CN220192970U - Rotatable 3D endoscope with integrated optical system and imaging unit - Google Patents

Abstract

The embodiment of the utility model discloses a rotatable 3D endoscope with an integrated optical system and an imaging unit, which is invented for solving the problem of complex structure of the 3D imaging endoscope. The endoscope includes: an objective lens, an optical amplifying system, a first camera unit and a second camera unit; the objective lens is arranged at the distal end of the endoscope; the optical amplifying system is arranged at the image side of the objective lens; the first image pickup unit and the second image pickup unit are arranged on the image side of the optical amplifying system side by side, and the light passing apertures of the first image pickup unit and the second image pickup unit are positioned in the light spot range of emergent light of the optical amplifying system. The embodiment of the utility model is suitable for the video scene of using an endoscope to inspect the parts such as the abdominal cavity, the bladder, the nasal cavity, the skull base and the like.

Description

Rotatable 3D endoscope with integrated optical system and imaging unit

Technical Field

The utility model relates to the technical field of medical diagnostic apparatuses, in particular to a 3D endoscope with an integrated optical system and imaging unit.

Background

Medical diagnostic instruments are devices or instruments that identify various medical conditions of a patient, and can assist a doctor in making accurate and timely diagnoses, so that the doctor can effectively treat and manage diseases. An endoscope is a medical diagnostic instrument commonly used in performing minimally invasive surgery.

In order to achieve 3D (Three Dimensional) imaging of a focal region, existing endoscopes include two optical paths, each of which includes an optical amplification system. The structure of such an endoscope that can realize 3D imaging is relatively complex.

Disclosure of Invention

In view of this, embodiments of the present utility model provide a rotatable 3D endoscope in which an optical system and an imaging unit are integrally designed, facilitating 3D imaging through a simple structure.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

embodiments of the present utility model provide a rotatable 3D endoscope in which an optical system and an imaging unit are integrally designed, including: an objective lens, an optical amplifying system, a first camera unit and a second camera unit; the objective lens is arranged at the distal end of the endoscope; the optical amplifying system is arranged at the image side of the objective lens; the first image pickup unit and the second image pickup unit are arranged on the image side of the optical amplifying system side by side, and the light passing apertures of the first image pickup unit and the second image pickup unit are positioned in the light spot range of emergent light of the optical amplifying system.

According to a specific implementation of the present utility model, the optical amplifying system includes a relay optical system and an amplifying unit; the relay optical system is arranged at the image side of the objective lens; the amplifying unit is arranged at the image side of the relay optical system; the first image pickup unit and the second image pickup unit are arranged on the image side of the amplifying unit side by side, and the light transmission apertures of the first image pickup unit and the second image pickup unit are positioned in the light spot range of the emergent light of the amplifying unit; the rotatable 3D endoscope of optical system and the integrated design of camera unit still includes: an insertion tube in which the objective lens and the relay optical system are disposed, wherein the objective lens is disposed at a distal end of the insertion tube; the first end of the amplifying unit support is connected with the proximal end of the insertion tube, and the amplifying unit is arranged in the amplifying unit support; the first end of the camera unit support is connected with the second end of the amplifying unit support; the first image pickup unit and the second image pickup unit are arranged side by side on the image pickup unit support member.

According to a specific implementation manner of the present utility model, the first image capturing unit includes a first image capturing lens and a first imaging sensor; the amplifying unit and the first camera lens form a first amplifying device, and the first amplifying device is used for transmitting the light reflected by the object to be observed, which is collected by the objective lens transmitted by the relay optical system at the distal end part of the endoscope, to the first imaging sensor; the second imaging unit comprises a second imaging lens and a second imaging sensor; the magnification unit and the second imaging lens form second magnification means for transmitting the light collected at the distal end portion of the endoscope by the objective lens transmitted by the relay optical system to the second imaging sensor.

According to a specific implementation of the utility model, the first imaging unit and the second imaging unit are rotatable together about the optical axis of the magnification unit.

According to a specific implementation mode of the utility model, the light emergent angle of the optical amplifying system is more than 15 degrees.

According to a specific implementation mode of the utility model, the exit pupil distance of the optical amplifying system is more than 5mm.

According to a specific implementation of the utility model, the overall optical power of the amplifying unit is negative.

According to a specific implementation of the utility model, the amplifying unit comprises a first amplifying unit, a second amplifying unit and a third amplifying unit; the first amplifying unit comprises a first lens with negative focal power and a second lens with positive focal power, wherein the image side surface of the first lens and the object side surface of the second lens are mutually glued to form a first gluing mirror; the second amplifying unit comprises a third lens with positive focal power and a fourth lens with negative focal power, and the image side surface of the third lens and the object side surface of the fourth lens are mutually glued to form a second gluing mirror; the third magnification unit includes a fifth lens having negative optical power and a sixth lens having negative optical power; and the image side surface of the fifth lens and the object side surface of the sixth lens are mutually glued to form a third gluing mirror.

According to a specific implementation of the utility model, the camera unit support is rotatable about the optical axis of the magnification unit.

According to a specific implementation of the present utility model, the first end of the camera unit support is detachably connected to the second end of the amplifying unit; wherein, the end part of the second end of the amplifying unit is provided with a clamping protrusion for clamping into the first end of the shooting unit supporting piece; the first end of the shooting unit supporting piece is provided with a bayonet for accommodating the clamping protrusion; the edge of the bayonet is provided with an elastic clamping piece; the first end of the shooting unit supporting piece is connected with the second end of the amplifying unit, the clamping protrusion is inserted into the bayonet, and the elastic clamping piece clamps the clamping protrusion into the bayonet.

Compared with the existing endoscope which realizes 3D imaging by two paths of light paths, each path of light path respectively comprises an objective lens and a relay optical system, the rotatable 3D endoscope provided by the embodiment of the utility model forms one light path by one optical amplifying system, and light reflected by a target object collected by the objective lens is transmitted to the first image pickup unit and the second image pickup unit by the light path, so that 3D imaging can be realized on the target object according to the first image pickup unit and the second image pickup unit, and the structure is simpler.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of one embodiment of a rotatable 3D endoscope with an integrated design of the optical system and camera unit of the present utility model (only the optical path portion is shown);

fig. 2 is a schematic structural diagram of a first image capturing unit in the embodiment shown in fig. 1;

fig. 3 is a schematic structural diagram of a second image capturing unit in the embodiment shown in fig. 1;

FIG. 4 is a schematic diagram of the structure of an amplifying unit in the embodiment shown in FIG. 1;

FIG. 5 is a schematic perspective view of one embodiment of a rotatable 3D endoscope with an integrated design of the optical system and camera unit of the present utility model;

FIG. 6 is a schematic view of the camera unit support of FIG. 5 separated from the magnification unit;

FIG. 7 is a partial cross-sectional view of FIG. 6;

FIG. 8 is an exploded view of the endoscope shown in FIG. 5;

fig. 9 is a schematic perspective view of a lens stack according to an embodiment of the present utility model.

Detailed Description

Embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present application, it should be understood that the terms "length", "rear", "horizontal", "outer", "clockwise", "counterclockwise", "axial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be fixedly attached, detachably attached, or integrated, for example; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

It will be understood that when an element is referred to as being "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

The embodiment of the utility model provides a rotatable 3D endoscope with an integrated optical system and an imaging unit, an endoscope imaging system and an endoscope 3D imaging method, which are convenient for realizing 3D imaging of an endoscope through a simple structure.

Embodiments of the present utility model will be further described with reference to fig. 1 to 9.

Fig. 1 shows a schematic structural view of an embodiment of a rotatable 3D endoscope in which an optical system and an image pickup unit of the present utility model are integrally designed, and only an optical path portion is shown in fig. 1 for clarity. Referring to fig. 1, an endoscope 10 of the present embodiment may include an objective lens 11, an optical magnification system 22, a first image pickup unit 13, and a second image pickup unit 14.

Wherein an objective lens 11 is provided at the distal end of the endoscope 10 for collecting light reflected by an object 21 to be observed outside the distal end portion of the endoscope 10. The distal end of the endoscope 10 is the end of the endoscope 10 that is adjacent to the object 21 to be observed. The object 21 to be observed may be a lesion in the urinary bladder, nasal cavity, stomach, etc.

In some examples, the objective lens 11 may include an object lens (not shown in the drawing) and a conversion prism (not shown in the drawing), through which a specific angle of view of the objective lens 11, for example, 0 °, 12 °, 30 °, 70 °, 90 °, or the like is obtained together. The field of view of the objective lens may be changed by rotating the objective lens.

An optical magnification system 22, provided on the image side of the objective lens 11, for transmitting light collected by the distal end portion of the endoscope 10 by the objective lens 11 to the first imaging unit 13 and the second imaging unit 14, so as to generate magnified images of the target object in the first imaging unit 13 and the second imaging unit 14, respectively.

The first imaging unit 13 and the second imaging unit 14 are arranged side by side on the image side of the optical amplifying system 22, and the aperture of the first imaging unit 13 and the aperture of the second imaging unit 14 are located in the spot range of the outgoing light of the optical amplifying system 22.

The first imaging unit 13 and the second imaging unit 14 each have a predetermined angle of view. The aperture of the first imaging unit 13 and the aperture of the second imaging unit 14 are located in the light spot range of the outgoing light of the optical amplifying system 22, so that the light spot of the outgoing light of the optical amplifying system 22 can be located in the view angle range of the first imaging unit 13 and the second imaging unit 14, and thus, the light spot of the outgoing light of the optical amplifying system 22 can be collected by the first imaging unit 13 and the second imaging unit 14 at the same time, so that the same target object can be imaged from different directions (or view angles) at the same time.

Specifically, the first image capturing unit 13 is configured to receive light collected by the objective lens 11 at the distal end portion of the endoscope 10 transmitted by the optical magnification system 22, and generate a first image of the target object 21 based on the light.

The second image pickup unit 14 is configured to receive light collected by the objective lens 11 at the distal end portion of the endoscope 10 transmitted by the optical magnification system 22, and generate a second image of the target object 21 based on the light.

In the present embodiment, the objective lens and the optical magnification system 22 are combined with the two imaging units to form an integrated 3D endoscope optical system.

In particular, one optical magnification system 22 and two imaging units (the first imaging unit 13 and the second imaging unit 14) cooperate to form an integrated magnified imaging design, and two magnified images of the same target object can be generated simultaneously.

The endoscope provided by the embodiment of the utility model forms a light path through an optical amplifying system 22, and transmits the light reflected by the target object collected by the objective lens to the first image pickup unit and the second image pickup unit through the light path; the first image capturing unit and the second image capturing unit are arranged on the image side of the optical amplifying system 22 side by side, and the light passing apertures of the first image capturing unit and the second image capturing unit are located in the light spot range of the emergent light of the optical amplifying system 22, so that the first image capturing unit and the second image capturing unit can collect the light reflected by the same object from different visual angles at the same time, and a first image and a second image are respectively generated. In this way, subsequent generation of a 3D (three dimensional) image of the target object from the first image and the second image is facilitated. Specifically, the parallax of the same object under different visual angles can be obtained according to the first image and the second image, so that the depth information of the object can be obtained through parallax calculation, better depth perception is realized, and a 3D image of the object can be generated. The 3D image may also be referred to as a three-dimensional image or a stereoscopic image.

Compared with the existing endoscope which realizes 3D imaging by two paths of light paths, each path of light path comprises an objective lens and a relay optical system, the rotatable 3D endoscope provided by the embodiment of the utility model forms one light path by one optical amplifying system 22, and light reflected by an object collected by the objective lens is transmitted to the first image capturing unit and the second image capturing unit by the light path, so that 3D imaging can be realized on the object according to the first image capturing unit and the second image capturing unit, and the structure is simpler.

In addition, compared with the arrangement of two optical systems at the front end of the endoscope side by side, the front end (also called as an insertion end) of the endoscope in the embodiment of the utility model only needs to be provided with one optical system, so that the outer diameter size of the front end of the endoscope can be greatly reduced, and the size of an operation wound can be reduced.

In some embodiments, optical amplification system 22 includes a relay optical system 12 and amplification unit 15; the relay optical system 12 is provided on the image side of the objective lens 11; the amplifying unit 15 is provided on the image side of the relay optical system 12; the first imaging unit 13 and the second imaging unit 14 are arranged side by side on the image side of the amplifying unit 15, and the aperture of the first imaging unit 13 and the aperture of the second imaging unit 14 are located in the spot range of the outgoing light of the amplifying unit 15.

A relay optical system 12 provided on the image side of the objective lens 11, and configured to transmit light collected by the distal end portion of the endoscope 10 by the objective lens 11 to the amplifying unit 15. In other words, the objective lens 11 is provided on the object side of the relay optical system 12, and can collect light reflected by the object 21 to be observed into the relay optical system 12. The object side of the relay optical system 12 is a side of the relay optical system 12 close to the object 21 to be observed.

The relay optical system 12 may be composed of a plurality or groups of rod mirrors, such as three or five groups of odd groups of rod mirrors. The number of rod lens groups depends somewhat on the length of the distance (working length of the endoscope) that is transmitted. The longer the distance of transmission, the more rod lens groups are required and vice versa.

An amplifying unit 15 provided on the image side of the relay optical system 12 for transmitting the light collected by the objective lens 11 transmitted by the relay optical system 12 to the first imaging unit 13 and the second imaging unit 14 at the distal end portion of the endoscope 10 to generate amplified images of the target object in the first imaging unit 13 and the second imaging unit 14, respectively.

In some embodiments, the outer diameter of the endoscope front end may be 3mm-6mm. In one example, the outer diameter of the endoscope front end may be 3mm; in another example, the outer diameter of the endoscope front end may be 4mm; in yet another example, the outer diameter of the endoscope front end may be 5mm; in yet another example, the outer diameter of the endoscope front end may be 6mm.

In some embodiments, after the objective lens 11 collects the light reflected by the object to be observed outside the distal end of the endoscope, a first intermediate image (inverted real image) may be formed on the image side of the objective lens 11, and the relay optical system 12 transfers (or relays) the first intermediate image 1:1 to the image side of the relay optical system 12 to form a second intermediate image.

The first intermediate image is transferred through a set of rod mirrors to produce an image reversal. When the number of rod lens groups in the relay optical system 12 is an odd number, the second intermediate image formed is an upright real image. The relay optical system 12 may form a plurality of intermediate images in the relay optical system 12 in transferring (or inverting) the first intermediate image 1:1 to the image side of the relay optical system 12 to form the second intermediate image.

The magnification unit 15 transmits the second intermediate image to the first imaging unit 13 and the second imaging unit 14 to generate magnified images of the target object, i.e., a first image and a second image, in the first imaging unit 13 and the second imaging unit 14, respectively. In some embodiments, the second intermediate image may be formed at the focal plane of the object side of the amplifying unit 15, such that the light rays forming the second intermediate image, after passing through the amplifying unit 15, form parallel light (i.e., imaging the second intermediate image at infinity), which may be captured by the first imaging unit 13 and the second imaging unit 14 at the same time, respectively generating the first image and the second image. That is, the first image capturing unit 13 and the second image capturing unit 14 can capture the second intermediate image by the amplifying unit 15 at the same time, and based on the principle of linear propagation of light, the object planes of the target object are actually captured by the first image capturing unit 13 and the second image capturing unit 14, whereby the first image and the second image can be generated based on the object planes of the target object, respectively.

In some embodiments, the distance between the first imaging unit 13 and the second imaging unit 14 is less than or equal to 3mm. In one example, the distance is 3mm, in another example, the distance is 2mm, and in one example, the distance is 0.5mm.

Referring to fig. 2, in some embodiments, the first image capturing unit 13 includes a first image capturing lens 131 and a first imaging sensor 132; the magnification unit 15 and the first imaging lens 131 form a first magnification means for transmitting light reflected by the object to be observed collected at the distal end portion of the endoscope by the objective lens 11 transmitted by the relay optical system 12 onto the first imaging sensor 132 to form a first image; the first image is an enlarged image of the target object.

Referring to fig. 3, the second image pickup unit 14 includes a second image pickup lens 141 and a second imaging sensor 142; the magnifying unit 15 and the second imaging lens 141 form second magnifying means for transmitting the light collected by the objective lens 11 transmitted by the relay optical system 12 at the distal end portion of the endoscope onto the second imaging sensor 142 to form the second image; the second image is an enlarged image of the target object.

In this embodiment, the amplifying unit 15 and the first imaging lens 131 form a first amplifying device, that is, the amplifying unit 15 and the first imaging lens 131 are integrally designed as a first amplifying device, the first amplifying device is in a form of a liste-like microscope objective, the outgoing light of the amplifying unit 15 is parallel light, and the parallel light enters the first imaging lens 131 and is focused on the first imaging sensor 132 to form an image.

Similarly, the amplifying unit 15 and the second imaging lens 141 form a second amplifying device, that is, the amplifying unit 15 and the second imaging lens 141 are integrally designed as a second amplifying device, the second amplifying device is also in a form of a liste-like microscope objective, the emergent light of the amplifying unit 15 is parallel light, and the parallel light enters the second imaging lens 141 to be converged on the second imaging sensor 142 for imaging.

In this embodiment, the amplifying unit 15 and the first imaging lens 131 are integrally designed as a first amplifying device, and the amplifying unit 15 and the second imaging lens 141 are integrally designed as a second amplifying device, so that the intrinsic imaging lenses of the first imaging unit 13 and the second imaging unit 14 can be fully utilized, and an amplified image is formed on the first imaging sensor 132 and the second imaging sensor 142 by matching with the amplifying unit 15, thereby reducing the use of the optical devices by the amplifying unit 15 itself, shortening the length of the amplifying unit 15, shortening the length of the endoscope as a whole, being beneficial to reducing the manufacturing cost of the endoscope, and facilitating the use and operation of the endoscope.

In some examples, the first and second imaging lenses 131 and 141 may be imaging lenses having an imaging resolution of 1080P, respectively. In other examples, the first imaging lens 131 and the second imaging lens 141 may be imaging lenses with an imaging resolution of 4K, respectively. In still other examples, the first imaging lens 131 and the second imaging lens 141 may be imaging lenses with an imaging resolution of 8K, respectively.

In some examples, the first imaging sensor 132 and the second imaging sensor 142 may be a CCD (Charge-coupled Device), respectively. In other examples, the first imaging sensor 132 and the second imaging sensor 142 may be CMOS (Complementary Metal Oxide Semiconductor ) respectively.

In some embodiments, the imaging resolution of the first and second imaging lenses 131 and 141 may be 4K, and the size of the first and second imaging sensors 132 and 142 may be 1"/1.8, 1"/3, 1"/2.5, or 1"/2, respectively.

In other embodiments, the imaging resolution of the first and second imaging lenses 131 and 141 may be 720P, and the size of the first and second imaging sensors 132 and 142 may be 1"/18 or 1"/12.

In some embodiments, the first imaging unit 13 and the second imaging unit 14 are rotatable together about the optical axis of the magnification unit 15. In other words, the objective lens 11, the relay optical system 12, and the magnification unit 15 may be rotated together by an angle around the optical axis of the magnification unit 15 while keeping the first imaging unit 13 and the second imaging unit 14 stationary. The objective lens 11, the relay optical system 12 and the amplifying unit 15 are also integrally designed, and the three can be physically connected together and have fixed relative positions.

When the objective lens 11 has a viewing angle (for example, a viewing angle of 30 degrees, 45 degrees, 50 degrees, 70 degrees, or the like) at which a subject can be strapped, the viewing range of the objective lens 11 can be changed by rotating the integrated structure of the objective lens 11, the relay optical system 12, and the magnification unit 15 about the optical axis of the magnification unit 15 (i.e., the optical axis of the relay optical system 12).

In this case, since the first image capturing unit 13 and the second image capturing unit 14 are kept stationary, for example, the planes in which the optical axes of the first image capturing unit 13 and the second image capturing unit 14 are located are kept always in the horizontal direction, the orientation of the object image obtained by the first image capturing unit 13 and the second image capturing unit 14 can be kept unchanged (for example, always in the upright direction), so that the observer can observe the image always in the upright direction, and the problem that the obtained image is rotated along with the rotation of the objective lens 11, the relay optical system 12, and the amplifying unit 15 around the optical axis of the amplifying unit 15 to obtain different fields of view is avoided, and even the imaging failure occurs.

In some embodiments, the light exit angle of the optical amplification system 22 is 15 ° or more.

In some embodiments, the amplifying unit 15 in the optical amplifying system 22 may amplify the exit angle of the light passing through the amplifying unit 15, so that a spot required to satisfy the aperture of the first image capturing unit 13 and the second image capturing unit 14 may be obtained at a smaller exit pupil distance.

In some embodiments, the light exit angle of the amplifying unit 15 is 15 ° or more. In some embodiments, the light exit angle of the amplifying unit 15 may range from 15 ° to 70 °. In one example, the light exit angle of the amplifying unit 15 is 15 °, 20 °, or 25 °; in another example, the light exit angle of the amplifying unit 15 is 30 °; in yet another example, the light exit angle of the amplifying unit 15 is 35 °; in yet another example, the light exit angle of the amplifying unit 15 is 40 °.

The exit pupil distance is the axial distance between the lens closest to the image side in the optical magnification system 22 and the lens closest to the object side in the camera in the first imaging unit 13 or the second imaging unit 14.

In some embodiments, the exit pupil distance of the optical magnification system 22 is 5mm or more.

As an alternative embodiment, the exit pupil distance of the magnification unit 15 is 5mm or more. In some embodiments, the exit pupil distance of the magnification unit 15 may be in the range of 5mm-50mm. In one example, the exit pupil distance of the magnification unit 15 is 5mm, 10mm, 15mm or 20mm; in another example, the exit pupil distance of the magnification unit 15 is 25mm; in yet another example, the exit pupil distance of the magnification unit 15 is 30mm; in yet another example, the exit pupil distance of the magnification unit 15 is 40mm.

In one example, the exit pupil distance of the amplifying unit 15 is more than 30mm, and the spot size is 26mm, so that the aperture of two groups of 4K imaging lenses can be satisfied.

In some embodiments, the exit pupil distance of the amplifying unit 15 may be adjustable, and the adjustable range may be ±2mm, for compensating the system processing error and the adjustment error.

To obtain a larger exit angle, in some embodiments the overall optical power of the magnification unit 15 is negative.

Referring to fig. 4, in an embodiment, the amplifying unit 15 includes a first amplifying unit 151, a second amplifying unit 152, and a third amplifying unit 153. Wherein, the first amplifying unit 151, the second amplifying unit 152 and the third amplifying unit 153 are all double cemented lenses, and are in a liste-like structure.

The first magnification unit 151 includes a first lens having negative optical power and a second lens having positive optical power, and an image side surface of the first lens and an object side surface of the second lens are cemented with each other to constitute a first cemented lens. The object side surface of the first lens is a concave surface, and the image side surface of the first lens is a concave surface; the object side surface of the second lens is a convex surface, and the image side surface of the second lens is a convex surface.

In some examples, the ratio of the focal length of the first lens to the effective aperture of the object-side surface is preferably (-3.40, -2.95), and the refractive index of the first lens is preferably greater than 1.7. The ratio of the focal length of the second lens to the effective aperture of the object-side surface is preferably (2.95,2.70), and the refractive index of the second lens is preferably greater than 1.6.

In some embodiments, the abbe numbers of the first lens and the second lens satisfy the following requirements:

vd2-vd1>15；

where vd1 is the d-line dispersion coefficient of the first lens and vd2 is the d-line dispersion coefficient of the second lens.

Through the ratio of the focal length of the first lens and the second lens to the effective caliber of the object side surface, and the combination of the refractive index and the Abbe number (also called a dispersion system, which is used for indicating the index of the dispersion capability of the transparent medium, the smaller the numerical value is and the more dispersion phenomenon is, the increase of edge aberration (coma, chromatic aberration of magnification, astigmatism and field area) caused by the increase of the field of view of the system can be greatly reduced, the problems of tail sweeping, blurring of edge blurring and the like can be avoided, and high-quality images with color difference reduction and real imaging focus can be generated.

The second magnification unit 152 includes a third lens having positive optical power and a fourth lens having negative optical power, and an image side surface of the third lens and an object side surface of the fourth lens are cemented with each other to constitute a second cemented lens. The object side surface of the third lens is a convex surface, and the image side surface of the third lens is a convex surface; the fourth lens element has a concave object-side surface and a convex image-side surface.

In some examples, the ratio of the focal length of the third lens to the effective aperture of the object-side surface is preferably (2.76,2.93), and the refractive index of the third lens is preferably greater than 1.6; the ratio of the focal length of the fourth lens element to the effective aperture of the object-side surface is preferably (-3.15, -2.78), and the refractive index of the fourth lens element is preferably greater than 1.5.

In some embodiments, the abbe numbers of the third lens and the fourth lens satisfy the following requirements:

vd3-vd4>20；

where vd3 is the d-line dispersion coefficient of the third lens and vd4 is the d-line dispersion coefficient of the fourth lens.

Through the ratio of the focal length of the third lens and the fourth lens to the effective caliber of the object side surface and the matching of the refractive index and the Abbe number, the increase of the edge aberration caused by the increase of the system view field can be greatly reduced, the problems of tail sweeping, edge blurring, blurring and the like can be avoided, and a high-quality image with chromatic aberration reduction and real imaging focus can be generated.

The third magnification unit 153 includes a fifth lens having negative optical power and a sixth lens having negative optical power; the image side surface of the fifth lens and the object side surface of the sixth lens are mutually glued to form a third gluing mirror. The object side surface of the fifth lens is a concave surface, and the image side surface of the fifth lens is a convex surface; the object side surface of the sixth lens is a concave surface, and the image side surface of the sixth lens is a convex surface.

In some examples, the ratio of the focal length of the fifth lens to the effective aperture of the object-side surface is preferably (-2.10, -1.94), and the refractive index of the fifth lens is preferably greater than 1.5; the ratio of the focal length of the sixth lens element to the effective aperture of the object-side surface is preferably (-3.91, -2.88), and the refractive index of the sixth lens element is preferably greater than 1.6.

In some embodiments, the abbe numbers of the fifth lens and the sixth lens satisfy the following requirements:

vd6-vd5>10；

where vd5 is the d-line dispersion coefficient of the fifth lens and vd6 is the d-line dispersion coefficient of the sixth lens.

Through the ratio of the focal length of the fifth lens and the sixth lens to the effective caliber of the object side surface and the collocation of the refractive index and the Abbe number, the increase of edge aberration (coma, multiplying power chromatic aberration, astigmatism and field area) caused by the increase of the system field is greatly reduced, the problems of tail sweeping, edge blurring and the like are avoided, and a high-quality image with chromatic aberration reduction and real imaging focus is generated.

Referring to fig. 5, in some embodiments, the rotatable 3D endoscope 10 may further comprise: an insertion tube 16, an enlargement unit support 17, and a photographing unit support 18.

The objective lens 11 and the relay optical system 12 in the embodiment shown in fig. 1 are provided in the insertion tube 16, wherein the objective lens 11 is provided at the distal end of the insertion tube 16. The rotation of the objective lens 11, the relay optical system 12, and the magnification unit 15 can be achieved by rotating the insertion tube 16.

The first end of the amplifying unit support 17 is connected to the proximal end of the insertion tube 16, and the amplifying unit 15 shown in fig. 1 is provided in the amplifying unit support 17.

The first end of the image pickup unit support 18 is connected to the second end of the magnification unit support 17; the first imaging unit 13 and the second imaging unit 14 in the embodiment shown in fig. 1 are arranged side by side on an imaging unit support 18.

In some embodiments, the rotatable 3D endoscope 10 may further include a handle 19, the handle 19 being connected to the second end of the camera unit support 18.

In some embodiments, the imaging unit support 18 is rotatable about the optical axis of the magnification unit 15. In other words, with the imaging unit support 18 held stationary, the insertion tube 16 can be rotated by an angle about the optical axis of the magnification unit 15, and the field of view of the objective lens 11 can be changed.

In this case, since the image capturing unit support 18 is kept stationary, that is, the first image capturing unit 13 and the second image capturing unit 14 are kept stationary, for example, the plane in which the optical axes of the first image capturing unit 13 and the second image capturing unit 14 are located is kept always in the horizontal direction, so that the orientation of the object image obtained by the first image capturing unit 13 and the second image capturing unit 14 is kept unchanged (for example, always in the upright direction), the observer can observe the image always in the upright direction, and the problem that the obtained image is rotated as well by rotating the insertion tube 16 around the optical axis of the amplifying unit 15 in order to obtain different fields of view is avoided.

Referring to fig. 6, in some embodiments, a first end of the camera unit support 18 is detachably connected with a second end of the magnification unit support 17.

In one example, the end of the second end of the magnification unit support 17 has a snap projection for snapping into the first end of the imaging unit support 18; the first end of the camera unit support 18 has a bayonet for receiving the snap projection, and the edge of the bayonet is provided with an elastic snap (not shown in the figures). The clamping protrusion is inserted into the bayonet in a state that the first end of the photographing unit supporting member 18 is connected with the second end of the amplifying unit supporting member 17, and the elastic clamping member clamps the clamping protrusion into the bayonet.

In one example, the resilient clip may include a clip tab and a return spring. The side wall of the bayonet is provided with a notch for installing the clamping piece. The clamping piece comprises a pressing part, a hinge part and a clamping part, wherein the hinge part is positioned between the pressing part and the clamping part. The clamping piece is arranged in the notch, hinged at the bayonet through the hinge part and connected with the reset elastic piece (such as a torsion spring). Under the natural state, the pressing part protrudes out of the notch, and the clamping part stretches into the bayonet. The pressing part is pressed and moves downwards, and the clamping part is retracted from the inside of the bayonet through leverage. And the pressing part is released and moves towards the outside of the notch under the action of the reset elastic piece, and the clamping part stretches into the bayonet through leverage.

Referring to fig. 7 and 8, in one embodiment, the camera unit support 18 may include an endoscope bayonet 181, a focus conduit 182, a lens stack 183, a connection mount 185, a focus handwheel 186, and a sensor support 187. The endoscope bayonet 181 is connected to the focusing guide 182, and can be fixedly connected by a screw, for example. A lens group sleeve 183 is provided in the focusing guide 182 for supporting the first imaging lens 131 and the second imaging lens 141. A sensor support 187 is provided at one end of the lens stack 183 for supporting the first imaging sensor 132 and the second imaging sensor 142.

The tail end of the focusing catheter 182 is connected with the handle 19 through the connecting seat 183, for example, the focusing catheter 182 and the handle 19 can be respectively connected with two ends of the connecting seat 183 through threads. When the trailing end of the focusing catheter 182 is coupled to the handle 19, the sensor support 187 is positioned within the cavity of the handle 19. The first imaging sensor 132 and the second imaging sensor on the sensor support 187 may be connected to an external image processing device through data lines.

In some examples, the lens stack 183 includes a first lens stack mount and a second lens stack mount, the first lens stack mount and the second lens stack mount being fixedly connected by screws.

Referring to fig. 9, in one example, the lens stack 183 includes a first fixing hole 1831 and a second fixing hole 1832, the first imaging lens 131 is disposed in the first fixing hole 1831, and the second imaging lens 141 is disposed in the second fixing hole 1832.

The focusing handwheel 186 is sleeved on the focusing guide tube 182. Teeth are arranged on the focusing hand wheel 186; a slotted hole is arranged on the focusing guide pipe; the first end of the guide post (not shown) is connected to the lens assembly 183 through the slot, and the second end is engaged with the teeth of the focusing catheter 182, such that when the focusing hand wheel 186 is rotated, the focusing hand wheel 186 drives the guide post to move together, and the rotation of the guide post is limited by the slot, so that the guide post can only move horizontally, thereby driving the lens assembly 183 to move along the axial direction of the focusing catheter 182. Rotating the focusing handwheel 186 clockwise drives the lens stack 183 forward in the axial direction of the focusing catheter 182, and rotating the focusing handwheel 186 counterclockwise drives the lens stack 183 backward in the axial direction of the focusing catheter 182.

In order to provide illumination to the objective lens 11 at the distal end of the endoscope insertion tube 16, in some embodiments, an illumination fiber is provided within the insertion tube 16.

In one example, a fiber seat 20 may be provided on the insertion tube 16, with a through hole provided on the fiber seat 20. The insertion tube 16 has an optical fiber hole communicating with a through hole in the optical fiber holder 20, and an optical fiber for illumination can be inserted into the through hole and the optical fiber hole. The optical fiber holder 20 may be provided at a position where the insertion tube 16 is connected to the amplifying unit 15.

In the above embodiment, the first end of the image pickup unit support 18 is detachably connected to the second end of the magnification unit support 17. The present utility model is not limited thereto. In other embodiments, the first end of the camera unit support 18 and the second end of the magnification unit support 17 may also be fixedly connected.

In some embodiments, the first image capturing unit 13 and the second image capturing unit 14 may capture the third intermediate image through the amplifying unit 15 at the same time, and based on the principle of linear propagation of light, the first image capturing unit 13 and the second image capturing unit 14 actually capture object planes of the target object, thereby generating the first image and the second image based on the object planes of the target object, respectively. The third intermediate image is an image generated at the imaging plane on the image side of the amplifying unit 15 after the second intermediate image is amplified by the amplifying unit 15, and is an amplified image of the second intermediate image.

One or more embodiments of the utility model can be applied to related departments of endoscopes, and can also replace the prior operation microscope. In one or more embodiments of the present utility model, the field angle of the objective lens may be greater than 50 degrees relative to existing surgical microscopes, and more spatial range may be seen during surgery than in existing surgical microscopes, thereby allowing more information to be obtained about the site being observed.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (10)

1. An optical 3D endoscope, comprising: an objective lens, an optical amplifying system, a first camera unit and a second camera unit;

the objective lens is arranged at the distal end of the endoscope;

the optical amplifying system is arranged at the image side of the objective lens;

the first image pickup unit and the second image pickup unit are arranged on the image side of the optical amplifying system side by side, and the light passing apertures of the first image pickup unit and the second image pickup unit are positioned in the light spot range of emergent light of the optical amplifying system.

2. The optical 3D endoscope of claim 1, wherein the optical magnification system comprises a relay optical system and magnification unit;

the relay optical system is arranged at the image side of the objective lens;

the amplifying unit is arranged at the image side of the relay optical system;

the first image pickup unit and the second image pickup unit are arranged on the image side of the amplifying unit side by side, and the light transmission apertures of the first image pickup unit and the second image pickup unit are positioned in the light spot range of the emergent light of the amplifying unit;

the optical 3D endoscope further includes:

an insertion tube in which the objective lens and the relay optical system are disposed, wherein the objective lens is disposed at a distal end of the insertion tube;

the first end of the amplifying unit support is connected with the proximal end of the insertion tube, and the amplifying unit is arranged in the amplifying unit support;

the first end of the camera unit support is connected with the second end of the amplifying unit support; the first image pickup unit and the second image pickup unit are arranged side by side on the image pickup unit support member.

3. The optical 3D endoscope of claim 2, wherein the first imaging unit comprises a first imaging lens and a first imaging sensor; the amplifying unit and the first camera lens form a first amplifying device, and the first amplifying device is used for transmitting the light reflected by the object to be observed, which is collected by the objective lens transmitted by the relay optical system at the distal end part of the endoscope, to the first imaging sensor;

the second imaging unit comprises a second imaging lens and a second imaging sensor; the magnification unit and the second imaging lens form second magnification means for transmitting the light collected at the distal end portion of the endoscope by the objective lens transmitted by the relay optical system to the second imaging sensor.

4. The optical 3D endoscope of claim 2, wherein the first imaging unit and the second imaging unit are rotatable together about an optical axis of the magnification unit.

5. The optical 3D endoscope of claim 1, wherein the light exit angle of the optical magnification system is 15 ° or more.

6. The optical 3D endoscope of claim 1, wherein an exit pupil distance of the optical magnification system is 5mm or more.

7. The optical 3D endoscope of claim 2, wherein the overall optical power of the magnification unit is negative.

8. The optical 3D endoscope of claim 7, wherein the amplifying unit comprises a first amplifying unit, a second amplifying unit, and a third amplifying unit; wherein,

the first amplifying unit comprises a first lens with negative focal power and a second lens with positive focal power, and the image side surface of the first lens and the object side surface of the second lens are glued with each other to form a first gluing mirror;

the second amplifying unit comprises a third lens with positive focal power and a fourth lens with negative focal power, and the image side surface of the third lens and the object side surface of the fourth lens are mutually glued to form a second gluing mirror;

the third magnification unit includes a fifth lens having negative optical power and a sixth lens having negative optical power; and the image side surface of the fifth lens and the object side surface of the sixth lens are mutually glued to form a third gluing mirror.

9. The optical 3D endoscope of claim 2, wherein the imaging unit support is rotatable about an optical axis of the magnification unit.

10. The optical 3D endoscope of claim 2, wherein the first end of the camera unit support is detachably connected to the second end of the magnification unit;

the end part of the second end of the amplifying unit support piece is provided with a clamping protrusion used for clamping into the first end of the shooting unit support piece;

the first end of the shooting unit supporting piece is provided with a bayonet for accommodating the clamping protrusion; the edge of the bayonet is provided with an elastic clamping piece;

the first end of the shooting unit supporting piece is connected with the second end of the amplifying unit, the clamping protrusion is inserted into the bayonet, and the elastic clamping piece clamps the clamping protrusion into the bayonet.