WO2001010292A1 - Endoscope - Google Patents

Endoscope Download PDF

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Publication number
WO2001010292A1
WO2001010292A1 PCT/NL2000/000533 NL0000533W WO0110292A1 WO 2001010292 A1 WO2001010292 A1 WO 2001010292A1 NL 0000533 W NL0000533 W NL 0000533W WO 0110292 A1 WO0110292 A1 WO 0110292A1
Authority
WO
WIPO (PCT)
Prior art keywords
lens holder
inspection tube
lens
light source
relation
Prior art date
Application number
PCT/NL2000/000533
Other languages
French (fr)
Inventor
Paul Breedveld
Original Assignee
Technische Universiteit Delft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to NL1012790 priority Critical
Priority to NL1012790A priority patent/NL1012790C2/en
Application filed by Technische Universiteit Delft filed Critical Technische Universiteit Delft
Publication of WO2001010292A1 publication Critical patent/WO2001010292A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00149Holding or positioning arrangements using articulated arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/04Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion

Abstract

An endoscope (1) for use in minimally invasive surgery, comprises an inspection tube (2), provided with a light source (8). A lens (3) is positioned on an angularly adjustable lens holder (4) at the distal part of the inspection tube (2). A control organ (5), at the proximal end of the inspection tube (2) is coupled with the lens holder (4) for its adjustment in relation to the inspection tube. The light source (8) is positioned near the distal end at such a distance from the lens holder (4), that silhouettes perceivable by the lens (3) can be formed.

Description

Endoscope

The invention relates to an endoscope for use in minimally invasive surgery, comprising an inspection tube, which is provided with a light source and which at its distal end opens into a lens .

Such an endoscope is known, for example, from the article Human sense of vision : a guide to future endo- scopic imaging systems by the authors M.O. Schurr, G. Buess, E. Kunert, E. Fleming, H. Henmeking and L. Gumb, published in Minimally Invasive Therapy and Allied Technologies; 1996; No. 5, p. 410-418.

The endoscope disclosed in this article is formed as a straight inspection tube with the lens looking ahead. Around the lens light conductors are provided for the illumination of the object to be inspected. The image obtained by such an endoscope is projected onto a monitor in order to provide the surgeon with visual information during the performance of the minimally invasive surgery. However, this type of the imaging entails problems with regard to the perception of distances and movements perpendicularly to the focal plane.

A first problem is that the surgeon accommodates to the focal plane of the monitor and not to the actual objects. Depth perception is therefore problematic. A further problem is that although the light source mounted around the lens provides a brighter image, it has an adverse effect on the surgeon's depth perception because of the absence of shadows . An endoscope according to the preamble of claim 1 is known from US-A-3 , 572 , 325. In the endoscope known from US-A-3 , 572 , 325 the lens is positioned in the plane of the lens holder connected to the inspection tube, which lens holder is adjustable at an angle in relation to a substan- tial part of the inspection tube. This feature makes it possible for the lens together with the light source to be repositioned without moving the inspection tube of the endoscope, so as to allow the image on the monitor connected to the endoscope to change in a natural manner. The adjustability of the lens holder with respect to the inspec- tion tube thus provides an additional degree of freedom. The measures of freedom provided by said known endoscope are :

1. rotation of the inspection tube;

2. movement of the inspection tube coaxially with the endoscope;

3 and 4. Movement of the lens holder in the plane of viewing 5. the adjustability of the lens holder in respect of the inspection tube. A sixth measure of freedom may be formed by the possibility to rotate the lens holder around its axis. This movement may optionally also be effectuated by video- processing of the image that can be obtained with the known endoscope. The endoscope according to the invention is characterized in that the light source is positioned near the distal end at some distance from the lens holder, such that there is sufficient distance from the light source to the lens to form silhouettes which the lens is able to perceive. Using a light source in such a manner assists the endoscope ' s depth perception due to the shadow effect created as a result of the positioning of the light source .

It is further desirable that the light source in relation to the inspection tube be adjustable at an angle. In this way the shadow effect can always be obtained for the respective direction of viewing.

It is further advantageous for the light source to be adjustable simultaneously with the lens holder, to avoid the necessity of separate adjustment devices for operating the light source and the lens holder.

Desirably the lens holder is continuously adjustable in relation to the inspection tube between a ) ) t H H

Lπ o σι o cπ O U1

Figure imgf000004_0001

ranged between and coupled with the lens holder, such that the lens holder follows every movement of the handle. In this way the movement of the handle may be coupled directly with the lens holder, providing a one-to-one cou- pling between lens holder and handle. Conveniently, the handle may be shaped like an arrow. In this way the surgeon is able to obtain information regarding the viewing direction of the endoscope, whatever the position of the endoscope . The invention will now be elucidated with reference to the drawings, which in Figures la to lc show a very schematic representation of the endoscope according to the invention in three possible positions; and in Figure 2, schematically shows a few mechanical design aspects of the endoscope according to the invention.

Identical reference numbers used in the figures refer to similar parts. The endoscope in the figures is generally indicated by reference number 1. Said endoscope 1 comprises an inspection tube 2 through which image signals are conveyed. The distal end of the inspection tube 2 opens into a lens 3. The lens 3 is positioned on a lens holder 4 con- nected with the inspection tube 2, which lens holder 4 can be adjusted at an angle in relation to the inspection tube 2. The images received via the lens 3 are processed further in the usual manner. For example, the lens 3 may be part of a camera that converts the image data into elec- tronic signals. These electronic signals are subsequently processed in the usual manner and displayed on a video display unit. The person skilled in the art is quite familiar with this and there is no need for any further explanation. The lens holder 4 is continuously adjustable in relation to the inspection tube 2 between a first position in the extended direction of the inspection tube 2, and a second position in which the lens holder 4 forms an angle t

0 tr

Φ

Pi i ι_ι.

3

01 rr φ i

P) rr rr tr

Φ

01

0)

3 φ rr μ-

3 φ

Figure imgf000006_0001

Claims

1. An endoscope (1) for use in minimally invasive surgery, comprising an inspection tube (2), which is provided with a light source (8) and which at its distal end opens into a lens (3) which is positioned on a lens holder (4) , which lens holder (4) is adjustable at an angle in relation to a substantial part of the inspection tube (2) , to which end the inspection tube at its proximal end is provided with a control organ (5) , which is coupled with the lens holder (4) for its adjustment in relation to the inspection tube (2) , characterized in that the light source (8) is positioned near the distal end at some distance from the lens holder (4) , such that there is sufficient distance from the light source (8) to the lens (3) to form silhouettes which the lens (3) is able to perceive .
2. An endoscope according to claim 1, characterized in that the light source (8) in relation to the inspection tube (2) is adjustable at an angle.
3. An endoscope according to claim 1 or 2 , characterized in that the light source (8) is adjustable simul- taneously with the lens holder (4) .
4. An endoscope according to one of the claims 1- 3, characterized in that the lens holder (4) is continuously adjustable in relation to the inspection tube (2) between a first position in the extended direction of the inspection tube (2) and a second position in which the lens holder (4) forms an angle of approximately 110° in relation to the inspection tube (2) .
5. An endoscope according to one of the preceding claims, characterized in that the control means is a han- die (5) , which is coupled with the lens holder (4) by means of the inspection tube (2) and by means of a separate adjustment coupling.
6. An endoscope according to claim 5, character- ized in that the handle (5) and the lens holder (4) are coupled cardanically with the inspection tube (2) , and in that the adjustment coupling comprises control wires (6,7) arranged between and coupled with the handle 5 and the lens holder (4) , such that the lens holder (4) follows every movement of the handle (5) .
7. An endoscope according to claim 5 or 6, characterized in that the handle (5) is shaped like an arrow.
PCT/NL2000/000533 1999-08-06 2000-07-26 Endoscope WO2001010292A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NL1012790 1999-08-06
NL1012790A NL1012790C2 (en) 1999-08-06 1999-08-06 Endoscope.

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP20000953573 EP1207776A1 (en) 1999-08-06 2000-07-26 Endoscope
JP2001514822A JP2003506127A (en) 1999-08-06 2000-07-26 Endoscope
AU65998/00A AU6599800A (en) 1999-08-06 2000-07-26 Endoscope

Publications (1)

Publication Number Publication Date
WO2001010292A1 true WO2001010292A1 (en) 2001-02-15

Family

ID=19769709

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2000/000533 WO2001010292A1 (en) 1999-08-06 2000-07-26 Endoscope

Country Status (5)

Country Link
EP (1) EP1207776A1 (en)
JP (1) JP2003506127A (en)
AU (1) AU6599800A (en)
NL (1) NL1012790C2 (en)
WO (1) WO2001010292A1 (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1381159A2 (en) * 2002-07-08 2004-01-14 Kabushiki Kaisha Toshiba Time limit function utilization apparatus
US7410483B2 (en) 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US7678117B2 (en) 2004-06-07 2010-03-16 Novare Surgical Systems, Inc. Articulating mechanism with flex-hinged links
US7682307B2 (en) 2003-05-23 2010-03-23 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US7785252B2 (en) 2004-11-23 2010-08-31 Novare Surgical Systems, Inc. Articulating sheath for flexible instruments
US7828808B2 (en) 2004-06-07 2010-11-09 Novare Surgical Systems, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US7862554B2 (en) 2007-04-16 2011-01-04 Intuitive Surgical Operations, Inc. Articulating tool with improved tension member system
US8100824B2 (en) 2003-05-23 2012-01-24 Intuitive Surgical Operations, Inc. Tool with articulation lock
US8116886B2 (en) 2005-10-14 2012-02-14 The Trustees Of Columbia University In The City Of New York Electrode arrays and systems for inserting same
US8182417B2 (en) 2004-11-24 2012-05-22 Intuitive Surgical Operations, Inc. Articulating mechanism components and system for easy assembly and disassembly
US8409244B2 (en) 2007-04-16 2013-04-02 Intuitive Surgical Operations, Inc. Tool with end effector force limiter
US8465475B2 (en) 2008-08-18 2013-06-18 Intuitive Surgical Operations, Inc. Instrument with multiple articulation locks
US8562640B2 (en) 2007-04-16 2013-10-22 Intuitive Surgical Operations, Inc. Tool with multi-state ratcheted end effector
US9161771B2 (en) 2011-05-13 2015-10-20 Intuitive Surgical Operations Inc. Medical instrument with snake wrist structure
US9221179B2 (en) 2009-07-23 2015-12-29 Intuitive Surgical Operations, Inc. Articulating mechanism
US9561045B2 (en) 2006-06-13 2017-02-07 Intuitive Surgical Operations, Inc. Tool with rotation lock
US9700334B2 (en) 2004-11-23 2017-07-11 Intuitive Surgical Operations, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3572325A (en) 1968-10-25 1971-03-23 Us Health Education & Welfare Flexible endoscope having fluid conduits and control
US4905082A (en) * 1987-05-06 1990-02-27 Olympus Optical Co., Ltd. Rigid video endoscope having a detachable imaging unit
EP0369937A1 (en) * 1988-11-18 1990-05-23 Effner Biomet GmbH Endoscope, in particular an arthroscope
WO1999042028A1 (en) * 1998-02-19 1999-08-26 California Institute Of Technology Apparatus and method for providing spherical viewing during endoscopic procedures
US5976075A (en) * 1997-12-15 1999-11-02 University Of Massachusetts Endoscope deployment apparatus
DE19839188A1 (en) * 1998-08-28 2000-03-09 Storz Endoskop Gmbh endoscope

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3572325A (en) 1968-10-25 1971-03-23 Us Health Education & Welfare Flexible endoscope having fluid conduits and control
US4905082A (en) * 1987-05-06 1990-02-27 Olympus Optical Co., Ltd. Rigid video endoscope having a detachable imaging unit
EP0369937A1 (en) * 1988-11-18 1990-05-23 Effner Biomet GmbH Endoscope, in particular an arthroscope
US5976075A (en) * 1997-12-15 1999-11-02 University Of Massachusetts Endoscope deployment apparatus
WO1999042028A1 (en) * 1998-02-19 1999-08-26 California Institute Of Technology Apparatus and method for providing spherical viewing during endoscopic procedures
DE19839188A1 (en) * 1998-08-28 2000-03-09 Storz Endoskop Gmbh endoscope

Cited By (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1381159A2 (en) * 2002-07-08 2004-01-14 Kabushiki Kaisha Toshiba Time limit function utilization apparatus
EP1381159A3 (en) * 2002-07-08 2004-01-21 Kabushiki Kaisha Toshiba Time limit function utilization apparatus
US7075284B2 (en) 2002-07-08 2006-07-11 Kabushiki Kaisha Toshiba Time limit function utilization
US7208933B2 (en) 2002-07-08 2007-04-24 Kabushiki Kaisha Toshiba Time limit function utilization apparatus
US7224157B2 (en) 2002-07-08 2007-05-29 Kabushiki Kaisha Toshiba Time limit function utilization apparatus
US7248034B2 (en) 2002-07-08 2007-07-24 Kabushiki Kaisha Toshiba Time limit function utilization apparatus
US7682307B2 (en) 2003-05-23 2010-03-23 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US9737365B2 (en) 2003-05-23 2017-08-22 Intuitive Surgical Operations, Inc. Tool with articulation lock
US7410483B2 (en) 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US9550300B2 (en) 2003-05-23 2017-01-24 Intuitive Surgical Operations, Inc. Articulating retractors
US9498888B2 (en) 2003-05-23 2016-11-22 Intuitive Surgical Operations, Inc. Articulating instrument
US9440364B2 (en) 2003-05-23 2016-09-13 Intuitive Surgical Operations, Inc. Articulating instrument
US8100824B2 (en) 2003-05-23 2012-01-24 Intuitive Surgical Operations, Inc. Tool with articulation lock
US9434077B2 (en) 2003-05-23 2016-09-06 Intuitive Surgical Operations, Inc Articulating catheters
US9072427B2 (en) 2003-05-23 2015-07-07 Intuitive Surgical Operations, Inc. Tool with articulation lock
US8535347B2 (en) 2003-05-23 2013-09-17 Intuitive Surgical Operations, Inc. Articulating mechanisms with bifurcating control
US9085085B2 (en) 2003-05-23 2015-07-21 Intuitive Surgical Operations, Inc. Articulating mechanisms with actuatable elements
US9370868B2 (en) 2003-05-23 2016-06-21 Intuitive Surgical Operations, Inc. Articulating endoscopes
US9095253B2 (en) 2004-06-07 2015-08-04 Intuitive Surgical Operations, Inc. Articulating mechanism with flex hinged links
US7678117B2 (en) 2004-06-07 2010-03-16 Novare Surgical Systems, Inc. Articulating mechanism with flex-hinged links
US8323297B2 (en) 2004-06-07 2012-12-04 Intuitive Surgical Operations, Inc. Articulating mechanism with flex-hinged links
US7828808B2 (en) 2004-06-07 2010-11-09 Novare Surgical Systems, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US8920429B2 (en) 2004-06-07 2014-12-30 Intuitive Surgical Operations, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US9861786B2 (en) 2004-06-07 2018-01-09 Intuitive Surgical Operations, Inc. Articulating mechanism with flex hinged links
US8419747B2 (en) 2004-06-07 2013-04-16 Intuitive Surgical Operations, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US9517326B2 (en) 2004-06-07 2016-12-13 Intuitive Surgical Operations, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US8277375B2 (en) 2004-11-23 2012-10-02 Intuitive Surgical Operations, Inc. Flexible segment system
US9155449B2 (en) 2004-11-23 2015-10-13 Intuitive Surgical Operations Inc. Instrument systems and methods of use
US7785252B2 (en) 2004-11-23 2010-08-31 Novare Surgical Systems, Inc. Articulating sheath for flexible instruments
US9700334B2 (en) 2004-11-23 2017-07-11 Intuitive Surgical Operations, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools
US8182417B2 (en) 2004-11-24 2012-05-22 Intuitive Surgical Operations, Inc. Articulating mechanism components and system for easy assembly and disassembly
US8116886B2 (en) 2005-10-14 2012-02-14 The Trustees Of Columbia University In The City Of New York Electrode arrays and systems for inserting same
US9561045B2 (en) 2006-06-13 2017-02-07 Intuitive Surgical Operations, Inc. Tool with rotation lock
US7862554B2 (en) 2007-04-16 2011-01-04 Intuitive Surgical Operations, Inc. Articulating tool with improved tension member system
US8562640B2 (en) 2007-04-16 2013-10-22 Intuitive Surgical Operations, Inc. Tool with multi-state ratcheted end effector
US8409244B2 (en) 2007-04-16 2013-04-02 Intuitive Surgical Operations, Inc. Tool with end effector force limiter
US9033960B2 (en) 2008-08-18 2015-05-19 Intuitive Surgical Operations, Inc. Instrument with multiple articulation locks
US8465475B2 (en) 2008-08-18 2013-06-18 Intuitive Surgical Operations, Inc. Instrument with multiple articulation locks
US9737298B2 (en) 2008-08-18 2017-08-22 Intuitive Surgical Operations, Inc. Instrument with articulation lock
US9221179B2 (en) 2009-07-23 2015-12-29 Intuitive Surgical Operations, Inc. Articulating mechanism
US9161771B2 (en) 2011-05-13 2015-10-20 Intuitive Surgical Operations Inc. Medical instrument with snake wrist structure

Also Published As

Publication number Publication date
AU6599800A (en) 2001-03-05
NL1012790C2 (en) 2001-02-07
EP1207776A1 (en) 2002-05-29
JP2003506127A (en) 2003-02-18

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