Endoscope with a pivotable image acquisition device

Abstract

The present invention relates to an endoscope with a swingable image acquisition device. Specifically, the endoscope device includes a rod member with a proximal end and a distal end for being introduced into a cavity, and the rod member is arranged in an outer rod or is provided and configured to be arranged in the outer rod. The endoscope device includes an image acquisition device with a lens for generating a real image and an image sensor for acquiring the real image and for generating an image signal representing the acquired real image. The image acquisition device is arranged at the distal end of the rod member. The endoscope device includes a swing joint device, which connects the image acquisition device to the rod member so that it can swing around two orthogonal axes, but is rigidly connected with the rod member with respect to the rotation around the longitudinal axis of the rod member. The endoscope device includes a swing control device, which is configured to adjust the swing position of the image acquisition device relative to the rod member depending on the rotational position of the image acquisition device and the rod member relative to the outer rod.

Description

Technical Field

[0001] The invention relates to an endoscope or an exoscope with a swingable image acquisition device. Background Art

[0002] In addition to endoscopes with a viewing direction parallel to the longitudinal axis of the shaft ("straight-view"), endoscopes are used, in particular, whose viewing direction encloses an angle with the longitudinal axis of the shaft, usually in the range of 30° to 80° ("forward-view"). Endoscopes with an adjustable angle between the viewing direction and the longitudinal axis of the shaft are also suitable for some applications.

[0003] US 2007 / 0055103 A1 describes an endoscope with a variable viewing direction (title, sections

[0002] ,

[0017] ,

[0018] ). An optical imaging system 18 having imaging optics 22 and a CCD chip 24 is arranged in a rigid distal head 16 of the endoscope 10 (sections

[0073] ,

[0074] ). The distal head 16 is connected to a first shaft portion 32 so as to be pivotable about a first pivot axis 38. The first shaft portion 32 is connected to a second shaft portion 34 so as to be pivotable about a second pivot axis 40 (sections

[0079] ,

[0082] ,

[0083] ).

[0004] DE 10 2012 206 963 A1 describes an endoscope having a rotatably supported support frame 5 with a digital camera 4 in or on a support element 6, wherein the support element 6 is arranged radially rotatably in such a way that the rotation axes of the support element 6 and the support frame 5 are arranged perpendicular to each other (Section

[0008] ).

[0005] US 2013 / 0182091 A1 describes an endoscope with a variable viewing direction (Abstract, Section

[0002] ). An imaging unit (English: "imaging unit" or imaging unit) 12 is rotatable about two different axes X and Y by driving rods 22 and 23 via two driving force transmission mechanisms (Sections

[0002] ,

[0028] ,

[0062] , Figure 3 ,4,6,8,9).

[0006] US 2015 / 0359420 A1 describes an endoscope 1 with a partially flexible shaft ("insertion section" in English) 11 and an imaging unit ("imaging unit" in English) 36 at the distal end ("tip end portion" in English) of the shaft 11 (Chapter

[0036] , Figure 1 ). The imaging unit 6a is swingably arranged (Chapter

[0079] ,

[0081] , Figure 4 ,5).

[0007] EP 3 243 426 A1 describes an endoscope 100 with an elongated shaft 101 and an image sensor assembly 202 (Title, Abstract, Sections

[0002] ,

[0008] ,

[0009] ,

[0022] , Figure 1 ,2,5). The image sensor assembly 202 can swing around the lateral articulation axis (English: "lateral articulation axis" T1) (Section

[0026] , Figure 2 ,3,5,6,7).

[0008] WO 2018 / 065241 A1 describes a stereoscopic endoscope 2 with an optical system 20 (Title, Abstract, Page 13, Line 26, to Page 14, Line 7, Page 14, Lines 27 to 29, Figure 1 , 2). By turning the handle 4, the viewing direction can be rotated about the longitudinal axis of the endoscope shaft 6 (page 14, lines 18 to 21). In order to maintain the horizontal position of the displayed image, the rotary wheel 14 is fixed when the handle 4 is turned, which has the following effect: the image sensors 52L, 52R inside the endoscope shaft 6 do not also rotate (page 14, lines 21 to 25, page 16, lines 2 to 13, Figure 2 ).

[0009] US 2019 / 0274526 A1 describes a stereoscopic endoscope 1 having an image pickup apparatus 30 in a distal end portion 11 of a distal bendable portion 2 of a shaft 2 (sections

[0021] ,

[0023] ,

[0025] , Figure 1 ,2).

[0010] When the cone is rotated about the longitudinal axis of the distal end of the shaft from a viewing direction different from the longitudinal axis of the distal end of the shaft, the image produced by the endoscope also rotates relative to the endoscope. In similar (i.e., purely optical) endoscopes in which the camera is connected to its peephole, this can be avoided by rotating the camera in the opposite direction or, in other words, by fixing the camera during the rotation of the endoscope. In the case of monocular endoscopes, the image acquired by the co-rotating image sensor can be digitally rotated. However, in the case of stereo endoscopes, the stereo reference also rotates with the endoscope. This can also be compensated digitally by calculating a depth signal from the stereo image, that is, obtaining spatial information and combining it with the desired reference to form a stereo image. However, this involves high computational complexity and often results in artifacts and image distortion. Summary of the Invention

[0011] The object of the present invention is to create an improved, in particular mechanically robust and miniaturizable endoscope or exoscope with a movable viewing direction.

[0012] This object is achieved by the subject matter of the independent claims.

[0013] Further embodiments are defined in the dependent claims.

[0014] This embodiment of the invention is based on the idea of ​​fastening the image acquisition device to the distal end of the lever element so that it can pivot but not rotate, and of controlling the pivot position of the image acquisition device via a pivot control device as a function of the rotational position of the outer lever.

[0015] The endoscopic device comprises: a rod member having a proximal end and a distal end for being introduced into a cavity, wherein the rod member is arranged in an outer rod or is provided and configured for being arranged in the outer rod; an image acquisition device having a lens for generating a real image and an image sensor for acquiring the real image and for generating an image signal representing the acquired real image, wherein the image acquisition device is arranged at the distal end of the rod member; a swing joint device for connecting the image acquisition device to the rod member so that it can swing around two orthogonal axes but is rigidly connected to the rod member with respect to rotation around the longitudinal axis of the rod member, and a swing control device for adjusting the swing position of the image acquisition device relative to the rod member depending on the rotational position of the outer rod relative to the image acquisition device and the rod member.

[0016] The endoscope device is particularly provided and configured for use in the context of medical measures, in particular in the context of minimally invasive medical measures. Alternatively, the endoscope device can be provided and configured for non-medical applications.

[0017] The outer rod can be a component of the endoscopic device, so that the endoscopic device is a complete and usable endoscope, which only needs to be combined with the equipment outside the operating area, in particular the light source, the camera control unit (CCU), the image processor and the screen. In this case, the outer rod can be permanently and non-separably connected to the remaining components of the endoscope, in particular the rod component. Non-separably does not mean that tools that are typically not used in the consulting room or operating room are not used. Alternatively, the outer rod can be removable, for example, for cleaning or maintenance or can be replaced in order to change the angle between the viewing direction and the rod axis and, for this purpose, can be separated from the other components of the endoscopic device, in particular without tools.

[0018] Alternatively, the outer rod is not part of the endoscopic device. In this case, the endoscopic device, together with the outer rod, initially forms a complete endoscope, which can be supplemented with equipment outside the surgical field, namely, a light source, a camera control unit, an image processing device, a screen, and the like. The endoscopic device can be configured for use with an outer rod that can be used only once and / or with an outer rod that can be repeatedly cleaned, sterilized, and reused. The endoscopic device can be configured and arranged for use with different outer rods that produce different angles between the viewing direction and the longitudinal axis of the distal end of the rod.

[0019] The image acquisition device is particularly arranged directly adjacent to or in the opening at the distal end of the outer rod, or is arranged and configured as a component for being directly adjacent to or in the opening. The image acquisition device is particularly arranged directly adjacent to the window member when the outer rod has an optically transparent window member that is nevertheless fluid-tight or even hermetically sealed.

[0020] The pivoting of the image acquisition device, and thus the viewing direction, as a function of the rotational position of the outer lever relative to the image acquisition device and the lever element, allows for particularly intuitive control of the viewing direction. Furthermore, the rotatability of the outer lever can be combined particularly easily with its interchangeability, which in turn can be advantageous when cleaning, repairing, or adapting the endoscope to specific applications.

[0021] In the case of an endoscope device as described here, the pivot control device comprises in particular a first sliding surface in the outer rod and a second sliding surface mechanically rigidly connected to the image acquisition device for bearing against the first sliding surface in the outer rod.

[0022] No part of the first sliding surface needs to rest at any time on the second sliding surface, and no part of the second sliding surface needs to rest at any time on the first sliding surface. A portion of the outer rod surface, in particular the inner surface of the outer rod, which can rest against the second sliding surface in any possible orientation of the outer rod relative to the rod component in the intended use of the endoscopic device, is designated as the first sliding surface. A portion of the surface rigidly connected to the image acquisition device, which can rest against the first sliding surface in any possible orientation of the outer rod relative to the rod component in the intended use of the endoscopic device, is designated as the second sliding surface.

[0023] The first sliding surface is particularly annular. The first sliding surface is particularly arranged at the distal end of the outer rod and is oriented toward the proximal end. The second sliding surface can also be designed in an annular manner. The second sliding surface can include a plurality of partial surfaces, wherein the optical axis of the lens of the image acquisition device is particularly arranged between the partial surfaces. The second sliding surface is particularly designed on a support or housing of the image acquisition device. The second sliding surface is particularly oriented approximately toward the distal end.

[0024] The contour of the sliding surface can positively define the relationship between the rotational position of the outer lever relative to the image acquisition device and the lever element on the one hand and the orientation of the image acquisition device and its viewing direction on the other hand.

[0025] In the case of an endoscope device such as that described here, the first sliding surface is arranged in particular at the edge of the inner surface of the window element of the outer rod.

[0026] In an endoscope device as described here, in particular the surface normal of the inner surface of the window is inclined relative to the longitudinal axis of the distal end of the outer shaft, wherein the first sliding surface is a partial surface of the inner surface of the window.

[0027] In particular, an edge region of the inner surface of the window element is configured as the first sliding surface.

[0028] When the inner surface of window component and then especially whole window component relative to the longitudinal axis of the distal end of rod member and outer rod, the first sliding surface tilts equally relative to the longitudinal axis.When the second sliding surface that is mechanically rigidly connected with image acquisition device abuts against the first sliding surface, image acquisition device and then likewise its viewing direction have through predetermined orientation relative to window component independently of the rotational position of outer rod.In the case of the second sliding surface being orthogonal to the orientation of the viewing direction of image acquisition device, viewing direction is so orthogonal to the inner surface of window component and parallel to the face normal of the inner surface of window component.

[0029] In the case of an endoscope device such as that described here, the second sliding surface is provided in particular on a frame or a holder or a housing of the image acquisition device.

[0030] For example, the image acquisition device has a cup-shaped support, and the second sliding surface is provided at its roughly distally oriented edge. Alternatively, the image acquisition device can have a plurality of feet or struts (Pfosten) extending toward the distal end, on which part surfaces of the second sliding surface are correspondingly provided.

[0031] In the case of an endoscope device such as that described here, the lens of the image acquisition device is arranged in particular between two sub-regions of the second sliding surface.

[0032] The two partial areas of the second sliding surface can be a single, for example, annular partial area of ​​the second sliding surface that is connected together. Alternatively, the two partial areas can be spaced apart from each other and not connected by other partial areas of the second sliding surface.

[0033] Furthermore, the endoscopic device as described herein comprises, in particular, a first magnet which is mechanically rigidly connected to the image acquisition device or mechanically coupled via a force transmission device, and a second magnet which is mechanically rigidly connected to the rod component or to the proximal region of the endoscope or to the outer rod, wherein the first magnet and the second magnet are arranged and oriented such that a force between the first magnet and the second magnet exerts a force directed toward the distal end on the image acquisition device.

[0034] The distally directed force on the image acquisition device generated by the interaction of the two magnets can in particular press the second sliding surface on the image acquisition device against the first sliding surface in the outer rod and thus make it possible to define the orientation of the image acquisition device in a form-fitting manner by the contact between the sliding surfaces.

[0035] When the first magnet is directly mechanically rigidly connected to the image acquisition device, the second magnet is particularly arranged on the rod member or on the outer rod directly adjacent to the image acquisition device and repels the first magnet distally. Alternatively, the second magnet may be arranged distal to the image acquisition device, or at least distal to the first magnet, and attract the first magnet. In this case, the first magnet is particularly arranged at the proximal end of the image acquisition device.

[0036] Alternatively, the first magnet is arranged at the force transmission device, for example at the proximal end of a rod or tube. The proximal end of the force transmission device and the first magnet can be arranged at the proximal end of a rod member or at the proximal end of the endoscopic device in a manipulation device. When the second magnet is arranged adjacent to the first magnet, the two magnets are oriented such that the second magnet repels the first magnet. When the second magnet is arranged distally to the first magnet, the two magnets are particularly oriented such that the second magnet attracts the first magnet. The force transmission device transmits the force from the interaction of the magnets directed towards the distal end to the image acquisition device. The distal end of the force transmission device is particularly connected in an articulated manner to the image acquisition device.

[0037] An endoscopic device as described herein comprises, in particular, a plurality of first magnets, which are mechanically rigidly connected to an image acquisition device or mechanically coupled via a force transmission device, wherein the first magnet and the second magnet are arranged and oriented in such a way that a force between the first magnet and the second magnet exerts a force directed toward the distal end on the image acquisition device.

[0038] In particular, the plurality of first magnets have the same orientation and are arranged symmetrically on the image acquisition device, for example evenly distributed over its circumference.

[0039] The endoscopic device as described herein comprises, in particular, a plurality of second magnets which are mechanically rigidly connected to the rod component or to the proximal region of the endoscope or to the outer rod, wherein a first magnet or a plurality of first magnets and second magnets are arranged and oriented in such a way that a force between the one or more first magnets and the second magnets exerts a force directed toward the distal end on the image acquisition device.

[0040] The second magnets are in particular arranged symmetrically on the rod element or on or in the outer rod and are oriented identically.

[0041] Furthermore, an endoscopic device as described herein comprises, in particular, a spring or other elastic device having a first end which is mechanically connected directly to the image acquisition device or mechanically coupled via a force transmission device and a second end which is mechanically connected directly or indirectly to the rod element or the proximal region of the endoscope, wherein the spring applies a force directed toward the distal end to the image acquisition device.

[0042] The distally directed force on the image acquisition device generated by the spring brings about, in particular, the contact of the second sliding surface of the image acquisition device against the first sliding surface of the outer lever.

[0043] An endoscopic device as described herein comprises, in particular, a plurality of springs or other elastic devices, each with a first end which is directly mechanically connected to the image acquisition device or mechanically coupled via a force transmission device and a second end which is directly or indirectly mechanically connected to a rod element or a proximal region of the endoscope, wherein the springs exert a force directed toward the distal end on the image acquisition device.

[0044] Furthermore, the endoscopic device as described herein comprises, in particular, a plurality of first magnets, which are mechanically rigidly connected to the image acquisition device or mechanically coupled via respective force transmission devices, and a magnet assembly consisting of one or more second magnets, which are mechanically rigidly connected to the outer rod in order to generate a guiding magnetic field which exerts a force on each of the first magnets in the direction of a position that depends on the rotational position of the image acquisition device and the rod component relative to the outer rod.

[0045] This magnet arrangement can bring about purely magnetic and, in the ideal case, contactless guidance of the image acquisition device and, when the outer rod is rotated, can bring about a swiveling of the image acquisition device and the viewing direction.

[0046] In the case of an endoscope apparatus as described here, the force transmission device or each of the force transmission devices comprises, in particular, a rod-shaped component which is guided displaceably in its longitudinal direction in or on the shaft component.

[0047] A rod-shaped component is rod-shaped in particular with regard to its ability to transmit forces in its longitudinal direction. A rod-shaped component is in particular a rod-shaped component with a round, rectangular or any other cross section.

[0048] In the case of an endoscope device such as that described here, the pivot joint device comprises, in particular, a joint which connects the image acquisition device to the distal end of the rod-shaped component.

[0049] In the case of an endoscope apparatus such as that described here, the pivot joint device comprises, in particular, a plurality of joints, wherein each of the plurality of joints connects the image acquisition device to the distal end of one of the rod-shaped components.

[0050] If the swivel joint arrangement comprises exactly one joint, which in particular connects the image acquisition device to the distal end of the force transmission device in a rotationally fixed manner, a rotation of the image acquisition device relative to the force transmission device about its longitudinal axis is prevented.

[0051] An endoscope device as described here is in particular a stereo endoscope device, wherein the image acquisition device comprises two identical or similar components, each comprising a lens and an image sensor, which are mechanically rigidly connected to one another.

[0052] The image acquisition device may include three or more identical or similar components, each comprising a lens and an image sensor. Using at least two identical or similar components, each comprising a lens and an image sensor, the image acquisition device enables the acquisition of stereoscopic images, including an image configured for viewing with the left eye and an image configured for viewing with the right eye. The image acquisition device's pivotability relative to the lever member enables the image acquisition device to be viewed in a direction that is neither horizontally flipped nor tilted relative to the stereo reference.

[0053] The endoscope comprises an endoscopic device as described herein and an outer shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The following further illustrates the implementation with reference to the accompanying drawings.

[0055] Figure 1 A schematic illustration of an endoscope is shown;

[0056] Figure 2 Shows the Figure 1 A schematic enlarged illustration of the distal end of the endoscope;

[0057] Figure 3 Shows the Figure 1 and 2 Another schematic enlarged illustration of the distal end of the endoscope;

[0058] Figure 4 A schematic illustration of the distal end of another endoscope is shown;

[0059] Figure 5 A schematic illustration of the distal end of another endoscope is shown;

[0060] Figure 6 A schematic illustration of the distal end of another endoscope is shown;

[0061] Figure 7 A schematic illustration of the distal end of another endoscope is shown;

[0062] Figure 8 A schematic illustration of the distal end of another endoscope is shown. DETAILED DESCRIPTION

[0063] Figure 1A schematic illustration of an endoscope 10 is shown with a shaft 12 having a distal end 14 for introduction into a cavity and a proximal end 16. A proximal region 18 is connected to the proximal end 16 of the shaft 12, which is configured as a manipulator. The proximal region 18 can be configured as in Figure 1 As schematically depicted in FIG, one or more plug connectors are provided for connecting the endoscope 10 to a light source and / or power supply, a camera control unit (CCU) and / or a screen.

[0064] The shaft 12 of the endoscope 10 consists of a shaft member 20 and an outer shaft 30. Both extend from the distal end 14 to the proximal end 16 of the shaft 12. The outer shaft 30 tubularly surrounds an inner cavity 32, within which the shaft member 20 is disposed. The proximal end 26 of the shaft member 20 is mechanically rigidly connected to the proximal region 18 of the endoscope. The distal end 34 of the outer shaft 30 is sealed, in particular, by an optically transparent window member, so that the inner cavity 32 of the outer shaft 30 is separated from the surroundings of the shaft 12 by the outer shaft 30, at least at and near the distal end 14 of the shaft 12. The proximal end 36 of the outer shaft 30 surrounds the proximal end 26 of the shaft member 20 and is mechanically rigidly connected to the rotating wheel 19. The rotating wheel 19 enables manual rotation of the outer shaft 30 relative to the shaft member 20 and the proximal region 18 of the endoscope 10.

[0065] The distal end 24 of the rod element 20 is mechanically connected to the image acquisition device 50 within the outer rod 30 in such a way that the image acquisition device 50 cannot be rotated relative to the rod element 20 about the longitudinal axis 28 of the rod element 20, but can be pivoted within a predetermined solid angle range about two pivot axes that are orthogonal to the longitudinal axis 28 of the rod element 20. As described below, the viewing direction of the image acquisition device 50 can be pivoted over the cone circumference by rotating the outer rod 30 about its longitudinal axis 38.

[0066] Figure 2 Shows the help of Figure 1 An enlarged schematic illustration of the distal end 14 of an endoscope is shown. Figure 2 The drawing plane and Figure 1 The drawing plane is consistent.

[0067] Outer rod 30 Figure 2 2 is shown in a cross-section along a plane containing the longitudinal axis 28 of the rod element 20 and the longitudinal axis 28 of the inner cavity 32 of the outer rod 30. In the illustrated example, the outer rod 30 is shown to be composed of two tubes arranged one above the other. An optical fiber for transmitting the illumination light is arranged in the space between the two tubes, with a crescent-shaped cross section.

[0068] The distal end of the outer rod 30 is hermetically sealed by an optically transparent window member 40. The window member 40 has an outer distal surface 42 as a light entrance surface and an inner proximal surface 44 as a light exit surface. In the illustrated example, the outer distal surface 42 and the inner proximal surface 44 of the window member 40 are respectively flat and parallel to each other.

[0069] In the example shown, the image acquisition device 50 includes two lenses 52, each generating a real image, and two image sensors 54. Each image sensor 54 is associated with one of the two lenses 52. Each image sensor 54 captures the real image generated by its associated lens 52 and generates an image signal representing the captured real image. The optical axis 58 of each lens 52 is parallel to the viewing direction of the image acquisition device 50.

[0070] The signal conductor 56 connects the image acquisition device 50 to the proximal region 18 of the endoscope 10 (see Figure 1 Through the signal wire 56 , control signals and electrical power can be transmitted to the image acquisition device 50 and the image signal generated by the image sensor 54 can be transmitted to the proximal region 18 of the endoscope 10 .

[0071] The image acquisition device 50 includes a support 60 to which the image sensor 54 and the lens 52 are mechanically rigidly connected. The support 60 is mechanically connected to the distal end 24 of the rod element 20 via a joint 62. The joint 62 is designed, for example, as a universal joint so that the support 60 and thus the entire image acquisition device 50 can be pivoted relative to the rod element 20 about two pivot axes that are orthogonal to the longitudinal axis 28 of the rod element 20, but cannot be rotated about the longitudinal axis 28 of the rod element 20.

[0072] In the case of the example shown, support 60 is configured as a shallow cup, and its edge facing the window member 40 is configured as a smooth and annular sliding surface 64. The sliding surface 64 at support 60 is against the sliding surface 46 in the edge region of the inner proximal surface 44 of the window member 40.

[0073] Due to the contact of the sliding surface 64 of the support 60 of the image acquisition device 50 at the sliding surface 46 in the edge region of the inner proximal surface 44 of the window member 40 and due to the symmetrical design of the image acquisition device 50, the optical axis 58 of the image acquisition device 50 is always parallel to the surface normal 48 of the surfaces 42, 44 of the window member 40. Rotation of the outer rod 30 relative to the rod member 20 about the longitudinal axis 38 of the inner cavity 32 of the outer rod 30 causes the surface normal 48 of the surfaces 42, 44 of the window member to rotate about the cone circumference that is rotationally symmetrical to the longitudinal axes 28, 38 of the rod member 20 and the outer rod 30. This causes a corresponding rotation of the optical axis 58 of the image acquisition device 50 about the two cone circumferences whose axes of symmetry are parallel to each other and to the longitudinal axis 38 of the inner cavity 32 of the outer rod 30.

[0074] Figure 3 Shows the Figure 1 and 2 Another schematic illustration of the distal end 14 of an endoscope. Figure 3 The graphic form in the diagram, in particular the orientation and position of the drawing plane and the section plane, is different from Figure 2 Those that match.

[0075] exist Figure 3 The configuration shown in this way differs from that in Figure 2 , i.e., the outer rod 30 is rotated 180° relative to the rod member 20 about the longitudinal axes 28, 38 of the rod member 20 and the outer rod 30. Accordingly, the orientation of the surface normal 48 of the surfaces 42, 44 of the window member 40, the orientation of the optical axis 58 and the viewing direction of the image acquisition device 50 are in Figure 3 The configuration shown in the example is different from the Figure 2 The configuration shown in .

[0076] The outer rod 30 and thus the optical axis 58 and the viewing direction 58 are described and Figure 2 and 3 In the case of rotation shown in , the reference, ie the straight connection path between the middle of the image sensor 54, is not rotated due to the anti-rotational mechanical connection of the image acquisition device 50 to the distal end 24 of the rod member 20. Figure 3 The unit consisting of the lens 52 and the image sensor 54 shown at the top is in Figure 3 The unit for acquiring an image arranged for observation with the right eye is composed of a lens 52 and an image sensor 54 shown at the top, and Figure 3 The unit consisting of the lens 52 and the image sensor 54 shown at the bottom is in Figure 3 The unit for acquiring an image arranged for viewing with the left eye is shown at the bottom of the figure and is composed of a lens 52 and an image sensor 54. To make this clear, Figure 2and 3 The middle lens is designated by "R" or "L". In the case of rotation of the optical axis 58 and the viewing direction, the reference remains parallel to the same predetermined plane, which in turn is parallel to the longitudinal axes 28, 38 of the rod member 20 and the outer rod 30 and parallel to Figure 2 and 3 drawing plane.

[0077] Figure 4 A schematic representation of the distal end 14 of another endoscope is shown, which is similar in some features, characteristics and functions to the endoscope provided by the invention. Figures 1 to 3 Endoscope shown. Figure 4 The diagrammatic form in FIG. 2 and FIG. 3 corresponds to the diagrammatic form in FIG. 4 . The following describes in particular such features, characteristics and functions that are relevant in their aspects. Figure 4 The endoscope shown in the figure is different from the endoscope Figures 1 to 3 Endoscope shown.

[0078] exist Figure 4 The endoscope shown in FIG has a magnet 68 on the holder 60 of the image acquisition device 50 and a magnet 82 on the distal end 24 of the rod member 20. In the example shown, the magnets 68, 82 are each annular in shape on the image acquisition device 50 and on the distal end 24 of the rod member 20. The magnets 68, 82 are oriented such that they repel each other.

[0079] The repulsive magnetic interaction between the magnets 68, 82 generates a distally directed force on the image acquisition device 50, which presses the sliding surface 64 of the bracket 60 against the sliding surface 46 at the inner proximal surface 44 of the window member 40. This, together with the axial clearance of the image acquisition device 50 relative to the distal end 24 of the rod member 20, makes it possible that the image acquisition device 50 rests on the window member 40 in the set manner at any time and therefore has the set orientation. In the case of the example shown, this axial clearance is, for example, provided in the joint 62 between the bracket 60 of the image acquisition device 50 and the distal end 24 of the rod member 20. As in Figures 1 to 3 As in the case of the endoscope shown, the connection between the image acquisition device 50 and the distal end 24 of the shaft element 20 is rotationally fixed, so that a pivoting of the viewing direction 58 over the cone circumference is not accompanied by a rotation of the stereo reference.

[0080] Figure 5 A schematic representation of the distal end 14 of another endoscope is shown, which is similar in some features, characteristics and functions to the endoscope provided by the invention. Figures 1 to 4 Endoscope shown. Figure 5 The graphical form and Figures 2 to 4The following describes in particular Figure 5 The features, characteristics and functions of the endoscope shown in the Figures 1 to 4 Endoscope shown.

[0081] exist Figure 5 In the case of the endoscope shown in FIG, a plurality of pressure springs 66 are provided between the image acquisition device 50 and the distal end 24 of the rod member 20. Figure 5 , two compression springs 66 are shown. Preferably, there are three or more compression springs 66, which are arranged symmetrically with respect to the longitudinal axis 28 of the lever element 20. In the case of the example shown, the compression springs 66 are designed as helical springs.

[0082] The elastic restoring force of the compression spring 66 presses the sliding surface 64 at the holder 60 of the image acquisition device 50 against the sliding surface 46 in the edge region of the inner proximal surface 44 of the window member 40 .

[0083] exist Figure 5 In the example shown in FIG, no additional joint is provided for connecting the image acquisition device 50 in a rotationally fixed manner to the distal end 24 of the rod element 20. Instead, the bending stiffness of the compression springs 66 prevents a rotation of the image acquisition device 50 relative to the distal end 24 of the rod element 20. Alternatively, the springs 66 can be guided, for example, in boreholes in the rod element 20, so that each spring 66 is almost completely accommodated in the associated borehole in the case of maximum compression and cannot or can only slightly bend laterally.

[0084] Figure 6 A schematic representation of the distal end 14 of another endoscope is shown, which is similar in some features, characteristics and functions to the Figures 1 to 5 Endoscope shown. Figure 6 The graphical form in Figures 2 to 5 The following describes in particular the Figure 6 The features, characteristics and functions of the endoscope shown in the Figures 1 to 5 Endoscope shown.

[0085] exist Figure 6 The endoscope shown in FIG has two rod-shaped force transmission devices 70, which extend parallel to the longitudinal axes 28, 38 of the rod component 20 and the inner cavity 32 of the outer rod 30 in the shaft of the endoscope. Each of the two force transmission devices 70 is located at the rod component 20 or at Figure 6As schematically depicted in FIG, the force transmission means 70 is guided therein with low clearance and low friction, yet movable in its longitudinal direction. The distal end 74 of each force transmission means 70 is mechanically articulatedly connected to the support 60 of the image acquisition device 50 via a joint 72. The force transmission means 70 is designed to be sufficiently rigid to prevent rotation of the image acquisition device 50 relative to the distal end 24 of the rod element 20 about the longitudinal axis 28 of the rod element 20.

[0086] A magnet 84 is arranged at the proximal end 76 of each force transmission device 70. In addition, the endoscope has two magnets 82, which are oriented in such a way that they exert a repulsive force on the magnets 84 at the proximal ends 76 of the force transmission devices 70. The magnets 82 are arranged, for example, near the proximal end 26 of the rod member, near the proximal end 36 of the outer rod 30 or in the proximal region 18 of the endoscope (see Figure 1 ).

[0087] In the case of the example shown, the magnet 82 is arranged in a cavity in the rod member 20. Figure 6 As shown in the figure, one or more magnets (which place a force directed toward the distal end on the magnet 84 at the proximal end 76 of the force transfer device 70) can be rigidly connected to the outer rod 30, for example as an annular arrangement on the inner side of the outer rod 30.

[0088] The magnetic interaction between magnet 84 and magnet 82 at proximal end 76 of force transmission device 70 generates a distally directed force on force transmission device 70, which is transmitted by the force transmission device to support 60 of image acquisition device 50. The interaction between magnets 82, 84 thus presses sliding surface 64 on support 60 of image acquisition device 50 against sliding surface 46 in the edge region of inner proximal surface 44 of window member 40. Magnets 82, 84 thus ensure that the viewing direction of image acquisition device 50 is always parallel to surface normal 48 of surfaces 42, 44 of window member 40. The flexurally rigid design of force transmission device 70 ensures that, even if outer rod 30 rotates relative to rod member 20 and despite the friction between sliding surfaces 46, 64, image acquisition device 50 does not rotate with outer rod 30.

[0089] Figure 7 A schematic representation of the distal end 14 of another endoscope is shown, which is similar in some features, characteristics and functions to the endoscope provided by the Figures 1 to 5 The endoscope shown and in particular with the aid of Figure 6 Endoscope shown. Figure 7 The graphical form in Figures 2 to 6 The following describes in particular the Figure 7The features, characteristics and functions of the endoscope shown in the Figure 6 Endoscope shown.

[0090] exist Figure 7 The endoscope shown in the embodiment is distinguished in particular from the endoscope Figure 6 The endoscope shown has a compression spring 78 arranged between the proximal end 76 of the force transmission device 70 and the rod member 20. The elastic restoring force of the spring 78 presses the force transmission device 70 toward the distal end and thus presses the sliding surface 64 at the bracket 60 of the image acquisition device 50 against the sliding surface 46 in the edge area of ​​the inner proximal surface 44 of the window member 40.

[0091] exist Figure 7 In the case of the example shown in FIG, the compression spring 78 is arranged in the cavity of the rod member 20. Figure 7 As shown in FIG. 1 , the compression spring 78 may be arranged between the force transmission device 70 and a member that is indirectly or directly mechanically rigidly connected to the rod member 20, for example in the proximal region 18 of the endoscope 10 (see Figure 1 ).

[0092] Figure 8 A schematic representation of the distal end 14 of another endoscope is shown, which is similar in some features, characteristics and functions to the endoscope provided by the Figures 1 to 5 The endoscope shown and in particular with the aid of Figure 6 Endoscope shown. Figure 8 The graphical form in Figures 2 to 7 The following describes in particular the Figure 8 The features, characteristics and functions of the endoscope shown in the Figure 6 Endoscope shown.

[0093] exist Figure 8 The endoscope shown in FIG is distinguished in particular from the endoscope shown in FIG. Figure 6 In the endoscope shown in FIG, a ring-shaped magnet or a plurality of ring-shaped magnets 80 are arranged on the outer rod 30. The magnet or magnets 80 are not located in a plane orthogonal to the longitudinal axes 28, 38 of the rod element 20 and the inner cavity 32 of the outer rod 30, but are, for example, approximately in a plane inclined thereto and parallel to the surfaces 42, 44 of the window element 40.

[0094] The magnet 80 at the outer rod 30 and the magnet 84 at the proximal end 76 of the force transfer device 70 are oriented so that they attract each other. The magnet 80 at the outer rod 30 exerts a force on each magnet 84 at the proximal end 76 of the force transfer device 70, the direction of which depends on the position of the magnet 84 at the proximal end 76 of the force transfer device 70 and thus on the position of the force transfer device 70 itself. Therefore, the magnet 80 at the outer rod 30 moves each magnet 84 into a position that depends on the rotational position of the outer rod 30 and thus of the magnet 80 at the outer rod 30 relative to the rod member 20. Since the distal end 74 of the force transfer device 70 is mechanically connected to the bracket 60 of the image acquisition device 50 via the joint 72, the magnet 80 at the outer rod 30 thus controls the swing position of the bracket 60 and thus the entire image acquisition device 50. Therefore, at Figure 8 In the case of the endoscope shown in FIG, the support 60 has no sliding surface and does not contact the window member 40. Therefore, the magnet 80 at the outer rod 30 controls the swing position of the image acquisition device 50 without contact.

[0095] The magnet 80 can be arranged at any position in the outer rod 30, wherein the force transmission device 70 has a corresponding length. The magnet 80 can be arranged in particular in the rotating wheel 19 at the proximal end 36 of the outer rod 30, where more structural space is available.

[0096] Reference Signs List

[0097] 10. Endoscope

[0098] 12 Rod of endoscope 10

[0099] 14 Distal end of rod 12

[0100] 16 Proximal end of rod 12

[0101] 18 Proximal region of endoscope 10

[0102] 19 Rotating wheel as operating element of endoscope 10

[0103] 20 Rod member of endoscope 10

[0104] 22 Guide means for the rod member 20 of the force transmission device

[0105] 24 Distal end of the rod member 20

[0106] 26 Proximal end of rod member 20

[0107] 28 Longitudinal axis of the rod member 20

[0108] 30 Outer rod of endoscope 10

[0109] 32 Inner cavity of outer rod 30

[0110] 34 Distal end of outer rod 30

[0111] 36 Proximal end of outer rod 30

[0112] 38 longitudinal axis of outer rod 30

[0113] 40 Window member at the distal end 34 of the outer rod 30

[0114] 42 External distal surface of the window member 40

[0115] 44 inner proximal surface of the window member 40

[0116] 46 Sliding surface in the edge region of the inner proximal surface 44 of the window member 40

[0117] 48 Surface normal of surfaces 42, 44 of window member 40

[0118] 50 Image acquisition device of endoscope 10

[0119] 52 lens of the image acquisition device 50, used to generate a real image

[0120] 54 The image sensor of the image acquisition device 50 is used to acquire the real image generated by the lens 52 and to generate an image signal

[0121] 56 Signal wire for transmitting power and / or control signals to the image sensor 54 and / or for transmitting image signals of the image sensor 54

[0122] 58 Optical axis of the lens 52 of the image acquisition device 50

[0123] 60 Support for the image acquisition device 50

[0124] 62 Joint between the image acquisition device 50 and the distal end 24 of the rod member 20

[0125] 64 Sliding surface at the bracket / housing

[0126] 66 Compression spring between the image acquisition device 50 and the distal end 24 of the rod member 20

[0127] 68 Magnet at the image acquisition device 50

[0128] 70 Force transmission device in or at the rod element 20

[0129] 72 Joint between the image acquisition device 50 and the distal end 74 of the force transfer device 70

[0130] 74 distal end of the force transfer device 70

[0131] 76 Proximal end of force transfer device 70

[0132] 78 Spring at the proximal end of the force transfer device 70

[0133] 80 Magnet at the outer rod 30 of the endoscope 10

[0134] 82 Magnet at the rod member 20 or at the proximal region 18 of the endoscope 10

[0135] 84 Magnet at the proximal end of the force transfer device 70 .

Claims

1. An endoscopic device (10) comprising: A rod member (20) having a proximal end (26) and a distal end (24) for introduction into the cavity, wherein The rod member (20) is arranged in the outer rod (30) or is provided and configured to be arranged in the outer rod (30); an image acquisition device (50) having a lens (52) for generating a real image and an image sensor (54) for acquiring the real image and for generating an image signal representing the acquired real image, wherein the image acquisition device (50) is arranged at the distal end (24) of the rod member (20); a pivot joint device (62) which couples the image acquisition device (50) to the rod element (20) in such a way that the image acquisition device (50) can pivot about two orthogonal axes, but the image acquisition device (50) is rigid with respect to rotation about the longitudinal axis (28) of the rod element (20); A swing control device is provided for adjusting the swing position of the image acquisition device (50) relative to the lever member (20) depending on the rotational position of the outer rod (30) relative to the image acquisition device (50) and the lever member (20).

2. The endoscope device (10) according to claim 1, characterized in that The swing control device comprises: a first sliding surface (46) in the outer rod (30), A second sliding surface (64) is mechanically rigidly connected to the image acquisition device (50) and is used to abut against the first sliding surface (46) in the outer rod (30).

3. The endoscope device (10) according to claim 2, characterized in that The first sliding surface (46) is arranged at an edge of an inner surface (44) of the window member (40) of the outer rod (30).

4. The endoscope device (10) according to claim 3, characterized in that The surface normal (48) of the inner surface (44) of the window member (40) is inclined relative to the longitudinal axis (38) of the distal end (34) of the outer rod (30), The first sliding surface (46) is a partial surface of the inner surface (44) of the window member (40).

5. The endoscope device (10) according to any one of claims 2 to 4, characterized in that The second sliding surface (64) is arranged on a frame or a bracket (60) or a housing of the image acquisition device (50).

6. The endoscope device (10) according to any one of claims 2 to 4, characterized in that The lens (52) of the image acquisition device (50) is arranged between two partial areas of the second sliding surface (64).

7. The endoscope device (10) according to any one of claims 2 to 4, characterized in that The endoscope device further comprises: a first magnet, which is mechanically rigidly connected to the image acquisition device (50) or mechanically coupled via a force transmission device (70); a second magnet which is mechanically rigidly connected to the rod member (20) or to the proximal end region (18) of the endoscopic device (10) or to the outer rod (30); The first magnet and the second magnet are arranged and oriented such that a force between the first magnet and the second magnet applies a distally directed force to the image acquisition device (50).

8. The endoscope device (10) according to claim 7, characterized in that The endoscope device has: a plurality of first magnets, the plurality of first magnets being mechanically rigidly connected to the image acquisition device (50) or mechanically coupled via a force transmission device (70), The first magnet and the second magnet are arranged and oriented such that a force between the first magnet and the second magnet applies a distally directed force to the image acquisition device (50).

9. The endoscope device (10) according to claim 7, characterized in that The endoscope device has: a plurality of second magnets mechanically rigidly connected to the rod member (20) or to the proximal end region (18) of the endoscopic device (10) or to the outer rod (30); wherein the first magnet or the first magnets and the second magnets are arranged and oriented such that a force between the first magnet or magnets and the second magnets exerts a distally directed force on the image acquisition device (50).

10. The endoscope device (10) according to any one of claims 1 to 4, characterized in that The endoscope device further comprises: a spring (66; 78) or other elastic means having a first end mechanically connected directly to the image acquisition device (50) or mechanically coupled via a force transmission device (70) and a second end mechanically connected directly or indirectly to the rod member (20) or the proximal region (18) of the endoscopic device (10), The spring (66; 78) applies a force directed toward the distal end to the image acquisition device (50).

11. The endoscope device (10) according to claim 10, characterized in that The endoscope device has: a plurality of springs (66; 78) or other elastic means, each with a first end connected mechanically directly to the image acquisition device (50) or mechanically coupled via a force transmission device (70) and a second end connected mechanically directly or indirectly to the rod member (20) or the proximal end region (18) of the endoscopic device (10), The spring (66; 78) applies a force directed toward the distal end to the image acquisition device (50).

12. The endoscope device (10) according to any one of claims 1 to 4, characterized in that The endoscope device further comprises: a plurality of first magnets, the plurality of first magnets being mechanically rigidly connected to the image acquisition device (50) or mechanically coupled via respective force transmission devices (70); A magnet assembly consisting of one or more second magnets, mechanically rigidly connected to the outer rod (30), in order to generate a guiding magnetic field, which exerts a force on each of the first magnets in a direction towards a position that depends on the rotational position of the image acquisition device (50) and the rod member (20) relative to the outer rod (30).

13. The endoscope device (10) according to claim 7, characterized in that The force transmission device or each of the plurality of force transmission devices comprises a rod-shaped component which is guided displaceably in its longitudinal direction in or on the rod element (20).

14. The endoscope device (10) according to claim 13, characterized in that The swing joint device includes multiple joints. Each of the plurality of joints connects the image acquisition device (50) and a distal end of one of the rod-shaped members.

15. The endoscope device (10) according to any one of claims 1 to 4, characterized in that The endoscope device (10) is a stereoscopic endoscope device, The image acquisition device (50) comprises two identical components, each comprising a lens (52) and an image sensor (54), the components being mechanically rigidly connected to each other.

Images