CN115251809A - Endoscope with a detachable handle - Google Patents
Endoscope with a detachable handle Download PDFInfo
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- CN115251809A CN115251809A CN202211188924.XA CN202211188924A CN115251809A CN 115251809 A CN115251809 A CN 115251809A CN 202211188924 A CN202211188924 A CN 202211188924A CN 115251809 A CN115251809 A CN 115251809A
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- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/043—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for fluorescence imaging
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- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A61B1/0638—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements providing two or more wavelengths
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- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
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- A61B1/07—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
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Abstract
An endoscope, comprising: the device comprises a main body, an openable lens device and a driving device. The body extends along the axial direction and is provided with a front end and a rear end which are opposite to each other in the axial direction; the openable lens device comprises a plurality of lens components, wherein the lens components are positioned at the front end of the main body and are respectively configured to acquire image information; the driving device is at least partially positioned in the main body, is connected with the plurality of lens assemblies and is configured to drive the plurality of lens assemblies to move relative to the main body so that the plurality of lens assemblies approach each other and move away from each other. Under the premise of not increasing the radial size of the endoscope and the injury to an operation object, the plurality of lens assemblies are arranged at the front end of the same endoscope, and the plurality of lens assemblies are used for acquiring images of different types, images at different angles and different positions, so that more accurate and more comprehensive image information is provided for diagnosis and treatment of doctors.
Description
Technical Field
The invention belongs to the field of medical surgery, and relates to an endoscope.
Background
A medical endoscope is a medical device for providing a doctor with an image of an internal structure of a human or animal body in clinical examination, diagnosis, and treatment. In clinical practice, a doctor can introduce an endoscope into a body through an operation incision or a natural duct of a human body, for example, into a target tissue (a diseased part such as an organ) or a target cavity, acquire an image of the target tissue, observe the diseased condition of a target organ in the body through a window or a display, make a disease diagnosis under direct vision or take a focus biopsy for pathological diagnosis, and treat a disease in time or implant an artificial product with a therapeutic effect.
With the wide application of endoscope technology in various surgeries, it is required to clearly see not only the surface layer of human tissue but also the tissues below the surface layer to provide more accurate images for the surgical procedures. In recent years, a fluoroscopic laparoscopic technique combining an intraoperative fluoroscopic imaging technique and a laparoscopic minimally invasive technique is being gradually applied to the clinic. For example, in the use of the fluorescence endoscope, an exogenous fluorescent dye (fluorescence developer) is injected into a target tissue (lesion site), the exogenous dye is selectively marked on the target tissue, the target tissue injected with the exogenous fluorescent dye is irradiated by near infrared light to excite fluorescence, and a fluorescence imaging system receives the fluorescence from the target tissue to acquire an image of the target tissue, so that a structure or lesion which is difficult to observe is visualized, and a doctor is helped to see information which is invisible to the eyes. By utilizing the fluorescence endoscope, the fluorescence imaging of tissues below the surface layer (such as cystic duct, lymphatic duct, blood vessel imaging and the like) can be realized at the same time besides providing images of the surface layer of the human tissue, so that the fluorescence endoscope plays a key role in accurately positioning in the operation and reducing the operation risk, and the navigation in the operation process is realized.
Disclosure of Invention
At least one embodiment of the present invention provides an endoscope including a main body, an openable and closable lens device, and a driving device. A body extending in an axial direction, having a front end and a rear end opposite to each other in the axial direction; the openable lens device comprises a plurality of lens components which are arranged at the front end of the main body and are respectively configured to be capable of acquiring image information; the driving device is at least partially positioned in the main body, is connected with the plurality of lens assemblies and is configured to drive the plurality of lens assemblies to move relative to the main body so that the plurality of lens assemblies approach each other and move away from each other.
For example, an embodiment of the present invention provides an endoscope, wherein the driving device drives the plurality of lens assemblies to move so as to switch the openable and closable lens device between the closed state and the open state; in the closed state, the plurality of lens assemblies are folded, the size of the folded whole of the plurality of lens assemblies in a radial direction does not exceed the size of the main body in the radial direction, and an orthographic projection of the folded whole of the plurality of lens assemblies in the radial direction is positioned in an orthographic projection of the main body in the radial direction, and the radial direction is perpendicular to the axial direction; in the open state, at least one of the plurality of lens assemblies extends beyond the body in the radial direction.
For example, an embodiment of the present invention provides an endoscope, in which the plurality of lens assemblies includes a first lens assembly and a second lens assembly, and the driving device drives the first lens assembly and the second lens assembly to move so as to make the openable and closable lens device switch between a closed state and an open state; in the closed state, the dimension of the whole body formed by the first lens assembly and the second lens assembly in the radial direction does not exceed the dimension of the main body in the radial direction; in the open state, at least one of the first lens assembly and the second lens assembly protrudes from the body in the radial direction; the driving device is configured to drive the first lens assembly and the second lens assembly to move relative to the main body; the first lens assembly is configured to move toward a first side of the front end of the body in the radial direction to protrude from the body at the first side in the radial direction, and the second lens assembly is configured to move toward a second side of the front end of the body in the radial direction to protrude from the body at a second side of the front end of the body in the radial direction, the second side being opposite to the first side in the radial direction.
For example, an embodiment of the present invention provides an endoscope in which a dimension of each of the plurality of lens assemblies in the radial direction is smaller than a dimension of each of the lens assemblies in the axial direction.
For example, in the endoscope provided by an embodiment of the present invention, the first lens assembly has a first light incident surface and a first main lens, and light from a target tissue enters the first main lens through the first light incident surface to generate a first image; the second lens assembly is provided with a second light incident surface and a second main lens, and light enters the second main lens through the second light incident surface to be used for generating a second image; in the closed state, the first light incident surface and the second light incident surface are opposite to each other; in a process of converting from the closed state to the open state, the first light incident surface and the second light incident surface are away from each other; in the process of converting from the open state to the closed state, the first light incident surface and the second light incident surface are close to each other.
For example, in the endoscope provided by an embodiment of the present invention, the first light incident surface and an extension line of the main body away from the front end in the axial direction have a first included angle, and the second light incident surface and an extension line of the main body away from the front end in the axial direction have a second included angle; in the process of switching from the closed state to the open state, the first included angle and the second included angle are gradually increased; in the process of switching from the open state to the closed state, the first included angle and the second included angle are both gradually reduced.
For example, in the endoscope provided by an embodiment of the present invention, in a process of switching the openable lens device between the closed state and the open state, the first included angle ranges from 0 to 90 °, and the second included angle ranges from 0 to 90 °; alternatively, the maximum value of the first angle and/or the second angle is greater than 90 °.
For example, in the endoscope provided by an embodiment of the present invention, in the closed state, the first light incident surface and the second light incident surface are attached to each other; or, in the closed state, a gap exists between the first light incident surface and the second light incident surface.
For example, an embodiment of the present invention provides an endoscope, in which the number of the plurality of lens assemblies of the openable and closable lens device is 2, and in the closed state, the first included angle is substantially 0 °, and the second included angle is substantially 0 °.
For example, in the endoscope provided by an embodiment of the present invention, the first main lens includes a first sub-lens, the first sub-lens includes a first optical lens and a first photosensitive element, the first sub-lens is a first infrared photon lens, the first photosensitive element is a first infrared photosensitive element, the light from the target tissue sequentially reaches the first optical lens and the first infrared photosensitive element through the first light incident surface, and the first optical lens and the first infrared photosensitive element are configured to image by using infrared light in the received light from the target tissue; the second main lens comprises a second sub-lens, the second sub-lens comprises a second optical lens and a second photosensitive element, the second sub-lens is a first visible photon lens, the second photosensitive element is a first visible light photosensitive element, light from the target tissue sequentially reaches the second optical lens and the first visible light photosensitive element through the second light incident surface, and the second optical lens and the first visible light photosensitive element are configured to utilize the received visible light in the light from the target tissue for imaging.
For example, in the endoscope provided by an embodiment of the present invention, the resolution of the imaging of the first lens assembly and the second lens assembly is greater than 2K; the volume of the infrared light sensitive element is larger than that of the visible light sensitive element, or the volume of the visible light sensitive element is larger than or equal to that of the infrared light sensitive element.
For example, in the endoscope provided by an embodiment of the present invention, the first main lens further includes a third sub lens spaced apart from the first sub lens, the third sub lens includes a third optical lens and a third photosensitive element, the second main lens further includes a fourth sub lens spaced apart from the second sub lens, and the fourth sub lens includes a fourth optical lens and a fourth photosensitive element; the third sub-lens is a second infrared photon lens, the third photosensitive element is a second infrared photosensitive element, the light from the target tissue sequentially reaches the third optical lens and the second infrared photosensitive element through the first light incident surface, and the third optical lens and the second infrared photosensitive element are configured to image by using the infrared light in the received light from the target tissue; the fourth sub-lens is a second visible photon lens, the fourth photosensitive element is a second visible light photosensitive element, the light from the target tissue sequentially reaches the fourth optical lens and the second visible light photosensitive element through the second light incident surface, and the fourth optical lens and the second visible light photosensitive element are configured to image by using the visible light in the received light from the target tissue; the first infrared photonic lens and the second infrared photonic lens are configured to cooperate to display a first three-dimensional image, and the first visible photonic lens and the second visible photonic lens are configured to cooperate to display a second three-dimensional image; or the third sub-lens is a second visible photon lens, the third photosensitive element is a second visible light photosensitive element, the light from the target tissue sequentially reaches the third optical lens and the second visible light photosensitive element through the first light incident surface, and the third optical lens and the second visible light photosensitive element are configured to image by using the visible light in the received light from the target tissue; the fourth sub-lens is a second infrared photon lens, the fourth photosensitive element is a second infrared photosensitive element, the light from the target tissue sequentially reaches the fourth optical lens and the second infrared photosensitive element through the second light incident surface, and the fourth optical lens and the second infrared photosensitive element are configured to image by using the infrared light in the received light from the target tissue; the first infrared photonic lens and the second infrared photonic lens are configured to cooperate with each other to display a first three-dimensional image, and the first optical photonic lens and the second optical photonic lens are configured to cooperate with each other to display a second three-dimensional image.
For example, an embodiment of the present invention provides an endoscope in which the driving device includes a driving mechanism, a first transmission mechanism, and a second transmission mechanism. The main body comprises a main shell extending along the axial direction, and the driving mechanism is at least partially positioned in the main shell and extends along the axial direction; the first transmission mechanism is connected with the driving mechanism and a first end of the first lens assembly, which is close to the main body in the axial direction; a second actuator is coupled to the drive mechanism and the first end of the second lens assembly, the drive mechanism configured to be movable along the axial direction to drive the first and second actuators to move, thereby driving the first and second lens assemblies to move relative to the distal end of the body.
For example, an embodiment of the present invention provides an endoscope, wherein the driving mechanism is configured to move along the axial direction to drive the first and second transmission mechanisms, the first lens assembly and the second lens assembly to move. In the closed state, at least part of the driving mechanism, the first transmission mechanism and the second transmission mechanism are accommodated in the main shell, the first lens assembly and the second lens assembly are positioned outside the main shell, and in the open state, the driving mechanism moves along the axial direction so that the end part of the driving mechanism protrudes out of the main shell along the axial direction, and the first transmission mechanism and the second transmission mechanism are positioned outside the main shell; or, in the closed state, at least part of the driving mechanism, the transmission mechanism, the first lens assembly and the second lens assembly are housed in the main housing, and in the open state, the first lens assembly and the second lens assembly move along the axial direction under the driving of the driving mechanism to be located outside the main housing, and the first transmission mechanism and the second transmission mechanism are located outside the main housing.
For example, an endoscope is provided according to an embodiment of the present invention, wherein the first transmission mechanism and the second transmission mechanism are connected to the same driving mechanism, so that the driving mechanism drives the first transmission mechanism to move so as to drive the first lens assembly to move relative to the front end of the main body, and the driving mechanism drives the second transmission mechanism to move so as to drive the second lens assembly to move relative to the front end of the main body are coupled; or, the driving mechanism includes a first sub-driving mechanism and a second sub-driving mechanism, the first sub-driving mechanism is connected with the first transmission mechanism and configured to drive the first transmission mechanism to move so as to drive the first lens component to move relative to the front end of the main body, the second sub-driving mechanism is connected with the second transmission mechanism and configured to drive the second transmission mechanism to move so as to drive the first lens component to move relative to the front end of the main body, and the first lens component and the second lens component move independently.
For example, in an endoscope provided by an embodiment of the present invention, the first lens assembly further includes a first guide lens and a first end surface, the first end surface intersects with the first light incident surface, and in the closed state, the first guide lens and the first end surface are located at an end of the first lens assembly far away from the main body in the axial direction; light enters the first guide lens through the first end face to form an image; the second lens assembly further comprises a second guide lens and a second end surface, the second end surface is intersected with the second light incident surface, and in the closed state, the second guide lens and the second end surface are located at one end, far away from the main body, of the second lens assembly in the axial direction; the light enters the second guide lens through the second end face to form an image.
For example, in the endoscope provided by an embodiment of the present invention, the first lens assembly includes a first housing, the first housing is connected to the first transmission mechanism and includes the first light incident surface and the first end surface, and the first main lens is located in the first housing; the second lens component comprises a second shell, the second shell is connected with the second transmission mechanism and comprises a second light incidence surface and a second end surface, and the second main lens is located in the second shell.
For example, an endoscope is provided according to an embodiment of the present invention, which further includes a light source passage located in the main housing, and a front end of the main body includes a front end surface having a light source opening communicating with the light source passage, the plurality of lens assemblies each exposing the light source opening in the closed state and the open state, and the light from the light source being emitted through the light source passage and the light source opening.
For example, an endoscope is provided according to an embodiment of the present invention, which further includes a surgical instrument channel located in the main housing, and a front end of the main body includes a front end face having an auxiliary channel opening communicating with the surgical instrument channel, and the plurality of lens assemblies expose the auxiliary channel opening at least in the open state, and the surgical instrument channel is configured to allow a surgical instrument to pass through and protrude out of the front end face through the auxiliary channel opening.
For example, an endoscope according to an embodiment of the present invention is provided, in which the distal end surface has a drive mechanism opening, and an end portion of the drive mechanism protrudes from the distal end surface through the drive mechanism opening; the light source opening is located on a first side of the driving mechanism opening, the auxiliary channel opening is located on a second side of the driving mechanism opening, the first side of the driving mechanism opening is opposite to the second side of the driving mechanism opening in the longitudinal direction, and the longitudinal direction is perpendicular to the axial direction and the radial direction.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.
FIG. 1A is a schematic structural diagram of an endoscope in a closed state according to an embodiment of the present invention;
fig. 1B is an enlarged schematic view of a part P1 of the openable and closable lens device in fig. 1A in a closed state;
FIG. 2A is a schematic structural diagram of an endoscope in an open state according to an embodiment of the present invention;
fig. 2B is an enlarged schematic view of a partial P2 of the openable and closable lens device in fig. 2A in an opened state;
FIG. 2C is a cross-sectional schematic view of the forward end of the endoscope shown in FIG. 2A;
fig. 3A is a schematic structural diagram of a second lens assembly of an endoscope according to an embodiment of the present invention at a first viewing angle;
FIG. 3B is a schematic structural diagram of a second lens assembly of the endoscope shown in FIG. 3A at a second viewing angle;
FIG. 3C is a schematic structural diagram of a second lens assembly of the endoscope shown in FIG. 3A at a third viewing angle;
fig. 3D is a schematic structural diagram of a first lens assembly of an endoscope according to an embodiment of the present invention;
FIG. 4 is a schematic view of the endoscope shown in FIG. 2A at another viewing angle;
FIG. 5A is a schematic plan view of an endoscope provided in accordance with an embodiment of the present invention;
FIG. 5B is a schematic cross-sectional view of the endoscope shown in FIG. 5A taken along line B-B;
FIG. 6A is a schematic view of a surgical instrument being passed through an endoscopic surgical instrument channel provided in accordance with an embodiment of the present invention;
fig. 6B is a partially enlarged schematic view of the distal end of the endoscope in fig. 6A.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The drawings in the invention are not drawn strictly to scale, the number of the lens assemblies in the endoscope is not limited to the number shown in the drawings, and the specific size and number of each structure can be determined according to actual needs. The drawings described in this disclosure are for illustrative purposes only.
The fluorescence developing agent widely used in clinic at present is indocyanine green (ICG), the ICG enters a human body through local tissues or intravenous injection to be combined with plasma lipoprotein, fluorescence with the wavelength of about 835nm is excited after receiving near-infrared light irradiation with the wavelength of about 805nm, a fluorescence camera system captures fluorescence signals in real time and images, the fluorescence signals and white light images with the same visual field are synchronously and accurately superposed, and the purposes of fluorescence positioning and navigation are achieved.
The current endoscope has the following technical problems:
(1) The imaging resolution of the fluorescence endoscope is low. Due to the limitation of the diameter of the endoscope tube, the diameter of the endoscope tube is usually from phi 5mm to phi 10mm, the size of a chip (such as a CCD or cmos chip) of a high-resolution, e.g., 4K-resolution fluorescence endoscope is too large, and if a lens for sensing visible light and infrared light is to be simultaneously arranged on the endoscope, the lens cannot be arranged in the endoscope tube due to the large number of lenses and the large size of the chip for sensing infrared light, or the lens volume is too large, so that it is difficult to simultaneously arrange the lens for sensing visible light and infrared light on one endoscope.
(2) For a hard tube fluorescence endoscope, the design difficulty is high, and the cost is high. In order to correct aberration in a wide spectral range (400-900 nm), namely, when a white light image and a fluorescence image are switched, no extra focal length is needed to be adjusted, and a fluorescence endoscope needs dozens of optical lenses, such as 45-50 optical lenses, and adopts a special optical structure design. When light meets the lens body, refraction and reflection are generated, so that interference is generated in the lens body of the endoscope, and therefore, the lens needs to be coated to increase the transmittance. The number of the lenses of the fluorescence endoscope is far more than that of the common white light endoscope, and in order to realize high transmittance and high contrast, the single-side reflectivity of the lenses of the fluorescence endoscope needs to be controlled within 0.3%. These reasons lead to the difficulty in designing a fluorescence endoscope, the high number of parts, and the high cost.
(3) For a hard tube fluorescence endoscope, a plurality of groups of lenses are positioned in the hard tube, so that the manufacture is difficult and the reliability is low. High-temperature steam sterilization (134 ℃, 2Bar,10-20 min) needs to be carried out on surgical instruments before packaging, and in the process, when the endoscope undergoes multiple temperature and pressure changes of normal temperature, high pressure and normal temperature and high humidity conditions accompanied with a large amount of steam, the problems of image blurring, image yellowing and even blackening, the emergence of optical fibers from the front end and the like can occur (the external metal sleeve, the intermediate optical fibers and the internal glass have different coefficients of thermal expansion and cold contraction, the imaging is easily influenced by loosening, and the optical fibers have the risk of breaking in a human body).
(4) For a hard tube fluorescence endoscope or a common electronic endoscope, the function is single, only a single function of acquiring images can be executed, a surgical instrument channel is not provided, and in the case of introducing a surgical instrument into target tissues (human bodies or animal bodies), for example, when biopsy sampling is carried out, an opening is required to be additionally formed in the human bodies or animal bodies sometimes.
At least one embodiment of the present invention provides an endoscope comprising: the device comprises a main body, an openable lens device and a driving device. A body extending in an axial direction, having a front end and a rear end opposite to each other in the axial direction; the openable lens device comprises a plurality of lens components which are arranged at the front end of the main body and are respectively configured to be capable of acquiring image information; the driving device is at least partially positioned in the main body, is connected with the lens assemblies and is configured to drive the lens assemblies to move relative to the main body so as to enable the lens assemblies to approach each other and move away from each other. The endoscope provided by the embodiment of the invention can be applied to providing internal structure images of a human body or an animal body for doctors in clinical examination, diagnosis and treatment. In the endoscope provided by the embodiment of the invention, since the plurality of lens assemblies at the front end of the main body can move relative to the main body to enable the plurality of lens assemblies to approach each other and move away from each other, the distance between the plurality of lens assemblies can be changed, so that the plurality of lens assemblies are folded to reduce the size of the front end before the front end of the endoscope is inserted into a surgical object (such as a human body, an animal body and the like), the front end of the endoscope can enter the surgical object through a natural channel or an artificially opened hole channel of the surgical object to reduce injury to the surgical object, and the plurality of lens assemblies can be moved relative to the main body to expand the plurality of lens assemblies to acquire images in a plurality of directions after the front end of the endoscope is inserted into the surgical object, such as a target tissue or a cavity in which an organ to be operated is located. Therefore, even if the volume of each lens assembly is large, the plurality of lens assemblies can be arranged at the front end (namely the working end) of the same endoscope on the premise that the radial size of the endoscope is not increased and the injury to an operation object is not increased (the radial direction is vertical to the axial direction), and the plurality of lens assemblies can be used for acquiring images of different types, images at different angles and different positions, so that more accurate and more comprehensive image information is provided for the diagnosis and treatment of doctors.
Illustratively, fig. 1A is a schematic structural diagram of an endoscope in a closed state according to an embodiment of the present invention; fig. 2A is a schematic structural diagram of an endoscope in an open state according to an embodiment of the present invention. As shown in fig. 1A and 2A, an endoscope 10 according to an embodiment of the present invention includes: a main body 1, an openable and closable lens apparatus 2, and a driving apparatus 3. The body 1 extends in the axial direction D1, and has a front end 11 and a rear end 12 opposite to each other in the axial direction D1. The openable lens device 2 includes a plurality of lens assemblies 21/22 located at the front end 11 of the main body 1 and respectively configured to acquire image information; the distal end 11, i.e., the working end, is required to be inserted into a surgical object, such as through a natural passage or an artificially created bore passage of the surgical object, during a procedure performed using the endoscope 10. The driving device 3 is at least partially disposed in the main body 1, connected to the plurality of lens assemblies 21/22, and configured to drive the plurality of lens assemblies 21/22 to move relative to the main body 1 so that the plurality of lens assemblies 21/22 approach each other and move away from each other. In this manner, in the endoscope provided by the embodiment of the present invention, since the plurality of lens assemblies at the front end of the main body are movable relative to the main body so as to be close to and away from each other, the distance between the plurality of lens assemblies may be changed so that the plurality of lens assemblies are folded to reduce the size of the front end before the front end of the endoscope is inserted into a surgical object (e.g., a human body, an animal body, etc.), the front end of the endoscope is conveniently introduced into the surgical object through a natural channel or an artificially opened orifice channel of the surgical object, injury to the surgical object is reduced, and the plurality of lens assemblies may be moved relative to the main body to unfold the plurality of lens assemblies after the front end of the endoscope is inserted into the surgical object, for example, into a target tissue or a cavity in which an organ to be operated is located, so as to acquire different types of images through the plurality of lenses, respectively, for example, the types of lenses may be set to be different, and images in a plurality of directions may be acquired through the plurality of lenses. Therefore, even if the volume of each lens assembly is larger, a plurality of lens assemblies can be arranged at the front end (namely the working end) of the same endoscope on the premise of not increasing the radial size of the endoscope and the damage to an operation object (the radial size is vertical to the axial direction), the limitation of the lens size on arranging a plurality of lenses with different functions at the working end of the same endoscope is reduced, and therefore on the premise of not increasing the damage to the operation object, images of different types and images at different angles and different positions can be obtained through the plurality of lens assemblies, and more accurate and more comprehensive image information is provided for diagnosis and treatment of doctors.
In addition, in the endoscope provided by the embodiment of the application, the plurality of lens assemblies are matched with the main body and the driving device in structure and function, the lens can be arranged in the plurality of lens assemblies, and the lens is required to be arranged in the main body extending along the axial direction, so that the manufacturing difficulty is reduced, the main body can be reserved as a channel for arranging the functional components, the functional components comprise the driving device for driving the plurality of lens assemblies to move close to and away from each other, a light source channel, an auxiliary channel of a surgical instrument and the like, the lens assemblies which are reliable in work and convenient to operate and can be integrated into different functions on the same endoscope through the plurality of openable lens assemblies can be realized, and the radial size of the endoscope is not increased.
For example, as shown in fig. 2A and 2B, the main body 1 is a rod-shaped body extending in the axial direction D1, the main body 1 includes a rod-shaped main housing 1a extending in the axial direction D1, and the main housing 1a includes a hollow duct inside for passage of the driving device 3, passage of the light source, passage of the surgical instrument, and the like. For example, the main housing may be rigid or flexible. For example, the main housing is a cylindrical tube to reduce friction against the human body.
The driving device 3 is configured to drive the plurality of lens assemblies 21/22 to move to switch the openable and closable lens device 2 between the closed state and the open state. As shown in fig. 1A, in the closed state, the plurality of lens assemblies are folded, the size of the whole body formed by the folded plurality of lens assemblies 21/22 in the radial direction D2 does not exceed the size of the main body 1 in the radial direction D2, and the orthographic projection of the whole body formed by the folded plurality of lens assemblies 21/22 in the radial direction D2 is positioned in the orthographic projection of the main body in the radial direction D2, and the radial direction D2 is perpendicular to the axial direction D1; as shown in fig. 2A, in the open state, at least one of the plurality of lens assemblies 21/22 exceeds the main body 1 in the radial direction D2, i.e., an orthogonal projection of the at least one of the plurality of lens assemblies 21/22 in the radial direction D2 is protruded from an orthogonal projection of the main body 1 in the radial direction D2. For example, each of the plurality of lens assemblies may be independently movable, and thus, the plurality of lens assemblies may be simultaneously moved away from each other such that each lens assembly extends beyond the body 1 in the radial direction D2. The plurality of lens assemblies 21/22 can be folded before the front end 11 of the endoscope 10 provided with the plurality of lens assemblies 21/22 is inserted into a surgical object (such as a human body, an animal body and the like), the endoscope is in a closed state to reduce the size of the plurality of lens assemblies 21/22 at the front end 11, and at the moment, the front end of the endoscope and at least part of the main body 1 enter the surgical object through a natural channel or an artificially opened hole channel of the surgical object to reduce the injury to the surgical object; after the front end 11 of the endoscope, at which the plurality of lens assemblies 21/22 are provided, is inserted into a subject to be operated, for example, into a target tissue or a cavity in which an organ to be operated is located, the plurality of lens assemblies may be moved relative to the main body to deploy the plurality of lens assemblies, and images in a plurality of directions may be acquired.
For example, the structure of the endoscope is described by taking the multiple lens assemblies as 2 lens assemblies as an example, in other embodiments, the number of the multiple lens assemblies may be more than 2, for example, 3, 4, and so on, and the number of the multiple lens assemblies is not particularly limited.
Fig. 1B is an enlarged schematic view of a part P1 of the openable and closable lens device in fig. 1A in a closed state; fig. 2B is an enlarged schematic view of a part P2 of the openable and closable lens device in fig. 2A in an opened state. For example, in the embodiment shown in fig. 1A-1B and fig. 2A-2B, the plurality of lens components include a first lens component 21 and a second lens component 22, and the driving device 3 drives the first lens component 21 and the second lens component 22 to move to switch the openable and closable lens device 2 between the closed state and the open state. For example, the driving device 3 drives at least one of the first lens assembly 21 and the second lens assembly 22 to move so as to protrude from the main body 1 in the radial direction D2. For example, as shown in fig. 1A-1B, in the closed state, the size of the whole of the first lens assembly 21 and the second lens assembly 22 in the radial direction D2 does not exceed the size of the main body 1 in the radial direction D2; as shown in fig. 2A-2B, in the open state, at least one of the first lens assembly 21 and the second lens assembly 22 protrudes from the main body 1 in the radial direction D2, and in fig. 2A-2B, the driving device 3 is configured to drive both the first lens assembly 21 and the second lens assembly 22 to move relative to the main body 1 and protrude from the main body 1 in the radial direction D2. For example, the first lens assembly 21 is configured to move towards a first side of the front end 11 of the main body 1 in the radial direction D2 to protrude from the main body 1 in the radial direction D2, the second lens assembly 22 is configured to move towards a second side of the front end 11 of the main body 1 in the radial direction D2 to protrude from the main body 1 in the radial direction D2, and the second side is opposite to the first side in the radial direction D2, so that the first lens assembly 21 and the second lens assembly 22 are sufficiently unfolded to facilitate enlarging a range of acquiring an image, and the first lens assembly 21 and the second lens assembly 22 may have a sufficient distance therebetween to facilitate providing a sufficient distance for forming a parallax barrier when three-dimensional imaging is performed using the cameras in the first lens assembly 21 and the second lens assembly 22.
For example, a dimension of each lens assembly of the plurality of lens assemblies in the radial direction D2 is smaller than a dimension of each lens assembly in the axial direction D1. For example, the size of the first lens assembly 21 in the radial direction D2 is smaller than the size of the first lens assembly 21 in the axial direction D1, so that the size of the whole body formed by the plurality of lens assemblies in the closed state in the radial direction is reduced to reduce the requirement on the channel size of the surgical object and reduce the injury to the surgical object while ensuring that each lens assembly has a sufficient volume for providing a high-definition lens.
Fig. 2C is a schematic cross-sectional view of the distal end of the endoscope shown in fig. 2A. For example, referring to fig. 2B and 2C, the driving device 3 includes a driving mechanism 30, a first transmission mechanism 31, and a second transmission mechanism 32. The drive mechanism 30 is at least partially located within the main housing 1a and extends in the axial direction D1; the first transmission mechanism 31 is connected with the driving mechanism 30 and a first end of the first lens assembly 21 close to the main body 1 in the axial direction D1; the second transmission mechanism 32 is connected to the driving mechanism 30 and the first end of the second lens assembly 22, and the driving mechanism 30 is configured to be movable along the axial direction D1 to drive the first transmission mechanism 31 and the second transmission mechanism 32 to move, so as to drive the first lens assembly 21 and the second lens assembly 22 to move relative to the end of the main body 1.
For example, as shown in fig. 2C, the driving mechanism 30 is a driving rod extending along the axial direction D1, the first transmission mechanism 31 includes a first transmission rod 31a and a first rotatable connecting structure 31b, and the second transmission mechanism 32 includes a second transmission rod 32a and a second rotatable connecting structure 32b. The first end of the first transmission rod 31a is movably connected with the end of the driving rod close to the front end 11 of the main body 1, the second end of the first transmission rod 31a is movably connected with the first rotatable connecting structure 31b, and the first rotatable connecting structure 31b is connected with the first lens assembly 21, the driving mechanism 30 moves along the axial direction to drive the first transmission rod 31a to rotate relative to the driving rod, so as to drive the first rotatable connecting structure 31b to rotate relative to the first transmission rod 31a, so as to drive the first lens assembly 21 to move relative to the main body 1, and thus, the first lens assembly 21 is opened and closed. For example, a first end of the second transmission rod 32a is movably connected to an end of the driving rod close to the front end 11 of the main body 1, a second end of the second transmission rod 32a is movably connected to the second rotatable connecting structure 32b, and the second rotatable connecting structure 32b is connected to the second lens assembly 21, the driving mechanism 30 moves in the axial direction to drive the second transmission rod 32a to rotate relative to the driving rod, so as to drive the second rotatable connecting structure 32b to rotate relative to the second transmission rod 32a, so as to drive the second lens assembly 21 to move relative to the main body 1, so as to open and close the second lens assembly 21.
For example, the first transmission rod 31a is connected to the first rotatable connection structure 31b in an articulated manner, and the second transmission rod 32a is connected to the second rotatable connection structure 32b in an articulated manner. Of course, the first transmission mechanism and the second transmission mechanism may be other types of transmission mechanisms, for example, the first transmission rod 31a and the second transmission rod 32a may be replaced by transmission chains, respectively. The embodiment of the present invention does not limit the specific types of the first transmission mechanism and the second transmission mechanism.
For example, as shown in fig. 2B and 2C, in the closed state, at least part of the driving mechanism 30, the first transmission mechanism 31, and the second transmission mechanism 32 are housed inside the main casing 1a, and the first lens assembly 21 and the second lens assembly 22 are located outside the main casing 1a, for example, the inside of the main casing 1a includes a duct housing the driving mechanism 30, the first transmission mechanism 31, and the second transmission mechanism 32; in the open state, the driving mechanism 30 is moved in the axial direction D1 such that the end portion of the driving mechanism 30 protrudes out of the main housing 1a in the axial direction D1 and the first transmission mechanism 31 and the second transmission mechanism 32 are located outside the main housing 1a, for example, the end portion of the driving mechanism 30 may protrude out of the main housing 1a in the axial direction D1 to sufficiently separate the first lens assembly 21 and the second lens assembly 22 from each other, even though the angle between the first lens assembly 21 and the second lens assembly 22 may be sufficiently large. In this case, the first lens unit 21 and the second lens unit 22 are always located outside the main housing 1a, so that, on the one hand, convenience and reliability of opening and closing the lens units are improved, and difficulty in manufacturing is reduced, and, on the other hand, the first lens unit 21 and the second lens unit 22 are always located outside the main housing 1a throughout the process of entering the openable and closable lens device 2 into the target tissue, and good illumination can be maintained by the first guide lens 23 and the second guide lens 24 provided at the ends of the first lens unit 21 and the second lens unit 22.
Alternatively, in other embodiments, the driving mechanism 30 is configured to move along the axial direction D1 to drive the first and second transmission mechanisms 31 and 32, and the first and second lens assemblies 21 and 22 to move; in the closed state, at least part of the driving mechanism 30 (e.g., a first part of the driving mechanism 30 is located inside the main housing 1a, and a second part of the driving mechanism 30 is exposed at a second end of the main housing for manual operation or connection with an automatic control mechanism for driving the driving mechanism 30 to move), the transmission mechanism, the first lens assembly 21, and the second lens assembly 22 are housed inside the main housing 1a, e.g., the inside of the main housing 1a includes a duct housing the driving mechanism 30, the first transmission mechanism 31, and the second transmission mechanism 32, and the first lens assembly 21 and the second lens assembly 22; in the open state, the first lens assembly 21 and the second lens assembly 22 are moved in the axial direction D1 by the driving mechanism 30 to be located outside the main casing 1a, and the first transmission mechanism 31 and the second transmission mechanism 32 are located outside the main casing 1a, so that in the closed state, the first lens assembly 21 and the second lens assembly 22 can be protected by the main casing.
For example, in the embodiment shown in fig. 2C, the first transmission mechanism 31 and the second transmission mechanism 32 are connected to the same driving mechanism 30, such that the driving mechanism 30 drives the first transmission mechanism 31 to move so as to drive the first lens assembly 21 to move relative to the front end 11 of the main body 1 and the driving mechanism 30 drives the second transmission mechanism 32 to move so as to drive the second lens assembly 22 to move relative to the front end 11 of the main body 1 are coupled, i.e. the movement of the first lens assembly 21 and the movement of the second lens assembly 22 occur simultaneously and accompany each other.
Alternatively, in other embodiments, the driving mechanism 30 includes a first sub-driving mechanism 30 and a second sub-driving mechanism 30, the first sub-driving mechanism 30 is connected to the first transmission mechanism 31 and configured to drive the first transmission mechanism 31 to move so as to drive the first lens assembly 21 to move relative to the front end 11 of the main body 1, the second sub-driving mechanism 30 is connected to the second transmission mechanism 32 and configured to drive the second transmission mechanism 32 to move so as to drive the first lens assembly 21 to move relative to the front end 11 of the main body 1, and the movements of the first lens assembly 21 and the second lens assembly 22 are independent from each other, that is, the movements of the first lens assembly 21 and the second lens assembly 22 are not affected by each other, and the movements of the two may be synchronous or asynchronous.
For example, as shown in fig. 2B, the first lens assembly 21 has a first light incident surface 21a and a first main lens 210, and light from the target tissue enters the first main lens 210 through the first light incident surface 21a for generating a first image; the second lens assembly 22 has a second light incident surface 22a and a second main lens 220, and light enters the second main lens 220 through the second light incident surface 22a for generating a second image. For example, in the closed state, the first light incident surface 21a and the second light incident surface 22a are opposite to each other; in the process of converting from the closed state to the open state, the first light incident surface 21a and the second light incident surface 22a are far away from each other; in the process of switching from the open state to the closed state, the first light incident surface 21a and the second light incident surface 22a are close to each other. Therefore, on one hand, when the first lens assembly 21 and the second lens assembly 22 do not work, the first light incident surface 21a and the second light incident surface 22a can be made to be involutive, and in the process that the openable and closable lens device 2 passes through a natural channel or an artificially opened channel of an operation object such as a human body or an animal body, the first light incident surface 21a and the second light incident surface 22a are prevented from being polluted to influence the quality of obtaining of each lens assembly; on the other hand, the mode that makes the income plain noodles of a plurality of lens subassemblies involutory each other and keep away from each other can rationally utilize limited space, reduces the volume of a plurality of lens subassemblies as far as possible, and reduces the size of a plurality of lens subassemblies on radial D2, avoids increasing the aperture of the passageway of artifical seting up, reduces the injury to surgical object such as human body or animal body.
For example, the first light incident surface 21a forms a first included angle with an extension line of the main body 1 far from the front end 11 in the axial direction D1, and the second light incident surface 22a forms a second included angle with an extension line of the main body 1 far from the front end 11 in the axial direction D1; in the process of switching from the closed state to the open state, the first included angle and the second included angle are gradually increased; in the process of switching from the opening state to the closing state, the first included angle and the second included angle are gradually reduced. The adjustable first included angle range and the adjustable second included angle range can better meet the requirement of acquiring images of target tissues at different positions and angles in the operation process.
For example, in the process of switching the openable lens device 2 between the closed state and the open state, the range of the first included angle is 0 to 90 °, the range of the second included angle is 0 to 90 °, and when the openable lens device is completely closed, both the first included angle and the second included angle are 0 °, so that the distance between the first lens zone and the second lens component can be minimized, the size of the openable lens device 2 in the radial direction D2 is minimized, and the openable lens device 2 including a plurality of lens components is minimized. The maximum value of the first included angle and the maximum value of the second included angle are 90 degrees, so that the requirement for acquiring a target tissue image in the operation process under most conditions can be met, and meanwhile, the design difficulty of a plurality of lens assemblies can be reduced.
Alternatively, in some embodiments, the maximum of the first and/or second angles may be greater than 90 ° to obtain a greater range of images of the target tissue.
For example, in the closed state, the first light incident surface 21a and the second light incident surface 22a are substantially attached to each other. The term "substantially fit" includes the case where the first light incident surface 21a and the second light incident surface 22a are in contact, i.e. there is no air layer therebetween, and also includes the case where there is a gap between the first light incident surface 21a and the second light incident surface 22a in the closed state, e.g. the case where the distance between the first light incident surface 21a and the second light incident surface 22a is very small, e.g. less than 2 mm.
For example, in the example shown in fig. 1A to 1B and fig. 2A to 2B, the number of the plurality of lens components of the openable and closable lens device 2 is 2, that is, the first lens component 21 and the second lens component 22,2 lens components can satisfy the lens components respectively of different types, for example, an image formed by using visible light from a target tissue and an image formed by using infrared light from the target tissue can be respectively obtained, so that a doctor is provided with more accurate image information of the target tissue, and in a case where the different types of images can be obtained and a problem that the two lens components are large in size can be solved, a design difficulty in considering the number of the lens components being 2 is small compared to the case where more lens components are provided.
For example, in the closed state, the first included angle is substantially 0 ° and the second included angle is substantially 0 °. It should be noted that, here, the range of 0 ° -5 ° can be regarded as being substantially 0 °, in short, the inventive concept of the present application is judged as follows: it is desirable to keep the first and second angles as small as possible in the closed state to avoid limiting to absolute zero degrees.
Fig. 3A is a schematic structural diagram of a second lens assembly of an endoscope according to an embodiment of the present invention at a first viewing angle; FIG. 3B is a schematic structural diagram of a second lens assembly of the endoscope shown in FIG. 3A at a second viewing angle; FIG. 3C is a schematic structural diagram of a second lens assembly of the endoscope shown in FIG. 3A at a third viewing angle; fig. 3D is a schematic structural diagram of a first lens assembly of an endoscope according to an embodiment of the present invention. For example, referring to fig. 2B and fig. 3A-3D, the first main lens 210 includes a first sub-lens 210a, the first sub-lens 210a includes a first optical lens 01a (shown in fig. 3D) and a first photosensitive element 01B (shown in fig. 3D), the first sub-lens 210a is a first infrared photonic lens, the first photosensitive element 01B is a first infrared photosensitive element, light from the target tissue sequentially reaches the first optical lens 01a and the first infrared photosensitive element through a first incident surface 21a, and the first optical lens 01a and the first infrared photosensitive element are configured to obtain an infrared light image (fluorescence image) by imaging with infrared light in the received light from the target tissue. For example, as shown in fig. 2B and 3D, the first optical lens 01a and the first photosensitive element 01B are arranged, for example, at intervals, in a direction perpendicular to the first light incident surface 21 a. As shown in fig. 2B and 3B, the second main lens 220 includes a second sub-lens 220a, the second sub-lens 220a includes a second optical lens 02a and a second photosensitive element 02B, the second sub-lens 220a is a first visible photon lens, the second photosensitive element 02B is a first visible light photosensitive element, the light from the target tissue sequentially reaches the second optical lens 02a and the first visible light photosensitive element through the second light incident surface 22a, and the second optical lens 02a and the first visible light photosensitive element are configured to obtain a visible light image by imaging with the visible light in the received light from the target tissue. During operation of the endoscope, light from a light source, which includes infrared light and visible light, illuminates target tissue. Visible light is induced by the first visible light lens after being reflected and refracted by the target tissue, so that a visible light image is generated; infrared light generated by exciting the target tissue under the irradiation of the infrared light or infrared light generated by exciting an exogenous fluorescent dye injected into the target tissue under the irradiation of the infrared light is sensed by the first infrared photon lens, so that an infrared light image is generated. The imaging principle is the same for the second infrared photon lens and the second visible light lens which are arranged at the back, and the description is not repeated.
For example, as shown in fig. 2B and fig. 3B, the second optical lens 02a and the second photosensitive element 02B are arranged in a direction perpendicular to the second light incident surface 22a, for example, at intervals. Therefore, the high-definition fluorescent lens assembly capable of achieving the resolution of 4K and the high-definition visible lens assembly capable of achieving the resolution of 4K are compatible with the same endoscope 10. The target tissue is selectively marked with the exogenous fluorescent dye (fluorescent developer) by injecting the exogenous fluorescent dye (lesion site) into the target tissue, and the target tissue injected with the exogenous fluorescent dye is irradiated by near infrared light (for example, the wavelength is about 805 nm) to excite fluorescence, or detected cells of the target tissue emit fluorescence by themselves, and the fluorescence imaging system receives the fluorescence from the target tissue to acquire an image of the target tissue, so that the structure or lesion which is difficult to observe is visualized, and a doctor is helped to see invisible information. For example, the excited fluorescence is infrared light or near-infrared light, the fluorescence excited from the target tissue can be sensed by the first infrared light sensing element after passing through the first optical lens 01a to generate an infrared light image, and the same is true for the imaging principle of other infrared photon lenses, and here, the first sub-lens 210a as the first infrared photon lens is taken as an example. Utilize this endoscope that is provided with infrared camera lens, also be fluorescence endoscope, can obtain visible light image and infrared light image simultaneously, the synchronous accurate stack of two kinds of images in the same field of vision, except can providing the image on human tissue top layer, can also realize the fluorescence development (such as cystic duct, lymphatic vessel and blood vessel development etc.) of the following tissue of top layer simultaneously, accurate location plays crucial effect with reduction operation risk in the art, at the diagnosis in-process and in-process, this endoscope can provide more accurate target tissue's information for the doctor, provide the navigation that the effect is better.
For example, the fluorescence imaging agent is indocyanine green (ICG), and the imaging principle is that ICG enters a human body through local tissues or intravenous injection to be combined with plasma lipoprotein, and after receiving near-infrared light with a wavelength of about 805nm, the fluorescence imaging agent excites fluorescence with a wavelength of about 835 nm. Of course, the emitted fluorescence wavelength is not limited to about 835nm, which is only exemplary, and the specific wavelength of the near infrared light is not limited by the embodiment of the present invention.
For example, the first infrared photon lens and the second infrared photon lens are infrared COMS (or infrared CCD), and the first visible photon lens and the second visible photon lens are infrared COMS (or infrared CCD). Of course, the infrared photon lens and the visible photon lens of the endoscope are not limited to the above types, and the specific types of the infrared photon lens and the visible photon lens of the endoscope are not limited in the embodiments of the present invention.
For example, the imaging resolutions of the first lens assembly 21 and the second lens assembly 22 are both greater than 2K, and the volume of the infrared photosensitive element is greater than the volume of the visible photosensitive element, that is, the volume of the first infrared photon lens and the volume of the second infrared photon lens are both greater than the volume of the first visible photon lens and the volume of the second visible photon lens, so as to achieve the purpose of simultaneously realizing an infrared image and a visible image with higher resolutions by using the tube diameter of a smaller main body by using the design of the openable lens device. The size of a chip (such as a CCD or cmos chip) of a fluorescent endoscope achieving a high resolution of more than 2K is large, and if a lens for sensing visible light and infrared light is to be simultaneously provided on the endoscope, the lens cannot be placed in the endoscope tube because the number of lenses is large and the size of the lens chip for sensing infrared light is too large, or it is difficult to simultaneously provide a lens for sensing visible light and a lens for sensing infrared light on one endoscope because the lens is too large in size. However, in the endoscope 10 provided in the embodiment of the present application, since the plurality of lens assemblies are movable relative to the main body so as to be close to and away from each other, the distance between the plurality of lens assemblies may be changed so that the plurality of lens assemblies are folded together to reduce the size of the front end before inserting the front end of the endoscope into a surgical object (e.g., a human body, an animal body, etc.), so that the front end of the endoscope enters the surgical object through a natural channel or an artificially opened orifice channel of the surgical object, injury to the surgical object is reduced, and after inserting the front end of the endoscope into the surgical object, for example, into a target tissue or a cavity in which an organ to be operated is located, the plurality of lens assemblies may be moved relative to the main body to expand the plurality of lens assemblies so as to acquire different types of images through the plurality of lenses, respectively, and even if a single lens assembly is large in volume, it is possible to avoid providing the plurality of lenses and the working end of the endoscope with an excessively large size in the radial direction D2, for example, it is possible to achieve a size of the endoscope in the overall structure constituted by the plurality of lens assemblies so that the high resolution D2 is not more than K4 in the radial direction K2, and the high resolution K4 and the high-resolution of the visible light of the endoscope assembly and K4 and the high-resolution optical fluorescence component.
For example, the resolution of the images formed by the first lens assembly 21 and the second lens assembly 22 is greater than or equal to 4K, and the volume of the infrared light sensing element is greater than the volume of the visible light sensing element, and the size of the chip (such as a CCD or cmos chip) of the fluorescence endoscope reaching the high resolution of greater than or equal to 4K is particularly large, however, the openable lens device of the endoscope provided by the embodiment of the present invention can well accommodate a plurality of light sensing elements with larger volumes by using a plurality of lens assemblies respectively, and since the plurality of lens assemblies can be close to each other to make the openable lens device have the pipe diameter of the main body 1 of the endoscope in the radial direction in the process of entering the target tissue, the various high-definition images with the resolution of greater than or equal to 4K obtained in this way will not cause additional damage to the surgical object, and the pipe diameter of the main body 1 in the radial direction does not need to be additionally enlarged.
Of course, in other embodiments, the volume of the visible light sensing element may be greater than or equal to the volume of the infrared light sensing element, and the principle that the endoscope provided by the embodiment of the present invention considers both a high definition image and a small tube diameter of the main body in the radial direction is as above, and is not repeated here.
For example, referring to fig. 2B and 3D, the first main lens 210 further includes a third sub-lens 210B disposed apart from the first sub-lens 210a, and the third sub-lens 210B includes a third optical lens 03a and a third photosensitive element 03B; referring to fig. 2B and 3B, the second main lens 220 further includes a fourth sub lens 220B disposed at an interval from the second sub lens 220a, and the fourth sub lens 220B includes a fourth optical lens 04a and a fourth photosensitive element 04B; the third sub-lens 210b is a second infrared photon lens, the third photosensitive element 03b is a second infrared photosensitive element, light from the target tissue sequentially reaches the third optical lens 03a and the second infrared photosensitive element through the first light incident surface 21a, and the third optical lens 03a and the second infrared photosensitive element are configured to image by using infrared light in the received light from the target tissue. For example, as shown in fig. 2B and 3D, the third optical lens 03a and the third photosensitive element 03B are arranged, for example, spaced, in a direction perpendicular to the first light incident surface 21 a. For example, the fourth sub-lens 220b is a second visible photon lens, the fourth photosensitive element 04b is a second visible light photosensitive element, the light from the target tissue (the multiple arrows in fig. 3C represent the light from the target tissue, and for this example, the light path is similar for other sub-lenses) sequentially reaches the fourth optical lens 04a and the second visible light photosensitive element through the second light incident surface 22a, and the fourth optical lens 04a and the second visible light photosensitive element are configured to image by using the visible light in the received light from the target tissue. For example, as shown in fig. 2B and fig. 3C, the fourth optical lens 04a and the fourth photosensitive element 04B are arranged, for example, spaced, in a direction perpendicular to the second light incident surface 22 a. The first infrared photonic lens and the second infrared photonic lens are configured to cooperate with each other to display a first three-dimensional image, the first three-dimensional image being an infrared light image (also called a fluorescence image), and the first visible photonic lens and the second visible photonic lens are configured to cooperate with each other to display a second three-dimensional image, that is, the first sub-lens 210a and the third sub-lens 210b cooperate with each other to display the first three-dimensional image, and the second sub-lens 220a and the fourth sub-lens 220b cooperate with each other to display the second three-dimensional image. For example, the first sub-lens 210a is spaced apart from the third sub-lens 210b by an appropriate distance to implement a first three-dimensional image using the parallax barrier, and the second sub-lens 220a is spaced apart from the fourth sub-lens 220b by an appropriate distance to implement a second three-dimensional image using the parallax barrier. Of course, the positions of the first sub-lens 210a and the third sub-lens 210b can be interchanged, and the positions of the second sub-lens 220a and the fourth sub-lens 220b can be interchanged.
Alternatively, in another embodiment, the third sub-lens 210b is a second visible photon lens, the third photosensitive element 03b is a second visible light photosensitive element, the light from the target tissue sequentially reaches the third optical lens 03a and the second visible light photosensitive element through the first light incident surface 21a, and the third optical lens 03a and the second visible light photosensitive element are configured to image with the visible light in the received light from the target tissue. For example, the third optical lens 03a and the third photosensitive element 03b are arranged in a direction perpendicular to the first light incident surface 21a, for example, at intervals. The fourth sub-lens 220b is a second infrared photon lens, the fourth photosensitive element 04b is a second infrared photosensitive element, light from the target tissue sequentially reaches the fourth optical lens 04a and the second infrared photosensitive element through the second light incident surface 22a, and the fourth optical lens 04a and the second infrared photosensitive element are configured to image by using infrared light in the received light from the target tissue. For example, as shown in fig. 3C, the fourth optical lens 04a and the fourth photosensitive element 04b are arranged in a direction perpendicular to the first light incident surface 21a, for example, at intervals. The first infrared photonic lens and the second infrared photonic lens are configured to cooperate with each other to display a first three-dimensional image, and the first visible photonic lens and the second visible photonic lens are configured to cooperate with each other to display a second three-dimensional image, that is, the first sub-lens 210a and the fourth sub-lens 220b cooperate with each other to display a first three-dimensional image, the first three-dimensional image being an infrared light image (also called a fluorescence image), the second sub-lens 220a and the third sub-lens 210b cooperate with each other to display a second three-dimensional image, and the second three-dimensional image being a visible light image. In this case, the maximum distance between the first sub-lens 210a and the fourth sub-lens 220b and the maximum distance between the second sub-lens 220a and the third sub-lens 210b may be greater, which is beneficial to meeting the requirement of a larger parallax barrier and achieving a better three-dimensional image effect. Of course, the positions of the first sub-lens 210a and the third sub-lens 210b can be interchanged, and the positions of the second sub-lens 220a and the fourth sub-lens 220b can be interchanged.
For example, as shown in fig. 1B and 2B, the first lens assembly 21 further includes a first guide lens 23 and a first end surface 230, and the first end surface 230 intersects with the first light incident surface 21 a. In the closed state shown in fig. 1B, the first guide lens 23 and the first end surface 230 are located at an end of the first lens assembly 21 away from the main body 1 in the axial direction D1; light from the target tissue enters the first guiding lens 23 through the first end face 230 to form an image; the second lens assembly 22 further includes a second guide lens 24 and a second end surface 240, the second end surface 240 intersects with the second light incident surface 22a, and in the closed state, the second guide lens 24 and the second end surface 240 are located at one end of the second lens assembly 22 away from the main body 1 in the axial direction D1; the light enters the second guide lens 24 through the second end face 240 to form an image. As such, the first guide lens 23 is located at the end of the first lens assembly 31 away from the main body 1, and the first guide lens 23 is arranged to intersect with the first sub-lens 210a and the third sub-lens 210 b; for example, the first end surface 230 is perpendicular to the first light incident surface 21a, in which case the first guide lens 23 is arranged perpendicular to the first and third sub-lenses 210a and 210 b. During the process that the endoscope 10 enters the operation object through the natural channel of the operation object or the channel (such as the open hole) artificially opened on the operation object, the endoscope 10 is in the closed state shown in fig. 1B, and the first guiding lens 23 and the second guiding lens 24 can transmit the image of the entering process to the observation end of the doctor in real time, so that the accurate positioning and the safety of the operation object in the closed state can be ensured through the real-time image. When the openable and closable lens device 2 of the endoscope 10 reaches a proper position, the first guide lens 23 and the second guide lens 24 may stop operating by unfolding the plurality of lens assemblies, such as the first lens assembly 21 and the second lens assembly 22.
For example, referring to fig. 1B and fig. 2B, the first lens assembly 21 includes a first housing 211, the first housing 211 is connected to the first transmission mechanism 31 and includes a first light incident surface 21a and a first end surface 230, and the first main lens 210 is located in the first housing 211; the second lens assembly 22 includes a second casing 221, the second casing 221 is connected to the second transmission mechanism 32 and includes a second light incident surface 22a and a second end surface 240, and the second main lens 220 is located in the second casing 221, so that the whole openable lens device is structured, the damage to the surgical object is reduced, and the lenses inside the first casing and the second casing can be protected.
For example, as shown in fig. 3D, the first guiding lens 23 includes a fifth optical lens 05a and a fifth photosensitive element 05b, the first guiding lens 23 remains working during the process of inserting the plurality of lens assemblies into the target tissue, the light of the external environment sequentially reaches the fifth optical lens 05a and the fifth photosensitive element 05b through the first end surface 230, and the fifth optical lens 05a and the fifth photosensitive element 05b are configured to generate an image by using the received light of the external environment, so as to obtain a real-time image during the process of entering the plurality of lens assemblies of the endoscope 10 into the surgical object. For example, the fifth optical lens 05a and the fifth photosensitive element 05b are arranged in a direction perpendicular to the first end surface 230, for example, at intervals. For example, the fifth photosensitive element 05b is a visible light photosensitive element, and can be imaged by using the received visible light.
As shown in fig. 3B-3C, the second guiding lens 24 includes a sixth optical lens 06a and a sixth photosensitive element 06B, the second guiding lens 24 keeps working during the process of inserting the lens assemblies into the target tissue, the light of the external environment sequentially reaches the sixth optical lens 06a and the sixth photosensitive element 06B through the second end surface 240, and the sixth optical lens 06a and the sixth photosensitive element 06B are configured to generate an image by using the received light of the external environment, so as to obtain a real-time image during the process of inserting the lens assemblies of the endoscope 10 into the surgical object. For example, the sixth optical lens 06a and the sixth photosensitive element 06b are arranged in a direction perpendicular to the second end surface 240, for example, at intervals. For example, the sixth photosensitive element 06b is a visible light sensitive element, and can form an image by using the received visible light.
Fig. 4 is a schematic view of the endoscope shown in fig. 2A at another viewing angle. FIG. 5A is a schematic plan view of an endoscope provided in accordance with an embodiment of the present invention; FIG. 5B is a schematic cross-sectional view of the endoscope shown in FIG. 5A taken along line B-B. For example, referring to fig. 1B, 2B and 4, the endoscope 10 further includes a light source passage 5, the light source passage 5 being located in the main housing 1a, the front end 11 of the main housing 1 including a front end face 11S, the front end face 11S having a light source opening OP2 communicating with the light source passage 5. For example, in the closed state and the open state, the plurality of lens assemblies each expose the light source opening OP2, and light from the light source exits through the light source passage 5 and the light source opening OP2. For example, when the plurality of lens assemblies are closest to each other, the plurality of lens assemblies still expose the light source opening OP2. As shown in fig. 1A, the endoscope 10 further includes a light source introduction passage 1b, the light source introduction passage 1b having a light source inlet OP0, the light source introduction passage 1b being provided on the main body 1 and communicating with the light source passage 5 in the main casing 1A, and a light source being feedable into the light source introduction passage 1b through the light source introduction passage 1b and transmitting light to the light source opening OP2 through the light source passage 5 to be emitted from the light source opening OP2. For example, the light guide fiber 7 (fig. 5B shows an end portion of the light guide fiber 7 located near the light source opening OP 2) enters the light source introduction channel 1B through the light source introduction channel 1B and extends to the light source opening OP2 through the light source channel 5, and light is transmitted to the light source opening OP2 through the light guide fiber 7, so that the light is emitted from the light source opening OP2 to the observation field of the endoscope, that is, to the space where the target tissue is located.
Light from the light source is used to illuminate the field of view and for imaging. For example, the light source includes a visible light source and an infrared light source, such that the light from the light source includes visible light and infrared light for exciting fluorescence of the target tissue injected with the exogenous fluorescent dye to achieve the above-mentioned visible light image and infrared light image simultaneously. The visible light source and the infrared light source can work independently; for example, the visible light source and the infrared light source may be operated simultaneously to simultaneously direct visible light and infrared light to the viewing field to illuminate the target tissue; alternatively, the visible light source and the infrared light source are operated alternately to direct only the visible light to the observation field of view to illuminate the target tissue as needed to achieve illumination and obtain a visible light image, or to direct only the infrared light to the observation field of view to illuminate the target tissue to obtain an infrared light image.
For example, both the visible light source and the infrared light source can be conducted to the observation field of the scope through the light guide fiber 7 via the light source opening OP2, i.e. to the space where the target tissue is located. For example, the light guide fiber for conducting visible light and the light guide fiber for conducting infrared light may be mixed together, conducted to the light source outlet OP2 through one light source channel 5, or conducted in two spaced apart light source channels, respectively. Alternatively, the light guide fiber for conducting the visible light and the light guide fiber for conducting the infrared light may be respectively located in two light guide channels spaced apart from each other extending in the axial direction in the main casing 1a, the two light guide channels both communicating with the same light source outlet OP2, so that the visible light and the infrared light are emitted to the observation field of view through the same light source outlet OP2 to irradiate the target tissue, or the two light guide channels are respectively communicated with two different light source outlets and are respectively emitted to the observation field of view through the two different light source outlets to irradiate the target tissue. The number of the light source outlets is not limited in the embodiment of the invention. The light source outlet OP2 is arranged at the position shown in the embodiment shown in fig. 2B, which is beneficial to utilizing the very limited radial space of the endoscope main body, simplifying the endoscope structure, reducing the cost and facilitating the use, and meanwhile, the light source outlet OP2 is arranged at the position, so that the light from the light source outlet is not shielded, the target tissue can be fully irradiated, and the ideal effects of illumination and fluorescence excitation are achieved, so as to realize the ideal imaging effect.
For example, the light source passage 5 extends in the axial direction within the main housing 1a, and the main housing 1a further includes a drive mechanism passage 30a extending in the axial direction, and the drive mechanism 30 is configured to move in the drive mechanism passage 30 a. For example, the light source channel 5 and the driving mechanism channel 30a are spaced apart from each other and are independent channels to avoid interference.
For example, referring to fig. 1B, 2B and 4, the endoscope 10 further includes a surgical instrument channel 6, the surgical instrument channel 6 being located in the main housing 1a, the front end 11 of the main body 1 including a front end face 11S, the front end face 11S having an auxiliary channel opening OP3 communicating with the surgical instrument channel 6, the plurality of lens assemblies exposing the auxiliary channel opening OP3 at least in the open state, the surgical instrument channel being configured to allow a surgical instrument to pass through and protrude out of the front end face 11S through the auxiliary channel opening OP 3. The setting of surgical instruments passageway and auxiliary channel opening can utilize and utilize the limited pipe diameter of main part to provide more functional passageways, and the surgical instruments passageway can be utilized as required in a flexible way and be used as the passageway of realizing different functions.
For example, the surgical instrument channel 6 may be used as a biopsy channel, the surgical instrument being, for example, a biopsy instrument for taking a biopsy sample. FIG. 6A is a schematic view of a surgical instrument being passed through an endoscopic surgical instrument channel provided in accordance with an embodiment of the present invention; fig. 6B is an enlarged schematic view of a part P3 of the distal end of the endoscope in fig. 6A. Referring to fig. 6A-6B, a surgical instrument 8 may be passed through the surgical instrument channel 6 into the target tissue or cavity in which the target tissue is located, as desired, to perform a surgical procedure on the target tissue. For example, the surgical instrument 8 is a biopsy instrument that can take a biopsy of the target tissue. In this way, the endoscope 10 integrates the biopsy function and other auxiliary operation operations, so that no additional channel needs to be opened on the operation object such as a human body or an animal body for the operation instrument to enter the operation object, the damage to the operation object is reduced, and the space of the endoscope 10 is fully utilized.
For example, the surgical instrument 8 may also be a surgical instrument for irrigation tubes, cutting, suturing, and the like, so as to meet different surgical needs, avoid providing another channel on a surgical object such as a human body or an animal body, and reduce damage to the surgical object.
In at least one other embodiment, the surgical instrument channel 6 can also be used as another light source channel, in which case the auxiliary channel opening OP3 is another light source opening to provide sufficient light to achieve better imaging with the limited tube diameter of the body. For example, the functions and specific structures of the other light source channel and the other light source opening are the same as those described above for the light source opening OP2 through which the light source channel 5 communicates, and reference may be made to the description above for the light source opening OP2 through which the light source channel 5 communicates.
For example, referring to fig. 1B, 2B and 4, the front end face 11S has a drive mechanism opening OP1 communicating with the drive mechanism passage 30a, and an end portion of the drive mechanism 30 protrudes from the front end face 11S through the drive mechanism opening OP 1; the light source opening OP2 is located on a first side of the driving mechanism opening OP1, the auxiliary passage opening OP3 is located on a second side of the driving mechanism opening OP1, the first side of the driving mechanism opening OP1 is opposite to the second side of the driving mechanism opening OP1 in the longitudinal direction D3, and the longitudinal direction D3 is perpendicular to both the axial direction D1 and the radial direction D2. Therefore, the positions of the opening OP1 of the driving mechanism, the opening OP2 of the light source and the opening OP3 of the auxiliary channel are reasonably designed, and the limited pipe diameter space of the main body is fully utilized to realize the light source feeding and the arrangement of the surgical instrument channel.
For example, as shown in fig. 2B, in the open state, the light source opening OP2 is located between the first lens assembly 21 and the second lens assembly 22 in the radial direction, and the location of the light source outlet OP2 at this position is favorable for utilizing the very limited radial space of the endoscope body, simplifying the endoscope structure, reducing the cost, and facilitating the use, and at the same time, the light source outlet OP2 at this position can sufficiently irradiate the target tissue to achieve the desired effects of illumination and fluorescence excitation, so as to achieve the desired imaging effect. For example, as shown in fig. 2B, in the open state, the auxiliary passage opening OP3 is located radially between the first lens assembly 21 and the second lens assembly 22 to further fully utilize the limited space to implement the light source and allow for the surgical instrument passage to be provided. Also, in the case where the surgical instrument channel is used as another light source channel, the auxiliary channel opening OP3 is located at the position, and the light from the auxiliary channel opening OP3 is not blocked, so that the target tissue can be sufficiently irradiated, and further, the desired effects of illumination and fluorescence excitation can be achieved, so as to achieve the desired imaging effect.
For example, as shown in fig. 2C, the endoscope 10 further includes a separation structure 4 located in the main housing 1a, the driving mechanism 30 passes through the separation structure 4 along the axial direction D1, and the separation structure 4 is located at a position to fill up the space of the main housing 1a in the radial direction perpendicular to the axial direction D1, so as to perform separation and sealing functions, and prevent tissue fluid of an operation object such as a human body or an animal body from flowing into the interior of the main housing 1 a.
For example, in order to achieve a good sealing action, the material of the isolation structure 4 is a soft rubber material or a plastic material.
For example, as shown in fig. 1A, the main body 1 includes a rear end opposite to the front end, and the surgical instrument such as the above-described biopsy instrument, irrigation tube, etc. can be fed through the rear end 12, and the movement of the drive mechanism 30 is controlled by the rear end 12.
For example, as shown in fig. 1A, the main body 1 further includes a handle 1d and an electric wire 1c. The position of the main body can be controlled by gripping the handle 1d with a human hand or a manipulator of a surgical robot. The electric wire 1c is used to supply power to an electric structure of the endoscope, such as a control system, a photosensitive element, and the like. For example, the electric wire 1c is wound around the body 1, but this is only illustrative, and the present invention is not limited to a specific position of the electric wire 1c.
The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.
Claims (20)
1. An endoscope, comprising:
a body extending in an axial direction, having a front end and a rear end opposite to each other in the axial direction;
the retractable lens device comprises a plurality of lens components, wherein the lens components are positioned at the front end of the main body and are respectively configured to acquire image information; and
and the driving device is at least partially positioned in the main body, is connected with the plurality of lens assemblies and is configured to drive the plurality of lens assemblies to move relative to the main body so that the plurality of lens assemblies approach to each other and move away from each other.
2. The endoscope of claim 1,
the driving device drives the plurality of lens assemblies to move so as to enable the openable and closable lens device to be converted between a closed state and an open state;
in the closed state, the plurality of lens assemblies are folded, the size of the folded whole of the plurality of lens assemblies in a radial direction does not exceed the size of the main body in the radial direction, and an orthographic projection of the folded whole of the plurality of lens assemblies in the radial direction is positioned in an orthographic projection of the main body in the radial direction, and the radial direction is perpendicular to the axial direction;
in the open state, at least one of the plurality of lens assemblies extends beyond the body in the radial direction.
3. The endoscope of claim 2, wherein the plurality of lens assemblies includes a first lens assembly and a second lens assembly, the drive device driving the first lens assembly and the second lens assembly to move to transition the openable lens device between the closed state and the open state; in the closed state, the dimension of the whole body formed by the first lens assembly and the second lens assembly in the radial direction does not exceed the dimension of the main body in the radial direction; in the open state, at least one of the first lens assembly and the second lens assembly protrudes from the body in the radial direction; the driving device is configured to drive the first lens assembly and the second lens assembly to move relative to the main body;
the first lens assembly is configured to move toward a first side of the front end of the body in the radial direction to protrude from the body at the first side in the radial direction, and the second lens assembly is configured to move toward a second side of the front end of the body in the radial direction to protrude from the body at a second side of the front end of the body in the radial direction, the second side being opposite to the first side in the radial direction.
4. The endoscope of claim 3, wherein a dimension of each lens assembly of the plurality of lens assemblies in the radial direction is smaller than a dimension of the each lens assembly in the axial direction.
5. The endoscope of claim 3, wherein the first lens assembly has a first entrance face and a first primary lens into which light from a target tissue enters for generating a first image; the second lens assembly is provided with a second light incident surface and a second main lens, and light enters the second main lens through the second light incident surface to generate a second image;
in the closed state, the first light incident surface and the second light incident surface are opposite to each other;
in the process of converting from the closed state to the open state, the first light incident surface and the second light incident surface are far away from each other; in a process of converting from the open state to the closed state, the first light incident surface and the second light incident surface are close to each other.
6. The endoscope of claim 5, wherein the first light incident surface has a first angle with respect to an extension of the body away from the front end in the axial direction, and the second light incident surface has a second angle with respect to an extension of the body away from the front end in the axial direction;
in the process of switching from the closed state to the open state, the first included angle and the second included angle are gradually increased;
in the process of switching from the open state to the closed state, the first included angle and the second included angle are both gradually reduced.
7. The endoscope of claim 6, wherein the first angle ranges from 0 to 90 ° and the second angle ranges from 0 to 90 ° when the openable and closable lens device is switched between the closed state and the open state; or,
the maximum value of the first included angle and/or the second included angle is greater than 90 °.
8. The endoscope of claim 6, wherein, in the closed state, the first and second incident surfaces abut one another or,
in the closed state, a gap exists between the first light incident surface and the second light incident surface.
9. The endoscope of claim 8, wherein the number of the plurality of lens assemblies of the retractable lens arrangement is 2, and in the closed state, the first included angle is substantially 0 °, and the second included angle is substantially 0 °.
10. The endoscope of claim 5, wherein the first main lens comprises a first sub-lens comprising a first optical lens and a first photosensitive element, the first sub-lens is a first infrared photon lens, the first photosensitive element is a first infrared photosensitive element, the light from the target tissue sequentially reaches the first optical lens and the first infrared photosensitive element through the first light incident surface, and the first optical lens and the first infrared photosensitive element are configured to image with infrared light from the received light from the target tissue;
the second main lens comprises a second sub lens, the second sub lens comprises a second optical lens and a second photosensitive element, the second sub lens is a first visible photon lens, the second photosensitive element is a first visible light photosensitive element, light from a target tissue sequentially reaches the second optical lens and the first visible light photosensitive element through the second light incident surface, and the second optical lens and the first visible light photosensitive element are configured to be imaged by utilizing the received visible light in the light from the target tissue.
11. The endoscope of claim 10, wherein the first lens assembly and the second lens assembly each image with a resolution greater than 2K;
the volume of the infrared light sensitive element is larger than that of the visible light sensitive element, or the volume of the visible light sensitive element is larger than or equal to that of the infrared light sensitive element.
12. The endoscope of claim 10, wherein the first main lens further comprises a third sub lens spaced apart from the first sub lens, the third sub lens comprising a third optical lens and a third light sensing element, the second main lens further comprising a fourth sub lens spaced apart from the second sub lens, the fourth sub lens comprising a fourth optical lens and a fourth light sensing element;
the third sub-lens is a second infrared photon lens, the third photosensitive element is a second infrared photosensitive element, the light from the target tissue sequentially reaches the third optical lens and the second infrared photosensitive element through the first light incident surface, and the third optical lens and the second infrared photosensitive element are configured to image by using the infrared light in the received light from the target tissue; the fourth sub-lens is a second visible photon lens, the fourth photosensitive element is a second visible light photosensitive element, the light from the target tissue sequentially reaches the fourth optical lens and the second visible light photosensitive element through the second light incident surface, and the fourth optical lens and the second visible light photosensitive element are configured to image by using the visible light in the received light from the target tissue; the first infrared photonic lens and the second infrared photonic lens are configured to cooperate to display a first three-dimensional image, and the first visible photonic lens and the second visible photonic lens are configured to cooperate to display a second three-dimensional image; or,
the third sub-lens is a second visible photon lens, the third photosensitive element is a second visible light photosensitive element, the light from the target tissue sequentially reaches the third optical lens and the second visible light photosensitive element through the first light incident surface, and the third optical lens and the second visible light photosensitive element are configured to image by using the visible light in the received light from the target tissue; the fourth sub-lens is a second infrared photon lens, the fourth photosensitive element is a second infrared photosensitive element, the light from the target tissue sequentially reaches the fourth optical lens and the second infrared photosensitive element through the second light incident surface, and the fourth optical lens and the second infrared photosensitive element are configured to image by using the infrared light in the received light from the target tissue; the first infrared photonic lens and the second infrared photonic lens are configured to cooperate to display a first three-dimensional image, and the first visible photonic lens and the second visible photonic lens are configured to cooperate to display a second three-dimensional image.
13. The endoscope of claim 5, wherein the drive device comprises:
a drive mechanism, wherein the main body includes a main housing extending in the axial direction, the drive mechanism being located at least partially within the main housing and extending in the axial direction;
a first transmission mechanism connected with the driving mechanism and a first end of the first lens assembly close to the main body in the axial direction; and
a second transmission mechanism connected to the driving mechanism and the first end of the second lens assembly, wherein the driving mechanism is configured to be movable along the axial direction to drive the first transmission mechanism and the second transmission mechanism to move, so as to drive the first lens assembly and the second lens assembly to move relative to the end of the main body.
14. The endoscope of claim 13, wherein the drive mechanism is configured to move in the axial direction to drive the first and second actuation mechanisms, the first lens assembly, and the second lens assembly to move;
in the closed state, at least part of the driving mechanism, the first transmission mechanism and the second transmission mechanism are accommodated in the main shell, the first lens assembly and the second lens assembly are positioned outside the main shell, and in the open state, the driving mechanism moves along the axial direction so that the end part of the driving mechanism protrudes out of the main shell along the axial direction, and the first transmission mechanism and the second transmission mechanism are positioned outside the main shell; or,
in the closed state, at least part of the driving mechanism, the transmission mechanism, the first lens assembly and the second lens assembly are housed within the main housing, and in the open state, the first lens assembly and the second lens assembly move along the axial direction to be located outside the main housing under the driving of the driving mechanism, and the first transmission mechanism and the second transmission mechanism are located outside the main housing.
15. The endoscope of claim 13, wherein the first and second transmission mechanisms are connected to the same drive mechanism such that the drive mechanism drives the first transmission mechanism to move to drive the front end movement of the first lens assembly relative to the body is coupled to the drive mechanism drives the second transmission mechanism to move to drive the front end movement of the second lens assembly relative to the body; or,
the driving mechanism comprises a first sub-driving mechanism and a second sub-driving mechanism, the first sub-driving mechanism is connected with the first transmission mechanism and configured to drive the first transmission mechanism to move so as to drive the first lens component to move relative to the front end of the main body, the second sub-driving mechanism is connected with the second transmission mechanism and configured to drive the second transmission mechanism to move so as to drive the first lens component to move relative to the front end of the main body, and the first lens component and the second lens component move independently.
16. The endoscope of claim 13, wherein the first lens assembly further comprises a first guide lens and a first end surface, the first end surface intersecting the first light incident surface, the first guide lens and the first end surface being located at an end of the first lens assembly away from the body in the axial direction in the closed state; light enters the first guiding lens through the first end face to form an image;
the second lens assembly further comprises a second guide lens and a second end face, the second end face is intersected with the second light incoming face, and in the closed state, the second guide lens and the second end face are located at one end, far away from the main body, of the second lens assembly in the axial direction; the light enters the second guide lens through the second end face to form an image.
17. The endoscope of claim 16, wherein the first lens assembly comprises a first housing coupled to the first actuator and including the first light incident surface and the first end surface, the first primary lens being positioned within the first housing;
the second lens component comprises a second shell, the second shell is connected with the second transmission mechanism and comprises a second light incidence surface and a second end surface, and the second main lens is located in the second shell.
18. The endoscope of claim 13, further comprising:
a light source channel in the main housing, the front end of the main housing including a front face having a light source opening communicating with the light source channel, the plurality of lens assemblies each exposing the light source opening in the closed state and in the open state, light from a light source exiting through the light source channel and the light source opening.
19. The endoscope of claim 18, further comprising:
a surgical instrument channel in the main housing, the front end of the main housing including a front face having an auxiliary channel opening in communication with the surgical instrument channel, the plurality of lens assemblies exposing the auxiliary channel opening at least in the open state, the surgical instrument channel configured to allow a surgical instrument to pass therethrough and protrude out of the front face through the auxiliary channel opening.
20. The endoscope of claim 19, wherein the front end face has a drive mechanism opening through which an end of the drive mechanism protrudes from the front end face;
the light source opening is located on a first side of the driving mechanism opening, the auxiliary channel opening is located on a second side of the driving mechanism opening, the first side of the driving mechanism opening is opposite to the second side of the driving mechanism opening in the longitudinal direction, and the longitudinal direction is perpendicular to the axial direction and the radial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211188924.XA CN115251809A (en) | 2022-09-28 | 2022-09-28 | Endoscope with a detachable handle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211188924.XA CN115251809A (en) | 2022-09-28 | 2022-09-28 | Endoscope with a detachable handle |
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| Publication Number | Publication Date |
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| CN115251809A true CN115251809A (en) | 2022-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211188924.XA Pending CN115251809A (en) | 2022-09-28 | 2022-09-28 | Endoscope with a detachable handle |
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| CN117796749A (en) * | 2024-03-01 | 2024-04-02 | 科弛医疗科技(北京)有限公司 | Endoscope with a lens |
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