Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/06—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
  • A61B1/0623—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 for off-axis illumination
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/00064—Constructional details of the endoscope body
  • A61B1/00071—Insertion part of the endoscope body
  • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
  • A61B1/00096—Optical elements
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/00163—Optical arrangements
  • A61B1/00174—Optical arrangements characterised by the viewing angles
  • A61B1/00179—Optical arrangements characterised by the viewing angles for off-axis viewing
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/00163—Optical arrangements
  • A61B1/00174—Optical arrangements characterised by the viewing angles
  • A61B1/00181—Optical arrangements characterised by the viewing angles for multiple fixed viewing angles
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/06—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
  • A61B1/0605—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 for spatially modulated illumination
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/06—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
  • A61B1/0607—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 for annular illumination
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/06—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
  • A61B1/0646—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 with illumination filters
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • A61B1/227—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 for ears, i.e. otoscopes
• • G—PHYSICS
  • G02—OPTICS
  • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
  • G02B17/00—Systems with reflecting surfaces, with or without refracting elements
  • G02B17/08—Catadioptric systems
• • G—PHYSICS
  • G02—OPTICS
  • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
  • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
  • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
  • G02B23/2407—Optical details
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • 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
  • 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

Definitions

• the invention relates to an endoscope for measuring the
• Patent claim 1 and a method for measuring the topography of a surface according to claim 20 are often based on the
• the invention has for its object to provide an endoscope for the measurement of surface topography, which claimed over the prior art, a smaller space and is able, for example in the
• the object is achieved in an endoscope having the features of patent claim 1 and in a method having the features of patent claim 20.
• the endoscope according to the invention for measuring the topography of a surface comprises a projection unit and an imaging unit.
• the endoscope is characterized in that the projection unit and the imaging unit
• projection unit and imaging unit which are arranged axially one behind the other on an axis (endoscope axis), allows, with a suitable design of the projection lens or the
• the imaging unit can basically be in the same viewing direction with respect to the endoscope axis
• the imaging unit can also be arranged counter to the viewing direction of the projection unit.
• viewing direction is understood to mean the direction along the endoscope axis into which the endoscope is guided.
• Imaging unit are created advantageous possibilities for the design of the measuring unit, which will be discussed further below. Furthermore, a much higher number of color-coded patterns is available for the so-called color-coded triangulation, which allows a more accurate measurement of the topography of the surface
• projection beams of the projection unit extend radially laterally past the imaging unit and emerge laterally from an endoscope wall.
• the endoscope outer material is therefore made optically transparent, as a rule, glass or transparent plastic, such as
• Plexiglass is used.
• the radial lateral exit of the projection beams represents an embodiment which allows the projection beams to exit the endoscope and to impact the surface without being obstructed by the imaging unit.
• the light supply of the projection unit via an optical waveguide or optical fiber bundle.
• the light can be fed into the optical waveguide, for example by an LED.
• Optical waveguide is also space-saving, furthermore, in the field of endoscope measurement and no heat is radiated by a lighting means, which in medical
• Projection structure is provided with a color coding.
• This projection structure can be called radially symmetric
• Structure be designed, especially if the
• Lighting unit in the form of an optical waveguide with is designed round cross-section.
• the projection structure is expediently designed in the form of a slide.
• the slide comprises at least in an outer region a plurality of concentric color rings.
• These color rings serve as color coding, the more color rings can be mounted on the slide or on the projection structure, the larger the measuring range of individual measurements, which leads to the fact that so-called feature tracking can be dispensed with.
• the projection structure in particular the slide, is in a preferred embodiment directly in front of the
• Optical waveguide arranged, wherein the projection beams extend perpendicularly through the projection structure.
• the respective main rays of the bundles are perpendicular to the slide and intersect in the pupil of the projection optics. From there, the main rays (which are parts of the projection rays) diverge and emerge from the endoscope wall and subsequently strike the surface to be measured.
• Such a telecentric projection unit also saves installation space, since it is possible to dispense with a so-called collimation optics.
• the imaging unit of the endoscope includes a
• Imaging medium which is preferably designed in the form of a sensor chip of a digital camera.
• the imaging unit also has imaging optics that can detect a field of view that is adjusted in terms of size to the projection area.
• the intersection of the field of view and the projection area defines the measuring range.
• the imaging optics has a curved mirror and a
• planar mirror wherein the curved mirror is convex in the direction of the planar mirror.
• the planar mirror redirects the imaging rays once more so that they pass through a central aperture in the image plane
• the imaging medium is in this case with respect to the viewing direction of the endoscope behind the
• the imaging unit is arranged arched mirror.
• the imaging beams are redirected through the central aperture in the domed mirror directly or indirectly to the imaging medium.
• the field of view of the imaging unit can be made very large. It is a field angle of more than 180 ° possible.
• the imaging medium is arranged with respect to a viewing direction of the endoscope axis behind the imaging optics. The imaging unit thus has a viewing direction which coincides with the viewing direction of the endoscope.
• the imaging unit Turn the imaging unit over so that it is positioned opposite to the viewing direction of the endoscope.
• the imaging medium is located with respect to
• planar mirror also has a
• central opening which serves for the passage of light rays. It is about
• Objects or surfaces are taken in the direction of the endoscope and through the opening of the planar
• Magnification can serve an additional lens arrangement in the region of the opening.
• the endoscope can be used by this measure both as a camera endoscope and as a measuring endoscope.
• a method according to claim 2 is part of the invention.
• the inventive method is used to measure the topography of a surface by means of an endoscope according to one of claims 1 to 19.
• Projection rays laterally radially emerge from an endoscope wall the projection beams are reflected by a surface to be measured and are imaged by an imaging unit in the endoscope planar on an imaging medium, wherein the imaging unit with respect
• Endoscope axis is arranged in front of the projection unit.
• FIG. 1 a schematic representation of a measuring endoscope with a projection unit and an imaging unit for measuring a surface parallel to the endoscope axis
• Endoscope axis Figure 3 is a schematic representation of an endoscope, wherein
• FIG. 4 a schematic representation of the projection unit with beam path
• Figure 5 is a schematic representation of the beam path of
• Figure 6 is a schematic three-dimensional transparent
• FIG. 7 shows a three-dimensional transparent representation of a
• Figure 8 is a schematic representation of the beam path of the
• Endoscope with a construction of projector unit
• FIGS. 1 and 2 show the structure of a 3D measuring endoscope with a projector unit 6 and an imaging unit 8, which lie one behind the other on an endoscope axis 10.
• the endoscope 2 whose outer wall 14 (cf., for example, FIG. 6) is not explicitly shown in these figures, serves to measure a surface 4
• Surface 4 as shown in Figure 1, be a channel, such as a hearing channel of a human ear or a borehole, which is why the wall 4 schematically in Figure 1
• optionally different color spectra include emitted. These projection beams 12 strike the surface 4 and are reflected there. The
• both the projection beams 12 and the field of view 34 which are shown in two dimensions in FIGS. 1 and 2, are rotationally symmetrical in three dimensions in reality.
• the area that is encompassed by both the projection beams 12 and the field of view 34, ie the area in which the projection beams 12 and the field of view 34 intersect, is called the measuring area 54 which enters the
• Figures 1 and 2 is shown hatched.
• a measurement by a triangulation method can only take place in the region in which projection beams 12 and field of view 34 intersect.
• Projection unit 6 and the imaging unit 8 on the endoscope axis 10 of the beam path described in Figures 1 and 2 can be achieved. It is expedient here for the projection beams 12 to be guided past the imaging unit 8 radially laterally by suitable projection optics. The projection beams emerge from a wall not shown here (cf., for example, reference numeral 14 in FIG. 6) and strike the surface 4 to be measured.
• the visual field 34 of the imaging unit 8 can be more than 180 °. It is expedient that the field of view 34 in principle has a larger angle than the maximum angle which is enclosed by the projection beams. About the embodiment of an imaging optics, which provides such a field of view 34, will be discussed later.
• FIG. 3 is to be treated at this point, which likewise shows a measuring endoscope 2 which has the same series construction (or series construction) of projection unit 6 and imaging unit 8 on an endoscope axis 10, the projection unit 6 corresponds to the projection unit 6 of FIGS. 1 and 2 , also the ray path of the
• Figures 1 and 2 is that the imaging unit 8 is practically rotated by 180 ° and is configured in the field of view 34 so that the viewing direction of
• Imaging unit 8 opposite to the viewing direction 11 of the endoscope 2 is arranged. The measurement of
• Triangulation method is analogous to Figures 1 and 2. It arises again in the intersection between the
• an additional camera lens with image sensor can be accommodated at the end of the endoscope 2.
• the projection unit 6 comprises a Light source, here in an advantageous manner in the form of an optical waveguide or optical fiber bundle 16th
• the light source is preceded by a projection structure 20, which is designed here as a slide 22.
• the slide 22 in FIG. 4 has a plurality of concentric color rings 24.
• FIG. 4 shows, in addition to the cross section through the slide 22, a plan view of the slide 22, which serves to better illustrate the arrangement of the concentric color rings 24.
• the projection structure 20 can be
• Colored rings 24 (usually between 15 and 25 pieces,
• the projection beams 12, which come from the optical waveguide 16 and which are emitted in this example by an LED, not shown here, run almost vertically through the slide 22, are by a suitable
• Projection optics 18 deflected and meet in a pupil 26 to each other so that each main rays in the
• Pupil 26 almost punctiform meet. This is called a dia doctor telecentric projector unit.
• Projection rays 12 on their color again and hit as a color pattern on the surface to be measured 4.
• the surface 4 to be measured is now shown in FIG. 4 as a circular field. The fanning of the
• Projection beams 12 results in a so-called
• Projection space 36 Due to the irregular topography of the surface 4 (which is not illustrated here) meet the once parallel with radiographs of the slide 22
• Projection beams 12 at different distances from Projection lens on the surface 4. From another line of sight, the projection image reflected on the surface 4 appears distorted and is due to a still
• Projection beams 12 will be referred to as
• Imaging rays 42 The imaging beams 42 strike a curved mirror 38, which is convexly curved in the viewing direction 11 of the endoscope.
• the curved mirror 38 reflects the imaging beams 42 in the viewing direction 11 of the endoscope 2 onto a further planar mirror 40, which in turn reflects the imaging beams once more. This second reflection of the imaging beams 42 is directed such that the reflected beams 42 are directed through an aperture 44 in the domed mirror 38.
• a lens 56 is provided, through which the beams 42 continue through an achromat 58 and finally hit an imaging medium 28, which is configured in this example as a sensor chip 30, such as he is also used in digital cameras, for example.
• Sensor chip 30 to be arranged parallel to the endoscope axis. This means that a surface normal of the sensor chip 30
• FIG. 6 in order to better illustrate the hitherto abstract representation of the beam paths in the endoscope 2, a three-dimensional transparent representation of an endoscope 2 in an end region is provided.
• This structure of Figure 6 corresponds to the beam paths, as shown in Figures 1 and 2.
• the beam paths of the imaging beams 42 are not completely shown in this illustration for the sake of clarity (for this see FIG. 8).
• FIG. 6 in turn, only the beam paths are schematic
• the endoscope has a diameter which is preferably between 3 mm and 5 mm.
• the projection unit is usually about 10 mm long.
• the projection unit 6 radiates the projection beams 12 through the endoscope wall 14 radially outward. This one
• the projection beams emerge rotationally symmetrically from the endoscope 2.
• the projection beams 12 are reflected and recorded by the imaging unit 8.
• the imaging unit 8 is on the endoscope axis 10 in FIG.
• Viewing direction 11 is arranged in front of the projection unit 6.
• the preposition "before” means that the imaging unit 8 is arranged with respect to the projection unit 6 on the endoscope axis in the arrow direction of the arrow 11. In this sense, the preposition "before” is used in the following.
• the imaging beams 42 (not shown here, see FIG. 8) are directed onto the sensor chip 30 via the curved mirror 38 and the planar mirror 34, wherein they are in this embodiment can still be deflected via a prism 46 on the sensor chip 30.
• FIG. 7 A basically identical arrangement with respect to FIG. 6 is given in FIG. The illustrated in Figure 7
• Embodiment makes it possible, however, in addition to the endoscope objects 60, which are in the viewing direction 11 of the endoscope to record. The way how this extra feature of the endoscope objects 60, which are in the viewing direction 11 of the endoscope to record.
• FIG. 8 has the same beam path of the projection beams 12 and the imaging beams 42, as shown in FIGS. 1, 2, 4, 5, 6 and 7.
• the projection unit 18 projects colored projection beams 12 over one
• Projection optics 18 radially on the imaging unit 8 past the surface 4.
• the surface 4 reflects the
• Projection beams 12 in the form of imaging beams 42 which are received and deflected over the curved mirror 38 and impinge on the sensor chip 30 via the planar mirror 40 through an opening 44 in the curved mirror 38.
• the image on the sensor chip 30 also takes place only in the outer region of the sensor chip.
• the central area of the sensor chip is through the beam path of the
• Projection beams 12 and the imaging beams 42 are not exposed.
• the planar mirror 40th also to be provided with a central opening 48 through which light rays 50 can pass, which are reflected by objects 60 and which are arranged in the viewing direction 11 of the endoscope 2. These light rays 50 also pass through the opening 48 of the planar mirror through the opening 44 of the curved mirror 38 and then hit in the
• the area of the sensor chip 30 can thus serve for the visualization of the objects 60 lying in the viewing direction 11 of the endoscope.
• the endoscope 2 thus has a dual function as a camera and as a measuring endoscope for determining the surrounding topography.
• the operator can control the endoscope simultaneously
• the scattered light of the projection beams is sufficient to illuminate objects 60 in front of the endoscope.
• the frame rate could be reduced to up to 2 Hz. Should the light be used to observe the
• Items 60 may be too low, may be in the front
• Endoscope area can be attached to an additional lighting unit.
• the shutter opening time is about 10 ms.
• Imaging rays 42 are measured.
• FIG. 9 shows a three-dimensional, transparent representation of a
• Endoscope 2 according to Figure 3 offers. As already described, The structure of the endoscope 2 according to Figure 3 differs from Figures 1 and 2 only in that the
• Imaging unit 8 is rotated with respect to their viewing direction by 180 ° to the viewing direction 11 of the endoscope.
• the imaging unit of Figure 9 also has a curved mirror 38, which serves, a field of view of more than 180 ° C
• the imaging beams 42 are directed by imaging optics 32 to the sensor chip 30 and detected there. It is also expedient, in a measuring endoscope according to FIG. 9 in front of the imaging unit, to have one more, not here
• the endoscope has a receiving unit, which optionally includes a separate sensor chip and a separate optics and which is used specifically to optically detect objects that lie in front of the endoscope.
• the endoscope has a
• Measuring function for measuring the surface topography and a visual function, through which the user can look well into the room to be measured and can steer the endoscope.
• the previously described arrangement of the measuring endoscope 2 can basically be used for all measurements in narrow cavities
• a particularly advantageous application of the endoscope 2 is in the form of a suitable for measurement purposes
• Otoscope which is inserted into an ear and for measuring the auditory canal or (see Figure 2) for measuring the
• Auricle for example, for the preparation of a suitable hearing aid, is shown.
• the already described, so-called color coded triangulation has the
• the projection of a coded color pattern with only one image acquisition of the receiving unit (imaging unit 8) is sufficient to the 3D shape of an object

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• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• Surgery (AREA)
• Physics & Mathematics (AREA)
• Optics & Photonics (AREA)
• Biomedical Technology (AREA)
• Animal Behavior & Ethology (AREA)
• Radiology & Medical Imaging (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Engineering & Computer Science (AREA)
• Biophysics (AREA)
• Heart & Thoracic Surgery (AREA)
• Medical Informatics (AREA)
• Molecular Biology (AREA)
• Pathology (AREA)
• General Health & Medical Sciences (AREA)
• Public Health (AREA)
• Veterinary Medicine (AREA)
• General Physics & Mathematics (AREA)
• Astronomy & Astrophysics (AREA)
• Endoscopes (AREA)
• Instruments For Viewing The Inside Of Hollow Bodies (AREA)

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• 2009
  • 2009-09-30 DE DE102009043523A patent/DE102009043523A1/de not_active Withdrawn
• 2010
  • 2010-09-29 WO PCT/EP2010/064428 patent/WO2011039235A1/de active Application Filing
  • 2010-09-29 EP EP10760334A patent/EP2482707A1/de not_active Withdrawn
  • 2010-09-29 JP JP2012531398A patent/JP5815531B2/ja not_active Expired - Fee Related
  • 2010-09-29 US US13/498,984 patent/US20120190923A1/en not_active Abandoned

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