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
  • A61B1/00163—Optical arrangements
  • A61B1/00193—Optical arrangements adapted for stereoscopic vision
• • 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
  • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
• • 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
  • A61B1/002—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 having rod-lens arrangements
• • 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
  • A61B1/07—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B11/00—Measuring arrangements characterised by the use of optical techniques
  • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B11/00—Measuring arrangements characterised by the use of optical techniques
  • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
  • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
• • G—PHYSICS
  • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
  • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
  • G03B35/00—Stereoscopic photography
  • G03B35/08—Stereoscopic photography by simultaneous recording
• • G—PHYSICS
  • G02—OPTICS
  • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
  • G02B21/00—Microscopes
  • G02B21/06—Means for illuminating specimens
• • 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
  • G02B23/2461—Illumination

Definitions

• This invention relates generally to generating three-dimensional image information and more particularly to illuminating a field of view of an optical system for generating three-dimensional image information.
• Optical instruments such as microscopes, endoscopes, and borescopes for viewing objects that are located in difficult to access locations will generally require illumination of the field of view of the instrument to facilitate formation of useable images.
• a stereoscopic viewing system provides stereoscopic viewing using a two dimensional lens system, without the need for duplicated imaging paths and/or cameras.
• the stereoscopic views provide left and right perspective views that may be viewed or processed to provide a three-dimensional (3D) image representation.
• 3D three-dimensional
• light for illuminating the field of view may be coupled through optical fibers that are peripherally routed through a bore of the instrument.
• a method for generating three dimensional image information through an optical system having an imaging path defined by a plurality of optical elements disposed to capture light within a field of view of the optical system involves coupling the illumination flux through at least one illuminating portion of the imaging path to illuminate at least a portion of the field of view of the optical system, and receiving first and second images through respective first and second imaging portions of the imaging path, the first and second imaging portions being disposed adjacent to the at least one illuminating portion.
• the first imaging portion has a first perspective viewpoint within the field of view and the second imaging portion has a second perspective viewpoint within the field of view, the first and second images together being operable to represent three dimensional spatial attributes of objects within the illuminated field of view.
• Coupling the illumination flux through the at least one illuminating portion of the imaging path may involve coupling the illumination flux through at least one generally rectangular portion of the imaging path defined between two generally parallel lines extending through the imaging path.
• Coupling the illumination flux through the at least one generally rectangular portion of the imaging path may involve coupling the illumination flux through a generally rectangular portion surrounding an optical axis associated with the imaging path and receiving the first and second images may involve receiving first and second images through respective first and second imaging portions of the imaging path disposed on either side of the generally rectangular portion.
• Coupling the illumination flux through the at least one generally rectangular portion of the imaging path may involve coupling the illumination flux through first and second generally rectangular portions disposed on either side of an optical axis associated with the imaging path and receiving the first and second images may involve receiving first and second images through respective first and second imaging portions of the imaging path disposed between the first and second generally rectangular portions.
• the plurality of optical elements have a generally circular cross-sectional shape and coupling the illumination flux through the at least one illuminating portion of the imaging path may involve coupling the illumination flux through first and second segments of the imaging path disposed on either side of an optical axis associated with the imaging path and receiving the first and second images may involve receiving first and second images through respective first and second imaging portions of the imaging path disposed between the first and second segments of the imaging path.
• Coupling the illumination flux through the at least one illuminating portion of the imaging path may involve coupling the illumination flux through at least one generally circular portion of the imaging path.
• Coupling the illumination flux through the at least one generally circular portion of the imaging path may involve coupling the illumination flux through a generally circular portion of the imaging path surrounding an optical axis of the imaging path and receiving the first and second images may involve receiving first and second images through respective first and second imaging portions of the imaging path disposed on either side of the generally circular portion.
• Coupling the illumination flux through the at least one illuminating portion of the imaging path may involve coupling the illumination flux through at least one illuminating portion of a first optical element of the plurality of optical elements.
• Coupling the illumination flux through the at least one illuminating portion of the first optical element may involve coupling the illumination flux through at least one illuminating portion of at least one of an objective lens, and a window disposed to transmit light from the field of view into the imaging path.
• Coupling the illumination flux through the at least one illuminating portion may involve coupling the illumination flux through a centrally disposed opening in the at least one of the objective lens and the window.
• Coupling the illumination flux through the at least one illuminating portion of the imaging path may involve receiving the illumination flux from an illumination source and guiding the illumination flux to the at least one illuminating portion of the imaging path.
• Guiding the illumination flux may involve guiding the illumination flux through one of an optical fiber bundle and a waveguide.
• the method may involve receiving the first and second images at an image sensor and causing the image sensor to generate first and second signals representing the respective first and second images.
• the method may involve receiving the first and second signals at a display and causing the display to display the first and second images.
• the method may involve selectively directing the first image to a left eye of an operator and selectively directing the second image to a right eye of the operator.
• the display may be operably configured to simultaneously display each of the first and second images and may further involve preventing the first image from reaching the right eye of the operator and preventing the second image from reaching the left eye of the operator while permitting the first image to reach the left eye of the operator and permitting the second image to reach the right eye of the operator.
• Receiving the first and second images through first and second imaging portions of the imaging path may involve alternating between preventing light from reaching the first imaging portion of the imaging path and preventing light from reaching the second imaging portion of the imaging path.
• Receiving the first and second images may involve simultaneously receiving the first and second images through the first and second imaging portions of the imaging path and may further involve alternating between preventing light passing through the first imaging portion of the imaging path from being transmitted through the optical system, and preventing light passing through the second imaging portion the imaging path from being transmitted through the optical system.
• Receiving the first and second images may involve simultaneously receiving the first and second images through the first and second imaging portions of the imaging path and simultaneously transmitting the first and second images through the optical system, simultaneously receiving the first and second images transmitted through the optical system at an image modulator, and causing the image modulator to selectively transmit the respective first and second images.
• Causing the image modulator to selectively transmit the respective first and second images may involve causing the image modulator to alternately block light associated with the first image while transmitting light associated with the second image, and block light associated with the second image while transmitting light associated with the first image.
• Causing the image modulator to selectively transmit the respective first and second images may involve causing the image modulator to modify a state of light associated with the first image to have a first optical state, modify a state of light associated with the second image to have a second optical state, and the first and second optical states may be operable to facilitate separation of the first and second images into first and second images at an image sensor disposed to receive the first and second images.
• Causing the image modulator to modify the state of light associated with the first and second images to have respective first and second optical states may involve causing the image modulator to modify a polarization state of the respective first and second images.
• an apparatus for generating three dimensional image information includes an optical system having an imaging path disposed to capture light within a field of view of the optical system.
• the imaging path includes at least one illuminating portion operably configured to couple the illumination flux to illuminate at least a portion of the field of view of the optical system.
• the apparatus also includes an image modulator operably configured to cause first and second images to be received through respective first and second imaging portions of the imaging path, the first and second imaging portions being disposed adjacent to the at least one illuminating portion.
• the first imaging portion has a first perspective viewpoint within the field of view and the second imaging portion has a second perspective viewpoint within the field of view, the first and second images together being operable to represent three dimensional spatial attributes of objects within the illuminated field of view.
• the at least one illuminating portion may include at least one generally rectangular portion of the imaging path defined between two generally parallel lines extending through the imaging path.
• the at least one generally rectangular portion of the imaging path may include a generally rectangular portion surrounding an optical axis associated with the imaging path and the image modulator may be operably configured to cause the first and second images to be received through respective first and second imaging portions of the imaging path disposed on either side of the generally rectangular portion.
• the at least one generally rectangular portion may include first and second generally rectangular portions disposed on either side of an optical axis associated with the imaging path and the image modulator may be operably configured to cause the first and second images to be received through respective first and second imaging portions of the imaging path disposed between the first and second generally rectangular portions.
• the plurality of optical elements have a generally circular cross-sectional shape and the at least one illuminating portion of the imaging path may include first and second segments of the imaging path disposed on either side of an optical axis associated with the imaging path and the image modulator may be operably configured to cause the first and second images to be received through respective first and second imaging portions of the imaging path disposed between the first and second segments of the imaging path.
• the at least one illuminating portion of the imaging path may include at least generally circular portion of the imaging path.
• the at least one generally circular portion of the imaging path may include a generally circular portion of the imaging path surrounding an optical axis of the imaging path.
• the at least one illuminating portion of the imaging path may include at least one illuminating portion of a first optical element of the plurality of optical elements.
• the at least one illuminating portion of the first optical element may include at least one illuminating portion of at least one of an objective lens, and a window disposed to transmit light into the imaging path.
• the at least one illuminating portion of the objective lens may include a centrally disposed opening in the at least one of the objective lens, and the window.
• the apparatus may include an illumination source, and an illumination path operably configured to receive the illumination flux from the illumination source and to guide the illumination flux to the illuminating portion of the imaging path.
• the illumination path may include one of an optical fiber bundle and a waveguide.
• the apparatus may include an image sensor for receiving the first and second images and generating first and second signals representing the respective first and second images.
• the apparatus may include a display for receiving the first and second signals and displaying the first and second images.
• the apparatus may include an optical processor operably configured to selectively direct the first image to a left eye of an operator and to selectively direct the second image to a right eye of the operator.
• the display may be operably configured to simultaneously display each of the first and second images and the optical processor may be operably configured to prevent the first image from reaching the right eye of the operator and to prevent the second image from reaching the left eye of the operator while permitting the first image to reach the left eye of the operator and permitting the second image to reach the right eye of the operator.
• the image modulator may be disposed to alternate between preventing light from reaching the first imaging portion of the imaging path and preventing light from reaching the second imaging portion of the imaging path.
• the optical system may be operably configured to simultaneously receive the first and second images through the first and second imaging portions of the imaging path and the image modulator may be operably configured to alternate between preventing light passing through the first imaging portion of the imaging path from being transmitted through the optical system, and preventing light passing through the second imaging portion the imaging path from being transmitted through the optical system.
• the optical system may be operably configured to simultaneously receive the first and second images through the first and second imaging portions of the imaging path and to simultaneously transmit the first and second images through the optical system and the image modulator may be disposed to simultaneously receive the first and second images transmitted through the optical system and to selectively transmit the respective first and second images.
• the image modulator may be operably configured to selectively transmit the respective first and second images by alternately blocking light associated with the first image while transmitting light associated with the second image, and blocking light associated with the second image while transmitting light associated with the first image.
• the image modulator may be operably configured to selectively transmit the respective first and second images by modifying a state of light associated with the first image to have a first optical state, modifying a state of light associated with the second image to have a second optical state, and the first and second optical states may be operable to facilitate separation of the first and second images into first and second images at an image sensor disposed to receive the first and second images.
• the image modulator may be operably configured to modify the state of light associated with the first and second images by modifying a polarization state of the respective first and second images.
• a method for generating three dimensional image information using an optical system having an imaging path disposed to capture light within a field of view of the optical system involves alternating between receiving a first image through a first portion of the imaging path while directing the illumination flux through a second portion of the imaging path to illuminate a first portion of the field of view of the optical system.
• the first portion of the imaging path has a first perspective viewpoint within the field of view.
• the method also involves receiving a second image through a second portion of the imaging path while directing the illumination flux through the first portion of the imaging path to illuminate a second portion of the field of view of the optical system.
• the second portion of the imaging path has a second perspective viewpoint within the field of view.
• the first and second images together are operable to represent three dimensional spatial attributes of objects within the field of view.
• Receiving the first and second images may involve receiving first and second images through an elongated imaging path operable to capture light from an inaccessible location.
• the inaccessible location may be a location within a living body.
• the method may involve generating an illumination flux and directing the illumination flux through the first and second portions of the imaging path to illuminate the respective first and second portions of the field of view may involve selectively actuating a modulator disposed in the imaging path to alternate between transmitting the first image while reflecting at least a portion of the illumination flux through the second portion of the imaging path to illuminate the first portion of the field of view, and transmitting the second image while reflecting at least a portion of the illumination flux through the first portion of the imaging path to illuminate the second portion of the field of view.
• Selectively actuating the modulator may involve selectively actuating a mechanical shutter to move between a first position the shutter blocks transmission of the second image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the second portion of the field of view, and a second position the shutter blocks transmission of the first image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the first portion of the field of view.
• Selectively actuating the modulator may involve selectively actuating a light valve to alternately block transmission of the second image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the second portion of the field of view, and block transmission of the first image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the first portion of the field of view.
• Directing the illumination flux through the first and second portions of the imaging path to illuminate the respective first and second portions of the field of view may involve alternating between selectively actuating a first illuminator disposed to illuminate the first portion of the field of view while selectively actuating a modulator to transmit the first image through the imaging path, and selectively actuating a second illuminator disposed to illuminate the second portion of the field of view while selectively actuating the modulator to transmit the second image through the imaging path.
• Selectively actuating the first and second illuminators may involve selectively actuating first and second illuminators disposed proximate an aperture plane of the optical system.
• Selectively actuating the first and second illuminators may involve selectively actuating respective first and second light emitting diodes.
• Selectively actuating the modulator may involve causing a shutter to move between first and second positions within the imaging path.
• the first portion of the field of view of the optical system and the second portion of the field of view of the optical system have an overlapping region within the field of view.
• Directing the illumination flux through the respective first and second portions of the imaging path may involve receiving the illumination flux from an illumination source and selectively guiding the illumination flux to the respective first and second portions of the imaging path.
• Selectively guiding the illumination flux may involve guiding the illumination flux into an optical fiber bundle having first and second respective pluralities of fibers, the first plurality of fibers being disposed to illuminate the first portion of the field of view and the second plurality of fibers being disposed to illuminate the second portion of the field of view.
• the method may involve selectively directing the first image to a left eye of the operator and selectively directing the second image to a right eye of the operator.
• Selectively directing may involve presenting each of the first and second images to each of the left and right eyes of the operator, and preventing the first image from reaching the right eye of the operator and preventing the second image from reaching the left eye of the operator while permitting the first image to reach the left eye of the operator and the second image to reach the right eye of the operator.
• Selectively directing may involve alternating between permitting the first image to be transmitted through the optical system and permitting the second image to be transmitted through the optical system while alternating between selectively permitting the first image to reach the left eye of the operator and selectively permitting the second image to reach the right eye of the operator.
• an apparatus for generating three dimensional image information includes an optical system having an imaging path disposed to capture light within a field of view of the optical system, an image modulator operably configured to cause first and second images to be received through respective first and second imaging portions of the imaging path, the first portion of the imaging path having a first perspective viewpoint within the field of view, the second portion of the imaging path having a second perspective viewpoint within the field of view, an illuminator operably configured to alternate between directing the illumination flux through a second portion of the imaging path to illuminate a first portion of the field of view of the optical system while the first image is being received, and directing the illumination flux through the first portion of the imaging path to illuminate a second portion of the field of view of the optical system, while the second image is being received, the first and second images together being operable to represent three dimensional spatial attributes of objects within the field of view.
• the imaging path may include an elongated imaging path operable to capture light from an inaccessible location.
• the inaccessible location may be a location within a living body.
• the illuminator may include an illumination source operable to generate an illumination flux and the modulator may be operably configured to alternate between transmitting the first image while reflecting at least a portion of the illumination flux through the second portion of the imaging path to illuminate the first portion of the field of view, and transmitting the second image while reflecting at least a portion of the illumination flux through the first portion of the imaging path to illuminate the second portion of the field of view.
• the modulator may include a mechanical shutter operably configured to move between a first position the shutter blocks transmission of the second image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the second portion of the field of view, and a second position the shutter blocks transmission of the first image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the first portion of the field of view.
• the modulator may include a light valve operably configured to alternately block transmission of the second image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the second portion of the field of view, and block transmission of the first image through the imaging path while reflecting the illumination flux through the imaging path to illuminate the first portion of the field of view.
• the illuminator may include a first illuminator disposed to illuminate the first portion of the field of view while receiving the first image through the imaging path, and a second illuminator disposed to illuminate the second portion of the field of view while receiving the second image through the imaging path.
• the first and second illuminators may be disposed proximate an aperture plane of the optical system.
• the first and second illuminators may include respective first and second light emitting diodes.
• the modulator may include a shutter operably configured to move between first and second positions within the imaging path.
• the first portion of the field of view of the optical system and the second portion of the field of view of the optical system have an overlapping region within the field of view.
• the illuminator may include an illumination source for generating the illumination flux, and a guide operable to selectively guide the illumination flux to the respective first and second portions of the imaging path.
• the guide may include an optical fiber bundle having first and second respective pluralities of fibers, the first plurality of fibers being disposed to illuminate the first portion of the field of view and the second plurality of fibers being disposed to illuminate the second portion of the field of view.
• the apparatus may include provisions for selectively directing the first image to a left eye of the operator and provisions for selectively directing the second image to a right eye of the operator.
• the provisions for selectively directing may include provisions for presenting each of the first and second images to each of the left and right eyes of the operator, and provisions for preventing the first image from reaching the right eye of the operator and preventing the second image from reaching the left eye of the operator while permitting the first image to reach the left eye of the operator and the second image to reach the right eye of the operator.
• the modulator is operably configured to alternate between permitting the first image to be transmitted through the optical system and permitting the second image to be transmitted through the optical system and the provisions for selectively directing may include provisions for alternating between selectively permitting the first image to reach the left eye of the operator and selectively permitting the second image to reach the right eye of the operator.
• Figure 1 is a side view of an apparatus for generating three dimensional image information according to a first embodiment of the invention
• Figure 2A - 2D are a series of cross sectional views of the apparatus shown in
• Figure 3 is an enlarged side view of two portions of the apparatus shown in
• Figure 4 is a perspective view of an image modulator and image sensor used in the apparatus shown in Figure 1 ;
• Figure 5 is a partially cut-away perspective view of a liquid crystal device used in the modulator shown in Figure 4;
• Figure 6 is a schematic view of an optical system of the apparatus shown in
• Figure 7 is a side view of an apparatus for generating three dimensional image information according to an alternative embodiment of the invention.
• Figure 8 is block diagram of a spatial modulator used in the apparatus shown in Figure 7;
• Figure 9 is a graphical depiction of control signals for controlling the spatial modulator shown in Figure 8;
• Figure 10 is a side view of an apparatus for generating three dimensional image information according to another alternative embodiment of the invention.
• the apparatus 100 includes an optical system 102 having an imaging path defined by a plurality of optical elements.
• the plurality of optical elements defining the imaging path are disposed within an elongated housing 108 and include a first optical element 104, which in this embodiment is an objective lens, field lenses 112 and 114, and a plurality of relay lenses 116 - 122.
• the first optical element 104 may be a window and the lens 112 may be configured to act as an objective lens.
• Other elements in the plurality of optical elements may vary from that shown in Figure 1.
• the apparatus 100 also includes an image sensor 110, which in this embodiment is located some distance away from the objective lens 104.
• the objective lens 104 is disposed to capture light within a field of view (FOV) 106 of the optical system and to transmit the light along the imaging path through the field lenses 112 and 114, and through the plurality of relay lenses 116 - 122 to the image sensor 110.
• FOV field of view
• the apparatus 100 also includes an illumination coupler 124 for receiving an illumination flux from an external illumination source (not shown).
• the apparatus also includes an illumination coupler 124 for receiving an illumination flux from an external illumination source (not shown).
• the 100 also includes an illumination conduit 126, which is disposed within the housing 108 and extends along the length thereof.
• the illumination flux is coupled through the illumination conduit 126 using an optical fiber bundle 128.
• the apparatus 100 and optical system 102 are configured as an endoscope and the housing 108 is dimensioned and configured for insertion inside a living body to enable distally located objects 130 to be viewed.
• the relay lenses 116 - 122 in the embodiment shown are configured as Hopkins type cemented doublet rod lenses, but other configurations of field lenses and/or relay lenses may be used to transmit the image from the distally located objective lens 104 to the image sensor 110.
• optical system 102 may be configured to implement an alternative imaging system such as a microscope, borescope, or other optical system for generating 3D image information.
• an alternative imaging system such as a microscope, borescope, or other optical system for generating 3D image information.
• the optical system 102 is shown in cross sectional-view in Figures 2A - 2D and a distal portion 132 of the optical system 102 including the objective lens 104 is shown in enlarged plan view in Figure 3.
• the imaging path includes an illuminating portion 134 defined between two generally parallel lines 140 and 142 extending through the imaging path.
• the illuminating portion 134 has a generally rectangular shape and surrounds an optical axis 103 associated with the imaging path.
• the illumination coupler 124 includes a collimating lens 144, which is configured to receive the illumination flux from the external illumination source 146 and direct the flux to the fiber bundle 128.
• the fiber bundle 128 extends through the illumination conduit 126 and terminates in a plurality of individual fibers 150 proximate the objective lens 104.
• Each fiber 150 in the bundle 128 couples a portion of the illumination flux from the source through the illuminating portion of the objective lens 104.
• the objective lens 104 couples the illumination flux through the illuminating portion to illuminate at least a portion of the field of view 106 of the optical system 102. While the illumination embodiment shown in Figure 2A has been shown implemented in Figure 3, any of the embodiments shown in Figure 2B to Figure 2D may equally well be implemented.
• the imaging path includes a first imaging portion 136 and a second imaging portion 138, which are disposed on either side of the generally rectangular illuminating portion 134.
• the first imaging portion 136 has a first perspective viewpoint within the field of view 106 and the second imaging portion 138 has a second perspective viewpoint within the field of view.
• the illuminating portion of the objective lens 104 may include a generally circular portion 135 surrounding an optical axis 103 of the imaging path.
• the circular portion 135 illuminates the field of view and the first and second images are received through respective first and second imaging portions 136 and 138 of the imaging path disposed on either side of the generally circular portion.
• the generally rectangular illumination portion 134 increases the available illuminating area over the generally circular portion 135 shown in Figure 2B and thus accommodates a greater number of and/or greater diameter of fibers, thus potentially increasing an illumination intensity provided by the illumination flux that is coupled through the illuminating portion 134.
• the illuminating portion includes a first segment 143 and a second segment 145 disposed on either side of the optical axis 103 of the imaging path, and the imaging path includes respective first and second imaging portions 147 and 149 disposed between the first and second segments.
• the illuminating portion includes a first generally rectangular portion 151 , and a second generally rectangular portion 153 disposed on either side of the optical axis 103, and the imaging path includes respective first and second imaging portions 155 and 157 of the imaging path disposed between the first and second generally rectangular portions. Further portions 159 and 161 of the imaging path may also be used to generate 3D information.
• the illuminating portion 134 may be otherwise configured to illuminate the field of view, while a remaining portion of the imaging path includes respective first and second imaging portions for the generating first and second images.
• the objective lens 104 includes a first surface 154 and a second surface 156, and in this embodiment the fibers 150 of the fiber bundle 128 terminate at the first surface 154, and illumination guided through the fiber bundle passes through the objective lens for illuminating the field of view 106.
• the objective lens 104 may include an opening (not shown) for receiving the fiber bundle and the fiber bundle 128 may terminate at the second surface 156. Such an opening may be formed through the objective lens 104, in which case an additional window may be required to cover terminal ends of the fiber bundle 128.
• the objective lens 104 may include two separate lens segments, which are spaced apart to form the opening. Alternatively, the opening may only be formed partway through the objective lens 104 and the illumination flux may pass through a remaining portion of the objective lens to reach second surface 156.
• the illumination conduit 126 is defined between an outer sheath 160 and an inner tube 162, which together make up the housing 108.
• the inner tube 162 includes an inside bore 164, which is dimensioned to receive the lenses 104, and 112 - 122 such that the respective lenses are centered within the bore in accordance with necessary optical tolerances.
• the inner tube 162 has a diameter of about 6 mm and the outer sheath 160 has a diameter of about 10 mm. Spacing between the lenses 104, and 112 - 122 may be provided by tubular spacers (not shown) that are also accommodated within the bore 164 and extend between adjacent lenses.
• the illumination conduit 126 provides an annular cylindrical volume surrounding the inner tube 162 for routing the fibers 150 of the fiber bundle 128.
• the apparatus 100 also includes an image modulator 170 disposed between the optical system 102 and the image sensor 110.
• the image modulator 170 includes an input 174 for receiving a modulator control signal.
• the image modulator 170 is operably configured to cause the first and second images to be received through the respective first and second imaging portions 136 and 138 (shown in Figure 2A) of the objective lens 104, in response to the modulator control signal.
• the first and second images received through the optical system 102 are selectively directed through the modulator 170 to impinge on the image sensor 110.
• the first imaging portion 136 has a first perspective viewpoint within the field of view 106 and the second imaging portion 138 has a second perspective viewpoint within the field of view and the first and second images together include information that facilitates representation of three dimensional spatial attributes the object 130 within the illuminated field of view 106.
• the apparatus 100 further includes a controller 180 having an input 182 in communication with the output 172 of the image sensor 110 for receiving the image signal.
• the controller 180 also includes an output 184 in communication with the modulator input 174 for producing the modulator control signal and an output 188 for generating signals for driving a display 190.
• the controller 180 may be implemented using a processor circuit such as a microprocessor or micro-controller, for example.
• the first imaging portion 136 of the objective lens 104 is offset with respect to the optical axis 103, the first image has a perspective viewpoint from one side of the object 130.
• the second image has a perspective viewpoint from the other side of the object 130.
• the first and second images may be alternately displayed as separate video fields on the display 190.
• Various types of active and passive eyewear are available for directing such displayed first and second images and to the user's eyes. Passive types of eyewear generally rely on additional wavelength or polarization processing of the images to enable passive filter elements in the eyewear to separate the images.
• Active types of eyewear generally include a receiver for receiving a synchronization signal from a display to alternately permit transmission of the first and second images to the respective left and right eyes.
• the first and second images may be processed to match up identifiable features in the respective images and to determine lateral shifts between the identified features. The determined lateral shifts along with a knowledge of the imaging parameters of the optical system 102 may be used to calculate a difference in depth between points on an object or between objects at different depths.
• the image modulator 170 and image sensor 110 are shown in greater detail in Figure 4.
• the image modulator 170 includes a liquid crystal device (LCD) 200 and a lens 202 disposed to receive the first and second images from the optical system 102 and to direct the images onto the LCD.
• the lens 202 may comprise a plurality of lens elements, and in one embodiment the lens 202 may be selected to define an aperture plane for the optical system 102 at or proximate to the LCD 200.
• locating the LCD 200 at an aperture plane reduces image formation problems such as vignetting of the respective first and second images.
• the image sensor 110 comprises a charge coupled device array (CCD) 210, which is coupled to the output 172 (shown in Figure 1 and Figure 3) of the image sensor for generating an image signal representing the first and second images.
• the image sensor 110 also includes a lens 212 for forming the first and second images on the CCD 210.
• the lens 212 may include a plurality of lenses operably configured to format the first and second images in to fill an active area of the CCD 210.
• the LCD 200 is responsive to the modulator control signal received at the input 174 (shown in Figure 3) to alternately actuate first and second regions 204 and 206 of the LCD 200 to transmit light to form the respective first and second images.
• the LCD 200 is shown in greater detail in Figure 5.
• the LCD 200 includes a liquid crystal material layer 302 disposed between a first glass plate 304 and a second glass plate 306.
• the first glass plate 304 includes a plurality of transparent electrodes 308 formed on a surface thereof and arranged in columns.
• Each electrode 308 has an associated connector 310, which may be a wire-bonded or flexible circuit connection, for example.
• the connectors 310 connect to a header 312, which in turn facilitates connection to the output 184 of the controller 180 (shown in Figure 3).
• the second glass plate 306 includes a transparent area electrode 307, which extends across a surface of the second glass plate and acts as a common electrode.
• Each transparent electrode 308 defines an element between the electrode and the transparent area electrode 307, thus defining a plurality of elements 318 that may be separately actuated by providing a drive potential between the corresponding electrode 308 and the area electrode 307.
• the LCD 200 also includes a first polarizer 314, having a first linear polarization property (in this case vertical polarization).
• the first polarizer 314 overlays the plurality of transparent electrodes 308.
• the LCD 200 further includes a second polarizer 316 overlaying the second electrode 307 and having a second linear polarization property (in this case horizontal polarization).
• first polarizer 314 having a first linear polarization property (in this case vertical polarization).
• the LCD 200 further includes a second polarizer 316 overlaying the second electrode 307 and having a second linear polarization property (in this case horizontal polarization).
• the various layers are not necessarily shown to scale.
• the controller 180 includes a modulator driver 186 for generating the drive signals at the output 184.
• the modulator driver is configured to drive the LCD modulator 200 shown in Figure 5, and the output 184 thus has "n" output channels corresponding to the number of elements 318 of the image modulator 170.
• the output 184 thus provides an individual drive signal for each electrode 308 of the LCD 200.
• the drive signals are coupled to the respective electrodes 308 via the header 312 and connectors 310, with the common electrode 307 acting as a ground connection.
• the drive voltage may be a 50% duty cycle square wave varying between a voltage V* and V, where the voltages are selected within a range of safe operating voltages to provide sufficient contrast between transmission and blocking of light impinging on the LCD 200.
• the plurality of columnar elements 318 facilitate changes to the extent of the regions 204 and 206 shown in Figure 4.
• the LCD 200 may be configured to include only two columnar elements, each element having an extent of approximately 50% of the front surface of the LCD 200.
• the first polarizer 314 transmits light having a vertical polarization.
• the liquid crystal material 302 is selected so that in its relaxed phase (un-actuated) the polarization of light passing through the crystal is unaffected and the second polarizer 316 thus blocks the light.
• a portion of the liquid crystal material layer 302 underlying the electrode causes light transmitted through the layer to undergo a 90° change in polarization, thus passing through the second polarizer 316 and the LCD 200.
• the LCD 200 By alternately generating drive signals for first and second pluralities of the electrodes 308, the LCD 200 thus alternates between blocking and transmitting light at the first and second regions
• the polarizers 314 and 316 may both be vertically polarized, such that the LCD Modulator is transmissive when no actuation voltage is applied between the electrodes 308 and 307.
• the liquid crystal material causes the light to undergo a 90° change in polarization thus causing elements 318 to block transmission of light.
• the electrodes 308 of the LCD 200 may be sub-divided into a plurality of pixels (shown in broken line at 320) and connector 310 and header 312 may be configured to individually drive each pixel 320.
• column of elements 318 may be actuated by actuating each of the pixels 320 in the column.
• the liquid crystal device (LCD) 200 may be disposed at an aperture plane of the of the optical system 102 and the pixels 320 may be actuated to cause aperturing of the image at the aperture plane by actuating pixels in a circular or semi-circular pattern.
• the optical system 102 of the apparatus 100 is shown in top view and portions of the housing 108, illumination coupler 124, image modulator 170, and image sensor 110 are omitted for sake of clarity.
• the fiber bundle 128 (shown in Figure 3) provides illumination of the field of view as described above.
• a first light ray bundle 350 emanating from a point 352 on the object 130 is captured through the first imaging portion 136 of the optical system 102 and after being relayed through the optical system by the lenses 112 - 122 is directed onto the first region 204 of the LCD 200 by the lens 202.
• the first region 204 of the LCD 200 is actuated to permit light from the first imaging portion 136 of the objective lens 104 to be transmitted through the lens 212 to the CCD 210 for forming the first image.
• the second region 206 of the LCD 200 is actuated to prevent light from the second imaging portion 138 of the objective lens 104 from being transmitted.
• the LCD 200 is actuated to cause the first region 204 to prevent light transmission and to cause the second region 206 to permit light transmission
• light captured through the second imaging portion 138 of the objective lens 104 is transmitted through the second region 206 of the LCD 200 and a second image is formed on the CCD 210.
• the respective first and second regions 204 and 206 have approximately the same extent (i.e. 50% of the extent of the LCD 200). In other embodiments the first and second portions may be greater than or less than 50% of the extent of the LCD 200. In general, a level of 3D depth discernment provided by the images is greater when the perspective viewpoints for each of the first and second images are spaced apart by a greater distance from the optical axis 103. Referring back to Figure 3, in the embodiment shown the illumination flux coupled through the centrally disposed illuminating portion 134 (shown in Figure 2A) of the optical system 102 illuminates the field of view 106 for capturing the first and second images of the object 130.
• the outside diameter of the housing 108 of the apparatus 100 is generally constrained by the need to provide access to difficult to reach portions of a patients body, and in such cases the diameter of the objective lens 104 is similarly constrained.
• Coupling the illumination flux through the centrally disposed illuminating portion 134 has the effect of spacing the first imaging portion 136 and second imaging portion 138 (shown in Figure 2A) outwardly from the optical axis 103, thereby providing a greater level of 3D depth in the information in the first and second images.
• the illuminating portion 134 for coupling illumination into the field of view of the apparatus 100 also allows the objective lens 104 to occupy a larger diameter within the housing 108 than would be the case if the illumination flux were to be coupled through a peripheral portion of the housing 108, as in conventional endoscopes. This allows a correspondingly larger diameter of the objective lens 104, which increases the area of the first and second imaging portions 136 and 138 facilitating capture of more light.
• the illumination embodiments shown in Figures 2B to 2D would also provide similar benefits.
• the apparatus 400 includes an optical system 402 having an imaging path disposed to capture light within a field of view 404 of the optical system.
• the optical system 402 includes an objective lens 418, and a plurality of other lenses of which a field lens 420 and a relay lens 422 are shown in Figure 7.
• the apparatus 400 also includes an illumination coupler 406 for receiving an illumination flux from an external illumination source 408.
• the apparatus 400 further includes a spatial modulator 410. In this embodiment the spatial modulator 410 is moveable between a first position 412 shown in solid lines and a second position 414 shown in broken outline.
• the illumination flux is directed through a first portion of the imaging path to illuminate a first portion of the field of view 404.
• the illumination flux is directed through a second portion of the imaging path to illuminate a second portion of the field of view 404.
• the first and second portions of the field of view 404 are thus alternately illuminated through respective first and second portions of the imaging path.
• the apparatus 400 also includes an image sensor 423 for receiving images produced by the optical system 402.
• the image sensor includes a lens 424 disposed to direct the image onto a CCD 426.
• the second portion of the field of view 404 is illuminated, and the first portion of the imaging path receives light captured from within the field of view 404.
• the captured light is relayed through the optical system 402 by the lenses (420 - 422) and is received at the CCD 426 to form the first image.
• the first portion of the imaging path has a first perspective viewpoint within the field of view 404.
• the second portion of the imaging path receives light captured from within the field of view 404.
• the captured light is relayed through the optical system 402 by the relay lenses and is received at the CCD 426 to form the second image.
• the second portion of the imaging path has a second perspective viewpoint within the field of view 404.
• the first and second images are together operable to represent three dimensional spatial attributes of the object 416.
• the spatial modulator 410 is shown in greater detail in Figure 8. Referring to
• the spatial modulator 410 includes a reflector 440 mounted on an arm 442.
• the arm 442 is mounted on a pivot 444 to provide for side-to-side motion of the arm.
• the arm 442 also includes a magnet 446 mounted partway along the arm.
• the magnet 446 is disposed between first and second electromagnets 448 and 450.
• the arm 442, pivot 444, and the electromagnets 448 and 450 together make up a mechanical actuator operable to produce a force for moving the reflector 440 side-to-side in the direction of the arrow 452 between a pair of stops 454 and 456, which respectively define first and second positions of the arm 442 and the reflector 440.
• the stops 454 and 456 each comprise a threaded portion 459 that provides for adjustment for aligning the reflector 440 to direct the illumination flux along the first and second respective portions of the optical system 402.
• the stops 454 and 456 may be coupled to an electrical actuator (not shown), thus facilitating alignment of the reflector 440 without requiring access to the modulator 410.
• the controller 180 of the embodiment shown in Figure 1 may be replaced by the modulator controller 480 shown in Figure 8.
• the modulator controller 480 includes a first pair of outputs 482 for driving a coil 458 of the first electromagnet 448 and a second pair of outputs 484 for driving a coil 460 of the second electromagnet 450.
• the modulator controller 480 In operation, the modulator controller 480 generates a SYNCH signal internally, and in response to the SYNCH signal, generates current waveforms at the outputs 482 and 484 for driving the respective coils 458 and 460.
• the currents through the respective coils 458 and 460 cause forces to be exerted on the arm 442 to move toward a desired stop 456 or 454.
• the modulator controller 480 may be implemented as a push-pull controller where one of the electromagnets 448 and 450 provides an attractive force on the magnet 446, while the other of the electromagnets provides a repulsion force.
• Exemplary waveforms of a current drive provided to the coils 458 and 460 to cause the arm 442 to move toward the first electromagnet 448 are shown graphically in Figure 9.
• the current waveform through the coil 458 is shown at
• the SYNCH signal pulse waveform is shown at 506.
• a rising edge of the SYNCH signal 506 defines a start time of a first time period 504, in which the current 500 rises rapidly to produce an attractive force on the arm 442.
• the attractive force overcomes the inertia of the arm 442 and causes the arm to accelerate away from the stop 456 and the second electromagnet 450.
• the current 502 is initially at zero and once the arm 442 begins to accelerate, the current 502 increases rapidly to provide a decelerating force as the arm approaches the stop 454, thereby damping the motion of the arm to prevent bouncing of the arm when engaging the stop.
• the arm 442 comes to rest at the stop 454 and the currents 500 and 502 reduce to a small holding current in each of the coils 458 and 460 to hold the arm at the stop 454.
• a second time period 508 during which the arm 442 held at the stop 454 provides sufficient time to complete capture of the first image.
• a subsequent rising edge of the SYNCH signal 506 defines a start time of a third time period 510, in which the current 502 causes an attractive force and the current 500 a repulsion force on the arm 442 to cause the arm to move toward the stop 456.
• a time period 512 during which the arm 442 is at rest at the stop 456 defines a fourth time period 512, which provides sufficient time to complete capture of the second image.
• the modulator controller 480 also includes an output 486 for producing a synchronization signal (SYNC) for synchronizing operation of the image sensor 423, if required.
• the output 486 may be configured as an input for receiving a synchronization signal generated by a controller associated with controlling the image sensor.
• a compact illuminator such as a light emitting diode (LED) may be carried on the spatial modulator 410 so as to direct the illumination flux to illuminate the first and second portions of the field of view 404.
• LED light emitting diode
• the spatial modulator 410 may be replaced by a solid state modulator that is configured to couple an illumination flux of light through first and second portions of the imaging path to illuminate respective first and second portions of the field of view by selectively actuating a modulator disposed in the imaging path to alternate between transmitting the first image while reflecting at least a portion of the illumination flux through the second portion of the imaging path to illuminate the first portion of the field of view, and transmitting the second image while reflecting at least a portion of the illumination flux through the first portion of the imaging path to illuminate the second portion of the field of view.
• Such solid state modulator that relies on the wavelength of illumination flux being different to the imaging wavelengths may be fabricated using dichroic modulator elements and or filter components.
• an apparatus for generating three dimensional image information according to a third embodiment of the invention is shown generally at 550.
• the apparatus 550 has an optical system that is similarly configured to the optical system shown in Figure 7 and common reference numbers have been used to reference similar elements in the two embodiments.
• the optical system 402 has an imaging path disposed to capture light within the field of view 404 of the optical system, and the objective lens 418, and a plurality of other lenses (of which a field lens 420 and a relay lens 422 are shown) form part of the imaging path.
• the illumination coupler and spatial modulator shown in Figure 7 are replaced by a first illumination source 552 and a second illumination source 554.
• the first illumination source 552 includes a lens 556 for gathering and directing light generated by the first illumination source and the second illumination source 554 includes a lens 558 for gathering and directing light generated by the second illumination source.
• each of the first and second illumination sources 552 and 554 may comprise a light emitting diode or a plurality of light emitting diodes.
• the apparatus 550 also includes an image modulator 170 and image sensor 110 that are similarly configured to the image modulator 170 and image sensor 110 shown in Figure 4.
• the first and second illumination sources 552 and 554 are respectively configured to generate an illumination flux when activated in response to a control signal.
• the first and second illumination sources 552 and 554 thus alternate between illuminating a first portion of the field of view 404 and illuminating the second portion of the field of view. While the first portion of the field of view is illuminated, the image modulator 170 is actuated to transmit a first image through the imaging path. Similarly, while the second portion of the field of view is illuminated, the image modulator 170 is actuated to transmit a second image through the imaging path.
• the first and second images are together operable to represent three dimensional spatial attributes of objects within the field of view.

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• 2011
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