WO2012119693A1 - Dispositif de changement de la direction de visée d'un vidéoendoscope - Google Patents

Dispositif de changement de la direction de visée d'un vidéoendoscope Download PDF

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Publication number
WO2012119693A1
WO2012119693A1 PCT/EP2012/000660 EP2012000660W WO2012119693A1 WO 2012119693 A1 WO2012119693 A1 WO 2012119693A1 EP 2012000660 W EP2012000660 W EP 2012000660W WO 2012119693 A1 WO2012119693 A1 WO 2012119693A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
video endoscope
optical assembly
optical element
longitudinal axis
Prior art date
Application number
PCT/EP2012/000660
Other languages
German (de)
English (en)
Inventor
Martin Wieters
Philipp ABEL
Jens ROSE
Original Assignee
Olympus Winter & Ibe Gmbh
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 Olympus Winter & Ibe Gmbh filed Critical Olympus Winter & Ibe Gmbh
Publication of WO2012119693A1 publication Critical patent/WO2012119693A1/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
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00181—Optical arrangements characterised by the viewing angles for multiple fixed viewing angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • 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

Definitions

  • the invention relates to a distal optical assembly of a video endoscope comprising an actuator and an optical element movable transversely to a longitudinal axis of the video endoscope and to a video endoscope having a corresponding distal optical assembly.
  • Endoscopes in particular video endoscopes with optical assemblies at the distal tip of the elongate endoscope, in some cases have movable optical elements.
  • This can mean a longitudinal movement of an optical element, for example for focusing.
  • Transverse movements can serve, for example, for introducing and carrying optical filters into a beam path of the endoscope.
  • CONFIRMATION COPY see the different directions switch back and forth.
  • Such endoscopes have at least one lateral viewing direction and another viewing direction, which is also directed laterally or straight ahead. With appropriate endoscopes can be greatly expanded by simply switching the line of sight, the field of view in the surgical field without the endoscope itself must be tilted.
  • a lateral viewing direction is adjusted by pivoting or displacing a mirror or a prism or any other suitable optical element or elements.
  • the switching is quasi-continuous, since a swivel of the field of view takes place in place of a completely discrete switching.
  • Another type of endoscope has a pivotable lens, the viewing direction is set directly.
  • An optical assembly at the distal tip of the endoscope is also referred to as an "R-unit.” It includes the optical lens systems and optionally an optical surface sensor, such as a CCD chip or CMOS chip The optical sensor may then be placed in a handle or in a camera head which is attached to a proximal eyepiece.
  • Typical combinations of viewing directions in endoscopes with a plurality of discrete viewing directions are, for example, 0 ° and 45 ° or 30 ° and 80 °. To switch between these directions quickly and safely and for the surgeon with the lowest possible To enable effort, it is desired not to have to initiate the switching by hand, but to install an actuator and designed so that the switching movement is carried out reliably and reversibly.
  • the present invention is therefore based on the object of providing a distal optical assembly of a video endoscope and a corresponding video endoscope with which switching between different viewing directions is made possible reliably and often repeatable.
  • This invention is achieved by a distal optical assembly of a video-endoscope comprising an actuator and an optical element movable transversely to a longitudinal axis of the video-endoscope, which is further developed in that the assembly comprises a deflection device having a travel of the actuator directed in the direction of a longitudinal axis of the video-endoscope deflected in a linear movement transversely to the longitudinal axis of the video endoscope and transmits to the movable optical element.
  • the travel of the actuator defines the direction of movement or direction of action of the actuator within the scope of the invention.
  • the invention is based on the basic idea that, for switching the viewing direction, an optical element is moved linearly transversely to the longitudinal axis of the video endoscope.
  • An actuator which usually also has a longitudinally extending shape, is usefully also to be arranged in the case of the cramped space conditions prevailing in a shaft of an endoscope so that it is aligned in the longitudinal direction of the shaft of the endoscope or of the endoscope itself. This means that its travel, ie the direction of the movement that the actuator generates, is also in Longitudinal direction of the video endoscope is aligned.
  • the deflecting device in the assembly encompassed, which converts the longitudinal movement or the travel of the actuator in the longitudinal direction of the endoscope in a linear transverse movement of the optical element.
  • a diverter can be made small enough to be inserted into the distal optical assembly without increasing the dimensions of the distal optical assembly.
  • transversely to the longitudinal axis of the video endoscope means a direction which is not collinear with the longitudinal axis of the video endoscope.
  • a possible direction is a direction which is perpendicular to the longitudinal axis of the video endoscope It also includes other acute or obtuse angles having a component perpendicular to the longitudinal axis and a component parallel to the longitudinal axis of the video-endoscope.
  • the movement of the optical element is in the context of the invention, a linear or rectilinear motion, for example by a positive guidance of the optical element.
  • the embodiment of the invention is a linear movement of the optical element without rotation and without tilting.
  • optical filters that can be inserted into the beam path and removed from the beam path again.
  • optical lenses that cause an enlargement or reduction, be provided, which are introduced into the beam path or taken out of the beam path again.
  • the invention is thus not limited to video endoscopes with discrete viewing directions.
  • the movable optical element is a mirror and / or a prism.
  • a prism which in particular has two different parts, which are relevant for different beam paths and which are thus adapted to the different viewing directions of the video endoscope, a selection can be made by a transverse displacement, which of the two beams is passed on to an image sensor.
  • the transverse stroke can be limited to a few millimeters in such a case.
  • Such a prism can also have individual mirrored surfaces and thus partially be a mirror.
  • a prism so that it is stationary, so that it has input surfaces for both beam paths of the two viewing directions, which are then brought together in the prism, wherein as a movable optical element, a mirror in an air gap between the beam path of a lens and the prism is inserted, so that when inserted mirror only the second beam path is enabled and the mirror is extended, the first beam path is also enabled, the light from the second beam path does not reach the image sensor due to lack of total reflection.
  • WO 2010/127827 A1 The variant with a two-part prism, which is transversely displaceable, is known from this document. The content of WO 2010/127827 A1 should therefore be included in full here.
  • the actuator is preferably designed as a linear actuator, in particular as an electromagnetic actuator or as a piezoelectric actuator.
  • Such actuators have a linear stroke, i. a travel that only works in one direction. They are small in size and can be selected and manufactured according to the mechanical requirements and the size in the distal optical assembly.
  • two or more objectives for lateral and / or in the 0 ° direction, ie straight ahead, directed viewing directions includes.
  • the application of the distal optical assembly according to the invention is particularly advantageous for switching between formed different directions.
  • the deflection device comprises a holder for the movable optical element, which is linearly movable in particular exclusively in the direction of movement of the optical element transverse to the longitudinal axis of the video endoscope. It is thus a kind of slide guide or forced guidance for the holder.
  • the holder may also be part of the deflection device. The movement of the holder is decisive for the movement of the optical element. This movement is linear.
  • the holder for the movable optical element comprises a control surface with a sloping groove into which a pin engages a piston acted upon or acted upon by the actuator with a linear movement directed in the direction of the longitudinal axis of the video endoscope.
  • the piston movement is translated into a linear movement of the holder transversely to the optical axis.
  • This embodiment is particularly simple because the oblique groove in the control surface of the holder determines the direction of movement together with the limitation of the direction of movement of the holder.
  • the combination of pin and oblique groove in the control surface is solved mechanically particularly simple.
  • the deflection device comprises gears and / or a worm gear for deflecting the travel of the actuator. Even with gears and / or worm gears, a deflection can be produced mechanically exact and robust. When using a curved mirror, a certain direction of change of sight can also be generated by a linear movement of the mirror transversely to the optical axis of the endoscope.
  • a return spring is included, which is arranged for resetting the movable optical element, in particular on a piston acted on or acted upon by an actuator with a linear movement.
  • the actuator is a piezoelectric actuator, which is not connected to the piston conclusive.
  • a piezoelectric actuator in many cases comprises a rotor, which not only moves linearly, but also rotates.
  • the driven piston has a pin which engages in a slanted groove of a control surface of a holder of a movable optical element
  • a positive connection of the piston to the rotor of the piezoelectric actuator is not desirable and not possible
  • the end of the piston with the pin would also rotate about the longitudinal axis of the piston.
  • An engagement with the groove of the control surface would then no longer possible.
  • a return spring ensures that the piston and the optical element are returned to their other position.
  • This return spring can act either directly on the piston with a restoring force or the optical element or the corresponding holder of the optical element.
  • the translation of force and travel depends on the angle of the groove to the direction of movement of the piston.
  • the travel should be as short as possible for reasons of space and design implementation.
  • a translation of the longitudinal movement of the actuator into a transverse movement of the optical element is set between 3: 1 and 1: 3, in particular between 2: 1 and 1: 2, in particular between 1.2: 1 and 1: 1.2.
  • the latter is achieved, for example, with an angle of the oblique groove of about 45 ° and means a transmission of the travel of about 1: 1.
  • a steeper groove with more than 45 ° produces a good ratio between radial and axial force as the amount of radial Force is greater than that of the axial force.
  • a larger travel of the actuator is necessary.
  • a shallower groove of less than 45 ° produces a poorer force ratio, which can be compensated by a correspondingly more powerful actuator, since the axial force is greater than the radial.
  • a smaller travel is needed on the actuator.
  • a corresponding groove can not be designed as a simple straight line but, for example, S-shaped. Also a steeply starting and flat ending groove or a flat starting and steep ending groove are possible.
  • An S-shaped groove has the further advantage that both at the setting path as well as the reset path equal forces occur.
  • the object underlying the invention is also achieved by a video endoscope with a previously described inventive distal optical assembly.
  • FIG. 1 shows a schematic perspective elevation through a distal optical assembly according to the invention
  • FIG. 2 is a schematic perspective view of a multi-part prism
  • FIG. 4a, b schematic representations of a holder of a distal optical assembly according to the invention for a prism according to FIGS. 2 and 3, 5 is a schematic cross-sectional view through a distal optical assembly according to the invention according to FIG. 1 and FIG
  • Fig. 6 is a schematic cross-sectional view through a further inventive distal optical assembly.
  • a distal optical assembly according to the invention is shown schematically in elevation and in perspective.
  • At the illustrated distal end of the assembly 2 are two lenses, of which an objective 4 in the 0 ° -view, so straight ahead, is directed, and an objective 6 is directed in the 45 ° direction of view. This is a lateral line of sight.
  • the lenses 4, 6 are stored as well as the other optical elements in a holder 8 of the optical system.
  • a prism 10 connects, which is described in more detail in the following figures 2 and 3.
  • Such a prism is also known from WO 2010/127827 A1 of the Applicant, whose disclosure content is to be included in full content.
  • the prism 10 serves to select by a transverse displacement of the prism 10, the optical beam path, which is to be forwarded to a CCD chip 22 and the image is displayed to an operator.
  • the prism 10 is arranged in a prism holder 14 and is held therein, which has a mechanical degree of freedom transverse to the longitudinal axis of the endoscope or to the longitudinal axis. se of the assembly 2 has.
  • an optical lens system 16 with a plurality of lenses, which project the light captured by the object 4 or the objective 6 onto a CCD 22.
  • the optical lens system 16 is held in a lens holder 18.
  • the CCD chip 22 is arranged in a CCD holder 20.
  • Connected partially to the CCD chip 22 is a ribbon cable 24, which supplies power to the CCD chip 22 and forwards the image data of the CCD chip 22 to the proximal end of the video endoscope to an image processing unit, which is not shown.
  • Proximal joins an bump sleeve 26, which narrows proximally.
  • an actuator 30 is arranged, which has a cylindrical outer dimension.
  • the longitudinal axis of the actuator 30 is likewise arranged in the longitudinal direction of the video-optical assembly 2.
  • the actuator 30 is an electromagnetic actuator with permanent magnets 38, 40, a coil 42 and a soft magnetic yoke 44.
  • Such an actuator is known for example from the patent application DE 10 2010 030 919.2 of the Applicant whose disclosure content is also to be fully incorporated into the present patent application ,
  • the actuator 30 is hollow inside and penetrated by an inner tube 46 or sliding tube, in which a soft magnetic rotor 48 is arranged longitudinally displaceable. Due to the different power supply of the coil 42, the rotor 46 is moved to two different positions which are longitudinally advanced or retracted.
  • a piston 32 is connected to the rotor 48 which, together with the rotor 48, extends in the longitudinal direction. and is pushed or pushed back and forth.
  • the piston 32 has a pin 34 which engages in a sloping groove 36 of the prism holder 14. Since the prism holder 14 is mounted within the distal region of the assembly 2 with a single degree of freedom transverse to the longitudinal axis and thus can only move laterally, a forward and backward movement of the piston 32 and the pin 34 means that the prism holder 14 corresponding to the angle Oblique groove 36 is moved sideways. Thus, the longitudinal axial travel of the rotor 48 in the actuator 30 and the piston 32 is deflected in an oblique movement of the prism holder 14 and the prism 10.
  • a corresponding two-part prism 10 with two parts 10a and 10b is shown schematically and in perspective.
  • the prism portion 10a is provided for the 0 ° view direction of the assembly 2 shown in FIG.
  • Light entering through the lens 4 enters through the flat entrance surface 52 and exits at the opposite exit surface.
  • Light which has penetrated through the lens 45 for the 45 ° viewing direction can enter the part 10b of the prism 10 through the entrance surface 54, is totally reflected at the total reflection surface 56 and, after total reflection, enters the surface 58 which is mirrored. After the reflection on the mirrored surface 58, this beam path then also exits on the rear surface.
  • the selection of which of the two beam paths is selected is made by the position of the prism 10 with respect to the lenses 4 and 6 of FIG.
  • the central optical axis 60 enters the entrance surface 52 from the 0 ° viewing direction in the 0 ° viewing direction and corresponding to the dashed line corresponding to the central optical path 64 in the O 0 viewing direction, passes through the prism portion 10a. At the back of the beam path 64 exits. From the objective 6 in the 45 ° viewing direction, light enters the part 10b of the prism 10 along the central optical axis 62 in the 45 ° viewing direction, and at the total reflection surface 56 at the point 68 the total reflection for the central beam path 66 is 45 ° Viewing totally reflected and hits the mirrored surface 58 at the location of the reflection 70 on the mirrored surface 58 and is reflected there again. At this point, the central beam path 68 is parallel to the central beam path 64.
  • the two beam paths have the same offset with respect to the prism 10 that the centers of the two prism parts 10a and 10b also have.
  • the offset is indicated by the double arrow with the reference numeral 72.
  • the lenses 4 and 6 are in one plane for the 0 ° viewing direction and for the 45 ° viewing direction.
  • the prism 10 is therefore shown in two different positions schematically from above.
  • the case is shown that the prism 10 is laterally in a position in which the central beam path 67 corresponds to that of the 0 ° view direction. Demenschend occurs this central beam path 67 through the part 10 a of the prism 10. It enters at the entrance surface 52 and out of the exit surface 53 again.
  • the prism 10 On the right side in Fig. 3 b) has been compared to the situation on the left side of the figure, the prism 10 has been moved by the amount of the lateral offset 72. As a result, the prism portion 10b has been inserted into the central beam path 67.
  • the plan illustrated beam path 67 corresponds in this case to the in Fig. 3 a) shown central beam path 66 including the reflection points 68, 70.
  • FIG. 4 a shows a perspective schematic representation of the prism holder 14 with the prism 10 inserted therein with the two prism parts 10 a and 10 b. Also shown are the entrance surface 52 from the 0 ° viewing direction and the entry surface 54 from the 45 ° viewing direction. Similarly, the prism holder 14 is also provided with an upper, vertically cut front surface and a lower beveled front surface at a 45 ° angle.
  • the prism holder 14 merges into a control surface 76, which has an oblique groove 36 on the underside, which is shown in FIG. 4 b), which shows a schematic representation of the underside of the prism holder 14.
  • the oblique groove 36 is formed at an angle of about 45 ° and therefore provides for a conversion of the travel from the longitudinal direction in a transverse direction of about 1: 1.
  • the groove 36 is a recess in the control surface 76, in which a pin 34 of a piston 32, which is connected to the actuator 30 or is moved, engages.
  • Fig. 5 is a schematic cross-sectional view through the video-optical assembly 2 shown in FIG. 1.
  • an objective 4 in the 0 ° viewing direction and an objective 6 in the 45 ° viewing direction are held by the holder 8 of the optical system.
  • the transmission mechanism for the lateral adjustment of the prism 10 is shown in the lower part.
  • the actuator 30 has permanent magnets 38, 40, a coil 42 and a soft magnetic yoke 44.
  • the actuator 30 is penetrated by an inner tube 46 and sliding tube, which continues to the distal end, to the holder 8 of the optical system.
  • a soft magnetic rotor 48 is arranged, which is connected via a weld, for example 50 with a piston 32 having at its distal end a pin 34 which engages in a sloping groove 36 of the control surface 76 of the prism holder 14.
  • FIG. 6 shows an alternative video-optical assembly 2 'according to the invention.
  • the individual elements are identical to those of the assembly 2 according to FIG. 5 and FIG. 1.
  • the assembly 2' does not have an electromagnetic actuator 30, but via a piezoelectric actuator 80.
  • This has a squiggle motor 86 with a central rotor 84 which is connected via a coupling piece 88 with the piston 90, the rotational movements of the rotor 84 does not follow around the longitudinal axis of the rotor.
  • the piston 90 itself has at its distal end in turn on a pin 92, the pin 34 of the piston 32 from Figs. 1 and 5 corresponds.
  • a coil spring 94 is also provided as a return spring, which is supported on the one hand on a fixed part, namely an abutment 96 in the distal direction, and on the other hand proximally on the longitudinally movable coupling piece 88th When the slider 84 is thus retracted, the coupling piece 88 with the piston 90 connected thereto is also reset by the force of the coil spring 94.

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

Abstract

L'invention concerne un ensemble optique distal (2, 2') d'un vidéoendoscope comprenant un actionneur (30, 80) et un élément optique (10) mobile de manière transversale par rapport à un axe longitudinal du vidéoendoscope, ainsi qu'un vidéoendoscope doté d'un ensemble optique distal (2, 2') correspondant. L'ensemble optique distal selon l'invention comprend un dispositif de renvoi (14, 34, 36) renvoyant une course de manœuvre de l'actionneur (30, 80) orientée en direction d'un axe longitudinal du vidéoendoscope dans un déplacement linéaire de manière transversale par rapport à l'axe longitudinal du vidéoendoscope et la transférant sur l'élément optique mobile (10).
PCT/EP2012/000660 2011-03-08 2012-02-15 Dispositif de changement de la direction de visée d'un vidéoendoscope WO2012119693A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110005255 DE102011005255A1 (de) 2011-03-08 2011-03-08 Vorrichtung zur Umschaltung einer Blickrichtung eines Videoendoskops
DE102011005255.0 2011-03-08

Publications (1)

Publication Number Publication Date
WO2012119693A1 true WO2012119693A1 (fr) 2012-09-13

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PCT/EP2012/000660 WO2012119693A1 (fr) 2011-03-08 2012-02-15 Dispositif de changement de la direction de visée d'un vidéoendoscope

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DE (1) DE102011005255A1 (fr)
WO (1) WO2012119693A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
US11357390B2 (en) 2017-10-13 2022-06-14 Olympus Winter & Ibe Gmbh Optical system for a stereo video endoscope

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DE102011078969B4 (de) 2011-07-11 2019-02-21 Olympus Winter & Ibe Gmbh Berührungslose Magnetkupplung für ein Endoskop und Endoskop
DE102011090132B4 (de) 2011-12-29 2017-09-14 Olympus Winter & Ibe Gmbh Videoendoskop und Videoendoskopsystem
DE102012224179A1 (de) * 2012-12-21 2014-06-26 Olympus Winter & Ibe Gmbh Elektromagnetischer Aktuator für ein chirurgisches Instrument
DE102012224177A1 (de) 2012-12-21 2014-06-26 Olympus Winter & Ibe Gmbh Elektromagnetischer Aktuator für ein chirurgisches Instrument und Verfahren zum Einstellen eines Hubwegs
EP3064983A4 (fr) * 2013-10-30 2017-06-21 Olympus Corporation Dispositif de capture d'image

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US4697577A (en) * 1986-05-22 1987-10-06 Baxter Travenol Laboratories, Inc. Scanning microtelescope for surgical applications
US20080021269A1 (en) * 2006-07-24 2008-01-24 Brian Tinkham Positioning System for Manipulating a Treatment Instrument at the End of a Medical Device
WO2010127827A1 (fr) 2009-05-07 2010-11-11 Olympus Winter & Ibe Gmbh Objectif à deux directions de visée destiné à un endoscope

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11357390B2 (en) 2017-10-13 2022-06-14 Olympus Winter & Ibe Gmbh Optical system for a stereo video endoscope

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