from the front, portion 17104 has an opening 1912 in which portion 17102 slides. Seen in this opening is an axial, downward, C-shaped slot 1914 and an electrical connector 1916. As shown in fig. 18, the hub 17172 has an upward, axially extending track 1802 that is T-shaped and configured to slide into the slot 1914 when the endoscope is assembled. Also visible in fig. 18 is an electrical connector 1804 that is configured to mate with and make electrical contact with electrical connector 1916 of fig. 19 when the endoscope is assembled. FIG. 19 also shows a locking pin 1918 and an unlocking 1920 that are used to securely lock 17102 and 17104 portions when the endoscope is assembled, as described in more detail below in connection with FIG. 20. The cannula 17120 has a camera and light module at its forward end, which may be any of the modules discussed above with respect to other embodiments of the endoscope, and is connected to the display 150 by internal cables and electrical connectors (1916 and 1804 in this case), as with other embodiments discussed above. 17104 portion may have buttons or other manually operated inputs, as discussed above with respect to other embodiments of the endoscope, to control camera functions and/or other functions. Handle portion 17140 may house electronics for processing image data, as discussed above for other embodiments. In some embodiments of the endoscope 17100, the display 150 may be eliminated and the image data may be displayed on an external display that is connected wirelessly or by a cable to a camera module at the forward end of the cannula 17120.

FIG. 20 is a cross-sectional view of a portion of section 17102 showing latch 1918 pushed upward by spring 2002 and lock release 1920, and when pushed to the rear end, pushing latch 1918 downward and out of engagement with catch 1922 (FIG. 18), catch 1922 being a recess in the bottom of opening 1914. When the endoscope is assembled, latch 1918 engages with bayonet 1922 to secure portions 17102 and 17104 together. After the medical procedure is completed, the user depresses lock release 1920, thereby releasing pin 1918 from engagement with catch 1922 and pulling portion 17102 out of the front end of portion 17104. Fig. 20 further illustrates a bending mechanism for bending the forward end of the cannula 17120, which includes a half wheel 2004 mounted for rotation about its center and secured to the thumb lever 1910 such that up and down movement of the thumb lever 1910 translates into rotation of the half wheel 2004. The cable 2006 is fixed to the half wheel 2006 and the tip of the cannula 17120, such that when the half wheel 2004 is rotated in one direction, the tip of the cannula bends in one direction, and when the half wheel 2004 is rotated in the opposite direction, the tip of the cannula bends in the opposite direction.

Fig. 21 is an exploded perspective view of components of handle portion 17140 and display 150, as well as portion 17102. The hub 17172 is composed of left and right covers 17172a and 127172b and left and right covers 17172c and 17172d, extending toward the front end. A cover 2102 is threaded onto the forward end of the hub 17172 to secure the cannula 17120 to the hub 17172. The

fluid ports

2104 and 2106 merge into a luer prong into the cannula 17120, as do the cables 2006. Electrical connector 1916 (which may be a DP20 connector) is also part of unit 17102. Mechanical connector 2008 assists in assembling the 17102 portion of the endoscope.

Fig. 22 is a top view of the assembled endoscope 17100 showing the relative positions of the various components, including the

fluid ports

2104 and 2106.

As described above, features and components associated with one of the embodiments may be used with another of the embodiments. By way of non-limiting example, different configurations of imaging and illumination modules may be used with any of the described endoscopes, the cannula bending mechanism described in connection with fig. 20 may be used with any of the described endoscopes, and so forth.

Although the foregoing has been described in some detail for purposes of clarity of understanding, it will be apparent that certain changes and modifications may be made without departing from the principles of the invention. It should be noted that there are many alternative ways of implementing the processes and apparatuses described herein. Accordingly, the present embodiments are to be considered as illustrative and not restrictive, and the subject matter described herein is not to be limited to the details given herein, but may be modified within the scope and equivalents of the appended claims.

Claims

1. A multi-camera, multi-spectral endoscope, comprising:

a cannula (120) for insertion into a patient;

a forward looking camera CamW (430) at the forward portion of the cannula can view the target and react primarily to the wavelength range of white light;

an electrically controlled color filter (1202) also at the forward end portion of the cannula and configured to selectively operate in mode a to pass light predominantly in the wavelength range of white light, or in mode B to pass light predominantly in the wavelength of a selected narrow band or fluorescence to said camera CamF;

a forward looking camera CamFA/B (12420), also located at the cannula tip part, views the target from different angles and through the color electronically controlled color filter;

a processing system (143) configured to:

selectively switching the color filter between mode A and mode B, an

Receiving image data from the cameras CamW and CamFA/B, and:

when the color filter is operated in mode A, a white stereoscopic image of the object is formed, but

Forming a selected narrow band image or fluorescent light image from camera CamFA/B when the filter is operating in mode B; and

an image display (150);

wherein the processing system and image display are configured to form and display a composite image as a superposition of a white light stereoscopic image and a selected narrow band image or a fluorescent light image.

2. The multi-camera, multi-spectral endoscope according to claim 1, further comprising a fluid hub (172) from the front end of which said cannula extends, and a handle (140) to which the fluid hub is secured.

3. The multi-camera, multi-spectral endoscope according to claim 2, characterized in that: the fluid hub and cannula include a single use unit (102), and the handle includes a reusable unit (104) and is releasably secured to the single use unit.

4. The multi-camera, multi-spectral endoscope according to claim 3, characterized in that: the disposable unit extends along a longitudinal axis, the reusable unit has an upper portion with an open slot extending along the longitudinal axis and a handle portion extending along a handle axis transverse to the longitudinal axis, wherein the fluid hub is configured to releasably snap into the open slot.

5. The multi-camera, multi-spectral endoscope according to claim 3, characterized in that: the reusable unit includes a manual bend controller mounted at a rear end thereof, and the disposable unit includes a bending mechanism that automatically engages the manual bend controller when the disposable unit is snapped into the socket and reacts to manual manipulation of the bend controller to selectively bend the forward end portion of the cannula.

6. The multi-camera, multi-spectral endoscope according to claim 2, characterized by: the cannula is configured to rotate relative to a rear end portion of the fluid hub.

7. The multi-camera, multi-spectral endoscope according to claim 1, further comprising a manual bending controller, and wherein said cannula's front end portion is configured to bend in response to operation of said manual bending controller.

8. The multi-camera, multi-spectral endoscope according to claim 1, characterized in that: said camera CamF has a spatial resolution lower than said camera CamW, at least when said color filter is operating in said mode B.

9. A multi-camera, multi-spectral endoscope, comprising:

a tubular cannula (120) for insertion into a patient;

a first forward-looking camera system, comprising two cameras CamW1 and CamW2, located at the forward portion of the cannula, viewing the same target from different angles and reacting to a CamW1 wavelength range and a CamW2 wavelength range, respectively;

a second camera system located at the forward portion of the cannula, comprising a camera CamF, said camera also being capable of viewing the target but being primarily responsive to a CamF wavelength range that is different from at least one of the CamW1 and the CamW2 wavelength ranges;

a processing system configured to receive image data from said first and second camera systems and to process the received image data into a stereoscopic image of said object using image data from CamW1 and Cam W2, into a two-dimensional (2D) image of said object using image data from CamF, and into a composite image of said object overlaying said stereoscopic image and said 2D image; and

a display configured to display the composite image.

10. The multi-camera, multi-spectral endoscope according to claim 7, characterized in that: CamW1 and CamW2 were overlaid together in the wavelength range described.

11. The multi-camera, multi-spectral endoscope according to claim 7, characterized in that: the wavelength ranges at which CamW1 and CamW2 are white light ranges.

12. The multi-camera, multi-spectral endoscope according to claim 9, characterized by: the CamF range is a selected narrow wavelength range or fluorescent light.

13. The multi-camera, multi-spectral endoscope according to claim 9, characterized in that: the two-dimensional image represents a target region in which fluorescence is emitted above a threshold for possible abnormal tissue, thereby highlighting possible abnormal tissue in the composite image.

14. The multi-camera, multi-spectral endoscope according to claim 11, characterized in that: the composite image comprises an overlay in which an area of the 2D image is visible.

15. The multi-camera, multi-spectral endoscope according to claim 7, characterized in that: the spatial resolution of the camera CamF is lower than at least one of the cameras CamW1 and CamW 2.

16. The multi-camera, multi-spectral endoscope according to claim 7, further comprising at least one internal channel (414, 416) in which said cannula, a fluid hub, extends from its front end and communicates with said internal channel, wherein said cannula is configured to rotate relative to the rear end portion of said fluid hub.

17. The multi-camera, multi-spectral endoscope according to claim 14, further comprising a handle (104) to which said fluid hub is releasably connected, said handle housing at least a portion of said processing system.

18. The multi-camera, multi-spectral endoscope of claim 15, wherein: the display is mounted on the handle.

19. The multi-camera, multi-spectral endoscope according to claim 7, further comprising a manual bending controller, wherein said cannula's front end portion is configured to bend in response to operation of said manual bending controller.

20. A multi-camera, multi-spectral endoscope, comprising:

a cannula (120) for insertion into a patient;

a first forward looking camera system located at the cannula's forward portion comprising cameras CamW1 and CamW2 viewing a target from different angles and reacting to a CamW1 wavelength range and a CamW2 wavelength range, respectively;

a second forward looking camera system, also located at the forward portion of said cannula, comprising a camera CamF1 and a camera CamF2, viewing said target from different angles and reacting primarily to a CamF1 wavelength range and a CamF2 wavelength range, which are different from at least one of said CamW1 and CamW wavelengths, respectively;

a processing system receives image data from the first and second camera systems and processes the received image data into a CamW image of the target according to the image data of the cameras CamW1 and CamW2 and superimposes the CamF image of the target in a composite image according to the image data of the cameras CamF1 and CamF 2; and

a display configured to display the composite image.

21. The multi-camera, multi-spectral endoscope according to claim 12, characterized in that: the CamW1 and CamW2 wavelength ranges are white light ranges and the CamF1 and CamF2 wavelength ranges are selected narrow wavelength band ranges or fluorescent light ranges.

22. The multi-camera, multi-spectral endoscope according to claim 12, characterized in that: each of the images CamW and CamF are stereo images of the object, and the composite image is a spatial registration overlay of the images CamW and CamF.

23. An endoscope, comprising:

an L-shaped handle portion including a downwardly extending handle and an axially extending housing;

a hub removably secured to the rear end of the housing and a cannula extending from the front end of the hub;

wherein:

one of the housing and hub includes an axially extending slot facing downwardly and the other includes an axially extending rail facing upwardly configured to slide into the slot in a rearward direction to removably secure the hub and cannula to the handle portion;

said hub and said housing including respective electrical connectors that mate with and make electrical contact with each other when the housing and hub are secured to each other;

the rear end portion of the handle portion including an opening, the hub and the cannula including a bending mechanism configured to bend the front end portion of the cannula and including a rearwardly extending thumb shaft extending through the opening and out of the front end of the handle portion when the hub and handle portions are secured to one another, manual manipulation of the thumb shaft controlling bending of the front end portion of the cannula;

a camera module located at a forward end portion of the cannula; and

a display coupled to the camera module for receiving image data from the camera module and displaying an image based thereon.

24. The endoscope of claim 23, wherein: the bending mechanism includes a wheel mounted for rotation within the housing and coupled to the bending rod for rotation in response to manipulation of the bending rod, and a cable coupled to the wheel and the forward end portion of the cannula for translating rotation of the wheel into bending of the forward end portion of the cannula.

25. The endoscope of claim 23, wherein: the hub and cannula are detached from the handle portion by manually sliding the hub in a forward direction relative to the handle portion.

26. The endoscope of claim 23, wherein: including a latch and another catch on one of the housing and hub configured to engage and secure the hub to the housing during assembly of the endoscope, and a manually operable release mechanism for disengaging the latch and catch from one another to permit removal of the hub from the housing.