WO2018046091A1 - Endoscope et procédé de fonctionnement d'un endoscope - Google Patents

Endoscope et procédé de fonctionnement d'un endoscope Download PDF

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Publication number
WO2018046091A1
WO2018046091A1 PCT/EP2016/071332 EP2016071332W WO2018046091A1 WO 2018046091 A1 WO2018046091 A1 WO 2018046091A1 EP 2016071332 W EP2016071332 W EP 2016071332W WO 2018046091 A1 WO2018046091 A1 WO 2018046091A1
Authority
WO
WIPO (PCT)
Prior art keywords
cameras
endoscope
circular path
endoscope according
diameter
Prior art date
Application number
PCT/EP2016/071332
Other languages
German (de)
English (en)
Inventor
Thomas Engel
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to PCT/EP2016/071332 priority Critical patent/WO2018046091A1/fr
Publication of WO2018046091A1 publication Critical patent/WO2018046091A1/fr

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
    • A61B1/04—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
    • A61B1/051—Details of CCD assembly
    • 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
    • A61B1/00194—Optical arrangements adapted for three-dimensional 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
    • A61B1/06—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
    • A61B1/0605—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 for spatially modulated illumination
    • 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
    • A61B1/0607—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 for annular illumination
    • 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
    • A61B1/0655—Control therefor
    • 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
    • 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
    • A61B1/06—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
    • A61B1/06—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
    • A61B1/0646—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 with illumination filters
    • 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
    • A61B1/0661—Endoscope light sources
    • A61B1/0676—Endoscope light sources at distal tip of an endoscope
    • 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
    • A61B1/12—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 cooling or rinsing arrangements
    • A61B1/127—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 cooling or rinsing arrangements with means for preventing fogging

Definitions

  • 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.
  • 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.
  • 3D endoscopy is a very new technology for minimally invasive surgery, which is just beginning to be introduced.
  • 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.
  • a multiplicity of first cameras 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
  • 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.
  • typical diameters are 8, 10 or max. 12 mm.
  • 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.
  • 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.
  • 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.
  • 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.
  • the endoscope can thereby be preferably further developed such that the prismatic elements ⁇ tables intent that the orientation is designed steerable.
  • 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.
  • the endoscope may be such emergent ⁇ 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.
  • 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 emerge forms ⁇ is that at least a first and / or a second illumination means for projecting patterns is configured.
  • the endoscope is further formed such that the first camera, second camera, the firstumpssmit ⁇ 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.
  • an effective and optimal coordination of the individual Anord ⁇ tion elements is achieved.
  • the endoscope is preferably further developed in such a way that the first and / or second cameras have a maximum diameter of 1 mm.
  • 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.
  • a plurality of first cameras on at least a first circular path concentric with the circular cross section of the outer tube, are provided.
  • the cameras are configured with a camera diameter whose ratio to the diameter of the circular cross section, in particular the so-called Ultmes ⁇ ser, at most 1 to 6 to 1 12 amounts to.
  • 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.
  • Kl is space between the first cameras, which in this embodiment is provided with a plurality of illumination means BM.
  • a plurality of second cameras K2 are arranged 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ...
  • 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”
  • 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.
  • the individual cameras K1 ... K2 could have zoom lenses, which in combination with the deflection elements acc. c) then cause an adjustable detection range.
  • a further advantage of the camera assembly at the distal end is that the cameras and theaxeseinhei ⁇ th emit some heat, so that for example a Beschla ⁇ gen the front glasses of the endoscope can be avoided.
  • a controller can additionally be advantageously provided in addition, which has a temperature sensor and a controller or optical hardware detection for this purpose.
  • the constant temperature also has the advantage that the geometry remains constant at the endoscope, which benefits the geometric measurement accuracy.
  • 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.
  • 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:

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un endoscope (ES) et un procédé pour le fonctionnement d'un endoscope, en particulier destiné à une utilisation médicale, de préférence dans la chirurgie invasive minimale, une multitude de premières caméras (K1) étant disposées avec une répartition régulière en l'extrémité distale du tube externe de l'endoscope sur au moins une première voie circulaire (KB1) s'étendant concentriquement par rapport à la section circulaire du conducteur rigide d'images, de préférence sur la voie circulaire (KB1), et commandées tout en étant reliées fonctionnellement les unes avec les autres et/ou avec l'endoscope (ES), les caméras présentant un diamètre de caméra dont le rapport par rapport au diamètre de la section circulaire, en particulier ce qu'on appelle le diamètre de travail, est d'au plus 1:6 à 1:12.
PCT/EP2016/071332 2016-09-09 2016-09-09 Endoscope et procédé de fonctionnement d'un endoscope WO2018046091A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/071332 WO2018046091A1 (fr) 2016-09-09 2016-09-09 Endoscope et procédé de fonctionnement d'un endoscope

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/071332 WO2018046091A1 (fr) 2016-09-09 2016-09-09 Endoscope et procédé de fonctionnement d'un endoscope

Publications (1)

Publication Number Publication Date
WO2018046091A1 true WO2018046091A1 (fr) 2018-03-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022066781A1 (fr) * 2020-09-23 2022-03-31 Proprio, Inc. Systèmes d'imagerie endoscopique pour générer des images tridimensionnelles, et systèmes et procédés associés

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5800341A (en) * 1994-03-30 1998-09-01 Medical Media Systems Electronically steerable endoscope
US20080147018A1 (en) * 2006-12-15 2008-06-19 Squilla John R Laparoscopic cannula with camera and lighting
WO2009102445A2 (fr) * 2008-02-12 2009-08-20 Innurvation, Inc. Système d’imagerie à scanner radial
US20130116506A1 (en) * 2006-01-23 2013-05-09 Avantis Medical Systems, Inc. Endoscope
US20140024951A1 (en) * 2012-07-20 2014-01-23 Intuitive Surgical Operations, Inc. Annular vision system
US20150351637A1 (en) * 2013-02-04 2015-12-10 Helen Of Troy Limited Ear inspection device and method of determining a condition of a subject's ear
US20160150944A1 (en) * 2013-07-19 2016-06-02 The General Hospital Corporation Imaging apparatus and method which utilizes multidirectional field of view endoscopy
US20160261829A1 (en) * 2014-11-07 2016-09-08 SeeScan, Inc. Inspection camera devices and methods with selectively illuminated multisensor imaging

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5800341A (en) * 1994-03-30 1998-09-01 Medical Media Systems Electronically steerable endoscope
US20130116506A1 (en) * 2006-01-23 2013-05-09 Avantis Medical Systems, Inc. Endoscope
US20080147018A1 (en) * 2006-12-15 2008-06-19 Squilla John R Laparoscopic cannula with camera and lighting
WO2009102445A2 (fr) * 2008-02-12 2009-08-20 Innurvation, Inc. Système d’imagerie à scanner radial
US20140024951A1 (en) * 2012-07-20 2014-01-23 Intuitive Surgical Operations, Inc. Annular vision system
US20150351637A1 (en) * 2013-02-04 2015-12-10 Helen Of Troy Limited Ear inspection device and method of determining a condition of a subject's ear
US20160150944A1 (en) * 2013-07-19 2016-06-02 The General Hospital Corporation Imaging apparatus and method which utilizes multidirectional field of view endoscopy
US20160261829A1 (en) * 2014-11-07 2016-09-08 SeeScan, Inc. Inspection camera devices and methods with selectively illuminated multisensor imaging

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022066781A1 (fr) * 2020-09-23 2022-03-31 Proprio, Inc. Systèmes d'imagerie endoscopique pour générer des images tridimensionnelles, et systèmes et procédés associés

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