WO2023230998A1 - Endoscope, structure d'extrémité de tête d'endoscope et système de caméra d'endoscope - Google Patents

Endoscope, structure d'extrémité de tête d'endoscope et système de caméra d'endoscope Download PDF

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Publication number
WO2023230998A1
WO2023230998A1 PCT/CN2022/096882 CN2022096882W WO2023230998A1 WO 2023230998 A1 WO2023230998 A1 WO 2023230998A1 CN 2022096882 W CN2022096882 W CN 2022096882W WO 2023230998 A1 WO2023230998 A1 WO 2023230998A1
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WO
WIPO (PCT)
Prior art keywords
arm
group
image acquisition
image
endoscope
Prior art date
Application number
PCT/CN2022/096882
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English (en)
Chinese (zh)
Inventor
左鹏飞
李洋
Original Assignee
武汉迈瑞医疗技术研究院有限公司
深圳迈瑞生物医疗电子股份有限公司
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Application filed by 武汉迈瑞医疗技术研究院有限公司, 深圳迈瑞生物医疗电子股份有限公司 filed Critical 武汉迈瑞医疗技术研究院有限公司
Priority to PCT/CN2022/096882 priority Critical patent/WO2023230998A1/fr
Publication of WO2023230998A1 publication Critical patent/WO2023230998A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—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

Definitions

  • the invention relates to the technical field of medical devices, and in particular to an endoscope, an end structure of an endoscope lens and an endoscope camera system.
  • Three-dimensional electronic endoscopes (such as 3D laparoscopes) generally use "chipin the tip” technology, which places the camera device at the end of the insertion part (also called the distal end), but is limited by the maximum width of the insertion part of the three-dimensional electronic endoscope ( Generally required to be controlled within ⁇ 10.5mm), the size of the camera device cannot be made too large, and the distance between the binocular objective lenses cannot be made too large.
  • One embodiment provides an endoscope, including:
  • a movable arm assembly includes a first arm and a second arm.
  • the first arm and the second arm are provided on the end of the head.
  • the first arm and/or the second arm are connected to the head end. end active connection;
  • a control component is connected to the mirror tube, the control component is connected to the first arm and/or the second arm, and the control component is used to control the relationship between the first arm and the second arm. relative motion;
  • An image acquisition component includes a first image acquisition group and a second image acquisition group, the first image acquisition group is arranged on the first arm, and the second image acquisition group is arranged on the second arm; When the first arm and the second arm are in an unfolded state, the first image acquisition group is used to collect the first imaging light or to generate a first image signal, and the second image acquisition group is used to collect the second The imaging light may be used to generate a second image signal.
  • the projected area of the first arm and the second arm on a surface perpendicular to the axial direction of the mirror tube is less than The projected area of the first arm and the second arm on a plane perpendicular to the axial direction of the mirror tube in the unfolded state.
  • first arm and the second arm are respectively movablely connected to the head end portion by a rotational connection.
  • the maximum outer diameter of the first arm and the second arm in the closed state is less than or equal to the outer diameter of the mirror tube.
  • the maximum outer diameter of the first arm and the second arm in a closed state is less than or equal to 12 mm.
  • the first arm is provided with a first accommodation cavity, a first optical window and a first acquisition surface, the first image acquisition group is located in the first accommodation cavity, and the first optical window is located on the first acquisition surface;
  • the second arm is provided with a second accommodation cavity, a second optical window and a second acquisition surface, and the second image acquisition group is located in the second accommodation cavity, and the second image acquisition group is located in the second accommodation cavity.
  • Two optical windows are located on the second collection surface.
  • the projected area of the first collection surface and the second collection surface on a surface perpendicular to the axial direction of the mirror tube is smaller than that of the first collection surface and the second collection surface in a closed state.
  • the projected area of the two acquisition surfaces on the surface perpendicular to the axial direction of the mirror tube in the unfolded state is smaller than that of the first collection surface and the second collection surface in a closed state.
  • the first image acquisition group includes a first image sensor and a first objective lens group, and the first objective lens group is located between the first image sensor and the first optical window.
  • An objective lens group is used to collect first imaging light and project it onto the first image sensor, and the first image sensor is used to generate a first image signal;
  • the second image acquisition group includes a second image sensor and a second An objective lens group, the second objective lens group is located between the second image sensor and the second optical window, and the second objective lens group is used to collect second imaging light and project it onto the second image sensor, The second image sensor is used to generate a second image signal.
  • the distance between the first objective lens group and the second objective lens group is greater than or equal to the outer diameter of the lens tube.
  • the first image collection group includes a first illumination group, and the first illumination group is provided on the first collection surface;
  • the second image collection group includes a second illumination group, and the The second lighting group is arranged on the second collection surface.
  • the first illumination group includes a plurality of first illumination lamps, and a plurality of the first illumination lamps are arranged around the first optical window;
  • the second illumination group includes a plurality of second illumination lamps. Illuminating lamps, several second illuminating lamps are arranged around the second optical window.
  • control assembly includes a control member and a hinge group, the first arm and/or the second arm are rotationally connected to the head end through the hinge group, and the control member is disposed on In the mirror tube, one end of the control member is connected to the hinge group, and the other end of the control member extends out of the mirror tube.
  • the control member is used to drive the movement of the hinge group to control the third Expansion and closing of one arm and the second arm.
  • the image acquisition assembly further includes a first flexible cable and a second flexible cable, the first flexible cable and the second flexible cable are located in the mirror tube, and the first flexible cable One end of the cable extends to the first image acquisition group for electrical connection, the other end of the first flexible cable extends to the camera for electrical connection, and one end of the second flexible cable extends to the second image acquisition group. The other end of the second flexible cable extends to be electrically connected to the camera.
  • the first arm and the second arm when the first arm and the second arm are in a closed state, the first arm and the second arm are parallel to the mirror tube.
  • the first arm and the second arm when the first arm and the second arm are in an unfolded state, the first arm and the second arm are perpendicular to the mirror tube.
  • an end structure of an endoscope lens including:
  • a movable arm assembly includes a first arm and a second arm, the first arm and the second arm are movably connected, and the first arm and the second arm can move relative to each other;
  • An image acquisition component includes a first image acquisition group and a second image acquisition group, the first image acquisition group is arranged on the first arm, and the second image acquisition group is arranged on the second arm;
  • the first image acquisition group is used to collect the first imaging light or to generate a first image signal
  • the second image acquisition group is used for the second imaging.
  • the light is alternatively used to generate a second image signal.
  • the projected area of the first arm and the second arm on a surface perpendicular to the axial direction of the mirror tube is smaller than the area of the first arm and the second arm in the closed state.
  • the maximum outer diameter of the first arm and the second arm in a closed state is less than or equal to the outer diameter of the mirror tube.
  • the maximum outer diameter of the first arm and the second arm in a closed state is less than or equal to 12 mm.
  • the first arm is provided with a first accommodation cavity, a first optical window and a first acquisition surface, the first image acquisition group is located in the first accommodation cavity, and the first The optical window is located on the first acquisition surface;
  • the second arm is provided with a second accommodation cavity, a second optical window and a second acquisition surface, and the second image acquisition group is located in the second accommodation cavity , the second optical window is located on the second collection surface.
  • the projected area of the first collection surface and the second collection surface on a surface perpendicular to the axial direction of the mirror tube is smaller than that of the first collection surface and the second collection surface in a closed state.
  • the projected area of the two acquisition surfaces on the surface perpendicular to the axial direction of the mirror tube in the unfolded state is smaller than that of the first collection surface and the second collection surface in a closed state.
  • the first image acquisition group includes a first image sensor and a first objective lens group, and the first objective lens group is located between the first image sensor and the first optical window.
  • An objective lens group is used to collect first imaging light and project it onto the first image sensor, and the first image sensor is used to generate a first image signal;
  • the second image acquisition group includes a second image sensor and a second An objective lens group, the second objective lens group is located between the second image sensor and the second optical window, and the second objective lens group is used to collect second imaging light and project it onto the second image sensor, The second image sensor is used to generate a second image signal.
  • the first image collection group further includes a first lighting group, and the first lighting group is provided on the first collection surface; the second image collection group further includes a second lighting group, The second lighting group is arranged on the second collection surface.
  • the first illumination group includes a plurality of first illumination lamps, and a plurality of the first illumination lamps are arranged around the first optical window;
  • the second illumination group includes a plurality of second illumination lamps. Illuminating lamps, several second illuminating lamps are arranged around the second optical window.
  • an endoscope including:
  • An image acquisition component including a first image acquisition group and a second image acquisition group, the first image acquisition group and/or the second image acquisition group being movably connected to the head end;
  • a control component is installed in the mirror tube, the control component is connected to the first image acquisition group and/or the second image acquisition group, and the control component is used to control the first image acquisition group and the second image acquisition group.
  • the projected area of the first image acquisition group and the second image acquisition group on a surface perpendicular to the axial direction of the mirror tube in a closed state is smaller than that of the first image acquisition group and the second image acquisition group.
  • the first image acquisition group and the second image acquisition group are respectively rotatably connected to the head end.
  • the maximum outer diameter of the first image acquisition group and the second image acquisition group in the closed state is less than or equal to the outer diameter of the mirror tube.
  • the maximum outer diameter of the first image acquisition group and the second image acquisition group in the closed state is less than or equal to 12 mm.
  • the first image acquisition group includes a first image sensor and a first objective lens group.
  • the first objective lens group is used to collect the first imaging light and project it onto the first image sensor.
  • the first image sensor is used to generate a first image signal;
  • the second image acquisition group includes a second image sensor and a second objective lens group, and the second objective lens group is used to collect second imaging light and project it to the second On the image sensor, the second image sensor is used to generate a second image signal.
  • the distance between the first objective lens group and the second objective lens group is greater than or equal to the distance of the lens tube. outer diameter.
  • the first image acquisition group further includes a plurality of first illumination lamps, and a plurality of the first illumination lamps are arranged around the first objective lens group;
  • the second image acquisition group further includes A plurality of second illumination lamps, the plurality of second illumination lamps are arranged around the second objective lens group.
  • control assembly includes a control member and a hinge group, and the first image acquisition group and/or the second image acquisition group are rotationally connected to the head end through the hinge group, and the A control member is arranged in the mirror tube.
  • One end of the control member is connected to the hinge group, and the other end of the control member extends out of the mirror tube.
  • the control member is used to drive the hinge group to move. Control the expansion and closing of the first image acquisition group and the second image acquisition group.
  • the image acquisition component further includes a first flexible cable and a second flexible cable, the first flexible cable and the second flexible cable are located in the mirror tube, and the first flexible cable One end of the flexible cable extends to be electrically connected to the first image acquisition group, the other end of the first flexible cable extends to be electrically connected to the camera, and one end of the second flexible cable extends to be electrically connected to the third image acquisition group.
  • the two image acquisition groups are electrically connected, and the other end of the second flexible cable extends to be electrically connected to the camera.
  • a movable arm is provided at the front end of the mirror tube, and the image acquisition component is disposed on the movable arm.
  • the front end of the mirror tube is provided with a movable component, and the image acquisition component is disposed on the movable component.
  • an endoscope camera system which is characterized in that it includes a camera, a cable, a camera host and the above-mentioned endoscope, and one end of the camera is connected to the endoscope. The other end of the camera is connected to the camera host through the cable.
  • the end structure of the endoscope lens and the endoscope camera system of the above embodiments since the movable arm assembly is provided at the head end of the endoscope, the binocular image acquisition assembly is respectively provided on the first arm and the second arm.
  • the first arm and the second arm On the arm, driven by the control assembly, the first arm and the second arm can relatively expand and close. In the closed state, the first arm and the second arm can be distributed along the axial direction of the parallel mirror tube, which is conducive to the insertion and installation of the mirror tube.
  • the first arm and the second arm can expand the distance between the first image acquisition group and the second image acquisition group in the unfolded state, breaking through the size limit of the outer diameter of the lens tube, so that the first image acquisition group and the second image acquisition group can
  • the second image acquisition group can collect two images with larger parallax, thereby achieving better three-dimensional imaging quality; and the head end of the inner mirror is set as a movable structure to expand the axial projection area of the parallel mirror tube, so that the inner mirror
  • the head end can be installed with a larger sensor, further improving the imaging quality.
  • Figure 1 is a schematic structural diagram of an endoscope in a closed state in an embodiment
  • Figure 2 is a schematic structural diagram of an endoscope in an unfolded state in an embodiment
  • Figure 3 is a schematic structural diagram of an endoscope in a closed state in an embodiment
  • Figure 4 is a schematic structural diagram of an endoscope in an unfolded state in an embodiment
  • Figure 5 is a schematic structural diagram of the end structure of an endoscope lens in an embodiment
  • Figure 6 is a schematic structural diagram of an endoscope camera system in an embodiment
  • Figure 7 is a schematic structural diagram of an endoscope camera system in an embodiment
  • 2-movable arm assembly 21-first arm, 211-first accommodation cavity, 212-first optical window, 213-first acquisition surface, 22-second arm, 221-second accommodation cavity, 222- second optical window, 223-second collection surface;
  • 4-image acquisition component 41-first image acquisition group, 411-first image sensor, 412-first objective lens group, 413-first illumination lamp, 42-second image acquisition group, 421-second image sensor, 422-the second objective lens group, 423-the second illuminator;
  • 1000-endoscope camera system 100-human body, 10-light source, 20-guide beam, 30-endoscope, 40-camera, 50-camera host, 60-monitor, 71-cable, 72-video connection cable .
  • Endoscopes such as laparoscopy need to be inserted into the body of humans or animals to obtain images of the body of humans or animals to assist medical observation and surgery. Since endoscopic imaging involves minimally invasive openings on people or animals, the endoscope is inserted into the human or animal body through the minimally invasive opening. The minimally invasive opening limits the fineness that must be set at the insertion end of the endoscope when inserted into the human or animal body. The long and too wide insertion end cannot be inserted through the minimally invasive opening, and it is also easy to damage other internal organs and tissues in humans or animals.
  • the size of the camera device at the insertion end of the endoscope cannot be made too large, and the distance between the binocular objective lenses of the camera device cannot be made too large.
  • the limited size of the insertion end limits the imaging quality.
  • this application sets the insertion end of the endoscope as a movable structure.
  • the insertion end can be equipped with movable double arms or a single arm, and an image acquisition component is provided on both arms or a single arm; the insertion end of the endoscope
  • both arms or one arm can be closed and moved parallel to the direction of insertion or extraction;
  • the arms or one arm can be controlled to unfold. Move it until it is perpendicular or at a certain angle to the direction of insertion or extraction.
  • the expandable arms or single arm are used to widen the width of the insertion end.
  • Eyepieces are installed on both arms or the single arm, so that the distance between the binocular objective lenses is enlarged, thereby improving the three-dimensional imaging quality; and, after widening the width of the insertion end, Being able to place a larger sensor can also improve image quality.
  • the movable double arms or single arm can be controlled by setting control components, and the control components can be manually controlled or automatically controlled.
  • the insertion end of the endoscope of the present application can collect two channels of imaging light, convert the two channels of imaging light into two imaging images, and then transmit the two imaging images to the host or camera for synthesis processing.
  • the insertion end of the endoscope can directly collect two channels of imaging light and transmit the two channels of imaging light to the host or camera.
  • the host or camera converts the two channels of imaging light into two imaging images and performs closed imaging. Both methods can achieve binocular three-dimensional imaging.
  • connection and “connection” mentioned in this application include direct and indirect connections (connections) unless otherwise specified.
  • an endoscope is provided, and the endoscope can be a binocular 3D laparoscope.
  • the endoscope can also be other endoscopes with binocular imaging, such as hysteroscopes, gastroscopes, etc.
  • This endoscope has an insertion end for inserting into the human or animal body.
  • the insertion end is a movable structure.
  • the insertion end can control the expansion and closing of the binocular objective lens.
  • the distance between the binocular objective lenses is enlarged, which is beneficial to Carry out three-dimensional imaging; in the closed state, the distance between the binocular objective lenses is reduced, and the volume of the entire insertion end shrinks, which is beneficial to the insertion and extraction of the insertion end into the human or animal body.
  • This embodiment uses binocular 3D laparoscopy as an example for explanation.
  • This endoscope mainly includes a mirror tube 1, a movable arm assembly 2, a control assembly 3 and an image acquisition assembly 4.
  • the scope tube 1 has a head end 11 for insertion into the human or animal body.
  • the movable arm assembly 2, the image acquisition assembly 4 and the partial control assembly 3 are installed on the head end 11 of the scope tube 1 to form the insertion end of the endoscope.
  • This endoscope is a rigid endoscope, and the mirror tube 1 is a fixed linear mirror tube.
  • the scope tube 1 is a flexible scope tube.
  • the mirror tube 1 is used to run optical components such as data lines or optical fibers.
  • the insertion end of the endoscope is used to collect two channels of imaging light and then convert the two channels of imaging light into two imaging images.
  • the mirror tube 1 is provided with a data line. , used to transmit electrical signals.
  • the lens tube 1 is provided with optical components such as optical fibers for transmitting optical signals.
  • the movable arm assembly 2 includes a first arm 21 and a second arm 22.
  • One end of the first arm 21 is rotationally connected to the head end 11 of the mirror tube 1, and the other end of the first arm 21 forms a free end;
  • One end of the second arm 22 is rotatably connected to the head end 11 of the mirror tube 1 , and the other end of the second arm 22 forms a free end.
  • the first arm 21 and the second arm 22 can be rotationally connected to the head end 11 of the mirror tube 1 through the same rotating shaft 12.
  • the rotating shaft 12 is arranged at the middle position of the head end 11, and the rotating shaft 12 is perpendicular to the axis of the mirror tube 1, so that The first arm 21 and the second arm 22 are symmetrically arranged along the axis of the mirror tube 1 .
  • the first arm 21 and the second arm 22 may be configured as two completely symmetrical structures, or may be configured as two structures with different sizes.
  • first arm 21 and the second arm 22 can also be rotationally connected to the head end 11 of the mirror tube 1 through a rotating shaft respectively, and the first arm 21 and the second arm 22 can also be rotationally connected.
  • the first arm 21 and the second arm 22 can be relatively expanded and relatively closed through the rotating shaft 12 .
  • the projected area of the first arm 21 and the second arm 22 on the plane perpendicular to the axial direction of the mirror tube 1 is smaller than when the first arm 21 and the second arm 22 are unfolded.
  • the projection area of the first arm 21 and the second arm 22 on the surface perpendicular to the axial direction of the mirror tube 1 is the area where the binocular objective lens can be placed.
  • the first arm 21 and the second arm 22 are vertically oriented in the unfolded state.
  • the projection area on the surface of the mirror tube 1 in the axial direction becomes larger, so that the first arm 21 and the second arm 22 can obtain a larger area for displaying the binocular objective lens in the unfolded state, and the distance between the binocular objective lens can be Breaking through the constraints of the axial projection area of the existing mirror tube 1, binocular objectives with larger spacing can obtain more realistic three-dimensional imaging, and can place larger-area sensors and objective lenses to obtain higher-definition images.
  • the expansion angle between the first arm 21 and the second arm 22 ranges from 0° to 180°.
  • the first arm 21 and the second arm 22 are expanded to 180°.
  • the first arm 21 and the second arm 22 are perpendicular to the axis of the mirror tube 1;
  • the first arm 21 and the second arm 22 are closed to the minimum position, the first arm 21 and the second arm 22 are closed to 0°, and the first arm 21 and the second arm 22 are closed to 0°.
  • 21 and the second arm 22 are parallel to the axis of the mirror tube 1 .
  • a damping structure can also be provided on the rotating shaft 12 or the rotating shaft 12 can be directly used as a damping shaft, so that the first arm 21 and the second arm 22 can respectively stop at different rotation positions to facilitate doctors to image the positions of different areas. .
  • a limiting structure is provided on the head end 11 or the rotating shaft 12 of the mirror tube 1 , and the limiting structure is used to limit the rotation angle range of the first arm 21 and the second arm 22 , such as limiting the first arm 21
  • the expansion angle between the second arm 22 and the second arm 22 ranges from 0° to 135° or other range values, which can also meet the use needs of certain scenarios.
  • first arm 21 and the second arm 22 can also be arranged in other movable ways, for example, the first arm 21 and the second arm 22 are slidingly connected relative to the head end 11 of the mirror tube 1 , and the head end 11 An arc-shaped chute is provided.
  • the first arm 21 and the second arm 22 are connected to the chute through rollers.
  • the first arm 21 and the second arm 22 can also slide to realize that the first arm 21 and the second arm 22 are relative to each other. Expand and close.
  • first arm 21 and the second arm 22 are configured as synchronously movable structures, and the first arm 21 and the second arm 22 can be opened or closed at the same time.
  • first arm 21 and the second arm 22 are configured as independent movable structures.
  • first arm 21 and the second arm 22 pass through a rotating shaft and the head end 11 respectively, the first arm 21 and the second arm 22 are configured as independent movable structures. 22 can be rotated individually.
  • one of the first arm 21 and the second arm 22 can also be fixedly connected to the head end 11, and one of the first arm 21 and the second arm 22 is connected to the head through the rotating shaft 12.
  • the end portion 11 is rotatably connected, and by rotating one arm, the first arm 21 and the second arm 22 can also be relatively expanded and closed.
  • the first arm 21 or the second arm 22 can be fixedly connected to the head end 11 by welding, snapping, etc., or the first arm 21 Or the second arm 22 and the head end 11 have an integrated structure.
  • the first arm 21 and the second arm 22 have a preset size and shape.
  • the first arm 21 and the second arm 22 can be semi-cylindrical structures.
  • the first arm 21 and the second arm 22 can also be a semi-cylindrical structure. Cuboid structure.
  • the maximum outer diameter (or maximum thickness) of the first arm 21 and the second arm 22 in the closed state is equal to the outer diameter of the mirror tube 1, so that when the first arm 21 and the second arm 22 are in the closed state, they can be easily connected to the mirror tube. 1 Insert and extract together into the human or animal body.
  • the maximum outer diameter (or thickness) of the first arm 21 and the second arm 22 in the closed state is slightly smaller or slightly larger than the outer diameter of the lens tube 1, which can also meet the requirements for insertion and extraction into the human or animal body.
  • the maximum outer diameter (or thickness) of the first arm 21 and the second arm 22 in the closed state is equal to the outer diameter of the mirror tube 1, the step formed between the first arm 21, the second arm 22 and the mirror tube 1 can be avoided. scratch tissue.
  • the maximum outer diameter of the first arm 21 and the second arm 22 in the closed state is less than or equal to 12 mm, and the outer diameter of the lens 11 is 12 mm. If the outer diameter of the lens 11 is the same size, the maximum outer diameter of the first arm 21 and the second arm 22 in the closed state can be set accordingly to match the outer diameter of the lens 11 .
  • control component 3 is connected to the mirror tube 1.
  • the control component 3 is arranged in the mirror tube 1.
  • One end of the control component 3 extends to connect with the first arm 21 and the second arm 22, and the other end of the control component 3 Extending to the exit tube 1, the operation control assembly 3 can simultaneously control the relative expansion and closing of the first arm 21 and the second arm 22.
  • the control assembly 3 may be provided with two control lines. The two control lines may be used to control the first arm 21 and the second arm 22 to rotate synchronously, and may be used to control the individual rotation axes of the first arm 21 and the second arm 22 .
  • the control component 3 can also be connected only to the first arm 21 or the second arm 22 for individually controlling the rotation of the first arm 21 or the second arm 22 .
  • the control assembly 3 includes a control member 31 and a hinge group 32.
  • the control member 31 can be a control wire or a control rope.
  • the hinge group 32 is installed in the head end 11 of the mirror tube 1.
  • the hinge group 32 is connected to the rotating shaft 12.
  • the control member 31 passes through Located in the scope tube 1, one end of the control member 31 extends to connect with the hinge group 32.
  • the control member 31 is connected to the first arm 21 and the second arm 22 through the hinge group 32.
  • the same end of the control member 31 extends out of the scope tube.
  • the doctor The relative expansion and closing of the first arm 21 and the second arm 22 can be controlled by operating the control member 31.
  • the principle is that the control member 31 is pulled, and the control member 31 drives the first arm 21 and the second arm 22 in opposite directions respectively through the hinge group 32. direction of rotation.
  • the hinge set 32 may be a hinge set provided on a surgical energy knife (energy scissors) among endoscopic surgical instruments in the prior art.
  • control component 3 can also be other control structures.
  • the control component 3 includes a motor and a hinge group.
  • the motor is connected to the hinge group, and the motor is used to control the expansion and closing of the first arm 21 and the second arm 22 .
  • Corresponding control buttons or switches are provided on the camera or other hosts and are electrically connected to the motor. The doctor can operate the first arm 21 and the second arm 22 to expand and close through the buttons or switches.
  • the image acquisition component 4 includes a first image acquisition group 41 and a second image acquisition group 42.
  • the first image acquisition group 41 is arranged on the first arm 21, and the second image acquisition group 42 is arranged on the second arm 22. superior.
  • the first image collection group 41 and the second image collection group 42 will be closed and hidden and cannot be used; when the first arm 21 and the second arm 22 are in an unfolded state, the first image collection group 41 and the second image collection group 42 will be closed and hidden.
  • the group 41 and the second image acquisition group 42 are exposed.
  • the first image acquisition group 41 is used to collect the first imaging light and convert the first imaging light into the first imaging signal.
  • the second image acquisition group 42 is used to collect the first imaging. light, and converts the second imaging light into a second imaging signal, and the first imaging signal and the second imaging signal are used to synthesize a three-dimensional image.
  • the first arm 21 has a hollow structure.
  • the first arm 21 is provided with a first accommodation cavity 211, a first optical window 212 and a first collection surface 213.
  • the first accommodation cavity 211 is located in the first arm 21.
  • the first arm 21 It can be assembled by closing two shells.
  • the first collecting surface 213 of the first arm 21 is a surface facing the second arm 22 .
  • the first optical window 212 is located on the first collection surface 213.
  • the first optical window 212 can be located at the center of the first collection surface 213.
  • the first optical window 212 can also be located at an end of the first collection surface 213 away from the rotating shaft 12.
  • the first optical window 212 is embedded in the first collection surface 213 , and the outer surface of the first optical window 212 is flush with the first collection surface 213 .
  • the first optical window 212 can be a lens such as sapphire glass, and the sapphire glass can protect the components in the first arm 21 .
  • the structures of the second arm 22 and the first arm 21 are the same or similar.
  • the second arm 22 has a hollow structure.
  • the second arm 22 is provided with a second accommodation cavity 221, a second optical window 222 and a second collection surface 223.
  • the second accommodation cavity 221 is located in the second arm 22.
  • the second arm 22 It can be assembled by closing two shells. When the second arm 22 and the second arm 22 are in a closed state, the second collecting surface 223 of the second arm 22 is a surface facing the first arm 21 .
  • the second optical window 222 is located on the second collection surface 223.
  • the second optical window 222 can be located at the center of the second collection surface 223.
  • the second optical window 222 can also be located at an end of the second collection surface 223 away from the rotating shaft 12.
  • the second optical window 222 is embedded in the second collection surface 223, and the outer surface of the second optical window 222 is flush with the second collection surface 223.
  • the second optical window 222 can be a lens such as sapphire glass, and the sapphire glass can protect the components in the second arm 22 .
  • the first image acquisition group 41 is installed in the first receiving cavity 211 of the first arm 21 .
  • the first image acquisition group 41 and the first optical window 212 are aligned in the thickness direction of the first arm 21 .
  • the first image acquisition group 41 Used to collect imaging light through the first optical window 212.
  • the second image acquisition group 42 is installed in the second receiving cavity 221 of the second arm 22 , the second image acquisition group 42 and the second optical window 222 are aligned in the thickness direction of the second arm 22 , and the second image The collection group 42 is used to collect imaging light through the second optical window 222 .
  • the projected area of the first collection surface 213 and the second collection surface 223 on the surface perpendicular to the axial direction of the mirror tube 1 is smaller than the first collection surface 213 and the second collection surface.
  • the projected area of the surface 223 on the surface perpendicular to the axial direction of the mirror tube 1 in the unfolded state Specifically, when the first arm 21 and the second arm 22 are in a closed state, the projected areas of the first collection surface 213 and the second collection surface 223 on the surface perpendicular to the axial direction of the mirror tube 1 form a line, which is almost zero.
  • the projected area of the first collection surface 213 and the second collection surface 223 on the surface perpendicular to the axial direction of the mirror tube 1 is the first collection surface 213 and the second collection surface.
  • the first image acquisition group 41 includes a first image sensor 411 and a first objective lens group 412.
  • the first image sensor 411 is installed on a side of the first accommodation cavity 211 away from the first optical window 212, and the The sensing surface of an image sensor 411 faces the first optical window 212 .
  • the first objective lens group 412 is installed between the first image sensor 411 and the first optical window 212.
  • the first objective lens group 412 can be composed of a plurality of lenses, such as a triplet lens.
  • the first objective lens group 412 is used to pass through The first optical window 212 collects the first imaging light and projects the first imaging light onto the first image sensor 411.
  • the first image sensor 411 is used to generate a first image signal according to the first imaging light.
  • the second image acquisition group 42 includes a second image sensor 422 and a second objective lens group 422.
  • the second image sensor 422 is installed on a side of the second accommodation cavity 221 away from the second optical window 222, and the second image sensor 422 The sensing surface faces the second optical window 222.
  • the second objective lens group 422 is installed between the second image sensor 422 and the second optical window 222.
  • the second objective lens group 422 can be composed of multiple lenses, such as a three-ply lens.
  • the second objective lens group 422 is used to pass through The second optical window 222 collects the second imaging light and projects the second imaging light onto the second image sensor 422.
  • the second image sensor 422 is used to generate a second image signal according to the second imaging light.
  • the first objective lens group 412 and the first optical window 212 can be installed on the same mounting base, or the first objective lens group 412 and the first optical window 212 can also be fixedly installed through two mounting bases respectively.
  • the second objective lens group 422 and the second optical window 222 can be installed on the same mounting base, and the second objective lens group 422 and the second optical window 222 can also be fixedly installed through two mounting bases respectively.
  • the distance between the first objective lens group 412 and the second objective lens group 422 is greater than the outer diameter of the lens tube 1 , that is, the distance between the first objective lens group 412 and the second objective lens group 422 is The distance between them is greater than 6mm. A distance of more than 6mm can reach the distance between human left and right eyes. The captured left and right images are closer to the parallax of the human eye, and the three-dimensional effect of the 3D image is stronger.
  • the distance between the first objective lens group 412 and the second objective lens group 422 can be set to 12 mm or even greater.
  • the first arm 21 and the second arm 22 that can be expanded and closed are provided so that the distance between the first objective lens group 412 and the second objective lens group 422 can break through the size limit of the lens tube 1 and achieve better imaging effect.
  • the image acquisition component 4 also includes a first flexible cable and a second flexible cable.
  • the first flexible cable and the second flexible cable are passed through the mirror tube 1.
  • One end of the first flexible cable extends It is electrically connected to the first image sensor 411 of the first image acquisition group 41.
  • the other end of the first flexible cable extends to be electrically connected to the processing module in the camera.
  • the first flexible cable is used to collect the image generated by the first image sensor 411.
  • the first image signal is transmitted to the camera.
  • the first flexible cable and the flexible cable are passed through the mirror tube 1 .
  • One end of the first flexible cable extends to be electrically connected to the first image sensor 411 of the first image acquisition group 41 , and the other end of the first flexible cable extends To be electrically connected to the camera, the first flexible cable is used to transmit the first image signal generated by the first image sensor 411 to the camera.
  • the camera can pre-process and close the first image signal and the second image signal.
  • the camera can also directly transmit the first image signal and the second image signal to the host, and the host directly processes the first image signal and the second image signal.
  • the image signal is processed to obtain a three-dimensional image.
  • the first flexible cable and the second flexible cable in the mirror tube 1 can be assembled into a bus, and both ends of the bus form a double Y structure.
  • the double Y structures are the connections between the first flexible cable and the second flexible cable respectively. department. Integrating the first flexible cable and the second flexible cable into a bus facilitates cable installation and maintenance.
  • both the first flexible cable and the second flexible cable are flexible structures.
  • the first flexible cable and the second flexible cable are flexible FPCs, so that the first arm 21 and the second arm 22 are expanded and During the closed rotation process, the first flexible cable and the second flexible cable can also follow the swing accordingly, without affecting the connection stability of the first flexible cable and the second flexible cable.
  • the first image acquisition group 41 may only include the first objective lens group 412, and the second image acquisition group 42 may also only include the second objective lens group 422.
  • the first image acquisition group 41 is only used to acquire the first imaging. light
  • the second image acquisition group 42 is also only used to collect the second imaging light.
  • the first image acquisition group 41 and the second image acquisition group 42 can transmit the first imaging light and the second imaging light to the camera or the like through optical paths such as optical fibers. Imaging within the host can also achieve three-dimensional imaging.
  • the binocular image acquisition assembly 4 is respectively provided on the first arm 21 and the second arm 22.
  • the first arm 21 and the second arm 22 can be relatively unfolded and closed, and the first arm 21 and the second arm 22 can be axially distributed along the parallel mirror tube 1 in the closed state, which is conducive to the insertion and removal of the mirror tube into the human body.
  • the first arm 21 and the second arm 22 can expand the distance between the first image acquisition group 41 and the second image acquisition group 42, breaking through the size limit of the outer diameter of the lens tube 2, so that the first image acquisition group 41 and the second image acquisition group 42 can acquire two images with larger parallax, thereby achieving better three-dimensional imaging quality.
  • the head end of the inner mirror is set as a movable structure to expand the axial projection area of the parallel mirror tube 1, so that a larger sensor can be installed on the head end of the inner mirror, further improving the imaging quality.
  • an endoscope is provided.
  • the difference between this endoscope and the previous embodiment is that an illumination lamp is provided at the front end of the endoscope.
  • the illumination lamp can provide illumination for in vivo imaging and improve the clarity of imaging.
  • the first image collection group 41 includes a first illumination lamp 413.
  • the first illumination lamp 413 is installed on the first collection surface 213 of the first arm 21.
  • the first illumination lamp 413 may be provided with a Or multiple first lighting lamps 413 are arranged around the first optical window 212 to provide more uniform illumination.
  • the first illuminating lamp 413 may also have an annular structure.
  • the inner diameter of the annular structure is larger than the outer diameter of the first optical window 212.
  • the first illuminating lamp 413 of the annular structure is set on the outer ring of the first optical window 212, which can also achieve uniformity. illumination.
  • the second image collection group 42 includes a second illumination lamp 423.
  • the second illumination lamp 423 is installed on the second collection surface 223 of the second arm 22.
  • the second illumination lamp 423 may be provided with one or more second illumination lamps. 423 is arranged around the second optical window 222 to provide more uniform illumination.
  • the second lighting lamp 423 may also have an annular structure. The inner diameter of the annular structure is larger than the outer diameter of the second optical window 222.
  • the second illuminating lamp 423 of the annular structure is set on the outer ring of the second optical window 222, which can also achieve uniformity. illumination.
  • the first lighting lamp 413 and the second lighting lamp 423 may be LEDs, etc., and the first lighting lamp 413 and the second lighting lamp 423 are respectively connected to the camera or the host through a first flexible cable and a second flexible cable. , the lighting brightness of the first lighting lamp 413 and the second lighting lamp 423 can be adjusted.
  • the plurality of first illuminating lamps 413 and the plurality of second illuminating lamps 423 can also be set to be individually controlled, and can individually control opening and closing and individually control lighting brightness to meet the use needs of doctors in different scenarios.
  • the illuminating lamp can also be provided only on the first arm 21 or the second arm 22 , and providing an illuminating lamp on one arm can also produce a certain lighting effect.
  • the opening and closing of the first lighting lamp 413 and the second lighting lamp 423 can be associated with the activities of the first arm 21 and the second arm 22. For example, after the first arm 21 and the second arm 22 are unfolded, the opening and closing of the first lighting lamp 413 and the second lighting lamp 423 are triggered at the same time. An illuminating lamp 413 and a second illuminating lamp 423. After the first arm 21 and the second arm 22 are closed, the first illuminating lamp 413 and the second illuminating lamp 423 are simultaneously triggered to turn off. There is no need to separately set switches for the first lighting lamp 413 and the second lighting lamp 423. Through the activity-related control of the first arm 21 and the second arm 22, waste of electricity caused by forgetting to turn off the lighting lamp can be avoided.
  • the mirror tube 1 is provided with a light guide, one end of the light guide extends to the first collection surface 213 of the first arm 21 and the second collection surface 223 of the second arm 22 , and the other end of the guide light extends to It is connected to the light source on the outside.
  • the light source is set on the outside and can also illuminate and image the inside of the body.
  • an endoscope is provided.
  • the difference between this endoscope and the above embodiment is that: no movable arm is provided, and the control component 3 directly controls the expansion and expansion of the first image acquisition group 41 and the second image acquisition group 42. closure.
  • the first image acquisition group 41 and the second image acquisition group 42 are each an integral structure.
  • the first arm 21 in the above embodiment can be a part of the first image acquisition group 41.
  • One arm 21 is the shell of the first image acquisition group 41 ;
  • the second arm 22 can also be a part of the second image acquisition group 42 , and
  • the second arm 22 is the shell of the second image acquisition group 42 .
  • first image acquisition group 41 and the second image acquisition group 42 may also be provided with housings of other structures to seal the image sensor and objective lens.
  • first image acquisition group 41 and the second image acquisition group 42 are directly connected to the head end 11 of the mirror tube 1 through the rotating shaft 12 .
  • the first image collection group 41 and the second image collection group 42 can be relatively expanded and relatively closed, and the first image collection group 41 and the second image collection group 42 can also move within the range of 0° to 180°.
  • the first image acquisition group 41 and the second image acquisition group 42 are the same as the above embodiments, and also include sensors and objective lens groups, and may also include illumination lamps.
  • the head end 11 of the mirror tube 1 can also be provided with a movable component, which is rotatably connected to the head end 11 through the rotating shaft 12 .
  • the first image acquisition group 41 and the second image acquisition group 42 are fixedly installed on the movable on the piece.
  • the movable parts can be movable arms, movable rods, movable pieces and other movable structures.
  • the movable part only plays a movable connection role, and the first image acquisition group 41 and the second image acquisition group 42 are connected outside the movable part.
  • the first image acquisition group 41 and the second image acquisition group 42 are directly rotatably connected to the head end 11 of the lens tube 1, which can also realize the expansion, shooting, imaging and closed storage of the binocular objective lens.
  • an end structure of an endoscope lens is provided.
  • the end structure of the endoscope lens includes the mirror tube 1, the movable arm assembly 2 and the image acquisition assembly 4 in the above embodiment.
  • the end structure of the endoscope lens can be a separate component, and the end structure of the endoscope lens of a separate component can be combined and used on different endoscopes, that is, the end structure of the endoscope lens of a separate component can become a single component.
  • the end structure of the endoscope lens is used for insertion into the human or animal body. Therefore, the end structure of the endoscope lens can also be set as a disposable consumable to avoid cross-infection.
  • the end structure of the endoscope lens can also be configured as a reusable component.
  • the end structure of the endoscope lens mainly includes a mirror tube 1, a movable arm assembly 2 and an image acquisition assembly 4.
  • the specific components and connection relationships of the mirror tube 1, the movable arm assembly 2 and the image acquisition assembly 4 are the same as in the above embodiment.
  • the expansion and closing of the movable arm assembly 2 can be achieved by externally connecting the control assembly 3 in the above embodiment.
  • the expansion and closing of the movable arm assembly 2 can also be achieved by providing other control components.
  • a torsion spring is provided on the rotating shaft 12.
  • the expansion of the movable arm assembly 2 can be achieved through the torsion of the torsion spring, and then the movable arm is
  • the component 2 is configured to be axially movable along the mirror tube 1, and a push rod is provided in the mirror tube 1.
  • the push rod promotes the axial movement of the movable arm component 2, and the movable arm component 2 can be hidden into the mirror tube along the axial direction.
  • the push movable arm assembly 2 In the head end 11 of 1, during the axial retraction movement, the push movable arm assembly 2 will be blocked by the head end 11 to form a closure; during the axial extension movement, under the action of the torsion spring The movable arm assembly 2 can be deployed.
  • an endoscope camera system 1000 is provided.
  • the endoscope camera system 1000 includes an endoscope 30, a camera 40, a cable 71, a camera host 50, a display 60 and a video connection line. 72.
  • the endoscope 30 is the endoscope in any of the above embodiments.
  • the endoscope 30 has its own lighting. One end of the endoscope 30 is used to be inserted into the human body 100. The other end of the endoscope 30 is connected to the camera 40. The end of the camera 40 away from the endoscope 30 is connected to the camera 40 through a cable 71. connect.
  • the endoscope 30 is used to transmit the collected and generated image signals (electrical signals) to the camera 40.
  • the camera 40 pre-processes the image signals.
  • the camera 40 is used to transmit the pre-processed image signals or directly transmit the image signals through cables.
  • 71 is transmitted to the camera host 50 for processing and synthesis of the final image.
  • the camera host 50 is connected to the display 60 through a video connection cable 72 for sending image signals to the display 60 for display.
  • the cable 71 can be an optical communication cable, such as an optical fiber; the camera 40 converts the image signal (electrical signal) into an optical signal, which is transmitted to the camera host 50 by the cable 71 , and the camera host 50 then converts the optical signal Convert into electrical signal (image signal).
  • FIG. 6 is only an example of the endoscopic camera system 1000 and does not constitute a limitation on the endoscopic camera system 1000.
  • the endoscopic camera system 1000 may include more or more components than those shown in FIG. 6 or Fewer components, or a combination of certain components, or different components, for example, the endoscopic camera system 1000 may also include a dilator, a smoke control device, an input/output device, a network access device, and the like.
  • the endoscope 30 does not have illumination.
  • the endoscope camera system 1000 also includes a light source 10 and a light guide 20 .
  • the light source 10 is connected to the endoscope 30 through the light guide 20 .
  • the light guide 20 Extending to the head end 11 of the mirror tube 1 of the endoscope 30 , the light source 10 provides illumination to the endoscope 30 .
  • the endoscope camera system 1000 adopts the endoscope 30 in the above embodiment.
  • the endoscope 30 has a movable arm assembly 2, so that the first image acquisition group 41 and the second image acquisition group 42 can collect more parallax information.
  • the two larger images can thereby achieve better three-dimensional imaging quality of the endoscopic camera system 1000.
  • the head end of the inner mirror is set as a movable structure to expand the axial projection area of the parallel mirror tube 1, so that a larger sensor can be installed on the head end of the inner mirror, further improving the imaging quality of the endoscope camera system 1000 .

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

Abstract

La présente invention concerne un endoscope (30), une structure d'extrémité de tête d'endoscope et un système de caméra d'endoscope (1000). L'endoscope (30) comprend : un tube d'endoscope (1), un ensemble bras mobile (2), un ensemble de commande (3) et un ensemble d'acquisition d'image (4). Puisque l'ensemble bras mobile (2) est disposé au niveau d'une partie d'extrémité de tête (11) du tube d'endoscope (1), l'ensemble d'acquisition d'image binoculaire (4) est disposé à la fois sur un premier bras (21) et un second bras (22). Sous l'entraînement de l'ensemble de commande (3), le premier bras (21) et le second bras (22) peuvent s'ouvrir et se fermer l'un par rapport à l'autre. Lorsque le premier bras (21) et le second bras (22) sont dans un état fermé, le tube d'endoscope (1) peut être facilement inséré dans un corps humain (100) ou retiré de celui-ci. Lorsque le premier bras (21) et le second bras (22) sont dans un état ouvert, la distance entre un premier groupe d'acquisition d'image (41) et un second groupe d'acquisition d'image (42) est agrandie, ce qui permet de surmonter les limitations de la taille du diamètre externe du tube d'endoscope (1), et permet au premier groupe d'acquisition d'image (41) et au second groupe d'acquisition d'image (42) d'acquérir deux images avec une parallaxe plus grande, ce qui permet d'obtenir une qualité d'imagerie tridimensionnelle plus élevée. En outre, un capteur de plus grande taille peut être monté au niveau de la partie d'extrémité de tête (11) de l'endoscope (30), améliorant en outre la qualité d'imagerie.
PCT/CN2022/096882 2022-06-02 2022-06-02 Endoscope, structure d'extrémité de tête d'endoscope et système de caméra d'endoscope WO2023230998A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110306832A1 (en) * 2010-06-11 2011-12-15 Bassan Harmanpreet Folding endoscope and method of using the same
CN104107026A (zh) * 2014-03-07 2014-10-22 董国庆 一种具有双光路双目镜头的硬管式内窥镜
US20180184887A1 (en) * 2015-07-29 2018-07-05 Tarek Ahmed Nabil Abou El Kheir Advanced 3-Dimensional Endoscopic System with Real Dynamic Convergence
JP2019051064A (ja) * 2017-09-15 2019-04-04 学校法人 芝浦工業大学 内視鏡補助具
JP2019076575A (ja) * 2017-10-26 2019-05-23 桂太郎 松本 内視鏡システム
CN210330527U (zh) * 2019-05-20 2020-04-17 重庆金山科技（集团）有限公司 镜体头端部及具有该头端部的电子内窥镜及内窥镜系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110306832A1 (en) * 2010-06-11 2011-12-15 Bassan Harmanpreet Folding endoscope and method of using the same
CN104107026A (zh) * 2014-03-07 2014-10-22 董国庆 一种具有双光路双目镜头的硬管式内窥镜
US20180184887A1 (en) * 2015-07-29 2018-07-05 Tarek Ahmed Nabil Abou El Kheir Advanced 3-Dimensional Endoscopic System with Real Dynamic Convergence
JP2019051064A (ja) * 2017-09-15 2019-04-04 学校法人 芝浦工業大学 内視鏡補助具
JP2019076575A (ja) * 2017-10-26 2019-05-23 桂太郎 松本 内視鏡システム
CN210330527U (zh) * 2019-05-20 2020-04-17 重庆金山科技（集团）有限公司 镜体头端部及具有该头端部的电子内窥镜及内窥镜系统

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