WO2004039250A1 - Systeme de vision endoscopique a coupleur optique motorise - Google Patents

Systeme de vision endoscopique a coupleur optique motorise Download PDF

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Publication number
WO2004039250A1
WO2004039250A1 PCT/US2002/034221 US0234221W WO2004039250A1 WO 2004039250 A1 WO2004039250 A1 WO 2004039250A1 US 0234221 W US0234221 W US 0234221W WO 2004039250 A1 WO2004039250 A1 WO 2004039250A1
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WO
WIPO (PCT)
Prior art keywords
lens
image
transducer
lenses
endoscope
Prior art date
Application number
PCT/US2002/034221
Other languages
English (en)
Inventor
Richard A. Beutter
Michael Matson
Original Assignee
Stryker Corporation
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
Application filed by Stryker Corporation filed Critical Stryker Corporation
Priority to JP2004548238A priority Critical patent/JP4362571B2/ja
Priority to PCT/US2002/034221 priority patent/WO2004039250A1/fr
Priority to AU2002353884A priority patent/AU2002353884B2/en
Priority to EP02789282A priority patent/EP1560515A1/fr
Publication of WO2004039250A1 publication Critical patent/WO2004039250A1/fr

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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
    • A61B1/00188—Optical arrangements with focusing or zooming features
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00126—Connectors, fasteners and adapters, e.g. on the endoscope handle optical, e.g. for light supply cables
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera
    • 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
    • G02B23/2423—Optical details of the distal end
    • G02B23/243—Objectives for endoscopes
    • G02B23/2438—Zoom objectives
    • 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
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • 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
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • G02B23/2484—Arrangements in relation to a camera or imaging device
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes

Definitions

  • This invention relates generally to endoscopic viewing systems and, more particularly, to powered optical coupler for use with such systems.
  • an endoscope is inserted into the body at the surgical site.
  • the endoscope is an elongated tube that allows a surgeon to view the portion of the body into which it is inserted.
  • Other surgical instruments inserted in the body at the surgical site can be manipulated based on what the surgeon views through the endoscope .
  • the development of endoscopes, as well as their companion instruments, has made it possible to perform minimally invasive surgery. In this type of surgery, the need to make large incisions to gain access to the surgical site has been eliminated. Instead, the surgeon can insert an endoscope and other equipment through small openings in the body, called portals.
  • One advantage to endoscopic surgery is that since the incisions are smaller, the portions of the body that need to heal after surgery are reduced. Additionally, because less of the internal tissue of the patient is open to the environment, the extent to which the patient's tissues and organs are open to infection is reduced.
  • endoscopes included only an eyepiece, through which the surgeon could view the surgical site.
  • a modern endoscope system includes a camera assembly that has a camera head attached to the proximal end of the endoscope.
  • a signal processor receives output signals from the camera head. The output signals are converted by the signal processor into electronic signals that are displayed on a monitor.
  • a lens assembly is included in the endoscopic system between the proximal end of the endoscope and the camera head.
  • the lens assembly is fitted in a coupler attached to the proximal end of the endoscope.
  • the lens assembly includes one or more lenses that are moved to focus the image on a transducer internal to the camera head.
  • the lens assembly may also include one or more lenses that are moved to selectively magnify the image.
  • the camera assemblies of modern endoscope assemblies are also capable of processing the output signals generated by their camera heads in order to display the images desired by a surgeon. Specifically, these assemblies are capable of magnifying a portion of the received output signals in order to produce an enlarged image of a section of the surgical site.
  • One such system is disclosed in U.S. Patent No. 6,224,542, entitled, Endoscopic Camera System With Non-Mechanical Zoom, issued on May 1, 2001, which is incorporated herein by reference.
  • These assemblies are also capable of enhancing the received camera head output signals in order to facilitate the generation of an image in which the features of the captured images are clearly presented on the camera display.
  • One such system for enhancing the captured image is disclosed in the Applicants' Assignee's U.S. Patent App . Serial No. 09/917,473, entitled ENDOSCOPIC CAMERA SYSTEM WITH AUTOMATIC NON-MECHANICAL FOCUS, filed July 27, 2001 and incorporated herein by reference.
  • the endoscopic viewing system includes a camera.
  • the coupler is configured to attach the camera to a proximal end of an endoscope.
  • a monitor is included and can display an image detected by the camera.
  • the coupler includes a plurality of lenses that are positioned within a sleeve.
  • the coupler includes a first motor and a second motor. Each of the first motor and the second motor move at least a portion of the plurality of lenses with respect to the sleeve.
  • the coupler can optically focus and magnify the image.
  • the system of this invention includes a control console that both regulates the setting of the lenses in the coupler and the processing of the video signals generated by the camera. The control center digitally focuses and magnifies the image .
  • Figure 1 is an isometric view of an endoscopic system according to the present invention.
  • Figure 2 is a side view of the power zoom coupler of Figure 1;
  • Figure 3 is an isometric view of power zoom coupler according to the present invention without the outer housing
  • Figure 4 is a side view of the lens sleeve of the power zoom coupler of Figure 2;
  • Figure 5 is a side view of the drive sleeve of the power zoom coupler of Figure 2 ;
  • Figure 6 is a side view of the main sleeve of the power zoom coupler of Figure 2;
  • Figure 7a is a side view of the zoom assembly of the optical system of Figure 2;
  • Figure 7b is a side view of the focus assembly of the optical system of Figure 2;
  • Figure 8 is an isometric view of the motor casing and the main sleeve of the power zoom coupler of Figure 2 ;
  • Figure 9 is an isometric view of an alternate embodiment of the power zoom coupler of Figure 2;
  • Figure 10 is a schematic illustration of the sub-circuits of the camera control unit of Figure 1;
  • Figure 11 is a control diagram of operation of the endoscopic viewing system of Figure 1 when a zoom in command is received;
  • Figure 12 is a control diagram of operation of the endoscopic viewing system of Figure 1 when a zoom out command is received.
  • Figure 13 is a control diagram of operation of the focus operation of the endoscopic viewing system of
  • the endoscopic viewing system 20 includes an endoscope 22 and a camera system 26 that is coupled to a proximal end 24 of the endoscope 22.
  • the endoscope is inserted in the body through a portal 32.
  • the camera system 26 itself consists of a camera head 28 ( Figure 2) that is physically attached to the endoscope 22.
  • a transducer 29 Internal to the camera head 28 is a transducer 29 that converts the light rays forming the image at the surgical site into video output signals.
  • transducer 29 includes a prism assembly that initially splits the image applied to it into three red/green/blue primary color components .
  • the individual components of the image are applied to separate charge coupled devices (CCDs) .
  • CCDs charge coupled devices
  • the individual red/green/blue video output signals from transducer 29 are applied to a camera control unit 34.
  • the camera control unit 34 converts the video output signals from the camera head 28 into a display signal.
  • the camera control unit 34 is capable of selectively enlarging, zooming, portions of the image captured by the camera head 28 in order to provide a magnified display of those images .
  • the display signals generated by the camera control unit 34 are applied to a monitor 36 on which the image the surgeon wants to view is displayed.
  • the camera control unit 34 is also capable of bringing the image displayed on the monitor 36 into focus.
  • One such camera system 26 that can be incorporated into the endoscopic viewing system 20 of this invention is the 988 3-chip camera, manufactured by the Applicant's Assignee, Stryker Endoscopy of Santa Clara, California. This system is disclosed in U.S. Patent App . Serial No. 09/917,473, entitled ENDOSCOPIC CAMERA WITH AUTOMATIC NON-MECHANIC FOCUS, filed July 27, 2001 and incorporated herein by reference .
  • Camera head 28 is mounted to the proximal end 24 of the endoscope 22.
  • a powered zoom coupler 38 is included into the camera head 28.
  • the coupler 38 contains lenses that are moved in order to focus the image applied to the camera head transducer.
  • the lenses are also selectively movable to enlarge the image applied to the camera head transducer.
  • Coupler 38 also includes one or more motors 128 and 138 ( Figures 2 and 9, respectively) that selectively move the lenses .
  • the power signals that cause the motors to operate are generated by the camera control unit 34.
  • the camera control unit 34 receives signals from the coupler 38 indicating relative position of the lenses.
  • a surgeon may regulate the image of the surgical site displayed by the endoscopic viewing system 20 with an operating room control center 42.
  • the operating room control center 42 In response to touch-screen or voice generated commands, the operating room control center 42 generates control signals to the camera control unit 34.
  • the camera control unit 34 Based upon signals received from the control center 42, the camera control unit 34 sets the lenses internal to the coupler 38 for the appropriate level of magnification. Alternatively, based on commands received from control center 42, the camera control unit 34 will reset the lenses to refocus the image presented to the transducer 29 or to be appropriately positioned.
  • camera control unit 34 Based upon the received control center commands, camera control unit 34 will also process the signals received from the camera head transducer 29 to digital enhance, focus and/or selectively enlarge the final version of the captured image that is presented on monitor 36.
  • the camera head 28 includes a case 40.
  • a clamp 50 is attached to a distal end 46 of the case 40 for releasably attaching the camera head 28 to the proximal end of endoscope 22.
  • Positioned within the case 40 are the transducer 29 and the coupler 38.
  • Coupler 38 includes a main sleeve 52 that has a longitudinal axis 54.
  • a plurality of lenses 60, 62, 64, 66 and 68 are movably positioned within the main sleeve 52.
  • the lenses 60-68 move with respect to the main sleeve 52 and with respect to each other.
  • the first lens 60 is a concave lens
  • the second lens 62 is a positive meniscus lens
  • the third lens 64 is a bi-convex lens
  • the fourth lens 66 is a bi-concave lens
  • the fifth lens 68 is a bi-convex lens.
  • Lenses 60-68 are shaped such that when they move with respect to each other and with respect to the main sleeve 52, the magnification of the image applied to transducer 29 changes. When the lenses 60-68 move only with respect to the main sleeve 52, the focus of the image presented on the surface of the camera head transducer 29 is altered.
  • the five lenses 60-68 are supported in the coupler 38 by three ring-shaped lens holders.
  • the first lens 60 and the second lens 62 are attached to a first lens holder 70.
  • the first lens holder 70 includes a radially outwardly directed pin 76.
  • a second lens holder 72 supports the third lens 64. Included on the second lens holder 72 is a pin 78.
  • the fourth lens 66 and the fifth lens 68 are attached to a third lens holder 74.
  • the third lens holder 74 includes a pin 80.
  • the lens holders 70-74 are movably supported by a lens sleeve 82 located in the main sleeve 52.
  • the lens sleeve 82 moves axially along the longitudinal axis 54. As described below, the coupler 38 is configured to prevent the lens sleeve 82 from rotating about the longitudinal axis 54.
  • the lens sleeve 82 has a proximal end 84 and a distal end 86.
  • the lens sleeve 82 defines four helical slots, each of which extends around half of the circumference of the sleeve. Extending from the proximal end 84 to the distal end 86, these slots include a first slot 88, a second slot 90, a third slot 92 and a fourth slot 94.
  • the pin 76 extends through the first slot 88 and couples the first lens holder 70 to the lens sleeve 82.
  • the pin 78 extends through the second slot 90 and couples the second lens holder 72 to the lens sleeve 82.
  • the pin 80 extends through the third slot 92 and couples the third lens holder 74 to the lens sleeve 82.
  • Each slot 88-92 is sized to allow the respective pin 76-80 to slide therein.
  • slots 88-92 have first ends that terminate along a first line extending the length of the lens sleeve 82. Slots 88-92 have second ends that are centered on a second line that extends the length of the lens sleeve 82. The vertical distances between the ends of each slot 88-92 limit the vertical distances that the lens holders 70-74, and therefore the lenses 60-68, can travel. [0037] Lens sleeve 82 is further formed so that the angular inclines of the slots 88, 90 and 92 are different. When the pins 76 and 78 move within slots 88 and 90, respectively, the vertical distance between first and second lenses 60 and 62, respectively, and third lens 64 changes.
  • the drive sleeve 96 rotates within the coupler 38 about the longitudinal axis 54.
  • Drive sleeve 96 has a proximal end 98 and a distal end 100. When the drive sleeve 96 is positioned in the coupler 38, the distal end 100 terminates above the fourth slot 94 of the lens sleeve 82.
  • a longitudinal slot 102 extends through the drive sleeve 96 from the proximal end 98 to the distal end 100.
  • a bore 104 extends through the proximal end 98 of the drive sleeve 96. Bore 104 is offset from the longitudinal slot 102 about the circumference of the drive sleeve 96 by approximately 90° .
  • Drive sleeve 96 fits over the lens sleeve 82 such that the longitudinal slot 102 is aligned over slots 88-92.
  • pins 76-80 extend through the longitudinal slot 102 of the drive sleeve 96. Rotation of the drive sleeve 96 causes the pins 76-80 to move within the slots 88-92 and rotate with respect to the lens sleeve 82. Rotation of the pins 76-80 causes a corresponding rotation of the lens holders 70-74. When the lens holders 70-74 rotate, the lenses 60-68 move with respect to the main sleeve 52. Since the slots 88-92 have varying angular inclines, the lenses 60-68 move with respect to each other.
  • the magnification of the image applied to the camera head transducer 29 is changed.
  • the lenses 60-68 are re-oriented in this manner when the drive sleeve 96 rotates.
  • the magnification, zoom, limits of the coupler 38 are defined by the rotational limits of the drive sleeve 96.
  • the main sleeve 52 fits over the drive sleeve 96.
  • the main sleeve 52 has a proximal end 56 and a distal end 58.
  • a proximal slot 106 extends through the proximal end 56 of the main sleeve 52.
  • Extending through the distal end 58 of the main sleeve 52 is a distal slot 108. Both the proximal slot 106 and the distal slot 108 are oriented perpendicular to the longitudinal axis 54.
  • the proximal slot 106 extends around half the circumference of the main sleeve 52.
  • the distal slot 108 also extends around half of the circumference of the main sleeve 52 and is offset from the proximal slot 106 by 90°.
  • the bore 104 of the drive sleeve 96 is aligned with the proximal slot 106 of the main sleeve 52.
  • Drive sleeve 96 is held on the main sleeve 52 by a pin 110 that extends through the proximal slot 106 and the bore 104.
  • the drive sleeve 96 is thus coupled to the main sleeve 52 in a manner that prevents the drive sleeve 96 from translational movement with respect to the main sleeve 52.
  • Rotation of the pin 110 in the proximal slot 106 causes the drive sleeve 96 to rotate about the longitudinal axis 54.
  • the drive sleeve 96 is sized such that the distal end 100 is located above main sleeve distal slot 108.
  • the rotational limits of the drive sleeve 96 are determined by the arcuate circumference of the proximal slot 106. Since the proximal slot 106 extends around half of the main sleeve 52 in the depicted coupler 38, the drive sleeve 96 is able to rotate 180°.
  • a pin 112 extends through the distal slot 108 of the main sleeve 52 and into lens sleeve slot 94.
  • Pin 112 thus holds the lens sleeve in the main sleeve 52.
  • the pin 112 is able to travel within main sleeve distal slot 108. As the pin 112 moves, it acts on the surfaces of the lens sleeve 82 that define slot 94.
  • drive sleeve 96 is locked.
  • the drive sleeve 96 prevents lens holder pins 76, 78 and 80 from moving.
  • the lens holder pins 76, 78, and 80 thus serve as anti-rotation pins that prevent lens sleeve 82 from rotating. Consequently, when pin 112 moves against the adjacent surfaces of the lens sleeve 82, the surfaces thus function as camming surfaces.
  • lens sleeve 82 is forced to move axially along the longitudinal axis 54.
  • the longitudinal displacement of the lens sleeve 82 forces the lens holder pins 76, 78 and 80, the lens holders 70, 72 and 74 and the lenses 60-68 themselves to engage in a like motion.
  • the translational limits of the lens sleeve 82 are determined by the vertical distance between the first and second ends of the fourth slot 94. [0046] When the lens sleeve 82 moves axially with respect to the drive sleeve 96, the pins 76-80 translate within the longitudinal slot 102. The lenses 60-68 therefore move axially in unison with the lens sleeve 82. As previously indicated, when the lenses 60-68 move with respect to the main sleeve 52, the image applied to transducer 29 is focused. Therefore, the optical focus limits of the coupler 38 are defined by the translational limits of the lens sleeve 82.
  • a zoom adjustment ring 114 fits over the proximal end 56 of the main sleeve 52.
  • the pin 110 extends from the bore 104 through the proximal slot 106 and terminates in the zoom adjustment ring 114. Therefore, the zoom adjustment ring 114 and the drive sleeve 96 rotate in unison about the longitudinal axis 54.
  • a zoom ring gear 116 is attached to the zoom adjustment ring 114.
  • a focus adjustment ring 118 fits over the distal end 58 of the main sleeve 52.
  • the pin 112 extends from the fourth slot 94 through the distal slot 108 of the main sleeve and terminates in the focus adjustment ring 118.
  • the lens sleeve 82 will therefore be moved with the focus adjustment ring rotates.
  • the focus adjustment ring 118 includes a focus ring gear 120.
  • a motor casing 122 fits over the main sleeve 52. Mounted in the motor casing 122 are a zoom motor assembly 126 and a focus motor assembly 136.
  • the zoom motor assembly 126 includes a zoom gear box 130 that controls the output of a zoom motor 128.
  • a zoom motor shaft 132 is connected to an opposite end of the zoom gear box 130.
  • a zoom spur gear 134 is positioned about the zoom motor shaft 132.
  • the zoom motor 128 is oriented such that the zoom spur gear 134 is adjacent the proximal end 56 of the main sleeve 52.
  • the zoom spur gear 134 is configured to engage the zoom ring gear 116. Rotation of the zoom spur gear 134 causes a corresponding rotation of the zoom adjustment ring 114.
  • the focus motor assembly 136 is virtually identical to the zoom motor assembly 126.
  • the focus motor assembly 136 includes a focus motor 138 that is connected to a focus gear box 140.
  • the focus motor 138 also includes a focus motor shaft 142.
  • a focus spur gear 144 is positioned about the focus motor shaft 142.
  • the focus motor 138 is oriented such that the focus spur gear 144 is adjacent the distal end of the main sleeve.
  • the focus spur gear 144 is configured to engage the focus ring gear 120. Rotation of the focus spur gear 144 causes a corresponding rotation of the focus adjustment ring 118.
  • the zoom motor 128 and the focus motor 138 are preferably relatively small, less than half an inch in height, to allow the coupler 38 of the present invention to be approximately the same size as prior art couplers. Motors of this size typically have a high shaft output, on the order of 100,000 rpm, but produce a relatively small amount of torque. Therefore, both the zoom gear box 130 and the focus gear box 140 include planetary gear trains. The planetary gear trains function as reduction gears that increase the amount of torque output for the zoom motor shaft 132 and the focus motor shaft 142. In addition, while any suitable motor could be used, the zoom motor 128 and the focus motor 138 are preferably three phase motors .
  • the coupler 38 includes sensors that detect the position of the lenses within the coupler 38.
  • a zoom setting sensor 146 is positioned in a slot 148 in the motor casing 122 adjacent the zoom spur gear 134.
  • a focus setting sensor 152 is positioned in a slot 154 in the motor casing 122 adjacent the focus spur gear 144. Both the zoom setting sensor 146 and the focus setting sensor 152 are electrically connected to the camera control unit 34. Sensors 146 and 152 output signals corresponding to the orientation of the lenses within the coupler 38 to the camera control unit 34 through this electrical connection. In one version of the invention, sensors 146 and 156 are Hall effect sensors. When the camera control unit 34 determines that the optical zoom and focus limits of the coupler 38 have been reached, the camera control unit may transmit data indicating this coupler state to the control center 42.
  • two magnets 150 are attached to the zoom adjustment ring 114. Magnets 150 are positioned to correspond to the optical zoom limits of the coupler 38. As the zoom adjustment ring 100 rotates, one of the magnets 150 approaches the zoom setting sensor 146.
  • the zoom setting sensor 146 detects one of the magnets 150, it sends a signal to the camera control unit 34.
  • the strength of this signal varies as a function of the proximity of the magnet 150 to sensor 146.
  • the camera control unit 34 determines the position of the lenses 60-68 within the coupler 38.
  • the camera control unit 34 deactivates the zoom motor 128.
  • the camera control unit 34 is still capable of activating the zoom motor 128 to drive the lenses 60- 68 in the opposite direction.
  • each magnet 156 is positioned in ring 118 so that its position relative to sensor 152 corresponds to the maximum extent lens sleeve 84 can be moved in one direction. In other words, each magnet 156 is positioned such that the focus setting sensor 152 transmits an appropriate signal to the camera control unit 34 when one of the focus limits of the lenses 60-68 is reached.
  • the signal output by sensor 152 is transmitted to the camera control unit 34. Based on the state of this signal, camera control unit 34 determines the position of the lenses 60-68 within the coupler 38. When the signal strength indicates that the lenses are at an optical focus limit for the coupler 38, the camera control unit 34 de-activates the focus motor 138. The camera control unit 34 can no longer activate the focus motor 138 to further drive the lenses 60-68 in this direction. The camera control unit 34 is not prevented from activating the zoom motor 128 to drive the lenses 60-68 in the opposite direction.
  • additional magnets could be positioned about the zoom adjustment ring 114 and the focus adjustment ring 118.
  • the magnets attached to each ring can have the same magnetic strength.
  • additional magnets of varying magnetic strengths could be included in the coupler 38.
  • a series of magnets of varying strength or polarity are positioned about either or both of the adjustment rings 114 and 118.
  • the camera control unit 34 evaluates the strength of the signal transmitted by the setting sensors to determine orientation of the magnets at various points between the optical limits of the coupler 38.
  • a number of additional magnets 150 could be positioned about the zoom adjustment ring 114 corresponding to increments of zoom.
  • a first magnet could be placed at a position corresponding to 1.25 times magnification
  • a second magnet could be placed at 1.5 times, and so on.
  • the control center 42 signals the camera control unit 34 to actuate the zoom motor 128.
  • the zoom setting sensor 146 transmits lens position signals to the coupler command center 40 based upon the proximity of each magnet 150. The strength of this signal is based upon the proximity of the magnets 150 and the detected magnetic strength of each of the magnets 150.
  • the control center 42 signals the camera control unit 34 to de-activate the zoom motor 128 when the signals received from the sensor 146 correspond to the desired orientation of the lenses 60- 68.
  • Camera control unit 34 includes an electronic shutter 202.
  • the electronic shutter gates, scans, the pixels integral with the CCDs integral with the camera head transducer 29 to obtain the charge held by each pixel . Based on the quantity of these charges, the electronic shutter 202 produces individual red/green/blue output signals representative of the components of the primary colors present in the captured images . These red/green/blue signals are individually amplified.
  • a single amplifier 204 is shown as performing this amplification. It should be understood that there are separate amplifiers that selectively amplify/attenuate each primary color signal. Also, these amplifiers may be analog amplifiers that amplify the red/green/blue signals from transducer 29 before they are applied to the electronic shutter 202.
  • the camera control unit 34 also includes a light sensor circuit 206.
  • the light sensor 206 receives an output signal from the electronic shutter assembly 202 representative of the light at the surgical site captured by the camera head 28.
  • the signals produced by amplifier 204 are applied to a video signal processor 207.
  • video signal processor 207 is a digital signal processor.
  • the video signal processor 207 can among other tasks, interpolate between individual pixel signals to produce a magnified portion of the captured image.
  • the output signals from the video signal processor are the image- defining signals that are forwarded to the monitor 36.
  • the electronic shutter 202, the amplifier 204, the light sensor 206 and the video signal processor 207 are connected to a microcontroller 208.
  • the light sensor 204 supplies the microcontroller 208 with the signal indicating the light level at the surgical site.
  • the microcontroller 208 both establishes the rate at which the electronic shutter 202 gates the pixels of the CCDs and establishes the extent to which the amplifier 204 amplifies/attenuates the red/green/blue signals.
  • Microcontroller 208 also controls the video signal processing performed by the processor 207.
  • Microcontroller 208 also receives as input the output signals from the zoom setting and focus setting sensors 146 and 152, respectively.
  • a zoom driver 210 Internal to the camera control unit 34 there is also a zoom driver 210.
  • the zoom driver 210 selectively applies an energization signal to the zoom motor 128.
  • the focus driver 212 selectively applies the energization signals to the focus motor 138.
  • the microcontroller 208 regulates the generation of motor energization signals by the zoom driver 210 and the focus driver 212.
  • the camera control unit 34 also has a graphics generator 214. This allows the camera control unit to display messages on monitor 36.
  • the microcontroller 208 generates the commands to the graphics generator 214 causing the selected messages to be generated.
  • the output signals produced by the graphics generator 214 are applied to the display signal output from the video signal processor 207 by a mixer 216.
  • FIG 11-13 operation of the endoscopic viewing system 20 is described.
  • Figure 11 represents response of the endoscopic viewing system 20 to a command to magnify, zoom in on, the surgical site.
  • the control center 42 disclosed herein can receive either touch-screen or voice generated commands.
  • the coupler 38 of this invention could be utilized with a control center that receives commands in any suitable manner.
  • the surgeon can give a stop command, thus preventing the control center 42 from completing the action.
  • a command to zoom in on the image of the surgical site displayed is received from the surgeon at step 250.
  • the microcontroller 208 of the camera control unit 34 initially determines, at step 252, if the coupler 38 is oriented at maximum optical zoom. This determination is made by the microcontroller 208 based upon the output signals received from the zoom setting sensor 146. If the coupler is not at the maximum optical zoom position, the camera control unit 34, in step 254, applies an energization signal to the zoom motor 128. [0067] As the position of the lenses 60-68 shift within the coupler 38, the microcontroller 208 of the camera control unit 34 receives a signal from zoom setting sensor 146.
  • microcontroller 208 first determines if the lenses 60-68 have been stepped to the desired magnification at step 256. This determination may be made by timing the period for which the zoom motor 128 is actuated. Alternatively, this determination may be made by determining if the signal from the zoom setting sensor 146 has indicated there has been a desired shift in the position of the lenses. If the lenses are properly repositioned, the microcontroller 208 signals the zoom driver 210 to deactivate the zoom motor 128, step 258. [0068] If the lenses are not stepped to the desired orientation, the microcontroller 208 continues to evaluate the signal received from the zoom setting sensor 146 to determine if the lenses 60-68 are at their maximum zoom limit, step 260.
  • the camera control unit 34 performs two tasks. First, in step 262, the microcontroller 208 signals the zoom driver 210 to de-activate the zoom motor 128. This prevents excess wear on the motor 128 caused by driving the motor in a direction in which the zoom adjustment ring 114 can no longer be rotated. Next, in step 264, microcontroller 208 signals the graphics generator 214 to generate an overlay message indicating that the zoom limit has been reached. The graphics generator 214 applies a signal to the output display stream by the mixer 216, and the overlay message is displayed on the monitor 36. If the surgeon desires further magnification, he/she can enter a command requesting it through control center 42.
  • step 252 the camera control unit 34 determines that the coupler lenses are in their maximum zoom position. If this state exists, microcontroller 208 signals the video signal processor 207 to digitally magnify the image applied to the monitor 36, step 266. The digitally magnified image is displayed on the monitor 36 at step 268. Camera control unit 34 can cause graphics generator 214 to present a message on the monitor 36 that the displayed image is digitally magnified.
  • step 282 the microprocessor 208, based on its internal control unit state flags, determines if the image being displayed on the monitor 36 is digitally magnified. If the image is not digitally magnified, microcontroller 208 signals the zoom driver 210 to activate the zoom motor 128, step 284. This causes the coupler lenses to be repositioned so as to reduce the magnification of the image applied to transducer 29.
  • the camera control unit 34 monitors the orientation of the lenses 60-68.
  • the orientation of the lenses 60-68 is monitored based upon signals received from the zoom setting sensor 146 by the microcontroller 208.
  • the microcontroller 208 evaluates this signal to determine the position of the lenses 60-68 within the coupler 38.
  • step 286 the microcontroller 208 determines if the magnification of the image has been adjusted to the desired level. This determination may be made by timing how long motor 128 is driven. Alternatively, this determination is made by evaluating the extent the coupler lenses have moved based on the change in the output signal from zoom setting sensor 146. If the magnification is appropriately reduced, microcontroller 208 signals the zoom driver 210 to deactivate the zoom motor 128, step 288.
  • the microcontroller 208 will continue to monitor the position of the lenses within the coupler 38 by the signals received from the sensor 146. [0074] At step 290, the microcontroller 208 evaluates the signal from the zone setting sensor 146 and determines if the minimum optical magnification limit of the lenses 60-68 is reached. If the signal indicates that the minimum zoom limit is reached, the microcontroller 208 signals the zoom driver 210 to deactivate the zoom motor 128, step 292. An indicator can be provided for the surgeon that the minimum zoom limit has been reached at this time. The camera control unit 34 then transmits a lens state signal to the control center 42, step 294.
  • the microcontroller 208 continues to monitor the position of the lenses 60-68 within the coupler 38.
  • the control center 42 applies a command to the camera control unit 34 to reprocess the image, step 296.
  • the image is then digitally reprocessed by the video processor 207.
  • the microcontroller 208 signals the graphics generator 214 to provide an indicator to the surgeon that the zoom out function is performed digitally, rather than optically.
  • Figures 11 and 12 represent reaction of the endoscopic viewing system 20 when zoom in/zoom out commands are received by the camera control unit 34.
  • System 20 can also re-focus the image presented on the monitor 36 either optically or electronically. This refocusing can occur as a result of monitoring performed by the camera control unit 34 or in response to a command received through control center 42.
  • FIG 13 illustrates the steps executed by the system to autofocus the image presented on monitor 36.
  • microcontroller 208 based on signals representative of the image to be output generated by the video signal processor 297, determines whether or not the image is out of focus. This determination can be made by monitoring the energy level of the signals forming the image. When the image is first in focus, the surgeon may enter a command through the control center identifying this state. At this time, microprocessor 208 stores data indicating the image energy level. If the image goes out of focus, the energy level of the image-defining signals changes. This change in energy level is interpreted by the microprocessor 208 as an indication that the focus of the image has changed.
  • edge-detection software run by the video signal processor may monitor the sharpness of signals that define the edge between two items of the captured image. Typically, this software compares the brightness of individual portions of the image; adjacent portions across which there are large changes in brightness are considered to define an edge. If this software indicates an edge blur, it is recognized by the video signal processor or microcontroller as an indication that the image has gone out of focus. [0079] If the microcontroller 208 determines that the image is not out of focus, no action is taken. Throughout the surgical procedure, the microcontroller 208 continues to monitor the focus of the image. [0080] If the microcontroller 208 determines that the image is out of focus, it proceeds to step 302.
  • the microcontroller 208 determines if the image blur is minor or major. This determination may be made by evaluating the extent to which the energy level of the image-defining signals have changed. Specifically, a large change in energy level is recognized as an indication that the blurring is major. Alternatively, this determination may be made by evaluating the extent to which the monitored display signal-defined edge of the image has blurred.
  • the microcontroller 208 signals the focus driver 212 to actuate the focus motor 138, step 304. As the focus motor 138 operates, the microcontroller 208 monitors the position of the lenses. Based on the proximity of the focus magnets 156, the focus setting sensor 152 transmits a signal to the microcontroller 208 regarding the orientation of the lenses 60-68.
  • the microcontroller 208 determines if one of the focus limits for the coupler 38 is reached, step 306. If a limit is not reached, the focus of the image is further optically adjusted. Alternatively, if the image goes back into focus, a command entered through the control center 42 will result in the deactuation of the focus motor and the movement of the coupler lenses, (step not identified) . The microcontroller 208 continues to monitor the position of the lenses 60-68 based upon signals transmitted from the focus setting sensor 152. If one of the focus limits is reached, the microcontroller 208 signals the focus driver 212 to de-activate the focus motor 138 in step 308. At this time, the microcontroller 208 can signal the graphics generator 214 to display an indicator on the monitor 36 that the focus limit has been reached. This indicator could also be provided in another suitable form, such as by an audio message.
  • the microcontroller 208 applies a signal to the camera head 28 to electronically enhance the image at step 312.
  • the microcontroller 208 monitors the image sent to the monitor 36 to determine if it is in focus, step 314. If the image is in focus, in step 316 the microcontroller 208 signals the camera head 28 to terminate electronic enhancement of the image. If the image is not in focus, the microcontroller 208 actuates the focus motor 138 to reset the coupling lenses in order to optically refocus the lenses; step 304 is executed.
  • step 304 the system 20 will proceed to execution of step 304 when the electronic focusing circuit reaches the point at which it can no longer improve the quality of the output display signals.
  • the circuit may provide a feedback signal to microcontroller 208 when it reaches this state.
  • microcontroller 208 may internally determine when the focusing circuit has reached the state at which it can no longer improve image quality.
  • step 300 in Figure 13 would be replaced by a command received by control center 42.
  • the surgeon through the control center 42 could first direct the camera control unit 34 to perform an electronic enhancement.
  • the control center in response to a "FOCUS IN” or “FOCUS OUT” command, the control center could direct the camera control unit 34 to selectively moves the coupler lenses towards or away from the endoscope 22.
  • sensors other than Hall effect sensors can be used to monitor the positions of the lenses. These sensors could include optical sensors that monitor the rotational positions of adjustment rings 114 or 118. Alternatively, potentiometers can be used to monitor ring position.
  • the present invention is not limited to those such a viewing system.
  • the zoom and focus commands could also be input via movement of one or more switches or pedals that are operably connected to the control center 42.
  • any suitable lenses and/or lens system could be utilized.
  • the depicted coupler 38 includes lenses 60-68 that are all re-oriented in response to both zoom and focus commands.
  • the coupler 38 could include a first set of lenses that are moved to magnify an image and a second set of lenses that are moved to adjust focus of the image.
  • the present invention has been illustrated including five lenses supported by three lens holders, this orientation could be altered.
  • control protocols should be understood to be illustrative and not limiting.
  • the "zoom out” process may start with the resetting the coupler lenses prior to the resetting of the digital enhancement of the display signals.
  • correction of the image when it is only minimally out of focus may be performed by the resetting of the coupler lenses.
  • the major refocusing may be performed by the video signal processing circuitry internal to the camera controller 34.
  • the image processing of this system may not be sequential, first optical and then electrical, or the other way around.
  • refocusing may be accomplished by first a slight change of the electronic focus. If that change is unsuccessful in improving image quality, the system may engage in a small displacement of the coupler lenses followed by another execution of the electronic focus routine.
  • the zooming in/out of the image may similarly be interleaved steps of displacing the lenses and readjusting the electronic focus.
  • the coupler may be integral with the camera head.
  • the coupler may be a stand alone component. This may be useful for economic reasons since it makes it possible to use a single coupler with a number of different camera systems.

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

Abstract

L'invention concerne un système de vision endoscopique (20) comprenant un coupleur de zoom motorisé (38). Le coupleur est conçu afin de fixer la caméra à une extrémité proximale de l'endoscope (22). Il comprend plusieurs lentilles (60-68) positionnées dans un manchon (82), un premier moteur (128) et un second moteur (138). Chacun des premier et second moteurs déplace au moins une partie des lentilles par rapport au manchon. Le coupleur peut focaliser optiquement et agrandir l'image appliquée à la caméra. Le système TRC comprend aussi un centre de commande de façon à focaliser et à agrandir numériquement l'image. Grâce à cette structure, des chirurgiens peuvent, avec une unité de commande unique, traiter optiquement et électriquement une image affichée sur un moniteur (36). Puisque cette image peut être travaillée à la fois numériquement et optiquement, il est possible d'utiliser des plages de zoom et de foyer plus larges.
PCT/US2002/034221 2002-10-25 2002-10-25 Systeme de vision endoscopique a coupleur optique motorise WO2004039250A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2004548238A JP4362571B2 (ja) 2002-10-25 2002-10-25 電動光学カプラを備えた内視鏡ビューシステム
PCT/US2002/034221 WO2004039250A1 (fr) 2002-10-25 2002-10-25 Systeme de vision endoscopique a coupleur optique motorise
AU2002353884A AU2002353884B2 (en) 2002-10-25 2002-10-25 Endoscopic viewing system having a powered optical coupler
EP02789282A EP1560515A1 (fr) 2002-10-25 2002-10-25 Systeme de vision endoscopique a coupleur optique motorise

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2002/034221 WO2004039250A1 (fr) 2002-10-25 2002-10-25 Systeme de vision endoscopique a coupleur optique motorise

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WO2005122867A1 (fr) 2004-06-17 2005-12-29 Olympus Corporation Appareil endoscope
EP1836946A1 (fr) * 2006-03-22 2007-09-26 Fujinon Corporation Appareil d'endoscopie
EP2179687A3 (fr) * 2008-10-22 2010-05-12 FUJIFILM Corporation Appareil d'endoscope et son procédé de commande correspondant
US9610135B2 (en) 2015-05-29 2017-04-04 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi Laparoscopic medical instrument holding device
CN109298522A (zh) * 2018-12-06 2019-02-01 重庆禾洋光电仪器有限公司 一种数码观景镜

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Publication number Priority date Publication date Assignee Title
US5817014A (en) * 1994-10-07 1998-10-06 Vista Medical Technologies, Inc. Electronic endoscope with zoom lens
US20010021797A1 (en) * 2000-03-13 2001-09-13 Fuji Photo Optical Co., Ltd. Electronic endoscope apparatus for discriminating optically variable power from electronically variable power
US6292221B1 (en) * 1998-11-17 2001-09-18 Vista Medical Technologies, Inc. Motorized focusing device and viewing system utilizing same
US6425858B1 (en) * 1999-03-19 2002-07-30 Fuji Photo Optical Co., Ltd. Electronic endoscope apparatus having magnification changing function

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5817014A (en) * 1994-10-07 1998-10-06 Vista Medical Technologies, Inc. Electronic endoscope with zoom lens
US6292221B1 (en) * 1998-11-17 2001-09-18 Vista Medical Technologies, Inc. Motorized focusing device and viewing system utilizing same
US6425858B1 (en) * 1999-03-19 2002-07-30 Fuji Photo Optical Co., Ltd. Electronic endoscope apparatus having magnification changing function
US20010021797A1 (en) * 2000-03-13 2001-09-13 Fuji Photo Optical Co., Ltd. Electronic endoscope apparatus for discriminating optically variable power from electronically variable power

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005122867A1 (fr) 2004-06-17 2005-12-29 Olympus Corporation Appareil endoscope
EP1769723A1 (fr) * 2004-06-17 2007-04-04 Olympus Corporation Appareil endoscope
EP1769723A4 (fr) * 2004-06-17 2009-09-09 Olympus Corp Appareil endoscope
US7734160B2 (en) 2004-06-17 2010-06-08 Olympus Corporation Endoscope apparatus
EP1836946A1 (fr) * 2006-03-22 2007-09-26 Fujinon Corporation Appareil d'endoscopie
EP2179687A3 (fr) * 2008-10-22 2010-05-12 FUJIFILM Corporation Appareil d'endoscope et son procédé de commande correspondant
US8553075B2 (en) 2008-10-22 2013-10-08 Fujifilm Corporation Endoscope apparatus and control method therefor
US9610135B2 (en) 2015-05-29 2017-04-04 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi Laparoscopic medical instrument holding device
CN109298522A (zh) * 2018-12-06 2019-02-01 重庆禾洋光电仪器有限公司 一种数码观景镜

Also Published As

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AU2002353884B2 (en) 2008-09-18
AU2002353884A1 (en) 2004-05-25
JP2006503663A (ja) 2006-02-02
JP4362571B2 (ja) 2009-11-11
EP1560515A1 (fr) 2005-08-10

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