WO2023103524A1 - 一种可调焦的3d光学内窥镜系统 - Google Patents

一种可调焦的3d光学内窥镜系统 Download PDF

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Publication number
WO2023103524A1
WO2023103524A1 PCT/CN2022/120355 CN2022120355W WO2023103524A1 WO 2023103524 A1 WO2023103524 A1 WO 2023103524A1 CN 2022120355 W CN2022120355 W CN 2022120355W WO 2023103524 A1 WO2023103524 A1 WO 2023103524A1
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Prior art keywords
optical
lens barrel
telecentric
imaging
optical path
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PCT/CN2022/120355
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English (en)
French (fr)
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柳建飞
侯海山
陈奥露
徐鉷
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诺创智能医疗科技(杭州)有限公司
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Publication of WO2023103524A1 publication Critical patent/WO2023103524A1/zh

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G02B23/2423—Optical details of the distal end
    • G02B23/243—Objectives for endoscopes
    • G02B23/2438—Zoom objectives
    • 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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • 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
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • 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
    • 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
    • A61B1/055—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 having rod-lens arrangements
    • 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
    • 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
    • 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

  • Embodiments of the present invention relate to the technical field of 3D imaging and medical equipment, and in particular to a focusable 3D optical endoscope system.
  • Endoscopes can be divided into optical mirrors and electronic mirrors according to their imaging methods.
  • Optical mirrors image through the objective lens at the front end of the endoscope, and then transmit the image to the CCD/CMOS at the end of the endoscope through the Hopkins rod mirror.
  • the optical mirror can ensure High-quality transmission of images and minimal loss of resolution, so most of the 2D rigid tube endoscopes currently use optical mirrors.
  • the electronic mirror is to install CCD/CMOS at the front end of the endoscope, and convert the image formed by the front end objective lens into an electrical signal through the CCD/CMOS and transmit it to the back-end processor. It is mostly used in flexible endoscopes.
  • the electronic mirror Since the diameter of the endoscope body is very small, generally between five and more than ten millimeters, the electronic mirror requires a small CCD/CMOS size. When the size of the CCD/CMOS cannot be made smaller, the CCD/CMOS can also be placed at the rear of the mirror, and the image is transmitted to the two CCD/CMOS by the light guide in the mirror body, but this method will result in a loss of image quality .
  • 3D endoscopes can also be divided into electronic mirrors and optical mirrors.
  • 3D electronic mirrors use two front CCD/CMOS for image acquisition at the same time. Compared with 2D electronic mirrors that only need one CCD/CMOS, 3D electronic mirrors are more important to CCD.
  • /CMOS has higher requirements for size and precision. Although the chip size of the same precision can be made smaller with the advancement of chip technology, it still cannot achieve the high resolution and high precision small size chip of optical endoscope. Customization costs are high.
  • the front CCD/CMOS will generate heat during long-term work. In order to avoid burns to the human body, there are also high requirements for the heat dissipation of the system.
  • the 3D optical mirror uses two single optical path systems to image the target at the same time, and then receives the image through the back-end CCD/CMOS, and finally processes it into a 3D image and displays it through image fusion technology.
  • the current 3D optical endoscope design generally adopts dual optical path imaging, and the rear end splits light through prisms or other optical elements, and transmits two sets of images to one or more CCD/CMOS respectively. Due to the introduction of the light-splitting system, this design leads to a complicated rear-end structure, increases the volume and weight of the operating handle, and brings inconvenience to medical staff in clinical operations.
  • the current 3D optical mirrors do not have a focusing function, but only a simple image magnification function, which cannot be adjusted for changes in image clarity at different imaging distances.
  • the purpose of the embodiments of the present invention is to overcome at least one of the deficiencies of the above-mentioned prior art, and provide a 3D optical endoscope with adjustable focus.
  • the dual optical paths are combined into a single optical path through a bi-telecentric relay system to ensure high image quality. Simplify the structure of the back-end system while transferring quality, and realize high-definition imaging at different imaging distances through the focusing structure.
  • a focusable 3D optical endoscope provided by an embodiment of the present invention includes a mirror tube, a dual optical path imaging mirror group arranged in the mirror tube and used for binocular image acquisition, and a dual optical path imaging mirror group that combines the dual optical paths into a single optical path.
  • the telecentric relay lens group, the imaging sensor used to receive the image transmitted by the bi-telecentric relay lens group; the focusable 3D optical endoscope also includes a focusing assembly connected to the bi-telecentric relay lens group.
  • the focusing assembly has a cam structure for controlling the movable displacement of the bi-telecentric relay lens group and for focusing.
  • the dual optical path imaging mirror group includes two optical path systems arranged side by side in the mirror tube.
  • the head of the optical path system has an imaging objective lens group
  • the tail of the optical path system has a Hopkins rod mirror optical system for image transfer.
  • the imaging sensor has a single area array, and the imaging sensor includes a CCD/CMOS detector for simultaneously receiving two images transmitted by the bi-telecentric relay system on the area array. device.
  • the double-telecentric relay lens group has a double-telecentric optical system; the object plane of the double-telecentric optical system is the common image plane of the two optical path systems; the double-telecentric The image plane of the optical system is the focal plane of the CCD/CMOS detector.
  • the 3D optical endoscope includes a movable lens barrel, and the bi-telecentric relay lens group is fixedly connected in the movable lens barrel.
  • the cam structure includes a handle lens barrel sleeved on the moving lens barrel, a rotating hand wheel set on the handle lens barrel and used to control the moving lens barrel, The side of the lens barrel protrudes into and resists the fastener of the bi-telecentric relay lens group.
  • the cam structure further includes a spiral ring arranged between the moving lens barrel and the rotating hand wheel; the inner wall of the rotating hand wheel has a limit for installing the spiral ring.
  • Position slot the side of the moving lens barrel has a first installation hole for one end of the fastener to extend into; the side of the spiral ring has a side opposite to the installation hole and used for the other end of the fastener into the second mounting hole.
  • the cam structure further includes a positioning spiral ring; the handle lens barrel has a shoulder, one end of the rotating hand wheel abuts against the shoulder, and the rotating hand wheel The other end abuts against the positioning spiral ring.
  • a focusable 3D optical endoscope provided by the present invention adopts a dual optical path high-definition imaging design, and then transmits the images of the two optical paths to a large area array CCD or CMOS through a bi-telecentric relay system Finally, it is processed into a 3D image by image fusion technology and displayed; the system can realize 1920 ⁇ 1080 high-definition imaging, and the dual optical path is combined into a single optical path through the bi-telecentric relay system to ensure high-quality image transmission while simplifying the back-end system Structure, and through the design of the focusing structure, high-definition imaging at different imaging distances is realized.
  • Fig. 1 is a schematic structural diagram of a focusable 3D optical endoscope provided by an embodiment of the present invention
  • Fig. 2 is another structural schematic diagram of a focusable 3D optical endoscope provided by an embodiment of the present invention
  • Fig. 3 is another structural schematic diagram of a focusable 3D optical endoscope provided by an embodiment of the present invention.
  • Fig. 4 is a modulation transfer function curve diagram of the dual optical path imaging system in a focusable 3D optical endoscope provided by an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the optical structure of the bi-telecentric relay system in a focusable 3D optical endoscope provided by an embodiment of the present invention
  • Fig. 6 is a modulation transfer function curve diagram of the bi-telecentric relay system in a focusable 3D optical endoscope provided by an embodiment of the present invention
  • Fig. 7 is a schematic structural diagram of the focusing assembly in a focusable 3D optical endoscope provided by an embodiment of the present invention.
  • a focusable 3D optical endoscope provided by an embodiment of the present invention includes a mirror tube 1.1, a dual optical path imaging mirror group 2.1, a bi-telecentric relay mirror group 2.2 and an imaging sensor;
  • the dual optical path imaging mirror group 2.1 is arranged in the mirror tube 1.1 and used for binocular image acquisition;
  • the bi-telecentric relay mirror group 2.2 merges the dual optical paths into a single optical path, and the imaging sensor is used to receive the binocular image
  • the focusable 3D optical endoscope also includes a focusing assembly 1.2 connected to the bi-telecentric relay lens group 2.2.
  • the dual-optical-path imaging mirror group 2.1 is a dual-optical-path high-definition imaging mirror group, and the imaging sensor is a large area array CCD/CMOS.
  • the dual optical path imaging lens group 2.1 forms an image, and then combines the two optical paths into one optical path through the double telecentric relay lens group 2.2, and transmits the image to the large area array CCD/CMOS to convert the optical signal into an electrical signal and transmit it to the image processing host.
  • the 3D image is generated through image fusion technology processing; imaging at different working distances can be realized through the focusing assembly 1.2, and the structure is simple and the focusing is convenient.
  • the focusing assembly 1.2 has a cam structure, through which the active displacement of the bi-telecentric relay lens group 2.2 is controlled and used for focusing.
  • the dual optical path imaging mirror group 2.1 includes two optical path systems arranged side by side in the mirror tube 1.1.
  • the head of the optical path system has an imaging objective lens group 3.1
  • the tail of the optical path system has a Hopkins rod mirror optical system (Hopkins rod mirror) for image transfer.
  • the imaging objective lens group 3.1 Using high-definition imaging design, its optical transfer function MTF is shown in Figure 4.
  • the imaging sensor has a single area array, and the imaging sensor includes a CCD/CMOS detector 1.3, which is used to simultaneously receive the two images transmitted by the bi-telecentric relay system on the area array.
  • the CCD/CMOS detector 1.3 has a single area array, and the area array is a CCD/CMOS large area array.
  • the bi-telecentric relay lens group 2.2 has a bi-telecentric optical system; the object plane 5.1 of the bi-telecentric optical system is the common image plane of the two optical path systems; The image plane 5.2 is the focal plane of the CCD/CMOS detector 1.3.
  • the double-telecentric relay lens group 2.2 synthesizes the dual optical paths at the front end into a single optical path and transmits it to the image plane of the CCD/CMOS detector 1.3, thereby avoiding the use of complex light-splitting elements such as prisms, thereby simplifying
  • Figure 6 shows the optical structure at the handle, and its modulation transfer function curve, that is, the optical transfer function.
  • the 3D optical endoscope includes a movable movable lens barrel 7.2, and the bi-telecentric relay lens group 2.2 is fixedly connected in the movable lens barrel 7.2.
  • the cam structure includes a handle lens barrel 7.1, a rotating handwheel 7.5 and a fastener 7.4; the handle lens barrel 7.1 is sleeved on the handle lens barrel 7.1 of the moving lens barrel 7.2, and the rotating handwheel 7.5 is set on the
  • the handle lens barrel 7.1 is used to control the moving lens barrel 7.2, and the fastener 7.4 extends into the side of the moving lens barrel 7.2 and can resist the 2.2 pieces of the bi-telecentric relay lens group.
  • the moving lens barrel 7.2 is slidably connected in the handle lens barrel 7.1, and the movement of the bi-telecentric relay lens group 2.2 is driven by the sliding of the moving lens barrel 7.2.
  • the 3D optical endoscope also includes components such as a fiber optic lighting system, lens barrel, and mirror bridge. These components are conventional components of ordinary optical endoscopes, so they are not described in this patent.
  • the cam structure also includes a spiral ring 7.3 arranged between the moving lens barrel 7.2 and the rotating handwheel 7.5; the inner wall of the rotating handwheel 7.5 has a limiting groove for installing the spiral ring 7.3;
  • the side of the moving lens barrel 7.2 has a first installation hole for one end of the fastener 7.4 to extend into; One end protrudes into the second mounting hole.
  • the cam structure also includes a positioning screw ring 7.6; the handle lens barrel 7.1 has a shoulder, one end of the rotating handwheel 7.5 abuts against the shoulder, and the other end of the rotating handwheel 7.5 abuts against the shoulder. In the positioning helix 7.6.
  • the bi-telecentric relay lens group 2.2 is fixed in the moving lens barrel 7.2 through the fastener 7.4 (fastening screw 7.4 in this embodiment), and is connected with the spiral ring 7.3; then
  • the rotating handwheel 7.5 is installed on the outer peripheral side of the handle lens barrel 7.1, and the position is limited by the positioning screw ring 7.6, and the screw ring 7.3 is nested with each other through the screw thread, and finally the bi-telecentric relay lens group is rotated by rotating the rotating handwheel 7.5.
  • 2.2 Move back and forth within a certain range to realize the focusing function.
  • a focusable 3D optical endoscope provided by the embodiment of the present invention adopts a dual optical path imaging design, and then transmits the images of the two optical paths to a large area array CCD/CMOS through a bi-telecentric relay system, and finally passes
  • the image fusion technology is processed into a 3D image and displayed;
  • the dual optical path imaging mirror group 2.1 can realize 1920 ⁇ 1080 high-definition imaging, and the dual optical path is combined into a single optical path through the bi-telecentric relay system to ensure high-quality image transmission
  • the back-end system structure is simplified, and the focusing function and high-definition imaging at different imaging distances are realized through the design of the cam structure in the focusing component 1.2.

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Abstract

一种可调焦的3D光学内窥镜系统，涉及3D成像与医疗器械技术领域，内窥镜包括镜管（1.1）、设置于镜管（1.1）内并用于双目图像采集的双光路成像镜组（2.1）、将双光路合并成单光路的双远心中继镜组（2.2）、用于接收双远心中继镜组（2.2）所传递图像的成像传感器；可调焦的3D光学内窥镜还包括连接于双远心中继镜组（2.2）的调焦组件（1.2）。这种可调焦的3D光学内窥镜，通过双远心中继系统将双光路合并成单光路，保证图像的高质量传输的同时简化后端系统结构，并通过调焦结构实现不同成像距离处的高清成像

Description

一种可调焦的3D光学内窥镜系统 技术领域
本发明实施例涉及3D成像与医疗器械技术领域，尤其涉及一种可调焦的3D光学内窥镜系统。
 背景技术
近年来微创手术技术在全球范围内的推广和普及，推动了微创医疗器械的发展，内窥镜微创医疗器械最具有代表性。由于微创手术越来越多的应用于临床，其操作的复杂性和多样性越来越突出，也逐渐成为制约微创手术进一步提高与发展的主要问题。为了让医生在患者体外得到患者体内的真实3D影像信息，3D内窥镜随之被研发成功。
内窥镜按照其成像方式可分为光学镜和电子镜，光学镜是通过内窥镜前端的物镜成像，再通过Hopkins棒状镜将图像传递至内窥镜尾端的CCD/CMOS，光学镜可以保证图像的高质量传输，最小限度的分辨率损失，因此目前绝大多数2D硬管内窥镜都是采用光学镜。电子镜是将CCD/CMOS安装在内窥镜前端，通过CCD/CMOS将前端物镜所成图像转变为电信号传输至后端处理器，多用于软式内窥镜。由于内窥镜镜身直径很小，一般在五到十几个毫米间，因此电子镜要求CCD/CMOS尺寸很小。在CCD/CMOS尺寸无法做得较小时，CCD/CMOS也可以被放置在镜身后端，在镜身内由导光束将图像传递到两个CCD/CMOS上，但这种方式会导致图像质量的缺损。
对于3D内窥镜来说，需要得到同一物体不同视角的两幅图像，再通过图像处理将两幅图像融合成3D图像。3D内窥镜也可以分为电子镜和光学镜，3D电子镜是利用两个前置CCD/CMOS同时进行图像采集，相对只需一个CCD/CMOS的2D电子镜来说，3D电子镜对CCD/CMOS尺寸和精度有更高的要求，尽管现在随着芯片技术的进步，同样精度的芯片尺寸可以做的更小，但仍无法达到光学内窥镜的高分辨率，且高精度小尺寸芯片定制成本很高。另外前置CCD/CMOS在长时间工作中会产生热量，为避免灼伤人体，对系统的散热处理也有较高的要求。
3D光学镜则采用两个单光路系统同时对目标成像，再通过后端CCD/CMOS进行图像接收，最后通过图像融合技术处理成3D图像显示出来。目前的3D光学内窥镜设计一般采用双光路成像后，后端通过棱镜或者其他光学元件进行分光，将两组图像分别传递至一个或者多个CCD/CMOS。这种设计由于引入了分光系统而导致后端结构复杂，增大了操作手柄处的体积和重量，给医护人员临床操作使用带来不便。另外目前的3D光学镜不具备调焦功能，只有简单的图像放大功能，无法针对不同成像距离处的图像清晰度的变化进行调整。
 技术解决方案
本发明实施例的目的在于至少克服上述现有技术的不足之一，提供了一种可调焦的3D光学内窥镜，通过双远心中继系统将双光路合并成单光路，保证图像的高质量传输的同时简化后端系统结构，并通过调焦结构实现不同成像距离处的高清成像。
本发明实施例提供的一种可调焦的3D光学内窥镜，包括镜管、设置于所述镜管内并用于双目图像采集的双光路成像镜组、将双光路合并成单光路的双远心中继镜组、用于接收双远心中继镜组所传递图像的成像传感器；所述可调焦3D光学内窥镜还包括连接于所述双远心中继镜组的调焦组件。
在一种可行的方案中，所述调焦组件具有用于控制所述双远心中继镜组活动位移并用于调焦的凸轮结构。
在一种可行的方案中，所述双光路成像镜组包括两个并列设置于所述镜管内的光路系统。
在一种可行的方案中，所述光路系统的头部具有成像物镜组，所述光路系统的尾部具有用于转像的Hopkins棒状镜光学系统。
在一种可行的方案中，所述成像传感器具有单一的面阵，所述成像传感器包括用于将所述双远心中继系统传递的两幅图像同时接收在所述面阵的CCD/CMOS探测器。
在一种可行的方案中，所述双远心中继镜组具有双远心光学系统；所述双远心光学系统的物面为两个所述光路系统的共同像面；所述双远心光学系统的像面为所述CCD/CMOS探测器的焦面。
在一种可行的方案中，所述3D光学内窥镜包括可活动的移动镜筒，所述双远心中继镜组固定连接于所述移动镜筒内。
在一种可行的方案中，所述凸轮结构包括套设于所述移动镜筒的手柄镜筒、设置于所述手柄镜筒并用于控制所述移动镜筒的旋转手轮、沿所述移动镜筒的侧面伸入并可抵止所述双远心中继镜组的紧固件。
在一种可行的方案中，所述凸轮结构还包括设置于所述移动镜筒和所述旋转手轮之间的螺环；所述旋转手轮的内壁具有用于安装所述螺环的限位槽；所述移动镜筒的侧面具有供所述紧固件的一端伸入的第一安装孔；所述螺环的侧面具有与所述安装孔相对并用于供所述紧固件另一端伸入的第二安装孔。
在一种可行的方案中，所述凸轮结构还包括定位螺环；所述手柄镜筒具有台肩部，所述旋转手轮的一端抵接于所述台肩部，所述旋转手轮的另一端抵接于所述定位螺环。
 有益效果
基于上述方案可知，本发明提供的一种可调焦的3D光学内窥镜，采用双光路高清成像设计，再通过双远心中继系统将两个光路的图像传递至一个大面阵CCD或CMOS上，最后通过图像融合技术处理成3D图像显示出来；该系统可以实现1920×1080高清成像，通过双远心中继系统将双光路合并成单光路，保证图像的高质量传输的同时简化后端系统结构，并通过调焦结构设计，实现不同成像距离处的高清成像。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种可调焦的3D光学内窥镜的一结构示意图；
图2为本发明实施例提供的一种可调焦的3D光学内窥镜的另一结构示意图；
图3为本发明实施例提供的一种可调焦的3D光学内窥镜的另一结构示意图；
图4为本发明实施例提供的一种可调焦的3D光学内窥镜中所述双光路成像系统的调制传递函数曲线图；
图5为本发明实施例提供的一种可调焦的3D光学内窥镜中所述双远心中继系统的光学结构示意图；
图6为本发明实施例提供的一种可调焦的3D光学内窥镜中所述双远心中继系统的调制传递函数曲线图；
图7是本发明实施例提供的一种可调焦的3D光学内窥镜中所述调焦组件的结构示意图。
图中标号：
1.1-镜管，1.2-调焦组件，1.3-CCD/CMOS探测器；2.1-双光路成像镜组，2.2-双远心中继镜组；3.1-成像物镜组，3.2-Hopkins转像光学系统；5.1-双远心光学系统的物面，5.2-双远心光学系统的像面；7.1-手柄镜筒，7.2-移动镜筒，7.3-螺环，7.4-紧固件，7.5-旋转手轮，7.6-定位螺环。
 本发明的实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，也可以是成一体；可以是机械连接，也可以是电连接，也可以是通讯连接；可以是直接连接，也可以通过中间媒介的间接连接，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。下面以具体地实施例对本发明的技术方案进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
如图1至图7所示，本发明实施例提供的一种可调焦的3D光学内窥镜，包括镜管1.1、双光路成像镜组2.1、双远心中继镜组2.2和成像传感器；所述双光路成像镜组2.1设置于所述镜管1.1内并用于双目图像采集；所述双远心中继镜组2.2将双光路合并成单光路，所述成像传感器用于接收所述双远心中继镜组2.2所传递的图像；所述可调焦3D光学内窥镜还包括连接于所述双远心中继镜组2.2的调焦组件1.2。本发明实施例提供的一种可调焦的3D光学内窥镜，所述双光路成像镜组2.1为双光路高清成像镜组，所述成像传感器为大面阵CCD/CMOS，先通过所述双光路成像镜组2.1成像，再通过双远心中继镜组2.2将两个光路合并为一个光路，将图像传递至大面阵CCD/CMOS以将光信号转换成电信号传输至图像处理主机，经过图像融合技术处理生成3D图像；通过所述调焦组件1.2可实现不同工作距离的成像，且结构简单，调焦便利。
进一步地，所述调焦组件1.2具有凸轮结构，通过所述凸轮结构控制所述双远心中继镜组2.2的活动位移并用于调焦。
进一步地，如图3所示，所述双光路成像镜组2.1包括两个并列设置于所述镜管1.1内的光路系统。所述光路系统的头部具有成像物镜组3.1，所述光路系统的尾部具有用于转像的Hopkins棒状镜光学系统（霍普金斯棒状镜），本实施例中，所述成像物镜组3.1采用高清成像设计，其光学传递函数MTF如图4所示。
进一步地，所述成像传感器具有单一的面阵，所述成像传感器包括CCD/CMOS探测器1.3，用于将所述双远心中继系统传递的两幅图像同时接收在所述面阵。本实施例中，所述CCD/CMOS探测器1.3具有单一的面阵，所述面阵为CCD/CMOS大面阵。
进一步地，所述双远心中继镜组2.2具有双远心光学系统；所述双远心光学系统的物面5.1为两个所述光路系统的共同像面；所述双远心光学系统的像面5.2为所述CCD/CMOS探测器1.3的焦面。本实施例中，所述双远心中继镜组2.2将前端的双光路合成为单光路并传递至CCD/CMOS探测器1.3的像面，而避免了采用棱镜等复杂的分光元件，以此简化了手柄处的光学结构，其调制传递函数曲线图即光学传递函数如图6所示。
进一步地，如图7所示，所述3D光学内窥镜包括可活动的移动镜筒7.2，所述双远心中继镜组2.2固定连接于所述移动镜筒7.2内。所述凸轮结构包括手柄镜筒7.1、旋转手轮7.5和紧固件7.4；所述手柄镜筒7.1套设于所述移动镜筒7.2的手柄镜筒7.1，所述旋转手轮7.5设置于所述手柄镜筒7.1并用于控制所述移动镜筒7.2，所述紧固件7.4伸入所述移动镜筒7.2的侧面并可抵止所述双远心中继镜组2.2件。具体应用中，所述移动镜筒7.2滑动连接于所述手柄镜筒7.1内，通过所述移动镜筒7.2的滑动以带动所述双远心中继镜组2.2活动。除上述组成部分之外，所述 3D光学内窥镜还包括光纤照明系统、镜筒、镜桥等组成部分，这些组成部分属于普通光学内窥镜的常规组件，因此不在本专利中进行说明。
所述凸轮结构还包括设置于所述移动镜筒7.2和所述旋转手轮7.5之间的螺环7.3；所述旋转手轮7.5的内壁具有用于安装所述螺环7.3的限位槽；所述移动镜筒7.2的侧面具有供所述紧固件7.4的一端伸入的第一安装孔；所述螺环7.3的侧面具有与所述安装孔相对并用于供所述紧固件7.4另一端伸入的第二安装孔。所述凸轮结构还包括定位螺环7.6；所述手柄镜筒7.1具有台肩部，所述旋转手轮7.5的一端抵接于所述台肩部，所述旋转手轮7.5的另一端抵接于所述定位螺环7.6。
本实施例中，首先通过紧固件7.4（本实施例中为紧固螺钉7.4）将双远心中继镜组2.2固定于所述移动镜筒7.2内，并与螺环7.3相连接；然后将旋转手轮7.5安装于手柄镜筒7.1外周侧，通过定位螺环7.6进行限位，并通过螺纹与螺环7.3相互嵌套，最后通过转动旋转手轮7.5以使所述双远心中继镜组2.2在一定范围内前后移动，从而实现调焦功能。
本发明实施例提供的一种可调焦的3D光学内窥镜，采用双光路成像设计，再通过双远心中继系统将两个光路的图像传递至一个大面阵CCD/CMOS上，最后通过图像融合技术处理成3D图像显示出来；所述双光路成像镜组2.1可以实现1920×1080的高清成像，通过所述双远心中继系统将双光路合并成单光路，保证图像的高质量传输的同时简化后端系统结构，并通过调焦组件1.2中凸轮结构的设计，实现调焦功能和不同成像距离处的高清成像。
以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (10)

  1. 一种可调焦的3D光学内窥镜，其特征在于，包括镜管、设置于所述镜管内并用于双目图像采集的双光路成像镜组、将双光路合并成单光路的双远心中继镜组、用于接收所述双远心中继镜组所传递图像的成像传感器；所述可调焦3D光学内窥镜还包括连接于所述双远心中继镜组的调焦组件。
  2. 根据权利要求1所述的3D光学内窥镜，其特征在于，所述调焦组件具有用于控制所述双远心中继镜组活动位移并用于调焦的凸轮结构。
  3. 根据权利要求2所述的3D光学内窥镜，其特征在于，所述双光路成像镜组包括两个并列设置于所述镜管内的光路系统。
  4. 根据权利要求3所述的3D光学内窥镜，其特征在于，所述光路系统的头部具有成像物镜组，所述光路系统的尾部具有用于转像的Hopkins棒状镜光学系统。
  5. 根据权利要求4所述的3D光学内窥镜，其特征在于，所述成像传感器具有单一的面阵，所述成像传感器包括用于将所述双远心中继系统传递的两幅图像同时接收在所述面阵的CCD/CMOS探测器。
  6. 根据权利要求5所述的3D光学内窥镜，其特征在于，所述双远心中继镜组具有双远心光学系统；所述双远心光学系统的物面为两个所述光路系统的共同像面；所述双远心光学系统的像面为所述CCD/CMOS探测器的焦面。
  7. 根据权利要求2-6中任一项所述的3D光学内窥镜，其特征在于，所述3D光学内窥镜包括可活动的移动镜筒，所述双远心中继镜组固定连接于所述移动镜筒内。
  8. 根据权利要求7所述的3D光学内窥镜，其特征在于，所述凸轮结构包括套设于所述移动镜筒的手柄镜筒、设置于所述手柄镜筒并用于控制所述移动镜筒的旋转手轮、沿所述移动镜筒的侧面伸入并可抵止所述双远心中继镜组的紧固件。
  9. 根据权利要求8所述的3D光学内窥镜，其特征在于，所述凸轮结构还包括设置于所述移动镜筒和所述旋转手轮之间的螺环；所述旋转手轮的内壁具有用于安装所述螺环的限位槽；所述移动镜筒的侧面具有供所述紧固件的一端伸入的第一安装孔；所述螺环的侧面具有与所述安装孔相对并用于供所述紧固件另一端伸入的第二安装孔。
  10. 根据权利要求9所述的3D光学内窥镜，其特征在于，所述凸轮结构还包括定位螺环；所述手柄镜筒具有台肩部，所述旋转手轮的一端抵接于所述台肩部，所述旋转手轮的另一端抵接于所述定位螺环。
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