WO2015135390A1 - 一种内窥镜的核心光学系统 - Google Patents

一种内窥镜的核心光学系统 Download PDF

Info

Publication number
WO2015135390A1
WO2015135390A1 PCT/CN2015/070648 CN2015070648W WO2015135390A1 WO 2015135390 A1 WO2015135390 A1 WO 2015135390A1 CN 2015070648 W CN2015070648 W CN 2015070648W WO 2015135390 A1 WO2015135390 A1 WO 2015135390A1
Authority
WO
WIPO (PCT)
Prior art keywords
group
field
lens group
lens
positive
Prior art date
Application number
PCT/CN2015/070648
Other languages
English (en)
French (fr)
Inventor
辜长明
Original Assignee
青岛奥美克医疗科技有限公司
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 青岛奥美克医疗科技有限公司 filed Critical 青岛奥美克医疗科技有限公司
Priority to DE112015000729.6T priority Critical patent/DE112015000729B4/de
Priority to US14/907,754 priority patent/US9895050B2/en
Publication of WO2015135390A1 publication Critical patent/WO2015135390A1/zh

Links

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
    • A61B1/002—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor having rod-lens arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096—Optical elements
    • 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
    • A61B1/04—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
    • 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
    • A61B1/043—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 for fluorescence imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—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
    • A61B1/046—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 for infrared imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0638—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements providing two or more wavelengths
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/0095—Relay lenses or rod lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/14—Optical objectives specially designed for the purposes specified below for use with infrared or ultraviolet radiation
    • G02B13/146—Optical objectives specially designed for the purposes specified below for use with infrared or ultraviolet radiation with corrections for use in multiple wavelength bands, such as infrared and visible light, e.g. FLIR systems
    • 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
    • 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
    • G02B23/2446—Optical details of the image relay
    • 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
    • A61B1/00195—Optical arrangements with eyepieces
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy

Definitions

  • the invention relates to an endoscope core optical system, in particular to an endoscope core optical system for parfocal imaging in visible light and near-infrared light, and belongs to the technical field of minimally invasive medical treatment.
  • the conventional endoscope system can image in visible light and near-infrared, there is generally a defocus of 0.3 mm-0.5 mm between the imaging position of the near-infrared and the imaging position of the visible light, which leads to the need to revisit the infrared fluorescent image. Focusing, because the doctor will repeatedly switch between the visible light image and the near-infrared fluorescence image during the operation, each refocusing will seriously affect the efficiency of the doctor's surgical operation. Therefore, an endoscope system with visible and near-infrared parfocal imaging is required. To meet the operational requirements of the doctor's surgical procedure.
  • the endoscopic imaging system is mainly composed of an endoscope optical system, a camera adapter optical system and an image sensor, and the endoscope optical system is composed of an endoscope core optical system and an eyepiece optical system.
  • the endoscope core optical system consists of an objective lens group and a steering group.
  • the imaging quality of the endoscope is mainly determined by the imaging quality of the core optical system.
  • the objective lens group images the field to the focal plane of the objective lens group, and the steering group is amplified by an odd array. Consisting of a -1x HOPKINS rod mirror system, the purpose of the steering group is to transfer the image formed by the objective lens to the image surface of the steering group to ensure that the endoscope has sufficient working length.
  • the image of the field formed by the endoscope core optical system is virtual image after the eyepiece optical system, and the camera adapter optical system images the virtual image onto the image sensor, and sends the field image to the monitor in real time through circuit and software processing. On, for doctors to observe.
  • the endoscope core optical system, the eyepiece optical system, and the camera adapter optical system are all in focus. Determine whether it is in focus or not, measured by the amount of defocus.
  • the amount of defocusing of near-infrared light and visible light can be defined as: the axial distance of the imaging position of the central field of view of the near-infrared 850 nm wavelength with respect to the imaging position of the central field of view at the wavelength of visible light of 550 nm is 850 nm. The amount of coke.
  • the amount of defocus described later refers to the amount of defocus of the central field of view between near-infrared light 850 nm and visible light 550 nm.
  • the endoscope core optical system should achieve the defocusing amount less than 0.05mm at the same time, and the edge field of view field curvature Less than 0.1mm is very difficult, and no report has been found to meet this requirement.
  • the technical problem to be solved by the present invention is to provide an endoscope core optical system for parfocal imaging in visible light (400 nm - 700 nm) and near infrared light (700 nm - 900 nm) by adopting a method in which the objective lens group has positive defocusing and positive In the field curvature, the steering group has a negative defocusing and a negative field curvature.
  • a field lens group is added between the objective lens group and the steering group.
  • the field lens group is located near the focus of the objective lens group, and the field lens group and the objective lens group are combined.
  • the positive defocusing and the positive field curvature of the steering group matching make the 850 nm defocus of the endoscope core optical system less than 0.05 mm, the edge field of view field curvature ⁇ 0.1 mm, and the system imaging is good.
  • the field lens group 3 is placed between the objective lens group 1 and the steering group 2, and is located near the image plane of the objective lens group 1, forming a telecentricity of the image of the objective lens group 1.
  • the wavelength 850 nm has a smaller amount of positive defocus than the objective lens group 1
  • the edge field of view has a field curvature smaller than that of the objective lens group 1
  • the steering group 2 is an afocal system, which is completely identical by three or five groups of structures - 1 bar mirror steering system 21
  • the -1 bar mirror steering system 21 is composed of three three-glued lenses, including a front group rod mirror 211, a middle rod mirror 212, a rear group rod mirror 213, and a middle rod mirror 212 by a positive lens 2121, the negative rod mirror 2122 and the positive lens 2123 are glued together, the positive lens 2121 and the positive lens 2123 are double convex positive lenses, the positive lens 2121 and the positive lens 2123 have exactly the same material, structure and size, and the negative rod mirror 2122 is double concave negative
  • the lens has the same radius of curvature of the two spherical surfaces, and is also equal to the radius of curvature of the cemented surface of the positive lens 21
  • the rear group rod mirror 213 and the front group rod mirror 211 have exactly the same material, structure and size, with respect to the middle.
  • the rod mirror 212 is symmetrically arranged, the front group rod mirror 211, medium
  • the bar mirror 212 and the rear group bar mirror 213 are arranged in a coaxial manner, and the distance between the front group bar mirror 211 and the intermediate bar mirror 212 is equal to the distance between the middle bar mirror 212 and the rear group bar mirror 213,
  • the object distance and the image distance of the 1x rod mirror steering system 21 are equal, and the 3 or 5 sets - 1 times the rod mirror steering system 21 overlaps the object plane and the image plane of the adjacent two sets of -1 times the rod mirror steering system 21 Arranged in order to form the steering group 2, the steering group 2 has a negative defocus amount and a negative field curvature, the defocus amount is greater than 0.1 mm, the field curvature value is greater than the objective lens group 1, and the field lens group 3 and the steering group 2 are combined.
  • the endoscope core optical system has a small defocusing amount and a field curvature with a small field of view.
  • the defocus amount is less than 0.05 mm
  • the field curvature is less than 0.1 mm
  • the central field of view transfer function MTF value is 150 pairs of lines/
  • the mm is greater than 0.3
  • the edge field transfer function MTF value is greater than 0.2 for 150 pairs of lines/mm.
  • a further technical feature of the technical solution of the present invention is that the field lens group 3 is a double glue meniscus lens.
  • the front set of mirrors 211 of the -1x rod mirror steering system 21 includes a positive lens 2111, a negative rod mirror 2112, a positive lens 2113, and the positive lens 21 is biconvex positive
  • the negative rod mirror 2112 is a double concave negative lens
  • the positive lens 2113 has exactly the same material, structure and size as the positive lens 2111
  • the radius of curvature of the two spherical surfaces of the negative lens 2112 is the same
  • the bonding surface of the positive lenses 2111 and 2113 The radius of curvature is the same.
  • Figure 1 is a schematic view showing the structure of an endoscope core optical system of the present invention.
  • Figure 2 Schematic diagram of a -1 bar mirror steering system 21.
  • Fig. 3 is a schematic view showing the structure of an objective lens and an imaging principle of the embodiment.
  • Figure 4 Schematic diagram of the imaging principle of the embodiment-1 double rod mirror steering system 21.
  • Fig. 5 is a schematic view showing the amount of defocus and field curvature of the objective lens group 1 of the embodiment.
  • Figure 6 Schematic diagram of the amount of defocus and field curvature after combining the objective lens group 1 and the field lens group 3.
  • Figure 7 Defocus amount and field curvature diagram of the steering group 2 of the embodiment
  • Figure 8 Schematic diagram of the defocus amount and field curvature of the core optical system of the endoscope
  • the embodiment illustrates the technical solution and working principle of the present invention by taking a core optical system of a 10 mm abdominal endoscope with an angle of view of 75° and a numerical aperture of 0.12 as an example.
  • the embodiment has exactly the same structure as that described in the Summary of the Invention, and to avoid duplication, only the key data is listed.
  • the structure of the objective lens group 1 is schematically shown in Fig. 3, which includes five groups of lenses, the field lens group 3 is a double-glued meniscus lens, and the image group 2 is composed of three groups of -1 bar mirror steering systems, and the -1 bar mirror steering
  • the structure of the system 21 is schematically shown in FIG. 4.
  • the front group rod mirror 211 includes a positive lens 2111, a negative rod mirror 2112, a positive lens 2113, a positive lens 2111 is a double convex positive lens, and a negative rod mirror 2112 is a double concave negative lens.
  • the lens 2113 has exactly the same material, structure and size as the positive lens 2111.
  • the radius of curvature of the two spherical surfaces of the negative lens 2112 is the same, and the radius of curvature of the cemented surface of the positive lenses 2111 and 2113 is the same, and the defocus amount and field of the objective lens group 1 are the same.
  • the curved curve is shown in Fig. 5.
  • the defocusing and field curvature curves of the combination of the objective lens group 1 and the field lens group 2 are shown in Fig. 6.
  • the defocusing amount and the field curvature curve of the steering group 3 are as shown in Fig. 7, and the endoscope is shown.
  • the defocusing amount and field curvature curve of the core optical system imaging are shown in Fig. 8.
  • the transfer function of the endoscope core optical system is shown in Fig. 9.
  • the working principle is as follows: the objective lens group images the field to the back focal plane of the objective lens group.
  • the image has a positive defocus amount and a positive field curvature.
  • the field lens group forms the image into a telecentric virtual image to the image group. On the surface, the virtual image position coincides with the object surface of the steering group, and the defocus amount and field curvature are reduced.
  • the imaging principle of the -1 bar mirror steering system is shown in the figure, after three sets of -1 times rod mirror steering system. After that, the final field will be imaged onto the imaging surface of the last set of -1 bar mirror steering systems.
  • the rod mirror steering system has a negative defocusing amount and a negative field curvature.
  • the core optical system of the endoscope has a small amount of defocus and field curvature, and the defocus amount and field curvature curve and transmission from the core optical system of the endoscope.
  • this embodiment has a small amount of defocus and field curvature, the defocus amount is less than 0.04 mm, and the field curvature is less than 0.08 mm. From the transfer function curve, it can be seen that the system reaches the high-definition endoscope system. Imaging requirements.
  • the technical solution of the invention is particularly suitable for the infrared fluorescence minimally invasive surgery, and solves the problem that the conventional endoscope needs repeated focusing adjustment for such surgery.

Landscapes

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

Abstract

一种内窥镜核心光学系统，尤其涉及一种在可见光和近红外光齐焦成像的内窥镜核心光学系统，属于微创医疗的技术领域。光学系统包括：物镜组（1），具有正离焦和正场曲；转向组（2），具有负离焦和负场曲；在物镜组（1）和转向组（2）之间加入场镜组（3），场镜组（3）位于物镜组（1）的焦点附近；场镜组（3）与物镜组（1）组合后，具有与转向组（2）的负离焦和负场曲相匹配的正离焦和正场曲。有效解决了物镜组（1）和转向组（2）独自在宽光谱范围内校正像差难以实现的缺点，采用的转向组（2）结构与传统HOPKINS转向系统相比，具有加工更简单，精度更好控制，成本更低的优点，适宜用于红外荧光微创手术，解决此类手术采用传统内窥镜需要反复调焦的问题。

Description

一种内窥镜的核心光学系统 一种内窥镜的核心光学系统
技术领域：
本发明涉及一种内窥镜核心光学系统，尤其涉及一种在可见光和近红外光齐焦成像的内窥镜核心光学系统，属于微创医疗的技术领域。
背景技术：
医用内窥镜作为微创手术的重要组成部分，得到了越来越广泛的应用，由于微创手术技术的不断进步，对内窥镜也提出了更高的技术要求，比如，目前一种比较有前景的应用是在微创手术过程中加入近红外荧光分析技术，这就要求内窥镜系统必须具备宽光谱成像的能力，要求同时在可见光(400nm-700nm)和近红外(700nm-900nm)成像，且保证可见光和近红外的成像齐焦。目前，传统的内窥镜系统虽然可以在可见光和近红外成像，但近红外的成像位置与可见光的成像位置之间一般有0.3mm-0.5mm的离焦，导致在观察红外荧光图像时需要重新调焦，由于手术过程中医生会反复切换可见光图像和近红外的荧光图像,每次重新调焦会严重影响医生手术操作效率，因此，需要具备在可见光和近红外齐焦成像的内窥镜系统以满足医生手术过程的操作要求。
内窥成像系统主要由内窥镜光学系统、摄像机适配器光学系统以及图像传感器构成，内窥镜光学系统由内窥镜核心光学系统和目镜光学系统组成, 内窥镜核心光学系统由物镜组和转向组组成，内窥镜的成像质量主要由核心光学系统的成像质量决定，物镜组将术野成像到物镜组焦面上，转向组由奇数组放大倍率为-1倍的HOPKINS棒镜系统组成，转向组的目的是将物镜组所成的像1:1传递到转向组最后的像面上，以保证内窥镜具有足够的工作长度。内窥镜核心光学系统所成的术野的像，经过目镜光学系统后成虚像，摄像机适配器光学系统将此虚像成像到图像传感器上，并通过电路和软件处理将术野图像实时送到监视器上，供医生观察。
要实现齐焦,要求整个内窥镜成像系统的各组成部分对可见光和近红外光都齐焦,具体的说,要求内窥镜核心光学系统,目镜光学系统以及摄像机适配器光学系统都齐焦。判断是否齐焦，用离焦量来衡量。针对此应用，近红外光和可见光的离焦量可以这样定义：近红外850nm波长的中心视场的成像位置相对于可见光550nm波长处的中心视场的成像位置的轴向距离即为850nm的离焦量。为简化描述，后面所述的离焦量均指近红外光850nm和可见光550nm之间的中心视场的离焦量。分析发现，当内窥镜核心光学系统同时实现离焦量小于0.05mm，边缘视场场曲小于0.1mm，目镜光学系统和摄像机适配器光学系统的离焦量都小于0.02mm，边缘视场场曲小于0.02时，整个内窥镜系统可以实现齐焦成像。
实现目镜光学系统和摄像机适配器光学系统离焦量小于0.02mm和边缘视场场曲小于0.02mm相对比较容易，但内窥镜核心光学系统要同时实现离焦量小于0.05mm，边缘视场场曲小于0.1mm非常困难，目前尚未发现有报道达到此要求。
发明内容：
本发明所要解决的技术问题是提供一种在可见光（400nm-700nm）和近红外光（700nm-900nm）齐焦成像的内窥镜核心光学系统，采用的方法是：物镜组具有正离焦和正场曲，转向组具有负离焦和负场曲，同时，在物镜组和转向组之间加入场镜组，场镜组位于物镜组的焦点附近，场镜组与物镜组组合后，具有与转向组匹配的正离焦和正场曲，使内窥镜核心光学系统的850nm离焦量小于0.05mm，边缘视场场曲<0.1mm，系统成像良好。
现结合附图详细说明本发明的技术方案：
一种在可见光（400nm-700nm）和近红外光（700nm-900nm）齐焦成像的内窥镜核心光学系统结构，含物镜组1，转向组2，场镜组3，其特征在于，物镜组1是光学透镜组，在物镜组1的成像面上，波长 850nm具有正场曲和正离焦，离焦量小于0.5mm，场镜组3置于物镜组1和转向组2之间，位于物镜组1的像面附近，形成物镜组1的像的远心虚像，在虚像位置，波长850nm具有小于物镜组1的正离焦量，边缘视场具有小于物镜组1的场曲，转向组2是无焦系统，由3组或5组结构完全一致的-1倍棒镜转向系统21组成，-1倍棒镜转向系统21由3个三胶合透镜组成，包括前组棒镜211，中间棒镜212，后组棒镜213，中间棒镜212由正透镜2121，负棒镜2122和正透镜2123胶合构成，正透镜2121和正透镜2123都是双凸正透镜，正透镜2121与正透镜2123具有完全相同的材料，结构和尺寸，负棒镜2122是双凹负透镜，两个球面的曲率半径相等，也与正透镜2121和正透镜2123的胶合面的曲率半径相等，后组棒镜213和前组棒镜211具有完全相同的材料，结构和尺寸，相对于中间棒镜212对称布置，前组棒镜211，中间棒镜212，后组棒镜213以共轴的方式依次排列，前组棒镜211与中间棒镜212之间的距离与中间棒镜212和后组棒镜213之间的距离相等，-1倍棒镜转向系统21的物距与像距相等，3组或5组-1倍棒镜转向系统21以相邻两组-1倍棒镜转向系统21的物面和像面重合的方式依次排列，构成转向组2，转向组2具有负的离焦量和负场曲，离焦量的数值大于0.1mm，场曲的数值大于物镜组1，场镜组3和转向组2组合构成的内窥镜核心光学系统，具有较小的离焦量和边缘视场较小的场曲，离焦量小于0.05mm，场曲小于0.1mm，中心视场传递函数MTF值在150对线/mm大于0.3，边缘视场传递函数MTF值在150对线/mm大于0.2。
本发明的技术方案的进一步技术特征在于，所述的场镜组3是双胶合弯月透镜。
本发明的技术方案的进一步技术特征在于，所述的-1倍棒镜转向系统21的前组棒镜211，含正透镜2111，负棒镜2112，正透镜2113，正透镜21是双凸正透镜，负棒镜2112是双凹负透镜，正透镜2113具有与正透镜2111完全相同的材料，结构和尺寸，负透镜2112两个球面的曲率半径相同，与正透镜2111和2113的胶合面的曲率半径相同。
本发明的优点在于：
  1. 1、 通过物镜组，场镜组和转向组离焦量和场曲正负相互抵消以达到控制红外光与可见光波段的离焦量和场曲，保证内窥镜核心光学系统的成像质量，有效解决了物镜组和转向组独自在宽光谱范围内校正像差难以实现的缺点；
  1. 2、 所采用的转向组结构与传统HOPKINS转向系统相比，具有加工更简单，精度更好控制，成本更低等优点。
附图说明：
图1： 本发明的内窥镜核心光学系统结构示意图。
图2： -1倍棒镜转向系统21结构示意图。
图3： 实施例的物镜结构及成像原理示意图。
图4： 实施例-1倍棒镜转向系统21成像原理示意图。
图 5 ： 实施例物镜组 1 的离焦量和场曲示意图。
图 6 ：物镜组 1 和场镜组 3 组合后的离焦量和场曲示意图。
图 7 ：实施例转向组 2 的离焦量和场曲示意图
图 8 ：实施例内窥镜核心光学系统离焦量和场曲示意图
图 9 ：实施例内窥镜核心光学系统成像传递函数
具体实施方式：
实施例以一款视场角75°，像方数值孔径为0.12的10mm腹腔内窥镜的核心光学系统为例说明本发明的技术方案和工作原理。实施例具有与发明内容所述结构完全相同的结构，为避免重复，仅罗列关键数据。
物镜组1的结构示意如图3所示，含5组透镜，场镜组3是双胶合弯月透镜，转像组2由3组-1倍棒镜转向系统构成，-1倍棒镜转向系统21的结构示意如图4所示，前组棒镜211含正透镜2111，负棒镜2112，正透镜2113，正透镜2111是双凸正透镜，负棒镜2112是双凹负透镜，正透镜2113具有与正透镜2111完全相同的材料，结构和尺寸，负透镜2112两个球面的曲率半径相同，与正透镜2111和2113的胶合面的曲率半径相同，物镜组1的离焦量及场曲曲线如图5所示，物镜组1和场镜组2组合的离焦及场曲曲线如图6所示，转向组3的离焦量及场曲曲线如图7所示，内窥镜核心光学系统成像的离焦量和场曲曲线如图8所示，内窥镜核心光学系统的传递函数如图9所示。
工作原理为：物镜组将术野成像到物镜组的后焦面上，此成像具有正的离焦量和正的场曲，场镜组将此像又成一远心的虚像到转像组的物面上，此虚像位置与转向组的物面重合，并且离焦量和场曲都减小，-1倍棒镜转向系统的成像原理如图所示，经过3组-1倍棒镜转向系统后，最后术野将成像到最后一组-1倍棒镜转向系统的成像面上。棒镜转向系统具有负的离焦量和负的场曲，由于当光学系统组合时，同向像差会相互叠加，反向像差会相互抵消，因此由物镜组，场镜组和转像组组合后的系统，离焦量和场曲都将相互抵消内窥镜核心光学系统具有较小的离焦量和场曲，从内窥镜核心光学系统的离焦量和场曲曲线及传递函数图可以看出，本实施例具有较小的离焦量和场曲，离焦量小于0.04mm，场曲小于0.08mm，从传递函数曲线可以看出本系统达到了高清内窥镜系统的成像要求。
本发明的技术方案，特别适宜用于红外荧光微创手术，解决此类手术采用传统内窥镜需要反复调焦的问题。

Claims (4)

  1. [根据细则26改正29.01.2015]
    一种在可见光（400nm-700nm）和近红外光（700nm-900nm）齐焦成像的内窥镜核心光学系统结构，含物镜组（1），转向组（2），场镜组（3），其特征在于，物镜组（1）是光学透镜组，在物镜组（1）的成像面上，波长 850nm具有正场曲和正离焦，离焦量小于0.5mm，场镜组（3）置于物镜组（1）和转向组（2）之间，位于物镜组（1）的像面附近，形成物镜组（1）的像的远心虚像，在虚像位置，波长850nm具有小于物镜组（1）的正离焦量，边缘视场具有小于物镜组（1）的场曲，转向组（2）是无焦系统，由3组或5组结构完全一致的-1倍棒镜转向系统（21）组成，-1倍棒镜转向系统（21）由3个三胶合透镜组成，包括前组棒镜（211），中间棒镜（212），后组棒镜（213），中间棒镜（212）由正透镜（2121），负棒镜（2122）和正透镜（2123）胶合构成，正透镜（2121）和正透镜（2123）都是双凸正透镜，正透镜（2121）与正透镜（2123）具有完全相同的材料，结构和尺寸，负棒镜（2122）是双凹负透镜，两个球面的曲率半径相等，也与正透镜（2121）和正透镜（2123）的胶合面的曲率半径相等，后组棒镜（213）和前组棒镜（211）具有完全相同的材料，结构和尺寸，相对于中间棒镜（212）对称布置，前组棒镜（211），中间棒镜（212），后组棒镜（213）以共轴的方式依次排列，前组棒镜（211）与中间棒镜（212）之间的距离与中间棒镜（212）和后组棒镜（213）之间的距离相等，-1倍棒镜转向系统（21）的物距与像距相等，3组或5组-1倍棒镜转向系统（21）以相邻两组-1倍棒镜转向系统（21）的物面和像面重合的方式依次排列，构成转向组（2），转向组（2）具有负的离焦量和负场曲，离焦量的数值大于0.1mm，物镜组（1），场镜组（3）和转向组（2）组合构成的内窥镜核心光学系统，具有较小的离焦量和边缘视场较小的场曲，离焦量小于0.05mm，场曲小于0.1mm，中心视场传递函数MTF值在150对线/mm大于0.3，边缘视场传递函数MTF值在150对线/mm大于0.2。
  2. [根据细则26改正29.01.2015]　
    根据权利要求 1 所述的 一种在可见光（400nm-700nm）和近红外光（700nm-900nm）齐焦成像的内窥镜核心光学系统结构，其特征在于，所述的场镜组（3）是双胶合弯月透镜。
  3. [根据细则26改正29.01.2015]　
    根据权利要求 1 所述的 一种在可见光（400nm-700nm）和近红外光（700nm-900nm）齐焦成像的内窥镜核心光学系统结构，其特征在于，所述的-1倍棒镜转向系统（21）的前组棒镜（211），含正透镜（2111），负棒镜（2112），正透镜（2113），正透镜（2111）是双凸正透镜，负棒镜（2112）是双凹负透镜，正透镜（2113）具有与正透镜（2111）完全相同的材料，结构和尺寸，负透镜（2112）的两个球面的曲率半径相同，与正透镜（2111）和（2113）的胶合面的曲率半径相同。
  4. [根据细则26改正29.01.2015]　
    根据权利要求 1 ， 2 和 3 所述的 一种在可见光（400nm-700nm）和近红外光（700nm-900nm）齐焦成像的内窥镜核心光学系统结构，其特征在于，所述的视场角75°，像方数值孔径为0.12的10mm腹腔内窥镜的核心光学系统，物镜组（1）的结构示意如图3所示，含5组透镜，场镜组（3）是双胶合弯月透镜，转像组（2由）3组-1倍棒镜转向系统（21）构成，-1倍棒镜转向系统（21）的结构示意如图4所示，前组棒镜（211）含正透镜（2111），负棒镜（2112），正透镜（2113），正透镜（2111）是双凸正透镜，负棒镜（2112）是双凹负透镜，正透镜（2113）具有与正透镜（2111）完全相同的材料，结构和尺寸，负透镜（2112）两个球面的曲率半径相同，与正透镜（2111）和（2113）的胶合面的曲率半径相同，物镜组（1）的离焦量及场曲曲线如图5所示，物镜组（1）和场镜组（2）组合的离焦及场曲曲线如图6所示，转向组（3）的离焦量及场曲曲线如图7所示，内窥镜核心光学系统成像的离焦量和场曲曲线如图8所示，内窥镜核心光学系统的传递函数如图9所示。
PCT/CN2015/070648 2014-03-14 2015-01-14 一种内窥镜的核心光学系统 WO2015135390A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112015000729.6T DE112015000729B4 (de) 2014-03-14 2015-01-14 Endoskop-Kernoptik
US14/907,754 US9895050B2 (en) 2014-03-14 2015-01-14 Main optical system for endoscope

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201410094291.5A CN104905759B (zh) 2014-03-14 2014-03-14 一种内窥镜的核心光学系统
CN201410094291.5 2014-03-14

Publications (1)

Publication Number Publication Date
WO2015135390A1 true WO2015135390A1 (zh) 2015-09-17

Family

ID=54070906

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/070648 WO2015135390A1 (zh) 2014-03-14 2015-01-14 一种内窥镜的核心光学系统

Country Status (4)

Country Link
US (1) US9895050B2 (zh)
CN (1) CN104905759B (zh)
DE (1) DE112015000729B4 (zh)
WO (1) WO2015135390A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3229056A1 (de) * 2016-04-08 2017-10-11 Henke-Sass, Wolf GmbH Optiksystem für ein endoskop

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105286761A (zh) * 2015-09-29 2016-02-03 微创（上海）医疗机器人有限公司 电子内窥镜
CN105301757A (zh) * 2015-11-09 2016-02-03 天津大学 一种立体内窥镜光学系统
CN105361839B (zh) * 2015-11-30 2018-08-24 青岛大学附属医院 改进光学性能的内窥镜系统
CN106597645A (zh) * 2017-02-20 2017-04-26 江苏鹰利视医疗器械有限公司 一种硬管式腹腔镜的光学系统
US20200375440A1 (en) * 2017-12-28 2020-12-03 Beijing Fanxing Guangdiang Medical Treatment Equipment Co., Ltd. Endoscope system and integrated design method for endoscope camera optical system
CN108873275B (zh) * 2018-06-11 2020-12-29 青岛奥美克医疗科技有限公司 变焦适配器光学系统、变焦适配器及内窥镜系统
WO2020030841A1 (es) * 2018-08-08 2020-02-13 Universitat De Valencia Dispositivo ocular plenóptico
CN109620103B (zh) * 2019-01-03 2023-10-27 鹰利视医疗科技有限公司 30°视向角4k腹腔镜物镜
CN110007456A (zh) * 2019-03-25 2019-07-12 上海曙佳科技发展有限公司 一种高分辨率近红外双波段工业内窥高温光学镜头
WO2020215196A1 (zh) * 2019-04-23 2020-10-29 北京数字精准医疗科技有限公司 一种内窥镜光学系统
CN112617721B (zh) * 2020-12-31 2022-12-30 青岛海泰新光科技股份有限公司 一种内窥镜、内窥镜冷光源的连接反馈装置
CN114099133B (zh) * 2021-11-10 2023-05-26 华中科技大学 一种用于眼科手术的大视场大数值孔径手术物镜

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU1797718C (ru) * 1991-06-06 1993-02-23 Всесоюзный Научно-Исследовательский Институт Медицинского Приборостроения Оптическа система эндомикроскопа
CN2855312Y (zh) * 2005-06-28 2007-01-10 天津市企美科技发展有限公司 120度视场角的医用硬性内窥镜
CN200987662Y (zh) * 2006-12-15 2007-12-12 天津市企美科技发展有限公司 细直径医用硬性内窥镜
US7586679B2 (en) * 2001-07-26 2009-09-08 Karl Storz Gmbh & Co. Kg Image transmission system from three rod lenses for rigid endoscopes
US20100014161A1 (en) * 2008-07-17 2010-01-21 Ken Kasai Rigid endoscope
CN101726832A (zh) * 2008-10-31 2010-06-09 比亚迪股份有限公司 一种内窥镜镜头组件
CN202916487U (zh) * 2012-11-08 2013-05-01 中山联合光电科技有限公司 一种大像面、可见光与红外共焦的成像光学镜头

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6032856B2 (ja) * 1976-04-05 1985-07-30 オリンパス光学工業株式会社 硬性鏡用対物レンズ
JPH0762736B2 (ja) 1984-09-25 1995-07-05 オリンパス光学工業株式会社 像伝達光学系
JPS61184513A (ja) * 1984-10-02 1986-08-18 Olympus Optical Co Ltd 像伝達光学系
SU1654766A1 (ru) * 1988-01-21 1991-06-07 Всесоюзный Научно-Исследовательский Институт Медицинского Приборостроения Оптическа система эндоскопа
CN201135423Y (zh) * 2007-11-30 2008-10-22 天津市企美科技发展有限公司 腹腔内窥镜
CN101650468B (zh) * 2009-09-17 2011-08-17 徐生源 一种光学成像系统
CN201707491U (zh) * 2010-06-11 2011-01-12 浙江大学 一种激光共聚焦显微内窥镜扫描物镜
CN102004309B (zh) * 2010-10-26 2012-05-23 张阳德 一种非球面透镜组硬管内窥镜
JP2013134474A (ja) * 2011-12-27 2013-07-08 Mizuho Co Ltd 硬性鏡光学系および硬性鏡システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU1797718C (ru) * 1991-06-06 1993-02-23 Всесоюзный Научно-Исследовательский Институт Медицинского Приборостроения Оптическа система эндомикроскопа
US7586679B2 (en) * 2001-07-26 2009-09-08 Karl Storz Gmbh & Co. Kg Image transmission system from three rod lenses for rigid endoscopes
CN2855312Y (zh) * 2005-06-28 2007-01-10 天津市企美科技发展有限公司 120度视场角的医用硬性内窥镜
CN200987662Y (zh) * 2006-12-15 2007-12-12 天津市企美科技发展有限公司 细直径医用硬性内窥镜
US20100014161A1 (en) * 2008-07-17 2010-01-21 Ken Kasai Rigid endoscope
CN101726832A (zh) * 2008-10-31 2010-06-09 比亚迪股份有限公司 一种内窥镜镜头组件
CN202916487U (zh) * 2012-11-08 2013-05-01 中山联合光电科技有限公司 一种大像面、可见光与红外共焦的成像光学镜头

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3229056A1 (de) * 2016-04-08 2017-10-11 Henke-Sass, Wolf GmbH Optiksystem für ein endoskop
DE102016106518A1 (de) * 2016-04-08 2017-10-12 Henke-Sass, Wolf Gmbh Optiksystem für ein Endoskop
US20170293139A1 (en) * 2016-04-08 2017-10-12 Henke-Sass, Wolf Gmbh Optical system for an endoscope
US10831020B2 (en) * 2016-04-08 2020-11-10 Henke-Sass, Wolf Gmbh Optical system for an endoscope

Also Published As

Publication number Publication date
CN104905759A (zh) 2015-09-16
DE112015000729T5 (de) 2016-12-29
US20160174808A1 (en) 2016-06-23
US9895050B2 (en) 2018-02-20
CN104905759B (zh) 2017-01-18
DE112015000729B4 (de) 2022-04-14

Similar Documents

Publication Publication Date Title
WO2015135390A1 (zh) 一种内窥镜的核心光学系统
JP4093503B2 (ja) 立体視内視鏡
US11089948B2 (en) Objective lens for an endoscope
WO2019001275A1 (zh) 内窥镜的光学成像系统
CN105301757A (zh) 一种立体内窥镜光学系统
WO2021208510A1 (zh) 腹腔镜的转像镜结构
CN105242393A (zh) 一种立体内窥镜电子成像光学系统
WO2020140833A1 (zh) 一种30°视向角4k腹腔镜物镜
WO2012176667A1 (ja) 内視鏡用対物光学系
CN110873950A (zh) 内窥镜物镜变焦光学系统
CN105278094A (zh) 一种硬管内窥镜光学系统
US6490085B1 (en) Symmetric anastigmatic endoscope relay system
CN107874733B (zh) 一种小口径内窥镜光学系统
WO2024125112A1 (zh) 手术显微镜连续变倍系统及手术显微镜
CN117192755A (zh) 一种内窥镜用变焦镜头组件
US6898022B2 (en) Stereo optical system pair for stereo endoscope system
WO2023108982A1 (zh) 偏振光内窥镜装置、摄像头及摄像头光学系统
CN106725245A (zh) 一种用于立体内窥镜的物镜结构
WO2022048081A1 (zh) 一种4k超高清腹腔镜的转像镜结构
JP2002365558A (ja) 硬性ビデオ内視鏡システム
CN104914560B (zh) 一种大视场大景深内窥镜物镜
CN108957706B (zh) 一种4k腹腔镜成像物镜
CN114442299A (zh) 一种牙科手术显微镜的光学成像系统
CN105286761A (zh) 电子内窥镜
WO2020215196A1 (zh) 一种内窥镜光学系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15761781

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 14907754

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 112015000729

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15761781

Country of ref document: EP

Kind code of ref document: A1