KR20230042934A - Panoramic endoscope with the function of reducing distortion and increasing field of view and endoscope system having that - Google Patents

Abstract

The present invention relates to a panoramic endoscope with distortion reduction and viewing angle increase functions and an endoscope system including the same. The panoramic endoscope includes: an insertion part extended to a predetermined length; a tip provided in a front end part of the insertion part; and a pair of main camera modules provided at the tip, a pair of first sub-camera modules and a pair of second sub-camera modules, wherein the main camera module is provided such that the optical axis of the camera can be formed in an extension direction of the insertion part from the tip, the first sub-camera modules are provided such that the optical axis can be formed in a direction at a predetermined angle with the central axis of the insertion part, and the second sub-camera modules are provided such that the optical axis can be formed to be symmetrical to the optical axis of the first sub camera modules with respect to the central axis of the insertion part. In accordance with the present invention, the panoramic endoscope with distortion reduction and viewing angle increase functions can have a viewing angle of 90 degrees or higher while minimizing distortion, thereby securing a sense of openness in an endoscopic operation. Moreover, the panoramic endoscope can reduce the number of times moving celoscope forward, backward, left, and right to check surgical equipment or a lesion which is not visible during the use of an existing endoscope, the number of times cleaning a lens, and unnecessary other motions causing an increase in operation time.

Description

Panoramic endoscope with the function of reducing distortion and increasing field of view and endoscope system having that function

The present invention relates to a panoramic endoscope having a function of reducing distortion and increasing an angle of view and an endoscopic system including the same, and more particularly, to an endoscope inserted into a human body and enabling a procedure or surgery while directly confirming a lesion in a narrow area, and including the same It is about an endoscopy system that does.

A laparoscope, thoracoscopy, cystoscope or endoscope is a medical device for checking lesions in body cavities such as the abdominal cavity, thoracic cavity, and bladder. Laparoscopy, thoracoscopy, cystoscope, or endoscope (hereinafter referred to as 'endoscopy'), which are currently mainly used in clinical practice, uses a single lens and performs procedures or surgeries within a range recognized through the lens. The most important limitation of the endoscope is related to the narrowed field of view, which is the main cause of slowing down the learning rate for the use of the endoscope. A person's visual angle is about 120 degrees on average from side to side, and if you move your eyes, you can see up to about 180 degrees in the same posture, and you can see about 135 degrees up and down, and you can see more downward than up. .

The viewing angle of conventional endoscopes using a single lens is up to 60º, which is less than the 120º viewing angle for both eyes of humans, resulting in a stuffy feeling and increased fatigue due to limited field of view and visual field during surgery. An increase can negatively affect the outcome of surgery. The limited field of view and vision make it difficult to observe areas other than the area where surgery is performed, which can delay rapid response and increase the risk of side effects.

In order to solve this problem, Korean Patent Registration No. 1,071,676 discloses an endoscope that displays images taken at different angles. However, this prior art has a problem in that image distortion occurs greatly and there is a sense of heterogeneity in perception of images according to a person's viewing angle.

Korean Registered Patent No. 1,071,676

An object of the present invention is to provide a panoramic endoscope having a function of reducing distortion and increasing an angle of view and an endoscope system including the same, which can solve the above-mentioned conventional problems.

A means for solving the above problems includes an insertion part extending to a predetermined length, a tip provided at a front end of the insertion part, a main camera module provided in the tip, a first sub-camera module, and a second sub-camera module, The camera module is provided so that the optical axis of the camera can be formed in the extension direction of the insertion part from the tip, and the first sub-camera module is provided so that the optical axis can be formed in a direction at a predetermined angle with the central axis of the insertion part. A panoramic endoscope having a function of reducing distortion and increasing an angle of view may be provided in which the camera module has an optical axis formed symmetrically with an optical axis of the first sub-camera module around a central axis of the insertion unit.

Here, the first sub-camera module and the second sub-camera module may be configured such that at least a part of the acquired images overlaps with the image obtained from the main camera.

Meanwhile, in the second sub-camera module, at least a part of images obtained from the second sub-camera module may overlap an image obtained from the main camera.

In addition, the end of the tip is provided with a plane orthogonal to the extending direction of the insertion portion, a first surface formed by inclining from one side of the intermediate surface to the rear side, and a second surface formed by inclining from the other side of the intermediate surface to the rear side. may contain sides.

Furthermore, the tip includes a main installation groove formed on the middle surface so that the main camera module can be inserted and installed, a first installation groove formed on the first surface so that the first sub camera module can be inserted and installed, and a second installation groove formed on the first surface. It may further include a second installation groove formed on the second surface so that the sub camera modules can be respectively inserted and installed.

In addition, a pair of main lighting units are provided on the middle surface with the main camera module interposed therebetween, the first lighting units are provided on the first surface with the first sub camera module interposed therebetween, and the second sub camera module is provided on the second surface. It may further include second lighting units each provided with the interposed therebetween.

On the other hand, the first surface, the intermediate surface and the second surface are disposed along a first direction orthogonal to the central axis, a pair of main lighting units are disposed spaced apart from each other along a second direction orthogonal to the first direction, The pair of first lighting units may be disposed apart from each other along a second direction orthogonal to the first direction, and the pair of second lighting units may be disposed apart from each other along a second direction orthogonal to the first direction.

Meanwhile, the diameter of the main camera module may be larger than those of the first sub-camera module and the second sub-camera module.

Also, the main camera module, the first sub-camera module, and the second sub-camera module may be arranged side by side along an axis of vertical symmetry of the tip.

In addition, an endoscope configured to acquire an image by being inserted into the human body on one side, an image processing unit processing an image obtained from the endoscope, and displaying an image transmitted from the image processing unit, 3 disposed side by side in the left and right directions It includes two display parts, and the endoscope includes an insertion part extending to a predetermined length, a tip provided at a front end of the insertion part, a main camera module provided in the tip, a first sub-camera module, and a second sub-camera module, The main camera module is provided so that the optical axis of the camera can be formed in the extension direction of the insertion part from the tip, and the first sub camera module is provided so that the optical axis can be formed in a direction at a predetermined angle with the central axis of the insertion part. It includes a second sub-camera module provided so that an optical axis is formed symmetrically with an optical axis of the first sub-camera module around a central axis, and the image processing unit displays an image obtained from the main camera module to a display unit disposed in the center of the display unit. A panoramic endoscope system having a function of reducing distortion and increasing a viewing angle may be provided, which is configured to display images obtained from each of the pair of first sub-camera modules on displays disposed on left and right sides of the display units.

A panoramic endoscope having a function of reducing distortion and increasing an angle of view according to the present invention and an endoscope system including the same can have a viewing angle of 90 degrees or more while minimizing distortion, thereby securing a sense of openness in endoscopic surgery.

In addition, in order to see surgical instruments or lesions that were not in the field of view of the existing endoscope, the number of times the laparoscope has to be moved back and forth, the number of times the lens is washed, and other unnecessary operations and operation time that can cause an increase in operation time are reduced, and the lens is cleaned. It can reduce the number of times and waste of unnecessary operation time.

1 is an enlarged perspective view of a tip of a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to an embodiment of the present invention.
2 is a front view of a tip of an endoscope according to an embodiment of the present invention.
3 is a side view of a tip of an endoscope according to an embodiment of the present invention.
4 is a plan view of a tip of an endoscope according to an embodiment of the present invention.
5 is a diagram illustrating viewing angles of a main camera module and a sub camera module.
6 is a view showing a state of use of a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to an embodiment of the present invention.
7 is a diagram illustrating an area captured by a main camera module and a sub camera module.
8 is a block diagram showing the configuration of a panoramic endoscope system having functions of reducing distortion and increasing the viewing angle, which is another embodiment according to the present invention.
9 is a conceptual diagram illustrating an arrangement of displays in a panoramic endoscope system having a function of reducing distortion and increasing a viewing angle according to another embodiment of the present invention.

Hereinafter, a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to embodiments of the present invention and a system including the same will be described in detail with reference to the accompanying drawings. In addition, in the description of the following embodiments, the name of each component may be called a different name in the art. However, if they have functional similarity and identity, even if a modified embodiment is employed, it can be regarded as an equivalent configuration. In addition, signs added to each component are described for convenience of description. However, the contents of the drawings in which these symbols are written do not limit each component to the scope in the drawings. Likewise, even if an embodiment in which the configuration in the drawings is partially modified is employed, it can be regarded as an equivalent configuration if there is functional similarity and identity. In addition, in light of the level of a general technician in the relevant technical field, if it is recognized as a component that should be included, the description thereof will be omitted.

Hereinafter, a panoramic endoscope having a function of reducing distortion and increasing a viewing angle, which is one embodiment according to the present invention, will be described in detail with reference to FIGS. 1 to 7 . In the following embodiments, except for the tip 10 equipped with a camera module, it may include a configuration of a generally widely used endoscope. Specifically, a gripping portion that can be gripped by a user, an insertion portion 20 configured to be inserted into the body cavity of the human body from an end extending to a predetermined length, and configured to allow the user to manipulate the image and insertion portion 20 Configurations such as the operation unit can be applied to various configurations that are widely used.

Therefore, a description of commonly applied configurations will be omitted, and the tip 10 of the endoscope including the features of the present invention will be described in detail.

1 is an enlarged perspective view of a tip 10 of a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to an embodiment of the present invention, and FIG. 2 is a perspective view showing the tip 10 of an endoscope according to an embodiment of the present invention. 3 is a side view of the tip 10 of an endoscope according to an embodiment of the present invention, and FIG. 4 is a plan view of the tip 10 of an endoscope according to an embodiment of the present invention.

As shown, a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to an embodiment of the present invention may include a tip 10 provided at an end of the endoscope.

The tip 10 of the endoscope has a cylindrical shape as a whole, and one side may be connected to the end of the insertion portion 20 of the endoscope.

An intermediate surface 100, which is a plane orthogonal to the extending direction of the insertion portion 20 of the endoscope, may be provided at the end of the endoscope. A first surface 110 formed by inclining toward the rear side may be formed on one side of the intermediate surface 100 . In addition, a second surface 120 formed by inclining toward the rear side may be formed on the other side of the intermediate surface 100 . Each of the intermediate surface 100 , the first surface 110 , and the second surface 120 may include a plurality of camera modules having an optical axis formed in a direction orthogonal to the formed surface.

As an example, the first surface 110 and the second surface 120 may be formed at points spaced apart from both sides with the middle surface 100 interposed therebetween among the ends of the tip 10 . Hereinafter, the direction in which the first surface 110 is formed with respect to the intermediate surface 100 in FIG. 2 will be described as the left side, and the direction in which the second surface 120 is formed will be referred to as the right side.

The intermediate surface 100 is configured so that the main camera module 300 can be provided. A main installation groove may be formed in the central portion of the intermediate surface 100 along the extension direction of the insertion part in a direction perpendicular to the intermediate surface 100 . The main installation groove may be formed to have an inner diameter into which the main camera module 300 can be inserted.

A first installation groove may be formed on the first surface 110 so that the first sub-camera module 310 can be inserted and installed in a direction orthogonal to the first surface 110 . In addition, similar to the first surface 110, a second installation groove is formed on the second surface 120 in a direction orthogonal to the second surface 120, and the second sub-camera module 320 can be inserted therein. there is.

In this way, as the main camera module 300, the first sub camera module 310, and the second sub camera module 320 are arranged in the left and right directions at the end of the tip 10, the view in the left and right directions can be secured and the final It is possible to secure a wide field of view of the secured image. In addition, distortion of images obtained by the main camera module 300 can be reduced by using images obtained by sub-camera modules provided on the left and right sides.

Meanwhile, each of the main camera module 300, the first sub camera module 310, and the second sub camera module 320 may include a plurality of lens kits and image sensors.

Meanwhile, the main camera module 300 may be configured to have a slightly larger outer diameter than the first sub camera module 310 and the second sub camera module 320 . In order to obtain a main image during surgery, the main camera module 300 facing forward acquires an image of a wider area, and the left and right sub-camera modules 210 and 220 are acquired by the main camera module 300. It is possible to obtain an additionally enlarged image in addition to the image.

The intermediate surface, the first surface 110 and the second surface 120 may be provided with a lighting unit having an optical axis formed in a direction orthogonal to each surface.

A main lighting unit 200 may be provided between the main installation grooves on the middle surface to radiate light toward the front. The main lighting unit 200 may be configured as a pair and provided respectively in the vertical direction with the main camera module 300 interposed therebetween in the intermediate surface 100 .

A pair of first lighting units 210 may be provided on each of the upper and lower sides of the first sub-camera module 310 of the first surface 110, and the second surface 120 is similar to the first surface 110. A pair of second lighting units 220 may be provided on both upper and lower sides of the second camera module 320 .

Meanwhile, although the inside of the tip 10 is not shown, the main camera module 300, the first sub camera module 310, the second sub camera module 320, the main lighting unit 200, and the first lighting unit 210 ) and the second lighting unit 220 are configured to include wiring 400 so that each can be electrically connected to the outside, and the wiring can be disposed extending along the inner space of the insertion part 20 .

However, this configuration is an example of a case where the image sensor of each camera module is provided and the lighting unit is in the form of an LED, and in the case where an image guide is provided instead of each camera module and a light guide is provided instead of each lighting unit, the tip 10 An optical fiber may be disposed.

Referring to FIG. 4 , the first surface 110 and the second surface 120 may be formed with a predetermined angle toward the middle surface 100 and the rear side. At this time, since the sub-camera modules 210 and 220 are provided in orthogonal directions on the first surface 110 and the second surface 120, respectively, the first surface 110 and the second surface 120 form the intermediate surface 100. ), the angles of the optical axes of the sub-camera modules 210 and 220 may vary. At this time, each camera module may have a rather short focal length (5 to 100 mm) so that images can be secured in a narrow body cavity, and despite the short focal length, the main camera module 300 and the sub camera module take pictures. At least a portion of the regions may be configured to overlap.

At this time, the area where the irradiated light overlaps may be determined by an angle between the first surface 110 and the second surface 120 and the intermediate surface 100 . In addition, the main lighting unit 200 , the first lighting unit 210 , and the second lighting unit 220 may be configured to overlap at least a portion of the irradiated light. That is, light is mainly irradiated by the main lighting unit 200 to the subject toward which the tip 10 of the endoscope is directed, and light is additionally irradiated by the left and right first lighting units 210 and second lighting units 220 to secure an image. It can provide the required amount of light.

5 is a diagram illustrating viewing angles of the main camera module 300 and the sub camera module.

Referring to FIG. 5, when the first surface 110 and the second surface 120 are formed at an angle of 35 degrees to the rear side of the intermediate surface 100, the viewing angles of each of the camera modules 200, 210, and 220 are is shown

The main camera module 300 has an optical axis formed in a direction parallel to the forward and backward directions, and may have a viewing angle of about 90 degrees. The first sub-camera module 310 and the second sub-camera module 320 may have a viewing angle of about 90 degrees, and the area captured by the main camera module 300 from a point spaced a predetermined distance from the intermediate surface 100 Some of them are superimposed and photographed. Accordingly, the focal point f of the main camera module 300 may be determined farther than the point where the capturing areas of the sub camera modules 210 and 220 start to overlap.

6 is a view showing a state of use of a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to an embodiment of the present invention.

Referring to FIG. 6 , an example of using a panoramic endoscope having a function of reducing distortion and increasing an angle of view according to an embodiment of the present invention is illustrated in a state in which a surgical instrument is inserted into the abdominal cavity C. Sub-camera modules are provided on the left and right sides to secure images of a wider area than when only a single camera module facing forward is provided. In particular, the sub camera module captures not only the image of the tissue t captured by the main camera module but also the image around the tissue, so that a wide field of view can be secured.

7 is a diagram illustrating an area captured by the main camera module 300 and the sub camera module.

Referring to FIG. 7 , surgical instruments used during surgery may be identified together in the image. At this time, the central area is captured by the main camera module 300, the first sub-camera module 310, and the second sub-camera module 320, so that distortion of the main image Vm can be minimized. In addition, the second sub image Vs2 displayed on the left side of the main image Vm is captured and acquired by the second sub camera module 310, and the first sub image Vs2 displayed on the right side of the main image Vm. ) may be photographed by the first sub camera module 210 .

Hereinafter, a panoramic endoscope system 1 having a function of reducing distortion and increasing a viewing angle, which is another embodiment according to the present invention, will be described in detail with reference to FIGS. 8 and 9 .

8 is a block diagram showing the configuration of a panoramic endoscope system 1 having a function of reducing distortion and increasing an angle of view, which is another embodiment according to the present invention.

As shown in FIG. 8 , the panoramic endoscope system 1 according to the present embodiment includes the above-described endoscope, and may further include an image processing unit 30 and display units 40, 41, and 42. The image processing unit 30 acquires and processes an image obtained from the main camera module 300, an image obtained from the first sub-camera module 310, and an image obtained from the second sub-camera module 320. It consists of The image processing unit 30 performs image processing to minimize the distortion of the image obtained from the main camera module 300, and divides the areas leaning on the left and right boundaries into the first sub-camera module 310 and the second sub-camera, respectively. A correction is made from the image obtained from module 320. That is, the image of the main image Vm, which is mainly gazed at, can minimize distortion in up, down, left and right directions.

The display unit may include a main display unit 40 , a first sub display unit 41 and a second sub display unit 42 . The image processing unit 30 corrects the distortion of the main image Vm obtained from the main camera module 300 and transmits data so that it can be displayed on the main display unit 40, and from the first sub camera module 310. The first sub-image Vs1 obtained is corrected to display the first sub-display unit 41, and the second sub-image Vs2 obtained from the second sub-camera module 320 is corrected to display the second sub-display unit 42. ) transmits data so that each can be displayed.

9 is a conceptual diagram showing an arrangement of displays in a panoramic endoscope system 1 having a function of reducing distortion and increasing a viewing angle according to another embodiment of the present invention.

Referring to FIG. 9 , in the present embodiment, a second sub-display unit 41 and a first sub-display unit 42 may be provided on the left and right sides of the main display unit 40, respectively. That is, it is possible to display an image extended in the horizontal direction. Among them, the lesion area facing forward as viewed by the endoscope can be displayed on each display unit in a state in which distortion is minimized. Therefore, it is possible to display images acquired in the left and right directions in the left and right directions corresponding to the viewing angle of the human eye.

Meanwhile, the display unit described with reference to FIG. 9 may use a generally used display having an aspect ratio such as 16:9 or 4:3. However, although not shown, as the screen of a display device is gradually enlarged, a display of 21:9 or more long in the left and right directions can be used. In this case, the main image (Vm) and the first sub image (Vs1) ) and the second sub image Vs2 may be blended and displayed with distortion reduced.

The panoramic endoscope having the function of reducing distortion and increasing the viewing angle according to the present invention described above and the endoscopic system including the same display images naturally in the left and right directions corresponding to the characteristics of human vision, so that the intuitive and comfortable movement of the medical staff's gaze is possible. possible. In addition, distortion in the up, down, left, and right directions can be minimized for the main region of interest, and additional left and right auxiliary images can be displayed together, making the use of the endoscope easier and more intuitive, enabling smooth surgery, reducing operation time and As a result, the reduction in anesthesia time contributes to the rapid recovery of the patient, and ultimately improves the quality of medical care.

1: endoscope system
10: Tips
20: insertion part
30: image processing unit
40: main display unit
41: first sub-display unit 42: second sub-display unit
100: mid plane
110: first surface 120: second surface
200: main lighting unit
210: first lighting unit 220: second lighting unit
300: main camera module
310: first sub camera module 320: second sub camera module
Vm: Main video
Vs1: first sub image Vs2: second sub image
f: focal length
t: organization
C: body cavity

Claims (10)

an insertion portion extending to a predetermined length;
a tip provided at a front end of the insertion portion; and
A main camera module, a first sub camera module, and a second sub camera module provided at the tip;
The main camera module is provided so that the optical axis of the camera can be formed in the extension direction of the insertion part from the tip,
The first sub-camera module is provided so that an optical axis can be formed in a direction at a predetermined angle with the central axis of the insertion part,
The second sub-camera module has an optical axis formed symmetrically with an optical axis of the first sub-camera module around a central axis of the insertion part, and has a function of reducing distortion and increasing a viewing angle. According to claim 1,
The first sub-camera module and the second sub-camera module,
A panoramic endoscope having a function of reducing distortion and increasing an angle of view configured so that at least a part of the acquired images can be overlapped with an image acquired by the main camera. According to claim 2,
The second sub-camera module,
A panoramic endoscope having a function of reducing distortion and increasing an angle of view configured to overlap at least a part of images acquired from the second sub-camera module with images obtained from the main camera. According to claim 3,
The end of the tip,
an intermediate surface provided with a plane orthogonal to the extension direction of the insertion part;
a first surface formed by inclining one side of the intermediate surface toward the rear side; and
A panoramic endoscope having a function of reducing distortion and increasing a viewing angle, including a second surface formed by inclining the middle surface from the other side to the rear side. According to claim 4,
The tip is
a main installation groove formed on the intermediate surface so that the main camera module can be inserted and installed;
first installation grooves formed on the first surface so that each of the first sub-camera modules can be inserted and installed; and
The panoramic endoscope having a function of reducing distortion and increasing a viewing angle, further comprising a second installation groove formed on the second surface to allow the second sub-camera module to be inserted and installed. According to claim 7,
a pair of main lighting units each provided on the intermediate surface with the main camera module interposed therebetween;
first lighting units provided on the first surface with the first sub-camera module interposed therebetween; and
A panoramic endoscope having a function of reducing distortion and increasing a viewing angle, further comprising second lighting units provided on the second surface with the second sub-camera module interposed therebetween. According to claim 6,
The first surface, the intermediate surface, and the second surface are disposed along a first direction orthogonal to the central axis,
The pair of main lighting units are disposed spaced apart from each other along a second direction orthogonal to the first direction,
The pair of first lighting units are disposed spaced apart from each other along a second direction orthogonal to the first direction,
The pair of second lighting units are spaced apart from each other along a second direction orthogonal to the first direction and have a function of reducing distortion and increasing a viewing angle. According to claim 2,
The diameter of the main camera module is,
A panoramic endoscope configured to be larger than the first sub-camera module and the second sub-camera module and having functions of reducing distortion and increasing the viewing angle. According to claim 2,
The panoramic endoscope having functions of reducing distortion and increasing the viewing angle, wherein the main camera module, the first sub-camera module, and the second sub-camera module are arranged in parallel along an axis of vertical symmetry of the tip. An endoscope configured such that one side thereof is inserted into the human body to obtain an image;
an image processing unit processing an image obtained from the endoscope; and
It displays the image transmitted from the image processing unit and includes three display units arranged side by side in the left and right directions,
The endoscope,
an insertion portion extending to a predetermined length;
a tip provided at a front end of the insertion portion; and
A main camera module, a first sub camera module, and a second sub camera module provided at the tip;
The main camera module is provided so that the optical axis of the camera can be formed in the extension direction of the insertion part from the tip,
The first sub-camera module is provided so that an optical axis can be formed in a direction at a predetermined angle with the central axis of the insertion part,
a second sub-camera module provided so that an optical axis is formed symmetrically with an optical axis of the first sub-camera module around a central axis of the insertion part;
The image processing unit,
The image obtained from the main camera module is displayed on a display unit disposed in the center of the display unit,
A panoramic endoscope system having a function of reducing distortion and increasing an angle of view configured to display images acquired from each of the pair of first sub-camera modules on displays disposed on left and right sides of the display unit.

Images