DE102010004349A1 - Endoscopic instrument for use in medical device to examine cavities in inner body of human, has projection device for converting light produced by light source into projection light that is discharged from distal end to produce projection - Google Patents

Abstract

The instrument (1) has a shaft (3) with a proximate end (5) and a distal end (7), and a light source (13) i.e. laser light source, arranged at the proximate end of the shaft for producing light. A projection device (15) converts the light produced by the light source into projection light that is discharged from the distal end of the shaft for producing a projection, where the light produced by the light source is guided to the projection device. A combining optic is arranged between the light source and a micro mirror of a reflectance device of the projection device. An independent claim is also included for a medical device comprising a tracking system for determining a position of an endoscopic instrument.

Description

The present invention relates to an endoscopic instrument according to the preamble of claim 1, as well as a medical device with such an endoscopic instrument.

Endoscopic devices for the investigation of the body interior of living organisms but also for the investigation of technical cavities are well known.

In minimally invasive medical procedures on living organisms, only a few sensors are available inside the body to obtain information about the operating environment. Also, the possibility for a simple comparison of the real operating environment with preoperative planning data obtained, for example, by computed tomography or magnetic resonance tomography, is not given. Even if the endoscope position is known by an external tracking system or robot-based interventions via the robot kinematics, however, a comparison with the planning data is desirable in order to improve minimally invasive interventions.

It is therefore an object of the present invention to provide an endoscopic instrument, as well as a medical device with endoscopic instrument, in which an adjustment with planning data inside the body of a living organism or in a technical cavity is possible when using an endoscopic instrument.

To achieve the object serve the features of claim 1 and claim 17th

According to the invention, in an endoscopic instrument having a shaft with a proximal and a distal end, wherein the shaft has at least one light guide device, and with at least one light source for generating light, wherein the light source is arranged at the proximal end of the shaft, provided that Projection device which converts the light generated by the at least one light source into a light emerging from the distal end of the instrument projection light for generating a projection, wherein the light generated by the at least one light source is conductive to the projection device.

By means of the present projection device for converting the light into at least one light source into a projection light emerging from the distal end of the instrument, it is possible to produce a projection with the endoscopic instrument in the inside of the body of a living organism or in a technical cavity. As a result, for example, planning data can be projected onto the operating environment in the case of minimally invasive medical interventions. As a result, the planning data are available during the medical intervention and a comparison with the planning data is made possible. The accuracy of the medical procedure can thus be significantly increased. At the same time, it is possible to display marking points in the operating environment via the projection device, which enable further optical measuring methods.

The planning data are transmitted to the projection device, for example via a computer unit connected to the endoscopic instrument and the projection device.

The endoscopic instrument according to the invention also makes it possible to measure the operating environment with the aid of the endoscopic instrument and a further endoscopic camera by, for example, projecting a corresponding projection light onto the surgical environment via the projection device and being detected by the endoscopic camera. This makes it possible, for example, to record the surfaces of the operating environment three-dimensionally.

It is preferably provided that the projection device has a reflection device. The reflection device can consist of at least one movable micromirror.

With the aid of a reflection device and in particular a reflection device comprising at least one movable micromirror, a projection device with very small dimensions can be created so that it can be integrated into the shaft of the endoscopic instrument, for example.

In this case, three light of different color generating light sources and a Kombinieroptik be provided, the Kombinieroptik is disposed between the light sources and the micromirror and the light of different color is steered by the Kombinieroptik on the micromirror. With the aid of the combination optics, the light of different color can thus be converted into a light of almost any desired color, which is then directed by means of the micromirror to a corresponding point of the projection. In this way, it is possible to produce a projection which is, for example, a color image. The light sources, the combination optics and the micromirrors are adapted to one another in such a way that a plurality of pixels located side by side and one above the other are projected via the movement of the micromirror of the entire image to be projected. In this case, the projection device, in particular the micromirrors, is so fast that the human eye perceives the projected pixels as an overall image.

In an alternative embodiment, the reflection device may consist of at least one micromirror actuator. With the aid of the micromirror actuator, which consists of an array of micromirrors and provided with an alternative possibility of providing a projection device of small dimensions, which can provide a projection of projection light emerging from the distal end of the instrument.

It can be provided that the projection device has a Mikrospiegelaktor and a color wheel with color filters, wherein the color wheel is arranged with color filters between the light source and the Mikrospiegelaktor, such that the light from the light source via the color wheel hits the Mikrospiegelaktor. By providing a color wheel with color filters, the light source can be embodied as a monochromatic light source, since the conversion of the light necessary for the color image takes place via the color filters. Furthermore, only a micromirror actuator is required, so that the device complexity is kept low in such a projection device.

The micromirrors of the micromirror actuator reflect the light colored by the color filters to the corresponding image locations to produce a pixel of the image to be projected. In order to produce mixed colors of a pixel, light of different colors can be directed to the corresponding image point in rapid succession, the two colored light beams transmitted in quick succession due to the inertia of the human eye being perceived as a mixed color. The individual micro-mirrors of the microactuator can assume two different states, namely a state in which the light is reflected in the direction of the image to be projected and a state in which no light is reflected in the direction of the light to be projected.

In an alternative embodiment of the endoscopic instrument according to the invention, it is possible to provide three light sources producing different color, wherein the projection apparatus has three micromirror actuators, and in each case the light from one light source strikes one of the micromachine gel actuators. The micro-mirror actuators reflect the light of the three different light sources simultaneously in this embodiment. To produce mixed colors, the micromirror actuators reflect at least two light sources onto the light spot, so that the human eye combines the two colors of the different light sources into the mixed color. In particular, by the use of three micro-mirror actuators and three different light sources, the risk of occurrence of a rainbow effect, which can occur when using a single micro-mirror actuator can be avoided, since with three micro-mirror actuators in a simple manner, the light of different colors of the three light sources radiated simultaneously can be. The Regenborgeneffekt can occur because different detection frequencies of the eye can be present in humans.

In one embodiment of the invention, it can be provided that the at least one light-guiding device is a lens optic. With the help of the lens optics, the light can be passed through the shaft in an advantageous manner. This may be particularly advantageous if the projection device is arranged at the proximal end of the shaft, so that the projection light must be passed through the shaft to produce a projection.

In a particularly preferred embodiment, it is provided that the shaft has a first and a second light-guiding device, which are each formed by a light channel, wherein the light-guiding channels each have a lens optic. It can be provided that the at least one light source and the projection device are arranged at the proximal end of the shaft on the first light-guiding device and that the light sensor device, preferably a camera, is arranged at the proximal end of the shaft on the second light-guiding device.

In this way, the endoscopic instrument according to the invention not only enables the projection of an image, for example in an operating environment, but at the same time the operating environment can be recorded with the light sensor device. In this case, for example, the endoscopic instrument can be used to measure the operating environment by receiving the projection light from the light sensor device and utilizing it accordingly. The operating environment can thus be measured without the use of an additional endoscope. At the same time it is also possible that with the aid of the endoscopic instrument the instrument position relative to, for example, an organ in the operating environment can be determined. The provision of light guide channels, each with a lens optic as the first and second light guide device advantageously allows the projection light introduced by the projection device at the proximal end of the shaft to emerge almost unchanged at the distal end of the shaft, wherein light entering the distal end of the shaft simultaneously arrives at the light sensor device almost unchanged at the proximal end of the shaft.

In an alternative embodiment it can be provided that a first light-guiding device consists of at least one light guide, in which the light of the at least one light source can be introduced. By providing a light guide, through which the light of the light source can be passed, it is made possible that the projection device can also be arranged in the shaft of the endoscope, for example at the distal end. The light of the light source is then passed over the light guide, for example, on the consisting of a micro-mirror actuator and a color wheel projection device.

It can also be provided that the first light guide device consists of three light guides, wherein in each light guide the light of a different light source can be introduced. The introduced into the different light guide light can have a different color.

This makes it possible that the projection device may for example consist of three micro-game actuators, wherein the light of each light guide is directed in each case to a micro-mirror actuator. There is also the possibility that the three light guides are connected to a combination optics, which directs the light onto a micromirror.

In one embodiment of the invention it can be provided that light sources producing light of different colors guide the light into a combining optical system and the combining optical system is connected to the optical waveguide, via which the light emitted by the combining optical system to a movable micromirror, for example in the shaft, is preferably at the distal end of the shaft, is arranged, is passed.

In one exemplary embodiment of the invention, it can be provided that the reflection device is arranged at the proximal end of the shaft and that the projection light can be introduced into the light-guiding device at the proximal end of the shaft.

Alternatively it can be provided that the reflection device is arranged in the shaft, preferably at the distal end of the shaft. In this embodiment, it is thus possible that the entire projection device or only the reflection device of the projection device is arranged in the shaft. For example, a portion of the projection device may be disposed at the proximal end of the shaft, such as the combination optics, and only the reflective device is disposed at the distal end of the shaft. As a result, the space required at the distal end of the shaft is kept as small as possible.

In the exemplary embodiment of the endoscopic instrument according to the invention, in which a first light-guiding device is provided from at least one light guide, a second light-guiding device can also be arranged in the shaft, wherein preferably the second light-guiding device consists of a light channel with lens optics and preferably a light sensor device, such as a light guide Camera, is arranged at the proximal end of the shaft on the second light-guiding device.

At least one light source of the endoscopic instrument according to the invention may be a laser light source.

The invention further provides a medical device with an endoscopic instrument according to the invention. The medical device can therefore also be a medical robot with an endoscopic instrument according to the invention.

It can be provided that the medical device has a tracking system for determining the position of the endoscopic instrument in the room. This makes it possible that always the position of the endoscopic instrument and in particular of the distal end of the shaft can be determined, whereby the endoscopic instrument according to the invention can be used in a particularly advantageous manner. The position of the distal end of the shaft in space is advantageous, for example, when planning data is to be projected onto the operating environment.

Show it:

1 a schematic representation of a medical device according to the invention with endoscopic instrument according to the invention,

2 a schematic representation of a second embodiment of a medical device according to the invention with inventive endoscopic instrument and

3 a schematic representation of a third embodiment of a medical device according to the invention with inventive endoscopic instrument.

In 1 is a first embodiment of a medical device according to the invention 100 with an endoscopic instrument according to the invention 1 shown schematically. The endoscopic instrument has a shaft 3 on, the one proximal end 5 and a distal end 7 has.

In the shaft 3 is a light guide device 9 arranged in 1 schematically indicated by two lenses and by a dotted line light rays is indicated. The light-guiding device 9 directs light at the proximal end 5 of the shaft 3 is initiated along the shaft 3 and emits this at the distal end 7 from. The distal end 7 of the stem is part of the endoscopic instrument that can be inserted into an operating environment in a living organism or in a technical cavity.

At a proximal end 5 of the shaft 3 is a housing 11 arranged that in 1 is shown schematically. In the case 11 is a light source 13 arranged to generate light and a projection device 15 for converting the from the light source 13 generated light in a projection light to produce a projection. The light is from the light source 13 to the projection device 15 passed and converted there into the projection light. From the projection device, the projection light becomes the proximal end 5 of the shaft 3 introduced and via the light guide to the distal end 7 of the shaft 3 directed. At the distal end 7 of the shaft 3 The projection light exits and generates in the operating environment or in the technical cavity into which the endoscopic instrument 1 is introduced, a projection.

In the case 11 can be next to the light source 13 and the projection device 15 even more elements in 1 not shown are arranged, such as the power supply or a computing unit, the projection data to the projection device 15 directs and controls these.

The light source 13 may be a laser light source. In one embodiment, three light sources may be provided, each generating light of different colors.

The projection device 15 may comprise a reflection device and consist for example of a movable micromirror. Alternatively, the reflection device may also consist of a micromirror actuator or three micromirror actuators.

In the embodiment in which three light sources are provided which generate light of different color, a combination optics, not shown, is provided between the light sources and the projection device, which can combine the light of different color to mixed colors. From the combination optics, the light is then directed to, for example, the movable micromirror. The movable micromirror is then moved and generates the individual pixels of the image to be projected. The movement is so fast that the pixels of the image to be projected, which are generated from individual short-time light beams, are perceived by the weary eye of the observer as an overall image. In other words, the projection light emitted by the projection device consists of a multiplicity of short light pulses.

As described above, the reflection device of the projection device 15 also consist of one or more micro-mirror actuators. A micromirror actuator is an array of multiple micromirrors, each micromirror being illuminated and, in binary fashion, reflecting light either in the direction of the image to be projected or not.

In the embodiment in which the projection device 15 has only a micro-mirror actuator, it is advantageous if a color wheel with color filters between the light source and the micro-mirror actuator is arranged so that with the aid of the color filter, the light can be colored. Each micromirror of the micromirror actuator is responsible for one pixel of the image to be projected. The micromirror of the micromirror actuator, as well as the color wheel is so fast that practically several fields are emitted successively, which are perceived by the sluggish human eye as an overall picture. Thus, in this exemplary embodiment, the light-conducting device successively passes a plurality of partial images consisting of parallel short light pulses from the proximal end 5 of the shaft 3 to the distal end 7 ,

There is also the possibility that three light of different color generating light sources, as well as three micro-mirror actuators in the projection device 15 are provided, wherein in each case the light of one of the light sources hits one of the micro-mirror actuators and reflected by this. The generation of the projection light and thus of the image to be projected functions in a similar manner as described above with respect to a micromirror actuator, the three micromirror actuators each having a plurality of micromirrors each responsible for one pixel of the image to be projected. Of the micro-mirror actuators, the light of the three light sources is partially reflected simultaneously in the direction of the image to be projected, the light of two or even three micromirrors of the three micromirror actuators can be reflected at the same time in place of the pixel to produce mixed colors of a pixel, so that the human eye perceives this pixel as a mixed color.

The light-guiding device 9 can be a lens optic. Alternatively, the light guide 9 be designed as a light guide, wherein the line, that a projection image generating project light through the shaft 3 the optical fiber must have a corresponding plurality of fibers.

With the help of the endoscopic instrument according to the invention 1 or the medical device according to the invention 100 with endoscopic instrument according to the invention 1 it is possible to project a projection image into an operating environment in the case of, for example, a minimally invasive medical operation or into a technical cavity, for example by making it possible to provide planning data in the surgical environment during a medical operation. It is also possible, for example, to show markings in the operating environment or in the technical cavity. In the case of medical use, the surgeon can, for example, be provided with information about the operating area or for training purposes via the endoscopic instrument according to the invention.

In 2 is a second embodiment of a medical device according to the invention 100 shown schematically with endoscopic instrument according to the invention. This in 2 The utterance example shown has substantially the same elements as that in FIG 1 illustrated embodiment. This in 2 illustrated embodiment differs from the in 1 illustrated embodiment essentially in that the shaft 3 two light-guiding devices 9 each having a Lichtleitkanal, 17a . 17b are formed. In the light guide 9 passing through the first light guide channel 17a is formed at the proximal end 5 of the shaft 3 the projection light from a projection device 15 initiated. The projection device 15 It converts light from one or more light sources 13 to the projection device 15 is conducted in the projection light. This can be in terms of 1 done manner described. The light-guiding devices 9 are in that 2 illustrated embodiment, for example, designed as a lens optics. That from the distal end 7 of the shaft 3 emerging projection light generated in use now in the operating environment or in a technical cavity a projection. From the surface on which the projection is generated, the projection light is at least partially reflected. This light can enter through the second Lichtleitkanal 17b formed second light guide 9 to the proximal end 5 of the shaft 3 be directed. In the case 11 is therefore at the proximal end 5 of the shaft 3 a light sensor device 19 , which may be, for example, a camera arranged, which by the second Lichtleitkanal 17b transmitted light detected.

In this way, it is possible not only to project a projection into, for example, the operating environment, but the projection environment can also be detected by means of the light sensor device 19 added. For example, it is also possible to measure the operating environment with the aid of the endoscopic instrument according to the invention by detecting the projection light emitted by the projection device from the light sensor device and thus detecting the operating region in three dimensions, for example. By such or similar measurement, it is also possible, for example, the position of the distal end 7 of the shaft 3 in the operating environment or in the technical cavity.

In 3 is a third embodiment of the endoscopic instrument according to the invention or the medical device according to the invention 100 shown schematically. This embodiment differs from the two embodiments described above essentially in that the projection device 15 not near the light source 13 or light sources 13 is arranged, but outside the housing 11 in the shaft 3 is arranged. Preferably, the projection device is at the distal end 7 of the shaft 3 arranged. One or more light sources 13 are at the proximal end 5 of the shaft of the housing 11 arranged and guide the light generated by the light sources 13 in the proximal end 5 of the shaft 3 , About the light guide 9 the light becomes the projection device 15 and converted from this in the manner described above into a projection light, which at the distal end 7 of the shaft 3 exit. The light-guiding device may in this embodiment, for example, consist of a light guide such as a gas-fiber cable. The light guide may comprise one or more fibers. This embodiment has the advantage that lower demands on the light guide device 9 must be made, as this transmits the light generated by the light source and not as in the embodiments described above, that of the projection device 15 emitted projection light.

The one or more light sources 13 can be laser light sources. In this case, laser light of different colors can be used.

The endoscopic instrument can be robot-assisted or guided by hand. There is also the possibility that the shaft 3 is flexible.

The position of the endoscopic instrument in space can also be determined by the tracking and kinematics of the robot via a tracking system or in robot-assisted use. To support or replace this system, there is also the possibility that, as described above, the position can be determined by the detection of the projection light by a separate light sensor device. Of course, it is also possible to use the endoscopic instrument according to the invention with an endoscopic instrument, which may for example also be an endoscopic camera. In this way, the endoscopic instruments according to the invention, which do not have their own light sensor device, are suitable for the measurement.

Claims (18)

Endoscopic instrument ( 1 ) - with a shaft ( 3 ) with a proximal end ( 5 ) and a distal end ( 7 ), wherein the shaft at least one light guide device ( 9 ), and - with at least one light source ( 13 ) for generating light, the light source at the proximal end ( 5 ) of the shaft ( 3 ) is characterized by - a projection device ( 15 ) for converting the from the at least one light source ( 13 ) generated light from the distal end ( 7 ) of the shaft ( 3 ) projecting light for generating a projection, wherein the light to the projection device ( 15 ) is conductive. Endoscopic instrument according to claim 1, characterized in that the projection device ( 15 ) has a reflection device. Endoscopic instrument according to claim 2, characterized in that the reflection device consists of at least one movable micromirror. Endoscopic instrument according to claim 3, characterized by light sources (3) producing different colors of light ( 13 ) and a combination optics, wherein the combining optics between the light sources ( 13 ) And the micromirror is arranged such that the light of different color is steerable by the combining optics on the movable micromirror. Endoscopic instrument according to claim 2, characterized in that the reflection device consists of at least one micro-mirror actuator. Endoscopic instrument according to claim 5, characterized in that the projection device ( 15 ) has a Mikrospiegelaktor and a color wheel with color filters, wherein the color wheel with color filters between the light source and the Mikrospiegelaktor is arranged such that the light of the light source via the color wheel on the Mikrospiegelaktor hits. Endoscopic instrument according to claim 5, characterized by three light sources of different color ( 13 ), wherein the projection device ( 15 ) has three micro-mirror actuators, and wherein in each case the light of one of the light sources strikes one of the micro-mirror actuators. Endoscopic instrument according to one of claims 1 to 7, characterized in that the at least one light guide device ( 9 ) is a lens optic. Endoscopic instrument according to one of claims 1 to 7, characterized in that the shaft ( 3 ) a first and a second light guide device ( 9 ), each formed by a Lichtleitkanal, the Lichtleitkanäle each having a lens optics. Endoscopic instrument according to claim 9, characterized in that the at least one light source ( 13 ) and the projection device ( 15 ) at the proximal end ( 5 ) of the shaft ( 3 ) at the first light guide device ( 9 ) and that a light sensor device, preferably a camera, at the proximal end of the shaft on the second light guide ( 9 ) is arranged. Endoscopic instrument according to one of claims 1 to 7, characterized in that a first light guide device ( 9 ) consists of at least one light guide, preferably in the light of the at least one light source ( 13 ) can be introduced. Endoscopic instrument according to claim 11, characterized in that the light-guiding device ( 9 ) consists of three light guides, wherein in each light guide the light of a different light source ( 13 ) can be introduced. Endoscopic instrument according to one of claims 1 to 11, characterized in that the reflection device at the proximal end ( 5 ) of the shaft ( 3 ) and the projection light at the proximal end ( 5 ) of the shaft ( 3 ) in the light guide device ( 9 ) can be introduced. Endoscopic instrument according to one of claims 1 to 11, characterized in that the reflection device is arranged in the shaft, preferably at the distal end of the shaft. Endoscopic instrument according to one of claims 11 to 14, characterized in that a second light guide device ( 9 ) in the shaft ( 3 ), wherein preferably the second optical waveguide device ( 9 ) is a light channel with lens optics and preferably a light sensor device at the proximal end ( 5 ) of the shaft ( 3 ) on the second light guide device ( 9 ) is arranged. Endoscopic instrument according to one of claims 1 to 15, characterized in that the at least one light source ( 13 ) is a laser light source. Medical device ( 100 ) with an endoscopic instrument ( 1 ) according to one of claims 1 to 16. Medical device according to claim 17, characterized by a tracking system for determining the position of the endoscopic instrument ( 1 ) in the room.

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