WO2018046091A1

WO2018046091A1 - Endoscope and method for operating an endoscope

Info

Publication number: WO2018046091A1
Application number: PCT/EP2016/071332
Authority: WO
Inventors: Thomas Engel
Original assignee: Siemens Aktiengesellschaft
Priority date: 2016-09-09
Filing date: 2016-09-09
Publication date: 2018-03-15

Abstract

The invention relates to an endoscope (ES) and to a method for operating an endoscope, in particular for medical use, preferably in minimally invasive surgery, in which a multiplicity of first cameras (K1) are arranged at the distal end of the outer tube of the endoscope, on at least a first circular trajectory (KB1) extending concentrically with respect to the circular cross section of the image guide, and are preferably distributed uniformly on the circular trajectory (KB1) and are operated when connected functionally to one another and/or to the endoscope (ES), wherein the cameras are configured with a camera diameter whose ratio to the diameter of the circular cross section, in particular the so-called working diameter, is at most 1 to 6 to 1 to 12.

Description

description

Endoscope and Method for operating an endoscope This invention relates to an endoscope according to the Gattungsbe ^¬ handle of claim 1 and a method for operating an endoscope according to the preamble of claim 15.

It is a known motivation for a patient to make the surgical intervention as light as possible. Out of this motivation, the so-called minimally invasive surgery has developed, which is characterized by the smallest possible trauma during surgery. In minimally invasive surgery, such as with laparoscopes, the doctor usually has no immediate insight into the site of the surgery. Nevertheless, to get the best possible spatial orientation, 3D endoscopes can be used. These endoscopes allow the situs to be at least partially detected in 3D, e.g. also for documentation purposes.

A well-known approach is the so-called NOTES (Natural

Orifice Transluminal Endoscopic Surgery), which is considered to be equivalent to minimally invasive surgery without scars, represents a further development of laparoscopic minimally invasive surgery. Natural orifices are used to prevent visible scars after surgery.

For a doctor, therefore, there is the technical problem of orienting oneself in the patient's body only via the laparoscopic view, reliably grasping the spatial conditions and, if possible, excluding unintentional injuries to organs and vessels, for example with the sharp scalpel blades. With NOTES this question is exacerbated because there the access of places is selected, where one later no It does not necessarily mean a short and straightforward access to the site.

3D endoscopy is a very new technology for minimally invasive surgery, which is just beginning to be introduced. Thus, there is currently no solution that is outside of experimental laboratories in everyday medical use. For the introduction and acceptance of 3D endoscopy, ie the broadest possible approach in the medical field but also in particular for an extension of the application range of minimally invasive surgery to other clinical pictures with eg difficult accessibility to the site or with increased risk potential for unwanted injury to organs , Gefä ^¬ SEN or nerves, it is important to deal with the resulting technical challenges.

The object underlying the invention is to provide a solution which improves the known from the prior art solutions, in particular in which it ensures a further Traumare reduction.

This object is achieved by the endoscope according to the genus ^{¬ handle} of claim 1 by its features and by the method for operating an endoscope according to the preamble of claim 15 by its features ge ^¬ triggers.

In the endoscope according to the invention, in particular for medical use, preferably in minimally invasive surgery, a multiplicity of first cameras, preferably distributed uniformly on the circular path, are arranged on the distal end of the outer tube of the endoscope on at least one first circular path concentric with the circular cross section of the outer tube and functionally connected to each other and / or the endoscope, wherein the cameras are configured with a camera ^¬ diameter whose ratio to the amounts by ^¬ diameter of the circular cross-section, in particular the working diameter so-called highest 1 to 6 to 1: 12th With the endoscope according to the invention, a plenoptic detection ^¬ is made possible, as for example in the known light field cameras, in which, unlike conventional cameras between the lens and the camera detector, a lens array that divides the light field captured by the lens and images in different detector areas. The division and imaging in different detector areas, however, is made possible by the plurality of cameras according to the invention.

With the possible division into the plurality of cameras according to the invention, technically independent, sub-cameras operating in parallel are produced, which however are operated in such a way that they have a spatially fixed and known association with one another.

With this function, which can be used according to the invention in endoscopes according to the light field camera or plenoptic camera, it is also possible to detect a feature of the object space in a plurality of subcameras, so that a further advantage of the invention lies in the fact that it is closed to the spatial depth of the object point 3D information for each pixel can be obtained. A further advantage is that the invention, in contrast to light field cameras, which can not be used in endoscopes or only very limited, because they are limited to the access to ^¬ , for example, the use in minimally invasive surgery on the OP Situs strong in diameter.

In the OP Situs, typical diameters are 8, 10 or max. 12 mm. According to the invention, it is now possible to accommodate the optical system for image acquisition in this diameter and thereby also a free passage of several mm in diameter - eg 6 mm - over which the doctor can bring the tools and instruments needed in the operating theater to ensure ^¬ th , This is achieved by the claimed restriction, since the present invention possible camera systems can now be used very compact. Further advantages are given by the ange¬ given in the dependent claims ^¬ developments.

Compactness and at the same time a minimum level of light is gesi ^¬ chert, when the endoscope is further formed such that the uniform distribution is designed such that at least two of the first interim ^¬ rule cameras is arranged at least a first BL LEVEL ^¬ tung medium.

An increase in the split light channels is achieved if the endoscope is further developed such that a plurality of second cameras and / or second illumination means are arranged uniformly distributed on at least one second circular path having a larger radius compared to the first circular path, with additional illumination - On the one hand ensure better illumination but also provide more by the exposure beyond the pure illumination beyond functions.

Are more circular arrangements of cameras and lighting planned processing medium, the compactness may be based particularly under ^¬ when the endoscope is further formed such that the uniform distribution of the first and / or second cameras on the first and / or second circuit path is designed such the second cameras are positioned honeycomb-like between the first cameras in the intermediate spaces of the first cameras on a respectively next circular path, or the endoscope is developed such that the uniform distribution of the first and / or second cameras on the first and / or second circular path is configured in this way is that in the intermediate spaces of the first cameras, the equally distributed on a respective next following ^¬ orbit second illumination means are positioned between the first honeycomb-like cameras. If the first and / or second illumination means can be activated and configured in the endoscope in such a way that they can emit light of different wavelengths at least temporarily and / or at least in groups, the cameras and / or illumination means can, for example, be controlled such that color sequences are emitted and this ^¬ be taken is such that no color-selective cameras images ^¬ color can be generated. When the endoscope is further formed such that at least parts of the first and / or second cameras prisms as attachment elements, in particular closed by a cover glass, are arranged upstream in the detection field of the camera, the on ^¬ order can be optimized. In order to achieve, for example, an enlargement of the illuminated area, the endoscope can thereby be preferably further developed such that the prismatic elements ^¬ tables intent that the orientation is designed steerable. The use of a cover glass is particularly advantageous as this allows the cameras to be covered and provides a common smooth surface for cleaning and disinfecting, as well as protects the Kame ^¬ ras. The cover glass can be advantageously developed by an anti-reflection layer in order to minimize the interaction of lighting and cameras.

Alternatively or additionally, the endoscope may be such weiterge ^¬ forms that at least parts of the first and / or second cameras filter, in particular mutually orthogonal pola- risationsfilter, are arranged upstream in the detection field of the cameras. This can be useful, inter alia, a three-dimensional image of the tissue.

It is also advantageous to design the endoscope in such a way that at least parts of the first and / or second cameras, in particular magnifying lenses, are arranged in the detection field of the cameras. Three-dimensional images are also supported when alternatively or additionally, the endoscope such weiterge forms ^¬ is that at least a first and / or a second illumination means for projecting patterns is configured.

Among other things, a larger range of action and more flexibility in the navigation of the endoscope is obtained if it is developed such that the first cameras and / or the second cameras are arranged on at least a portion of the distal end of the outer tube and funktio ^¬ nal connected to each other in that they are rotatable separately and / or jointly. Preferably, the endoscope is further formed such that the first camera, second camera, the first Beleuchtungsmit ^¬ tel, second illumination means and / or filter in such a way operationally connected to a data acquisition unit and being ^¬ allocates are that the data acquisition unit acquire the data of the individual cameras and / or the lighting means and / or filter can control such that a 3D image representation can be calculated. As a result, among other things, an effective and optimal coordination of the individual Anord ^¬ tion elements is achieved.

Furthermore, the endoscope is preferably further developed in such a way that the first and / or second cameras have a maximum diameter of 1 mm. As a result, the compactness is supported and an overall very small overall diameter of the arrangement is achieved, so that it is particularly suitable for me ^¬ medical application.

In the method according to the invention for operating an endoscope, in particular for medical use, preferably in minimally invasive surgery, at the distal end of the outer tube of the endoscope a plurality of first cameras, on at least a first circular path concentric with the circular cross section of the outer tube, are provided. Preferably arranged on the circular path uniformly distributed and functionally connected to each other and / or connected to the endoscope, wherein the cameras are configured with a camera diameter whose ratio to the diameter of the circular cross section, in particular the so-called Arbeitsdurchmes ^¬ ser, at most 1 to 6 to 1 12 amounts to.

By the method according to the invention, the advantages stated in the present claims are realized mutatis mutandis.

As well as the inventive method helps to achieve through appropriate operation by the implemen ^¬ tation of the method, applied in the arrangement and given benefits, this wel ^¬ che applies to the developments of the process, through steps for operating the arrangement features specific to ^¬ means is performed according to the above-described endoscope and one of its developments.

Further advantages and details of the invention will now be explained starting from the embodiment of the invention shown in the single figure. It shows as an embodiment of the invention in the cross-section of a cross-section schematically according to the invention mögli surface arrangement of the cameras

In the FIGURE, a shape of the through-channel DK of an endoscope ES is shown in cross-section. It can be seen that on a first circular path KB1 evenly distributed a plurality of first cameras Kl are arranged, for the purpose of Opti ^¬ optimization or accommodation of other elements from the uniform distribution may be moved away.

Furthermore, it can be seen that Kl is space between the first cameras, which in this embodiment is provided with a plurality of illumination means BM. On a second circular path KB2, which has a larger radius than the first circular path KB1, a plurality of second cameras K2 are arranged. It can be seen that the second cameras K2 are such angeord ^¬ net and the radius of the second circular path KB2 such ge is ^¬ selects that the second cameras K2 can come to lie between the first cameras Kl, so that the diameter of the overall arrangement in spite of the second row KB2 of K2 cameras is designed as small as possible.

As can be seen, a large number of independent small cameras K1 ... K2 - manufacturers, for example "Medigus" - are arranged in the vicinity of the through-channel D. The illustrated cameras K1 .... K2 have a diameter in the range of 1 mm, so that such cameras can be arranged according to the invention more than one row. So is as in the embodiment Darge ^¬, for example in concentric circles or in a type of hexagonal structure, ie a honeycomb compact.

The K1 ... arranged in the intermediate spaces of the cameras K2 elements for illuminating BM of the detection area can also be controlled in color to produce, for example, tissue color images to dif ^¬ allow references or when illuminated with a color sequence and not color selective cameras.

Furthermore, pattern projectors can also be provided in the interstices of the cameras in order to still be able to create a 3D image recording for a subsequent evaluation in the case of structurally poor objects in the detection area via the projected patterns.

The advantage of the cameras K1 ... K2 in the outer area of the

Endoscope cross-section ES has several advantages

compared to the prior art and the typical structure of plenoptic cameras. These advantages and further design details / variants are: a) The risk of shading is minimized, as a larger number of distributed cameras K1 ... K2 is present. b) The greater the distance between the cameras increases the basis for the depth evaluation for a triangulation, which increases the achievable accuracy. c) By prismatic elements header in front of the cameras, wherein ^¬ play, in combination with a cover glass to device-connection, can the directions of view of the individual cameras

K1 ... K2 be redirected targeted to optimize the 3D detection in the measuring range or to capture the detected solid angle range for the endoscope ES. The result is an image acquisition system that is very similar to the eye of a dragonfly and is very powerful. d) The different directions of view of the cameras K1 ... K2 according to c) can be used to make the system also more robust against reflexes, in that there should always be at least one camera which detects an area but does not catch a reflex of a light source , e) Since the compact cameras K1 K2 ... in the top - that is in the distal end of the endoscope ES - are located could be also rotatable with respect to the passage channel DK angeord ^¬ net to give the operator the best possible vision with mini ^¬ paint to allow Störeiflüssen on the situs. f) The different cameras K1 ... K2 of the camera arrangement could also be equipped with at least partially polarizing filters to obtain surface slopes over a changed intensity of the images taken in cameras with different polarization direction - keyword: "Shape from polarization" g) If the Cameras K1 ... K2 have polarizing filters, the prismatic elements from c) can also be made adjustable, for example by means of electro-optical components, so that the detection range of the endoscope is adjustable. Just as well, the individual cameras K1 ... K2 could have zoom lenses, which in combination with the deflection elements acc. c) then cause an adjustable detection range. h) A further advantage of the camera assembly at the distal end is that the cameras and the Beleuchtungseinhei ^¬ th emit some heat, so that for example a Beschla ^¬ gen the front glasses of the endoscope can be avoided. i) Alternatively or additionally to arrange at the distal end and additional heating element or advantageously, for example, in times when no images are taken, to use the LED for heating to the

Endoscopic temperature at or just above (for example 45 ° C) the ambient temperature (maximum 42 ° C) of the lumen studied situs. j) For this purpose, a controller can additionally be advantageously provided in addition, which has a temperature sensor and a controller or optical hardware detection for this purpose. k) The constant temperature also has the advantage that the geometry remains constant at the endoscope, which benefits the geometric measurement accuracy.

It also has the advantage over the prior art that minimized disruption times and thus the anesthesia time can be shortened for the patient, in a fogging of the front glasses to endoscopes, the doctors not as currently usual

Preheat by immersion in hot water (60 - 80 ° C to boiling) or immersion in anti-fogging agent (alcohol), which must be repeated regularly, must help. Also a development of the endoscope fiction, modern ^¬ is advantageously 1) such that it comprises at least one Arbeitska ^¬ nal for medical intervention. m) For this purpose, it is advantageous if said cover glass has corresponding apertures for the at least one Arbeitska ^¬ nal. The endoscope ES still has, according to an embodiment, also associated with the cameras K1 ... K2, not shown, since ^¬ tenerfassungseinheit to that from the image information of each camera, including the information on the in a) - settings described g) then a 3D Calculate, visualize and evaluate image representation. Furthermore, the data acquisition unit can also be used for controlling the illumination BM in brightness, distribution, color, pattern projection, etc., and also for controlling possible zoom lenses or electro-optical control elements. Here are, of course, control loops mög ^¬ Lich used to optimize the result of the recorded images or for specific adjustment of desired imaging modalities. The invention is not (nungs- arrange-) to the illustrated example of the At ^¬ order or method aspects and variants described limited. Rather, it encompasses all combinations and design variants that are given by the claims and thereby, inter alia, have one or more of the following features / advantages:

• Combination of a large number of compact and distributed cameras / visual channels · Large base length for high 3D measurement accuracy

• Rotatable recording device

• Adjustable solid angle for detection area

• "Mixing" of cameras with lighting elements in the annular area between the passageway and the outer tube of the endoscope, which in systems without through-channel over the entire available cross section of the endoscope can be made

• Evaluation unit with the described properties

Presentation unit for image presentation

Claims

claims

1. Endoscope, in particular for medical use, preferably in minimally invasive surgery, characterized in that at the distal end of the endoscope on at least a first concentric with respect to the circular cross section of the Endo ^¬ skops circular path a plurality of first cameras, preferably evenly distributed on the circular path arranged and functionally connected to each other and / or the endoscope, wherein the cameras are designed with a Kamerdurchmes ^¬ ser whose ratio to the diameter of the circular cross-section, in particular the so-called working ^¬ diameter, at most 1 to 6 to 1 to 12.

2. An endoscope according to the preceding claim, characterized in that the uniform distribution is configured such that a first lighting means is arranged at least ^¬ at least between two of the first cameras.

3. An endoscope according to one of the preceding claims, characterized in that a plurality of second cameras and / or second illumination means, in particular gleichver ^¬ shares, are arranged on at least one second with a larger radius compared to the first circular path second circular path.

4. An endoscope according to one of the preceding claims, characterized in that the uniform distribution of the first and / or second cameras on the first and / or second circular path is configured such that in the interstices of the first cameras on a respective next circular path, the second cameras honeycomb are positioned between the first cameras ^¬ .

5. An endoscope according to one of the preceding claims, characterized in that the uniform distribution of the first and / or second cameras on the first and / or second circular path is designed such that in the interstices the first cameras are positioned on a respective next circular path equally distributed second illumination means honeycomb between the first cameras.

6. An endoscope according to the preceding claim, characterized in that the first and / or second illumination ^¬ medium are controlled and configured so that they can deliver at least temporarily light at different wavelengths individually and / or at least in groups.

7. An endoscope according to one of the preceding claims, characterized in that at least parts of the first and / or second cameras prisms are arranged as attachment elements, in particular ^¬ completed by a cover glass, in the detection field of the camera.

8. Endoscope, according to the preceding claim, characterized in that the prismatic attachment elements that de ^¬ ren orientation is designed to be steerable.

9. An endoscope according to one of the preceding claims, characterized in that at least parts of the first and / or second cameras filter, in particular mutually orthogonal polarization filter, are arranged upstream in the detection field of the camera.

10. An endoscope according to one of the preceding claims, characterized in that at least parts of the first and / or second cameras lenses, in particular magnifying lens, are arranged upstream in the detection field of the cameras.

11. An endoscope according to one of the preceding claims, characterized in that at least a first and / or a second illumination means for the projection of patterns is staged.

12. An endoscope according to one of the preceding claims, characterized in that the first cameras and / or the second cameras are arranged on at least a portion of the dista ^¬ len end of the endoscope such and functionally connected to ^¬ each other that they are separately and / or jointly rotatable.

13. An endoscope according to one of the preceding claims, characterized in that the first camera, the second Kame ^¬ ras first illumination means, the second illumination means and / or filter in such a way radio with a data acquisition unit are tional connected and arranged such that the Datenerfas ^¬ sungseinheit the data of the capture individual cameras

and / or the illumination means and / or filters can control ^¬ such that a 3D image representation can be calculated.

14. An endoscope according to one of the preceding claims, characterized in that the first and / or second camera ^¬ ras have a diameter in a range of a maximum of 1 to 2 mm, preferably 1mm.

15. A method of operating an endoscope, particularly for medical use, preferably in the minimally invasive surgery, characterized in that at the distal En ^¬ de of the endoscope to at least a first extending concentrically with respect to the circular cross section of the endoscope

Circular path a plurality of first cameras, preferably arranged uniformly distributed on the circular path and functionally mitei ^¬ nander and / or operated connected to the endoscope, wherein the cameras are configured with a camera diameter whose ratio to the diameter of the circular cross section, in particular the so-called working diameter highest 1 to 6 to 1 to 12.

16. Method according to the preceding claim, characterized in that steps for operating the arrangement features, in particular means, according to one of claims 1 to 14 are carried out.