Endoscope / stereovaginoscope medical instrument

Abstract

The present invention relates to a medical endoscopic / hysteroscopy instrument configured to selectively capture hysteroscopic images of a patient's uterus and endoscopic images of a patient's bladder or uterus. Any of the images can be white light images or images of a selected narrow waveband or fluorescent images. The images can be displayed individually or as a composite image spatially registered to highlight selected features of the imaged anatomy. A cup-like device can be placed at the patient's cervix and provide a light source and a fluoroscopic module to monitor changes in fluorescence under the action of a photoactivatable substance.

Description

[0001] Related applications

[0002] This application is a partial continuation of U.S. Patent Application No. 17 / 745,526, filed May 16, 2022, which is a partial continuation of U.S. Patent Application No. 17,473,587, filed September 13, 2021, also known as U.S. Patent No. 11,330,973. It is also a partial continuation of: U.S. Patent Application No. 17 / 362,043, filed June 29, 2021, also known as U.S. Patent No. 11,350,816, granted June 7, 2022; International Patent Application No. PCT / US19 / 36060, filed June 7, 2019; U.S. Patent Application No. 16 / 363,209, filed March 25, 2019, U.S. Patent Publication No. US2019 / 0216325; and International Patent Application No. PCT / US17 / 53171, filed September 25, 2017.

[0003] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 346,377, filed May 27, 2022; No. 63 / 346,842, filed May 28, 2022; and No. 63 / 347,659, filed June 1, 2022, which are incorporated herein by reference.

[0004] This application incorporates the entire contents of the aforementioned patent applications by reference and claims the filing dates of each of the aforementioned patent applications, as well as any applications directly or indirectly incorporated by reference thereto and the rights they claim, including the filing dates of the U.S. provisional applications, U.S. non-provisional applications, and international applications.

[0005] U.S. Patent Application No. 17,473,587 claims the benefit of the following provisional applications, which are incorporated herein by reference:

[0006] U.S. Provisional Application No. 63 / 218,362, filed on July 4, 2021;

[0007] U.S. Provisional Application No. 63 / 213,499, filed on June 22, 2021;

[0008] U.S. Provisional Application No. 63 / 210,034, filed on June 13, 2021;

[0009] U.S. Provisional Application No. 63 / 197,639, filed on June 7, 2021;

[0010] U.S. Provisional Application No. 63 / 197,611, filed on June 7, 2021;

[0011] U.S. Provisional Application No. 63 / 183,151, filed on May 3, 2021;

[0012] U.S. Provisional Application No. 63 / 153,252, filed on February 24, 2021;

[0013] U.S. Provisional Application No. 63 / 149,338, filed on February 14, 2021;

[0014] U.S. Provisional Application No. 63 / 138,751, filed on January 18, 2021;

[0015] U.S. Provisional Application No. 63 / 129,703, filed on December 23, 2020;

[0016] U.S. Provisional Application No. 63 / 124,803, filed on December 13, 2020;

[0017] U.S. Provisional Application No. 63 / 121,924, filed on December 6, 2020;

[0018] U.S. Provisional Application No. 63 / 121,246, filed on December 4, 2020;

[0019] U.S. Provisional Application No. 63 / 107,344, filed on October 29, 2020;

[0020] U.S. Provisional Application No. 63 / 087,935, filed on October 6, 2020;

[0021] U.S. Provisional Application No. 63 / 083,932, filed on September 27, 2020;

[0022] U.S. Provisional Application No. 63 / 077,675, filed on September 13, 2020; and

[0023] U.S. Provisional Application No. 63 / 077,635, filed on September 13, 2020.

[0024] This patent application also relates to, and is incorporated herein by reference, the following international, non-provisional and provisional applications:

[0025] International patent application No. PCT / US17 / 53171, filed on September 25, 2017;

[0026] U.S. Patent No. 8,702,594, issued on April 22, 2014;

[0027] U.S. Patent Application No. 16 / 363,209, filed on March 25, 2019;

[0028] International patent application No. PCT / US19 / 36060, filed on June 7, 2019;

[0029] U.S. Patent Application No. 16 / 972,989 was filed on December 7, 2020.

[0030] U.S. Provisional Application No. 62 / 816,366, filed on March 11, 2019;

[0031] U.S. Provisional Application No. 62 / 671,445, filed on May 15, 2018;

[0032] U.S. Provisional Application No. 62 / 654,295, filed on April 6, 2018;

[0033] U.S. Provisional Application No. 62 / 647,817, filed on March 25, 2018;

[0034] U.S. Provisional Application No. 62 / 558,818, filed on September 14, 2017;

[0035] U.S. Provisional Application No. 62 / 550,581, filed on August 26, 2017;

[0036] U.S. Provisional Application No. 62 / 550,560, filed on August 25, 2017;

[0037] U.S. Provisional Application No. 62 / 550,188, filed on August 25, 2017;

[0038] U.S. Provisional Application No. 62 / 502,670, filed on May 6, 2017;

[0039] U.S. Provisional Application No. 62 / 485,641, filed on April 14, 2017;

[0040] U.S. Provisional Application No. 62 / 485,454, filed on April 14, 2017;

[0041] U.S. Provisional Application No. 62 / 429,368, filed on December 2, 2016;

[0042] U.S. Provisional Application No. 62 / 428,018, filed on November 30, 2016;

[0043] U.S. Provisional Application No. 62 / 424,381, filed on November 18, 2016;

[0044] U.S. Provisional Application No. 62 / 423,213, filed on November 17, 2016;

[0045] U.S. Provisional Application No. 62 / 405,915, filed on October 8, 2016;

[0046] U.S. Provisional Application No. 62 / 399,712, filed on September 26, 2016;

[0047] U.S. Provisional Application No. 62 / 399,436, filed on September 25, 2016;

[0048] U.S. Provisional Application No. 62 / 399,429, filed on September 25, 2016;

[0049] U.S. Provisional Application No. 62 / 287,901, filed on January 28, 2016;

[0050] U.S. Provisional Application No. 62 / 279,784, filed on January 17, 2016;

[0051] U.S. Provisional Application No. 62 / 275,241, filed on January 6, 2016;

[0052] U.S. Provisional Application No. 62 / 275,222, filed on January 5, 2016;

[0053] U.S. Provisional Application No. 62 / 259,991, filed on November 25, 2015;

[0054] U.S. Provisional Application No. 62 / 254,718, filed on November 13, 2015;

[0055] U.S. Provisional Application No. 62 / 139,754, filed on March 29, 2015;

[0056] U.S. Provisional Application No. 62 / 120,316, filed February 24, 2015; and

[0057] U.S. Provisional Application No. 62 / 119,521, filed on February 23, 2015.

[0058] All of the above-mentioned non-provisional, provisional and international patent applications are collectively referred to herein as "jointly assigned consolidated applications". Technical Field

[0059] This patent specification primarily relates to endoscopic and colposcopy examination instruments and methods. More specifically, some embodiments relate to portable such instruments, including a reusable portion with endoscopic and colposcopy functions and a disposable or single-use portion with a releasable connection for endoscopic functions. Background Technology

[0060] Endoscopes have long been used to visualize and treat internal tissues. For conventional rigid and flexible endoscopes, the lenses or fiber optic systems are relatively expensive and require repeated use. Therefore, rigorous sterilization and disinfection are necessary after each use. In recent years, disposable endoscopes have been developed and improved, typically comprising a single-use portion including a cannula with a camera at its tip, releasably connected to a reusable portion including image processing electronics and a display. Disposable or single-use endoscopes reduce the risk of cross-contamination and hospital-acquired infections. Such endoscopes are used in medical procedures such as imaging and treating the male and female urinary systems and the female reproductive system, as well as other internal organs. Examples of disposable endoscopes are discussed in U.S. Patents 10,292,571, 10,874,287, 11,013,396, and 11,071,442.

[0061] Colposcopy is a completely separate technical and medical field involving the visual examination of the cervix, vagina, and vulva to identify clues suggesting cervical cancer. Colposcopy typically uses a magnifying glass. Early detection of cervical cancer is crucial for successful treatment and improved survival rates. The Pap smear is a popular and effective method for cervical cancer screening, but it is subjective and technically labor-intensive. Digital cameras can acquire multispectral images of the cervix, highlighting suspicious areas, and high-resolution optical techniques can further examine these areas, providing in vivo diagnostics with good sensitivity and specificity. Furthermore, targeted contrast agents can highlight changes in biomarkers of cervical tumors. Multispectral imaging using liquid crystal tunable filters (LCTFs) for rapid wavelength selection can also be included. See Quiong Wu, Hengyu Ke, Hong Zheng, XijianGao, Diancheng Wang, A multispectral imaging analysis system for early detection of cervical cancer, Proceedings Volume 5745, Medical Imaging 2005; Physics of Medical Imaging; (2005) doi.org / 10.1117 / 12.592576.

[0062] The subject matter described or claimed in this patent specification is not limited to the embodiments described to address any particular drawback or to operation only in specific environments such as those described above. Rather, the background above is provided merely to illustrate the feasibility of some embodiments described herein in exemplary technical fields. Summary of the Invention

[0063] As described in the original claims, but which may be amended during the prosecution of this patent application.

[0064] In some embodiments, a medical endoscopy / stereoscopic colposcopy examination instrument includes:

[0065] A reusable portion includes a handle configured to be gripped by a user's hand and a display mounted on the reusable portion; a forward colposcopic imaging and illumination system mounted on the reusable portion, including a first colposcopic camera FFC1 and a first light source S1, and a second colposcopic camera FFC2 and a second light source S2, configured to capture stereoscopic colposcopic images of the patient's cervix for display on the display; a disposable portion including a cannula configured for insertion into a patient, with an endoscopic imaging and illumination system at the distal end of the cannula, including an endoscopic camera and an endoscopic light source; an interlocking bracket at the rear end of the disposable portion and the reusable portion, configured to releasably connect the reusable portion and the disposable portion to form an assembled endoscope, configured to capture endoscopic images with the endoscopic imaging and illumination system for display on the display; and a processor configured to process image data from the colposcopic imaging and illumination system and the endoscopic imaging and illumination system into colposcopic images and endoscopic images, and to cause the display to display one or both of the colposcopic and endoscopic images.

[0066] In some embodiments, the instrument may further include one or more of the following features: (a) the cameras FFC1 and FFC2 and the light sources S1 and S2 may be mounted on the front-facing side of the display; (b) the light source S1 may be configured to selectively emit light in a first selected narrow band narrower than white light; (c) the narrow band may be configured to induce fluorescence emission from a location within the patient's body; (d) the camera FFC1 may be configured to image light associated with the narrow band; (e) the camera FFC1 may be configured to image fluorescence; (f) the camera FFC2 may be configured to image white light; (g) the camera FFC1 may be configured to image light associated with the narrow band and have lower spatial resolution but higher sensitivity than the camera FFC2. The camera FFC1 may include a first electrically controlled color filter configured to selectively switch between light of a selected color and white light; (j) the camera FFC1 may be configured to image light associated with the narrow band, the camera FFC2 may be configured to image white light, and the display may be configured to overlay spatially calibrated images captured by the cameras FFC1 and FFC2; (k) both cameras FFC1 and FFC2 may image white light and may be spaced apart to obtain a stereoscopic view of the patient's cervix; (l) both cameras FFC1 and FFC2 may be configured to image light of a selected narrow band narrower than white light and may be spaced apart to obtain a stereoscopic view; (m) both cameras FFC1 and FFC2 may be configured to image fluorescence and may be spaced apart to obtain a stereoscopic view; (n) the endoscopic imaging located at the front end of the disposable portion may include: a camera CamW configured to observe targets within the patient's body, primarily focusing on... The processor reacts to the wavelength range of white light; a second electrically controlled color filter is configured to selectively operate in mode A to pass light primarily within the white light wavelength range, or in mode B to primarily pass (i) a second selected narrow wavelength band narrower than white light or (ii) fluorescent light; a forward-looking camera CamFA / B is configured to observe the target from different angles through the second electrically controlled color filter; wherein the processor is operatively coupled to the display and is configured to: selectively switch the second color filter between mode A and mode B, and receive image data from the cameras CamW and CamFA / B, and: when the filter operates in mode A, form a white light stereoscopic image of the target; when the filter operates in mode B, form a selected narrow band image or fluorescent image from the camera CamFA / B; and form and display on the display a composite image as a superposition of the white light stereoscopic image and the selected narrow band image or fluorescent image from the cameras CamW and CamFA / B;(o) The disposable portion may extend along a longitudinal axis, and the handle may extend along a handle axis transverse to the longitudinal axis. The interlocking bracket of the reusable portion may have an upper portion with an elongated opening slot extending along the longitudinal axis. The interlocking bracket of the disposable portion may include an elongated hub extending along the longitudinal axis and configured to slide into the slot and lock, thereby forming an assembled endoscope; (p) The reusable portion may include a manual bending controller mounted at its rear end. The disposable portion may include a bending mechanism that automatically engages the manual bending controller when the disposable portion is locked into the slot and responds to manual operation of the bending controller to selectively bend the tip portion of the cannula; (q) The cannula may be configured to rotate relative to the reusable portion; (r) The camera CamFA / B may have a lower spatial resolution than the camera CamW, at least when the second color filter is operating in mode B.

[0067] In some embodiments, a medical endoscope / stereoscopic colposcope includes: an L-shaped reusable portion including a downwardly extending handle and an axially extending housing; and a disposable portion including a hub removably secured to the rear end of the housing and a cannula extending from the front end of the hub; wherein: one of the housing and the hub includes a mounting formed as an axially extending groove, and the other includes a mounting formed as an axially extending track configured to slide into the groove in a rearward direction, thereby removably securing the hub and cannula to the handle portion; the rear end portion of the handle portion includes an opening, and the hub and cannula include a A bending mechanism configured to bend the front end portion of the cannula, including a rear-end extending thumb rod that extends through the opening and from the rear end of the handle portion when the hub and handle portion are fixed together, allowing manual operation of the thumb rod to control the bending of the front end portion of the cannula; an endoscope camera module located at the front end portion of the cannula; a colposcope camera module mounted on the housing, including colposcope cameras FFC1 and FFC2, configured to observe the target from different angles; and a display operatively connected to the endoscope camera module and the colposcope camera module to receive their image data and display images based on the received image data.

[0068] In some embodiments, a medical device for fluorescence imaging of a patient's cervix includes: a cup-shaped housing containing a light source configured to induce fluorescence in selected portions of the cervix when the housing is in a treatment position relative to the cervix; a camera CamF1 mounted on the housing, configured to image the fluorescence of the cervix from a first viewpoint and provide first image data; and a display operatively connected to the camera CamF1, configured to display a first fluorescence image derived from the first image data.

[0069] The device described in the preceding paragraph may further include a camera CamF2, which is also mounted on the housing and configured to image the fluorescence of the cervix from a second perspective and provide second image data, wherein the display may be linked to the camera CamF2 to display a second fluorescence image derived from the second image data.

[0070] In some embodiments, a method for imaging a patient includes: capturing a stereoscopic colposcopic image of the patient's cervix using cameras FFC1 and FFC2 mounted on a reusable portion, a display mounted on the portion; capturing an endoscopic image of the patient's bladder or uterus using a disposable portion detachably connected to the reusable portion to form an assembled endoscope, the disposable portion having a camera CamW at its front end for capturing white light images and / or a camera CamF for capturing narrower band images or fluorescence images; and displaying the colposcopic image and the endoscopic image on the display.

[0071] In some embodiments, capturing endoscopic images in the method may include capturing images with cameras CamW and CamF, and displaying may include displaying a spatially calibrated overlay of the images from cameras CamW and CamF.

[0072] In some embodiments, a medical endoscope / colposcopy instrument includes: a reusable portion including a handle configured to be gripped by a user's hand and a display mounted on the reusable portion; a forward-facing colposcopy imaging and illumination system mounted on the reusable portion; a disposable portion including a cannula configured for insertion into a patient, with the endoscopic imaging and illumination system at the distal end of the cannula; an interlocking bracket at the rear end of the disposable portion and the reusable portion, configured to releasably connect the reusable portion and the disposable portion to form an assembled endoscope configured to capture endoscopic images using the endoscopic imaging and illumination system; and a processor configured to process image data from the colposcopy and / or the endoscopic imaging and illumination system into a display image and to cause the display screen to display the display image.

[0073] In some embodiments, the instrument described in the preceding paragraph may further include one or more of the following features: (a) the colposcopy imaging and illumination system may include a single colposcopy camera FFC1 and a colposcopy light source S1 to provide a two-dimensional view; (b) the colposcopy imaging and illumination system further includes a second colposcopy camera FFC2 spaced apart from said camera FFC1 to provide a stereoscopic view and a second colposcopy light source S2. Attached Figure Description

[0074] To further illustrate the above and other advantages and features of the subject matter protected by this patent specification, specific embodiments are described with reference to the accompanying drawings. These drawings should be understood as depicting only exemplary embodiments and therefore should not be considered as limiting the scope of protection of this patent specification or the appended claims. The subject matter of the invention is described and explained specifically and in detail using the following drawings, in which:

[0075] Figure 1A , Figure 1B Figure 1C These are side, top, and rear views of a portable ergonomic endoscope with a disposable cannula according to some embodiments of the present invention.

[0076] Figure 2A and Figure 2B This is a perspective view of a portable ergonomic endoscope with a disposable cannula according to some embodiments of the present invention;

[0077] Figures 3A-3B This is a perspective view showing the engagement and disengagement of reusable and disposable portions of a portable ergonomic endoscope in some embodiments;

[0078] Figure 4A and Figure 4B These are perspective views and schematic diagrams of the front tip of a plurality of cameras and illumination modules used with a portable ergonomic endoscope, as described in some embodiments of the present invention.

[0079] Figure 5 These are schematic diagrams of dual-camera, dual-light source systems for multispectral imaging and surgical applications in some embodiments;

[0080] Figure 6 This is a conceptual diagram illustrating design aspects of a dual-camera, dual-light source system for multispectral imaging and surgical applications in some embodiments;

[0081] Figure 7 These are diagrams illustrating possible color filter array configurations for a dual-camera, dual-light-source system used in multispectral imaging and surgical applications in some embodiments;

[0082] Figure 8 It is a graph showing the relationship between the quantum efficiency of Nyxel and traditional pixels and wavelength;

[0083] Figure 9 This is a schematic diagram illustrating further aspects of incorporating multispectral image data from a dual-camera, dual-light source system in some embodiments;

[0084] Figure 10 This is a perspective view illustrating, in some embodiments, combined, spatially registered images displayed to a user on an endoscopic system;

[0085] Figure 11 These are perspective views of endoscope systems having one or more front-facing cameras in some embodiments;

[0086] Figure 12 This is a schematic diagram illustrating that in some embodiments, a camera with an electronically controlled color filter is used, exposing the camera to white light or fluorescence, while another camera is exposed to white light;

[0087] Figure 13 In some embodiments, a plan view of the front end of the cannula is shown, using a pair of white light cameras and a selected narrow-band or fluorescent light camera, as well as the light source and the internal channel within the cannula.

[0088] Figure 14 In other aspects and Figure 13 Similar, but in some embodiments, different camera and light source settings are shown, as well as a single internal channel;

[0089] Figure 15 In some embodiments, a pair of white light cameras and a pair of selected narrow-band or fluorescent light cameras are used, along with a plan view of the distal end of the cannula and the internal channels within the cannula.

[0090] Figure 16 In other aspects and Figure 15 Similar, but in some embodiments, different camera and light source setups are shown, as well as a single internal passage;

[0091] Figure 17 These are perspective views of endoscopes in some embodiments;

[0092] Figure 18 These are exploded three-dimensional views of the endoscopes in some embodiments;

[0093] Figure 19 These are cross-sectional views of the endoscope portion in some embodiments;

[0094] Figure 20 These are cross-sectional views of the endoscope portion in some embodiments;

[0095] Figure 21 These are cross-sectional views of endoscope components in some embodiments;

[0096] Figure 22 These are top views of endoscopes in some embodiments.

[0097] Figure 23 These are perspective views of endoscopic / stereoscopic colposcopes in some embodiments;

[0098] Figure 24 yes Figure 23A perspective view of an endoscope / stereoscopic colposcope shows a reusable portion and a disposable portion, which in some embodiments can be releasably connected to each other to form an assembled endoscope.

[0099] Figure 25 These are examples of... Figure 24 The same 3D image, but from a different perspective.

[0100] Figure 26 These are perspective views of reusable portions of an instrument used during colposcopy in some embodiments, which uses white light imaging or narrow-band imaging with light of a selected color or color range.

[0101] Figure 27 These are some embodiments and Figure 26 The same applies, but a case for fluorescence imaging is shown.

[0102] Figure 28 These are side views illustrating face recognition in some embodiments.

[0103] Figure 29 Some examples of its use during colposcopy are shown.

[0104] Figure 30 It is a stereoscopic diagram showing a device for embedding a fluorescent image of the cervix.

[0105] Figure 31 Some embodiments are shown, including an instrument that combines the functions of an endoscope and a colposcope, and an example of images arranged on a display screen.

[0106] Figure 32 This is a flowchart illustrating an example of a sequence of steps in some embodiments when using an instrument with endoscopic and colposcope functions. Detailed Implementation

[0107] A detailed description of preferred embodiments is provided below. Although several embodiments are described, it should be understood that the new subject matter described in this specification is not limited to any one or a combination of embodiments described herein, but includes many alternatives, modifications, and equivalents. Furthermore, although many specific details are set forth in the following description to provide a thorough understanding, some embodiments can be implemented without some or all of these details. Moreover, for clarity, certain technical materials known in the prior art have not been described in detail to avoid unnecessarily downplaying the new subject matter described herein. It should be understood that various features of one or more specific embodiments described herein can be used in combination with features or other features of other described embodiments. Furthermore, the same reference numerals and indications in the various drawings denote the same elements.

[0108] This patent specification describes an endoscope with various imaging functions under the heading ENDOSCOPY EXAMPLES. Under the headings ENDOSCOPY / STEREO COLPOSCOPY and Other Examples, this specification describes various functional examples, including endoscopic examination, colposcopy, facial recognition and monitoring therapy, such as photodynamic therapy with the device held on the cervix for an extended period.

[0109] ENDOSCOPY EXAMPLES

[0110] In some embodiments, a portable ergonomic endoscope system is described, comprising an imaging system having at least two independent cameras and at least two independent light sources. The cameras and light sources are configured to simultaneously image a target object (e.g., tissue). By employing different illumination, different filters, and manipulating the spectral response, different features of the target object can be captured. In some embodiments, a system processor can coordinate the cameras and light sources and combine the resulting images to display an enhanced composite image of the object to an operator. In some embodiments, the system can be configured to perform NBI (narrow-band imaging). In some embodiments, the system can also be configured to perform fluorescence imaging.

[0111] The term "color filter array" used in this article refers to filters placed on pixels to allow a certain bandwidth to pass through. Conventional consumer cameras, such as mobile phone cameras, use RGB CFAs. For other specialized applications, custom CFAs can be designed.

[0112] As used herein, narrow-band imaging (NBI) refers to a color imaging technique used in endoscopic diagnostic medical testing where specific blue and green wavelengths of light are used to enhance detail in certain aspects of the mucosal surface. In some embodiments, a special filter can be electronically activated via a switch in the endoscope, resulting in the use of ambient light, preferably at wavelengths of 415 nm (blue) and 540 nm (green). Because the light absorption peaks of hemoglobin occur at these wavelengths, blood vessels appear very dark, improving their visibility and allowing for better identification of other surface structures.

[0113] As used in this article, fluorescence imaging (FI) refers to the process of using fluorescent dyes to label, highlight, or enhance certain biological mechanisms and / or structures. Fluorescence itself is a form of light emission produced when a substance absorbs electromagnetic radiation and emits light of a specific wavelength. For example, in selected narrow-band light endoscopy, a fluorescent dye (Hexvix) is injected into the bladder. The tissue is then illuminated with selected narrow-band light (approximately 405 nm), and Hexvix emits fluorescence at a wavelength of approximately 610 nm. Note that with FI, the camera can see fluorescence emitted from within the object, while with NBI, the camera can see the object's reflection of light across various bandwidths.

[0114] In some embodiments, a novel dual-camera and dual-light source (DCDL) system is described for multispectral or multicolor imaging. Embodiments for surgical applications are disclosed, simultaneously providing white light, fluorescence, and infrared images.

[0115] The method is applicable to general multispectral and multiband imaging. In some embodiments, an endoscope system is described comprising two independent camera / LED systems integrated into the same cannula or endoscope. A white light camera, referred to as Camera CamW, is paired with a white light LED, referred to as LightW. A fluorescence camera, referred to as Camera CamF, is paired with a selected narrowband LED, referred to as LightC. In this configuration, CamF is used as an infrared camera when either or both of LightC and LightW are off.

[0116] In some embodiments, CamW is optimized for white light endoscopes, i.e., using a strong and high-quality white LED to illuminate the object, thus achieving high image resolution. CamF is optimized for sensitivity because fluorescent light sources are typically weak. To maximize the sensitivity and signal-to-noise ratio of the CMOS sensor pixels for high-quality imaging, the following measures are implemented:

[0117] In some embodiments, a special filter array (CFA) is used on the pixel array (such as... Figure 7 As shown), this allows the CMOS sensor array to be sensitive to the red or infrared spectrum (close to 600 nm or higher). In some embodiments, to further improve sensitivity, relatively large pixels (e.g., 2.2 μm x 2.2 μm) are preferably used for the CamF CMOS sensor. In this case, CamF preferably has a lower spatial resolution than CamW pixels (e.g., 1.75 μm x 1.75 μm or 1.0 μm x 1.0 μm), but much higher sensitivity.

[0118] Figure 1A , Figure 1B and Figure 1CThese are side, top, and rear views of a portable ergonomic endoscope with a disposable cannula in some embodiments. System 100 is designed for simple and quick use, minimizing patient discomfort and providing high placement accuracy. System 100 consists of a disposable or single-use portion 102 and a reusable portion 104. These two portions 102 and 104 can be coupled and discoupled via connectors, which will be described and discussed in more detail below. The cannula 120 has an imaging and illumination module at its front end 110. A wire (not shown) located within the cannula provides control signals and power to the camera and LED illumination module at the front end 110 and transmits video image data from the camera module to the handle 140 and display 150 for operator viewing. In the illustrated embodiment, the handle 140 includes two control buttons 142 and 144, which can be configured for power on / off and image acquisition, respectively. In some embodiments, the handle 140 is shaped like a pistol grip as shown and includes a rechargeable battery 141 accessible through a battery door 148. In some embodiments, battery 141 is a lithium-ion rechargeable battery, such as a 18650 or 26650 type. The handle 140 also contains an electronics module 143 mounted on a printed circuit board (PCB) 145. The electronics module 143 and PCB 145 are configured to perform various processes, such as video processing and capture, Wi-Fi data transfer to external devices, lighting control, user interface processing, and diagnostics. The electronics module 143 is also configured to include at least one non-volatile memory module for storing video and images captured from the camera module. In some embodiments, the display 150 can both tilt and rotate to provide the operator with an optimal viewing angle. A rotary joint 152 is configured to provide rotation of the display 150, such as… Figure 1C As indicated by the dashed arrow, the hinge joint 154 is configured to provide tilting for the display screen 150, as shown in the figure. Figure 1B As indicated by the dashed arrow. In some embodiments, the hinge joint is configured to allow the display to tilt approximately 90 degrees, or close to 90 degrees, in the frontal direction. This tilt can be useful, for example, when providing the operator with an unobstructed or less obstructed view. The handle 140 also includes an up- or down-movable thumb lever 146, as indicated by the dashed arrow. Moving the thumb lever 146 up and down causes the front tip 110 to bend up and down, respectively, as indicated by dashed outlines 180 and 182. Further details regarding the operation of the thumb lever 146 controlling the orientation of the front tip 110 and the cannula 120 are provided in U.S. Patent Application No. 17 / 362,043, filed June 29, 2021, which is incorporated herein by reference and is referred to as "Application 043".

[0119] The rear end of the cannula 120 is connected to a fluid hub 172, which in this example includes two fluid ports 132 and 134. At the rear end of the fluid hub is a collar 168. In some embodiments, the collar 168 is configured to be rotatable to allow a "plug and twist-lock" engagement of portions 102 and 104, which will be described in further detail below. In some embodiments, at least a portion of the fluid hub 172, together with the cannula 120 and the tip 110, is manually rotatable relative to the handle 140 along the main longitudinal axis of the cannula 120, as indicated by solid arrow 124. Therefore, rotating the rotatable portion of the hub 172 results in rotation of the cannula 120 and the tip 110, as indicated by solid arrow 122. In some embodiments, the combination of rotating the cannulas 120 and 110 and moving the thumb lever 146 allows the user to "guide" the direction of the tip 110 as needed. In some embodiments, the preferred working length of the cannula 120 is approximately 12 inches, but shorter or longer lengths may be used depending on the medical application. The preferred outer diameter is 5.5 to 6.5 inches, but larger or smaller diameters may also be used depending on the medical application and advancements in camera and lighting technology.

[0120] Figure 2A and Figure 2B These are perspective views of portable and ergonomic endoscopes with disposable cannulas in some embodiments. Figure 2A A syringe 230 is shown for supplying fluid, such as saline solution, through a fluid cavity (not shown) within a cannula 120 via a tube 232, a connector 234, and a fluid port 134. In some embodiments, the cannula 120 is semi-rigid. The cannula 120 is rigid enough that it will not break under the longitudinal thrust and pull forces anticipated during the medical procedure it is to be performed. On the other hand, the cannula 120 is flexible enough that it can bend when passing through curved anatomical structures.

[0121] Figures 3A-3B This is a perspective view illustrating the engagement and disengagement of reusable and disposable portions of a portable ergonomic endoscope in some embodiments. The disposable portion 102 and the reusable portion 104 can be connected and disconnected via mechanical and electrical connectors. The electrical connection is via a USB-C connector 302 on the disposable portion 102. Figure 3A ) and the USB-C socket 304 on the reusable part 104 ( Figure 3BThe mechanical connection includes both a structural connection that fixes the disposable part 102 and the reusable part 104, and a steering connection through which steering input from the steering structure of the reusable part 104 can be transferred to the steering component of the disposable part 102. In this embodiment, the structural connection includes a male circular portion 312 on the disposable part 102, the shape of which can fit tightly with a female socket 314 on the reusable part 104. The structural connection also includes a twist-lock mechanism in which the male portion 322 can be inserted into the female opening 324 and then locked by twisting the male portion 322 approximately a quarter turn (90 degrees). The twisting action can be manually performed by a textured or knurled ring 168. In this way, the connection can be configured as a "plug and twist" type connection. The steering connection is achieved by meshing a drive gear 334 on the reusable part 104 with a driven gear 332 on the disposable part 102.

[0122] Figure 4A and Figure 4B This is a perspective view of the front tip of a multi-camera and illumination module for a portable ergonomic endoscope, in some embodiments. Figure 4A In this diagram, the tip 110 is shown as being connected to the tip of the cannula 120. In some embodiments, the tip 110 includes a housing 410, which is separately molded to the tip of the cannula 120 and then bonded together. The housing 410 houses two camera modules: a CamF module 420 and a CamW module 430. Each of the CamF 420 and CamW 430 modules includes a lens and a sensor. The sensors of the CamF 420 and CamW 430 each include a color sensor, a color filter array, and electronics and circuitry, which will be described in further detail below. On either side of the CamF module 420 are two selected narrow-band LEDs 422 and 424 configured to emit laser light suitable for fluorescence endoscopy. In some embodiments, LEDs 422 and 424 are configured to emit light at approximately 410 nanometers (violet-blue). On either side of the CamW module 430 are two white LEDs 430 and 434 configured to emit white light suitable for visible white light endoscopy. Figure 4A Port 412 is also shown, which is configured to provide an opening through which fluid (inflow or outflow from the patient) and / or tools or other devices (e.g., needles) can pass. Note that, although... Figure 4AA total of four LEDs are shown (two white and two selected narrow-band LEDs). Generally, other numbers of LEDs can be provided depending on factors such as the required illumination quality, endoscope size, and LED characteristics (such as size and brightness). In some embodiments, three or fewer LEDs may be provided, and in some embodiments, ten or more LEDs may be provided. Furthermore, the number of white and wavelength band LEDs is not necessarily equal and will also depend on various factors. LED groups can be three, four, or more. Other light sources can also be used instead, such as optical fibers that transmit light generated elsewhere.

[0123] exist Figure 4B The illustrated embodiment includes two separate device / fluid channels 414 and 416. In this case, both have an inner diameter of 2.2 mm. In some embodiments, channel 414 may be connected to fluid port 134. Figure 1A ), while channel 416 is connected to fluid port 132 ( Figure 1A In some embodiments, to improve sensitivity to fluorescence, the CMOS sensor of the CamF420 is configured with larger pixels than that of the CamW430. For example, the pixels of the CamF may be 2.2um x 2.2um, arranged in a matrix size of 400x400, while the pixels of the CamW are 1.0um x 1.0um or 1.75um x 1.75um, arranged in a higher spatial resolution matrix size. Since white LEDs tend to be relatively strong, the CamW430 module may include a CMOS sensor with smaller pixels, such as 1.75um x 1.75um or 1um x 1um, thus achieving higher spatial resolution and a matrix size of 720x720 or larger.

[0124] In some embodiments, the CamF 420 is used for selected narrow-band optical endoscopy, with a partial CFA. One embodiment is shown... Figure 7 In this method, only an R filter is used, thus filtering out blue and green light, leaving mostly red light reaching the sensor. In some embodiments, an infrared camera is used as the CamF.

[0125] Figure 5This is a schematic diagram of a dual-camera, dual-light source system for multispectral imaging and surgical applications in some embodiments. As shown, the front-end tip 110 includes a camera and an illumination module, namely CamF, LightC, CamW, and LightW. The CamF camera 420 is configured to capture images of a specific color or bandwidth, such as a narrow band of fluorescence centered at 610 nm. The filter of CamF 420 is designed to block incident light of other wavelengths, for example, by using a specially designed CFA array. CamF can be used for NBI or FI, depending on the specific application. The LightC light source (422 and 424) used for CamF 420 can be a laser in the case of fluorescence imaging, or simple blue or green light in the case of NBI. LEDs or special light sources can be used. In some embodiments, CamW 430 is a common white light camera, such as a mobile phone camera. Typical RGB CFAs can be used, and infrared filters can also be used. Typically, an infrared filter that filters out 50% of wavelengths above 650 nm can be used. The light source LightW (432 and 434) of CamW can be LEDs with various hues close to daylight. The cannula 120 includes cables 450 and 452. Figure ImgF refers to an image captured by camera CamF, which may be fluorescence, or, in the case of NBI, a reflection of green or blue light. Figure ImgW refers to an image captured by camera CamW, which may be fluorescence, or, in the case of NBI, a reflection of green or blue light.

[0126] Because the endoscope has two cameras that can operate simultaneously and have different lighting combinations, such as LightC, LightW (or other light strips), the system takes advantage of having two "eyes" looking at the same target, but simultaneously seeing different aspects of the target, thus extracting more information from the object and target. For example, when blue light is on, CamF will see most of the fluorescence emission, while CamW will simultaneously see the object's reflection from LightC (which may be very strong) and a small amount of fluorescence. Because the two cameras are synchronized and spatially relatively calibrated, different kinds of integrated information are delivered to the user to improve the clinical experience, rather than seeing only one of the two pieces of information about the object or target.

[0127] In some embodiments, Nyxel technology, developed by OmniVision, can be used. Nyxel pixels can be used in CamF 420 and have significantly improved pixel sensitivity, particularly for the red and near-infrared bandwidth. This is especially useful for detecting fluorescence around 610 nm.

[0128] In electronic module 143, front-end processing and main system processing are performed. In some embodiments, images are combined and displayed on display 150.

[0129] Figure 6 This is a conceptual diagram illustrating design aspects of a dual-camera, dual-light source system for multispectral imaging and surgical applications in some embodiments. Generally, it is preferable to obtain multicolor or multispectral images of the target object (such as human tissue). Typically, the visible light image of the object, plus an image obtained from other color bands, is used to better characterize the target tissue and shape. Two cameras (CamF, CamW) are associated with two light sources (LightC, LightW). CamF is an optical camera sensitive to certain color bands, such as red and infrared. The output of camera CamF is Figure ImgF. LightC is a light source (C-band), not white light. In dual-frequency imaging (DBI), LightC can be green or blue. In fluorescence imaging, it can also be a light source that excites the object to fluoresce. CamW is an optical camera sensitive to certain color bands (B), such as white light. The output of camera CamW is Figure ImgW. LightW is a light source emitting a specific color band B, such as white light.

[0130] Figure 7 The illustrations show possible color filter array configurations for dual-camera, dual-light-source systems used in multispectral imaging and surgical applications. In some embodiments, CamF uses Nyxel pixels (from Omnivision) and a "red-only" filter array, i.e., CamF RRRR filters. This arrangement allows red and / or infrared bands to pass through while filtering out background blue and green light.

[0131] Compared to Nyxel CFA or Old CFA, CamF can achieve four times the red resolution because one out of four pixels in the Nyxel or Old CFA array is used to capture red. On the other hand, Figure 7 Each pixel in the CamF array is used to capture red.

[0132] Figure 8 This is a graph showing the quantum efficiency of Nyxel and conventional pixels against wavelength. The quantum efficiency in this graph is based on the new sensor developed by OminiVision, the Nyxel pixel. Curve 810 represents a Nyxel blue pixel. Curve 812 represents a conventional blue pixel. Curve 820 represents a Nyxel green pixel. Curve 822 represents a conventional green pixel. Curve 830 represents a Nyxel red pixel. Curve 832 represents a conventional red pixel. In particular, curves 830 and 832 show that the Nyxel red pixel has significantly higher sensitivity to the red or infrared bands than the conventional red pixel.

[0133] Figure 9Further aspects of combining multi-band image data from a dual-camera, dual-light-source system are illustrated in some embodiments. With the availability of a global shutter-capable camera CamF, camera CamW can capture image frames with different combinations of light sources LightC and LightW being "on" or "off". In "Surgical Implementation Scheme 1", light source LightC (blue light) is "on", but light source LightW is "off", and the captured images are Image ImgF from camera CamF and Image ImgWB from camera CamW. Image ImgF and Image ImgWB are spatially aligned or correlated. This is possible because there is a very short time lag between images captured by different cameras (or complete synchronization when both cameras are capturing simultaneously). Image ImgWB provides a background image illuminated by light source LightC and can be used to correct the background of Image ImgF. When only light source LightC is on, the Image ImgF data is combined with Image ImgWB to produce Image "eImgB".

[0134] In the case of blue light endoscopy, Figure ImgF has a low signal-to-noise ratio (SNR) (due to weak fluorescence signal), so a CMOS sensor with high SNR pixels is used. On the other hand, Figure ImgW has a high SNR (due to strong white light), so a CMOS sensor with smaller pixels can be used to improve spatial resolution.

[0135] In "Surgical Implementation Plan 2," camera CamF is used to capture an image (ImgIR) when the light source LightC is "off." Camera CamW captures a standard white light image when the light source LightW is "on." In this case, image ImgIR provides a "thermal map" of the target; it is useful when using energy devices such as lasers or radiofrequency for tissue modification. Image ImgIR can draw the user's attention to hot or cold spots. The data from image ImgIR and image ImgW can be spatially calibrated or correlated due to the short (or non-existent) time lag between images captured by different cameras. Image ImgIR and image ImgW can also be merged or overlaid to provide the precise location of hot and cold spots. That is, hot and cold spots can be viewed against the background of a normal standard white light image, providing the viewer with a context for locating hot and cold spots.

[0136] In "Surgical Example 3," image ImgW is combined with image eImgB. By combining embodiments 1 and 2, high-quality image eImgB data is spatially calibrated with white light image ImgW. The observer can obtain high-resolution image ImgW, or fluorescence image eImgB, or a superposition of both. In some embodiments, the surgeon can utilize existing images to better observe their target. Seamless switching between different visualization modes is possible between fluorescence image eImgB, white light image ImgW, and infrared image ImgIR.

[0137] In the fourth "Example 4" (not in Figure 9 As shown in the data, with the accumulation of clinical cases, artificial intelligence algorithms (or machine learning) can be designed for automatic diagnosis.

[0138] Figure 10 This is a stereoscopic view in which, in some embodiments, a combined, spatially calibrated image is displayed to the user on an endoscopic system. In the displayed view, a normal white light image (ImgW) 1020 is displayed on the majority of the display screen 150. The illustrated embodiment is... Figure 9 The illustrated "Example 3" shows an eImgB image combined with a standard white light image (ImgW) and spatially calibrated. In this case, regions 1010 and 1012 are derived from the eImgB data and clearly show the cancerous tumor. The operator can easily view the cancerous regions 1010 and 1012 against a normal color image of the surrounding tissue in the spatial calibration. This mixing or combination provides a significantly enhanced view of the target tissue. In some embodiments, the operator can access this view by pressing a toggle button, such as button 142, button 144 (in...). Figure 1B and Figure 2B The different modes can be easily switched (e.g., in embodiments 1, 2, or 3) via the soft button 1040 on the touch display 150 (as shown in the image).

[0139] Figure 11 This is a perspective view of an endoscope system, in some embodiments of which has one or more forward-facing cameras. The illustrated embodiment has two forward-facing (front-end) cameras 1140 and 1142. The forward-facing cameras allow the operator to accurately see the location of the tip without having to remove the screen. During surgical procedures, especially immediately after or during the initial insertion of the tip 110, the operator's line of sight can be primarily focused on the display screen 150. The precise location of the tip and its surroundings can be seen on the display screen 150 through the forward-facing cameras 1140 and 1142. Image enhancement, such as artificially providing depth of field, can be beneficial in certain procedures. Two cameras or other means (such as lidar imaging) can be used to simulate a depth of field centered on the tip to improve usability.

[0140] Figure 12 In other aspects and Figure 5 Similar, but showing a multi-camera, multispectral endoscope where two cameras produce white light stereoscopic images in one operating mode, but produce selected narrow-band light or fluorescence images in another mode. Figure 12In this design, a forward-looking camera 430 (CamW) is located at the front end of the cannula 120 for observing the target, primarily responding to the wavelength range of white light. An electrically controlled color filter 1202 is also located at the front end of the cannula and is configured to selectively operate in mode A, primarily allowing light within the wavelength range of white light, or in mode B, primarily allowing light within a selected narrow wavelength band or fluorescent light. An example of such a filter is discussed in U.S. Patent Application No. 16 / 363 / 209 and published under No. 2019 / 0216325A1, both of which are incorporated herein by reference. A forward-looking camera 12420 (CamFA / B), also located at the front end of the cannula, observes the target from a different angle through the electrically controlled color filter. Images from cameras 430 and 12420 are shown. Figure 6 Both cameras shown observe the target in the same way. Processing system 143 is configured to selectively switch the color filter between mode A and mode B, and process image data received from cameras 430 and 12420 to form a white-light stereoscopic image of the target when the filter is operating in mode A, but to form a selected narrow-band image or fluorescent image from camera CamFA / B when the filter is operating in mode B. Image display 150 displays the image; processing system 143 and display 150 are configured to form and display a composite image as a superposition of the white-light stereoscopic image and the selected narrow-band light image or fluorescent image, such as... Figure 10 The image shown highlights different regions where selected parameters are shown. Processing system 143 can be configured to rapidly switch filter 1202 between modes 1 and 2, for example, several times per second or hundreds of times per second or more, thereby making the stereoscopic image and the selected narrow-band image or fluorescence image essentially real-time display of the target for practical purposes. As mentioned above, the selected narrow-band image or fluorescence image preferably has a lower spatial resolution than the image from the white light camera. Processing system 143 and display 150 can be configured to selectively display the composite image, or the stereoscopic image, or the selected narrow-band image or fluorescence image, or simultaneously display all three images. The composite image can be as follows: Figure 10 The image shown is a superposition of two spatially calibrated images of the same target, but taken with light of different wavelengths.

[0141] Figure 13 A multi-camera, multispectral endoscope is illustrated, wherein a first forward-looking camera system provides a white-light stereoscopic image of the target, a second camera system provides a selected narrow-band image or a fluorescence image of the target, and a processing system merges these two images into a composite image for overlay display. Figure 13In the first forward-looking camera imaging system, located at the front end of the cannula 120, two cameras—camera 430 (CamW1) and camera 431 (CamW2)—are both observing the same target, but at different angles, just like... Figure 6 The system contains two cameras. Camera 430 primarily responds to the wavelength range of CamW1, while camera 431 primarily responds to the wavelength range of CamW2. These two wavelength ranges can be the same white light. A second camera system, also located at the front end of the cannula 120, includes a camera 420 (CamF), which also sees the target but primarily responds to the CamF wavelength range, which differs from at least one of the CamW1 and CamW2 wavelength ranges. The wavelength ranges of CamW1 and CamW2 can be the same white light. The wavelength of camera CamF can be a selected narrow band or fluorescent light. Processing system 143 ( Figure 6 The processing system 143 is connected to the first and second camera systems and configured to receive image data from the first and second camera systems, and process the received image data into a white-light stereo image, a selected narrow-band image, or a fluorescent image, and a composite image overlaid with the stereo image and the selected narrow-band image or fluorescent image. The processing system 143 is also configured to control LED light sources 242, 244, 432, 434, and 435 to turn them on or off as needed for their respective images. In this embodiment, Figure 13 All three cameras can simultaneously view the target. The processing system 143 and display 150 can be configured to selectively display a composite image, or a stereo image, or a selected narrowband image or a fluorescence image, or simultaneously display all three types of images. The composite image can be like... Figure 10 That is, a superposition of two spatially calibrated images of the same target, but taken in different wavelength ranges of light. Figure 13 Two channels in the cannula 120—414 and 416—are shown—but one or more channels may be used.

[0142] Figure 14 In other aspects and Figure 13 Similar, but shows a multi-camera, multispectral endoscope in which the three cameras and their light sources are arranged differently, and the cannula 120 has a single channel 1402.

[0143] Figure 15 In other aspects and Figure 13 The same approach is shown, but a multi-camera, multispectral endoscope is illustrated, in which the second forward-facing camera system comprises CamF1 and CanF2, both imaging within a selected narrow band or fluorescence wavelength range, allowing the system to produce stereoscopic images under both white light and selected narrow band light or fluorescence light. Figure 14In the middle, the first forward-looking camera system located at the front end of the cannula includes a camera 430 (CamW1) and a camera 431 (CamW2), and Figure 6 Two cameras in the first and second camera systems observe the target from different angles. Cameras CamW1 and CamW2 respond to the wavelength ranges of CamW1 and CamW2, respectively. A second forward-looking camera system, also located at the front end of the cannula, includes a camera CamF1 and a camera CamF2, observing the target from different angles and responding to the wavelength ranges of CamF1 and CamF2, respectively. These ranges may be the same or overlap, including selected narrow-band light or fluorescent light. The wavelength ranges of CamW1 and CamW2 are white light ranges and may be the same or overlap. The wavelength ranges of CamF1 and CamF2 may be selected narrow-band light ranges or fluorescent light ranges and may be the same or overlap. Processing system 143 receives image data from the first and second camera systems and processes the received image data into a composite image that overlays a white light stereoscopic image of the target and a selected narrow-band image or fluorescent image of the target. Display 150 displays the composite image. Display 150 may display any one or more of the white light stereoscopic image, the selected narrow-band or fluorescent image, and the composite image. As long as the two cameras of the first camera system observe the target from different angles, and the two cameras of the second camera system also observe the target from different angles, the positions of the cameras can be interchanged. Figure 14 Two channels, 414 and 416, in the cannula 120 are also shown, although different numbers of channels may be used. Figure 14 The light sources for each of the four cameras are also shown as 242, 244, 432, 434, 433, 435, 437 and 439, although different numbers or arrangements of light sources can be used.

[0144] Figure 16 In other aspects and Figure 14 The same, but shows a multi-camera, multispectral endoscope in which four cameras and their light sources are arranged in a different manner around a channel 1502 in the cannula 12.

[0145] Figures 17-22 Endoscopes t in some embodiments are shown. Figure 17 This is a 3D diagram of assembling the 17100 endoscope. Figure 18A reusable portion 17104 and a disposable portion 17102 are shown as independent units before they are detachably assembled by sliding portion 17102 close to the reusable portion 17104. The reusable portion 17104 includes a display 150 and an L-shaped handle portion 17140, which consists of a downwardly extending handle 17141 and an axially extending housing 17142, the handle 17141 being gripped by a user's hand. The display 150 is mounted on the reusable portion 17104. The disposable portion 17102 includes a hub 17172 detachably attached to the housing 17142, with a cannula 17120 extending from the front end of the hub. The housing 17142 has an axially extending, downwardly facing groove 1902. Figure 18 and Figure 19 The hub 17172 includes an axially extending, upward-facing rail 1802 configured to slide into a slot 1902 in a rear-end direction, thereby detachably securing the disposable portion 17102 and the reusable portion 17104 together. The hub 17172 has a rear-end facing electrical connector 1804. Figure 18 The housing 17142 has a mating, front-facing electrical connector 1904. When the disposable portion 17102 and the reusable portion 17104 are secured together, they form... Figure 17 When the endoscope 17100 is assembled as shown, the two electrical connectors mate and make electrical contact. The rear end of the handle portion 17140 has an oval opening 1906, which is used when the endoscope is assembled... Figure 17 In the form described above, the rear end of the thumb lever passes through and extends to the rear end. An elliptical opening 1906 connects to a vertical opening 1908, allowing the lever portion of the thumb lever 1910 to move up and down. The thumb lever is part of a bending mechanism, as described below, that bends the front end of the cannula to... Figure 17 The curves seen in the image, as well as any intermediate points. They can curve upwards or downwards.

[0146] Figure 19 The disposable portion 17102 and the reusable portion 17104 are shown in a perspective view. Viewed from the front, the reusable portion 17104 has an opening 1912 in which the disposable portion 17102 slides. Within this opening is an axial, downward-facing C-groove 1914 and an electrical connector 1916. Figure 18 As shown, hub 17172 has an upwardly extending, axially oriented track 1802, which is T-shaped and configured to slide into slot 1914 during endoscope assembly. Figure 18 An electrical connector 1804 can also be seen, which is configured to connect with the endoscope when it is assembled. Figure 19The electrical connector 1916 in the middle is used to mate and make electrical contact. Figure 19 Also shown is a locking pin 1918 and a locking release device 1920, which are used to securely lock the disposable part 17102 and the reusable part 17104 when the endoscope is assembled, and are described below with Figure 20 The relevant sections describe this in detail. The cannula 17120 has a camera and light module at its front end, which can be any module discussed above regarding other embodiments of the endoscope, and is connected to the display 150 via internal cables and electrical connectors (in this case 1916 and 1804), as in other embodiments discussed above. The reusable portion 17104 may have buttons or other manually operated inputs, as discussed above regarding other embodiments of the endoscope, to control camera functions and / or other functions. The handle portion 17140 may house electronics for processing image data, as discussed above regarding other embodiments. In some embodiments of the endoscope 17100, the display 150 may be omitted, and image data may be displayed on an external display that is wirelessly or via cable connected to the camera module at the front end of the cannula 17120.

[0147] Figure 20 This is a cross-sectional view of a portion of the single-use part 17102, showing the locking pin 1918, which is propelled upward by the spring 2002 and the locking release device 1920. When pushed to the rear end, it pushes the locking pin 1918 down and disengages it from the latch 1922. Figure 18 The locking pin 1918 engages with the locking pin 1922, which is a groove on the bottom surface of the opening 1914. When the endoscope is assembled, the locking pin 1918 engages with the locking pin 1922, securing the disposable part 17102 and the reusable part 17104 together. After the medical procedure is completed, the user presses the locking release device 1920, thereby releasing the engagement of the locking pin 1918 and the locking pin 1922, and pulling the disposable part 17102 out from the front end of the reusable part 17104. Figure 20 A bending mechanism for bending the tip of the cannula 17120 is further illustrated. This mechanism includes a half-wheel 2004 mounted to rotate about its center and fixed to a thumb lever 1910, such that the up-and-down movement of the thumb lever 1910 is converted into rotation of the half-wheel 2004. A cable 2006 is fixed to the half-wheel 2006 and the tip of the cannula 17120, such that rotation of the half-wheel 2004 in one direction bends the tip of the cannula in that direction, and rotation of the half-wheel 2004 in the opposite direction bends the tip of the cannula in the opposite direction.

[0148] Figure 21This is an exploded perspective view illustrating the components of the handle portion 17140, the display 150, and the disposable portion 17102. The hub 17172 consists of left and right covers 17172a and 17172b, and left and right covers 17172c and 17172d, extending from its front end. A cover 2102 screws onto the front end of the hub 17172, securing the cannula 17120 to the hub 17172. Fluid ports 2104 and 2106 merge into a Luer fork, leading into the cannula 17120, as does the cable 2006. An electrical connector 1916 (which may be a DP20 connector) is also part of the disposable portion 17102. A mechanical connector 2008 facilitates the assembly of the disposable portion 17102 of the endoscope.

[0149] Figure 22 This is a top view of the assembled endoscope 17100, illustrating the relative positions of the components, including fluid ports 2104 and 2106.

[0150] As described above, features and components associated with one embodiment can be used in another of the embodiments. As a non-limiting embodiment, different configurations of the imaging and illumination modules can be used in any of the described endoscopes. Figure 20 The aforementioned cannula bending mechanism can be used with any of the aforementioned endoscopes, etc.

[0151] Endoscopy / Stereo Colposcopy and Other Examples

[0152] Figure 23 A perspective view illustrates an assembled endoscope / stereoscopic colposcope instrument 2300 in some embodiments. Instrument 2300 includes a disposable portion 2302, which can be used in all respects as... Figure 18 Similar to section 17102 seen elsewhere, it includes a hub 23172 and a cannula 120, which has an endoscope camera and an endoscope light source at its tip. Instrument 2300 further includes a reusable section 2304, which otherwise... Figure 18 Similar to the reusable portion 17104 seen elsewhere, but with added... Figures 1A-22Important functions not discussed. These functions include an imaging and illumination system comprising front-facing cameras (FFC) 2306 and FFC 2308, surrounded by respective light sources S2310 and S2312, which may be LED arrays selectively emitting white or colored light within a selected wavelength range. At least one FFC preferably has a spatial resolution of at least 8 megapixels, preferably higher, and the two FFCs may have the same or different spatial resolutions and / or sensitivities. As shown, the FFCs are spaced apart from each other so that they can provide a stereoscopic view of the target at a certain angle for viewing the same target at a selected distance (e.g., 25-30 cm (or another suitable distance)) or different selected distances. The FFCs are preferably mounted on the front-facing side of the display 150, but may also be mounted in other ways on the reusable portion 2304. Like the reusable portion 17104, the reusable portion 2304 includes a handle 23140 configured to be gripped by a user's hand, and the display 150 is mounted on the reusable portion 2304. Furthermore, unlike the reusable part 17104, the reusable part 2304 has added electronic devices configured to process image data from FFC 2306 and 2308 for display.

[0153] Figure 24 An endoscopic / stereoscopic colposcope instrument 2300 is illustrated in perspective, showing a reusable portion 2304 and a disposable portion 2302. In some embodiments, these portions can be releasably interconnected to form an assembled endoscope. The disposable portion 2302 and the reusable portion 2304 can be assembled into an assembled endoscope, as described above. Figure 18 Description related to other figures. When assembled in this manner, instrument 2300 can be used as an endoscope, in the same way as described above. Figures 1A-22 The implementation of the endoscope is the same.

[0154] Figure 25 Is with Figure 24 The same perspective view of instrument 2300 before the single-use portion 2302 and the reusable portion 2304 are assembled, but in some embodiments, it is viewed from a different perspective.

[0155] Figure 26 This is a perspective view of the reusable portion 2300, illustrating a colposcopy configuration in some embodiments using white light imaging or narrow-band imaging with light of a selected color or color range. The reusable portion 2304 has several operating modes, in which FFCs 2306 and 2308 and light sources S2310 and S2312 operate in different ways, and the display 150 displays different images.

[0156] In white stereoscopic mode, light sources S2310 and S2312 are configured to emit white light, such as from a white LED. Cameras FFC1 and FFC2 simultaneously acquire white light images and provide image data, which are processed by the electronics in reusable section 2304 into a stereoscopic image of the target, such as the patient's cervix displayed proximally on display 150. For white only, both cameras can use a single LED light source. Display 150 can be touch-sensitive and configured to digitally scale the displayed image in response to commands. As previously mentioned, the spatial resolution of one or both FFCs is preferably high-definition or 8 megapixels, but higher is possible and more desirable, although a lower spatial resolution may be used for one or both FFCs in special cases.

[0157] In the narrowband imaging mode, light sources S2310 and S2312 are configured to emit narrowband light, such as green light from a green LED in addition to white light from the LED. FFC 2306 and 2308 simultaneously acquire the green light image, and the reusable portion 2304 processes it into a display image, transforming it into a stereoscopic image of the target, which is then displayed on the near end face of the display 150.

[0158] If necessary in special circumstances, only one of FFC 2306 and 2308 can be used in any of the above modes. In this case, the display 150 will show a two-dimensional (2D) image of the target instead of a stereoscopic (3D) image. In this special case, either the two light sources S2310 and 2312, or only one of them, can be used to illuminate the target.

[0159] Figure 27 and Figure 26 Similarly, but in some embodiments, a fluorescence imaging mode of a target (such as a patient's cervix) is shown. In this mode, the target is fluoresced, for example by labeling the target or a selected area of ​​the target with a fluorescent substance, or by activating it with appropriate light to fluoresce. In this mode, the camera CamW has a light source LightW that illuminates the target (such as the cervix) with white light, and the camera CamF has a light source LightC that illuminates the target with light that fluoresces the target tissue. The camera CamF has a color filter that preferentially allows the fluorescent light to pass through. The cameras CamF and CamW preferably acquire image data simultaneously. The reusable part 2304 processes the image data into a white light image and a fluorescence image, preferably calibrating and superimposing them into a composite image for display. In special cases, each of the white light and fluorescence images can be displayed separately.

[0160] In other embodiments, the forward-looking cameras FFC1 and FFC2, as well as cameras CamW and CamF, can be replaced by a larger set of cameras and light sources, such as... Figures 12-16The description of the camera and light source of the front-end camera of the intubation tube 120 is provided.

[0161] Figure 28 This is a side view illustrating its use for facial recognition in some embodiments. In this embodiment, one or both cameras FFC1 and FFC2 of the reusable portion 2304 image the user, and the facial recognition facility identifies the user and provides data, for example, to automatically associate the user with the act of assembling the reusable portion 2304 with the disposable portion 2302, or to associate the user with an image acquired by the instrument 2300.

[0162] Figure 29 A reusable portion 2304 used during colposcopy is illustrated in some embodiments. In this embodiment, the reusable portion is secured to a height- and angle-adjustable bracket 2902. The bracket 2902 is adjusted according to the user's line of sight and the distance and angle from the target (cervix 2904). A speculum used in a conventional manner provides illumination and a path for observing the cervix. An illustration shows a perspective view of the cervix displayed on the rear face of the monitor 150.

[0163] Figure 30This is a perspective view illustrating an apparatus for embedded fluorescence imaging of the cervix. A device for photodynamic therapy (PDT) of a patient's cervix is ​​discussed in U.S. Patents 9,974,974 and 10,485,985, and a commercial product called Cevira is available on the market for this purpose. The device includes a battery-powered light source that illuminates and thus activates material adhering to the cervix for photodynamic therapy (PDT). In some embodiments described in this patent specification, a camera 3002 is added to form an integrated device 3000. The camera 3002 is fixed to the cup-shaped portion of the device 3000, facing the area of ​​the cervix to be treated when the device 3000 is fixed to the patient's cervix. The camera 3002 can be adjusted with suitable color filters to image the fluorescence of the cervix, such as the CamF camera described above, or to image another band, or to image white light, and can be powered by a battery or other battery that powers the light source in the device 3000. Image data provided by camera 3002 can be stored in a memory fixed to device 3000 or transmitted to external device 3004 via wire or wireless means. In the case of a wired connection: A thin cable 3006 connects device 3000 to external device 3004, which can be worn by the patient to store image data and / or display image data from camera 3002. In this case, external device 3004 can be battery-powered and provide power to camera 3002. In the case of a wireless connection, device 3000 may include a WiFi or other transmitter to wirelessly transmit image data to external device 3004 for storage and / or display. Camera 3002 may rely on light used for photodynamic therapy to induce fluorescence, or on the inherent fluorescence of substances provided at the cervix. Additionally, camera 3002 may include a light source to induce fluorescence.

[0164] Camera 3002 does not require continuous power supply. Preferably, camera 3002 is configured to take one or more images only at selected times, for example, when device 3000 is inserted and positioned inside the patient, to confirm the appropriate location and desired target being illuminated, and to monitor the treatment progress during the time intervals of photodynamic therapy in which device 3000 remains inside the patient.

[0165] One FFC camera 3002 can meet the needs of colposcopy. Therefore, in single FFC camera mode, only one FFC camera can be mounted on the reusable part 17140 with its light source S1. In this case, a single FFC camera can provide a two-dimensional view of the cervix, rather than a stereoscopic (three-dimensional) view. Alternatively, only one of the two FFC cameras 3002 and 3004 can be powered on for single FFC mode. However, a second similar camera can be provided and powered on in the device 3000, with the two FFC cameras spaced apart, to provide stereoscopic image data.

[0166] In another mode, cameras FFC1 and FFC2, along with their light sources S1 and S2, are configured to operate in a time-alternating mode, in which they alternately acquire images of different wavelength bands. For example, images are acquired as a repeating sequence of green, blue, and white light images. If the sequencing is fast enough, the system can essentially acquire all three types of images simultaneously, or any two of them, and can display them individually or in a spatially calibrated image overlay, for example, displaying only two different colors of images or an overlay of all three. The switching of light sources and cameras can be performed using two or more cameras and their respective light sources in the imaging module at the top of the cannula 120, as described in the multispectral mode above.

[0167] Figure 31 An instrument 3100 with endoscopic and colposcopy functions is shown in some embodiments. Like the instruments discussed above, it also includes an embodiment with images arranged on a display screen. Instrument 3100 has a power button 3102 for turning the instrument on and off, and a shutter button 3104 for initiating image acquisition. The colposcopy camera is designated as FFC, and the imaging module at the tip of the cannula 120 is designated as a hysteroscopy camera or EDC (although the instrument can also be used for medical procedures other than hysteroscopy). As shown, the display surface of the display 150 can be divided into two areas: a main display window MD, which can display images from the EDC (e.g., hysteroscopy images) or colposcopy images (FFC), and a picture-in-picture window PIP, which can also display images from the EDC (e.g., hysteroscopy images) or colposcopy images (FFC). Other embodiments arranging images on the display screen 150 are also possible.

[0168] Figure 32This is a flowchart illustrating an example of a sequence of steps in using an instrument with endoscopic and colposcopy functions in some embodiments. In step 3202, the instrument 3100 is powered on using the power button 3102. In step 3204, the screen of display 150 displays a logo such as HysteroVue and / or other information to indicate that the user's instrument is powered on and ready for use. In step 3206, cameras FFC1 and FFC2 are enabled to acquire images using light sources S1 and S2, which are preferably off. In step 3208, the instrument checks whether the disposable portion 17102 is connected to the reusable portion 17104. If the answer is no, in step 3209, the screen of display 150 displays a colposcopy menu in screen portion MD, which includes facilities for entering, for example, patient identification information (ID) and / or other information about the patient and medical procedures. In step 3211, light sources S2310 and S2312 are turned on, and the instrument enters the aforementioned colposcopy mode (or uses facial recognition). If the answer to step 3208 is YES, the instrument prepares to enter hysteroscopic mode (or another mode in which the imaging module EDC at the tip of cannula 120 will acquire images). In step 3210, an initial step related to inserting cannula 120 into the patient, the main display MD shows live video from the FFC camera, and the PIP area shows live video from the EDC camera (but the light source at the tip of cannula 120 is preferably off at this time). In step 3212, the screen of display 150 displays the main menu for the endoscopy, allowing patient identification and / or other information to be entered via the touchscreen in the MD section. In step 3214, the instrument 3100 fully enters its endoscopic mode, and the light source of the imaging module at the tip of cannula 120 is turned on. After cannula 120 is inserted into the patient, the user can touch the EDC window on the display 150 screen to make the FFC window disappear, and the endoscopy can continue, acquiring images within the desired color range.

[0169] Although the foregoing has been described in detail for clarity, it will be apparent that certain changes and modifications can be made without departing from the principles of the invention. It should be noted that many alternative ways of implementing the processes and apparatus described herein exist. Therefore, these embodiments should be considered illustrative rather than restrictive, and the subject matter of the work described herein is not limited to the details given herein, which can be modified within the scope and equivalents of the appended claims.

Claims

1. A medical endoscope / stereoscopic colposcope examination instrument, comprising: A reusable section includes a handle configured to be gripped by a user's hand and a display mounted on the reusable section; A positive colposcopy imaging and illumination system mounted on the reusable portion, including a first colposcopy camera FFC1 and a first light source S1, and a second colposcopy camera FFC2 and a second light source S2, is configured to capture stereoscopic colposcopy images of the patient's cervix for display on the monitor. The single-use component includes a hub detachably fixed to the rear end of the housing and a cannula extending from the front end of the hub, the cannula being configured for insertion into a patient and having an endoscopic imaging and illumination system at the front end of the cannula, including an endoscopic camera and an endoscopic light source. An interlocking bracket at the rear end of the disposable portion and the reusable portion is configured to releasably connect the reusable portion and the disposable portion to form an assembled endoscope, configured to capture endoscopic images with the endoscope imaging and illumination system for display on the monitor. as well as A processor is configured to process image data from the colposcopy imaging and illumination system and the endoscopy imaging and illumination system into colposcopy images and endoscopy images, and to cause the display to show one or both colposcopy and endoscopy images. One of the housing and the hub includes a mounting formed as an axially extending slot, and the other includes a mounting formed as an axially extending track configured to slide into the slot in a rearward direction, thereby removably securing the hub and the cannula to the handle portion; the rearward portion of the handle portion includes an opening, and the hub and the cannula include a bending mechanism configured to bend the front end portion of the cannula and includes a rearwardly extending thumb bar that extends through the opening and from the rear end of the handle portion when the hub and the handle portion are secured to each other, allowing manual operation of the thumb bar to control the bending of the front end portion of the cannula.

2. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: Cameras FFC1 and FFC2, as well as light sources S1 and S2, are mounted on the front of the display, facing one side.

3. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: The light source S1 is configured to selectively emit light in a first selected narrow band that is narrower than white light.

4. The medical endoscope / stereoscopic colposcope examination instrument according to claim 3, characterized in that: The narrow band is configured to cause fluorescence to be emitted from a location within the patient's body.

5. The medical endoscope / stereoscopic colposcope examination instrument according to claim 3, characterized in that: The camera FFC1 is configured to image light associated with the narrow band.

6. The medical endoscope / stereoscopic colposcope examination instrument according to claim 5, characterized in that: The camera FFC1 is configured to image fluorescence.

7. The medical endoscope / stereoscopic colposcope examination instrument according to claim 5, characterized in that: The camera FFC2 is configured to image white light.

8. The medical endoscope / stereoscopic colposcope examination instrument according to claim 3, characterized in that: The camera FFC1 is configured to image light associated with the narrow band and has lower spatial resolution but higher sensitivity than the camera FFC2.

9. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: The camera FFC1 includes a first electronically controlled color filter configured to selectively switch between light of a selected color and white light.

10. The medical endoscope / stereoscopic colposcope examination instrument according to claim 3, characterized in that: The camera FFC1 is configured to image light associated with the narrow band, the camera FFC2 is configured to image white light, and the display is configured to overlay spatially calibrated images captured by the cameras FFC1 and FFC2.

11. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: Two cameras, FFC1 and FFC2, image white light and are spaced apart to obtain a stereoscopic view of the patient's cervix.

12. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: Both cameras, FFC1 and FFC2, are configured to image within a narrow band narrower than white light and are spaced apart to obtain a stereo view.

13. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: Both cameras, FFC1 and FFC2, are configured to image fluorescence and are spaced apart to obtain a stereo view.

14. The medical endoscope / stereoscopic colposcope examination instrument according to claim 1, characterized in that: The endoscope camera located at the front end of the disposable portion includes: A camera, CamW, is configured to view the patient's target and primarily respond to the wavelength range of white light; The second electronically controlled color filter is configured to selectively operate in mode A, primarily allowing light within the wavelength range of white light, or in mode B, primarily allowing (i) a second selected narrow wavelength band narrower than white light or (ii) fluorescent light. A forward-looking camera, CamFA / B, is configured to observe the target from different angles and through the second electronically controlled color filter; and The processor is operatively connected to the display and is configured to: Selectively switch the second electronically controlled color filter between mode A and mode B, and Receive image data from the CamW and CamFA / B cameras, and: When the second electronically controlled color filter is working in mode A, a white light stereoscopic image of the target is formed; When the second electronically controlled color filter operates in mode B, a selected narrowband image or fluorescence image is formed from the camera CamFA / B; and A composite image is formed and displayed on the display as a superposition of a white light stereoscopic image and a selected narrow-band image or a fluorescence image from the CamW and CamFA / B cameras.

15. The medical endoscope / stereoscopic colposcope examination instrument according to claim 14, characterized in that: The cannula is configured to rotate relative to the reusable portion.

16. The medical endoscope / stereoscopic colposcope examination instrument according to claim 14, characterized in that: The camera CamFA / B has a lower spatial resolution than the camera CamW, at least when the second electronically controlled color filter is operating in the mode B.

17. A medical endoscopy / stereoscopic colposcopy examination instrument, comprising: An L-shaped reusable section includes a downwardly extending handle and an axially extending housing; The single-use component includes a hub that is detachably fixed to the rear end of the housing and a cannula extending from the front end of the hub; in: One of the housing and the hub includes a mounting formed as an axially extending slot, and the other includes a mounting formed as an axially extending rail configured to slide into the slot in a rear-end direction, thereby removably securing the hub and the cannula to the handle portion. The rear end portion of the handle portion includes an opening, and the hub and cannula include a bending mechanism configured to bend the front end portion of the cannula and includes a rear-end extending thumb bar that passes through the opening and extends from the rear end of the handle portion when the hub and handle portion are fixed together. Manual operation of the thumb bar controls the bending of the front end portion of the cannula. Endoscopic imaging module located at the tip of the cannula; A colposcope camera module mounted on the housing, including colposcope cameras FFC1 and FFC2, is configured to observe the target from different angles; and A display operatively connected to the endoscope imaging module and the colposcope imaging module to receive their image data and display images based on the received image data.

18. A medical device for fluorescence imaging of a patient's cervix, comprising: A cup-shaped shell containing a light source is configured to cause selected portions of the cervix to fluoresce when the shell is in the treatment position relative to the cervix. The camera CamF1, mounted on the housing, is configured to image the fluorescence of the cervix from a first-view perspective and provide first image data; as well as A display operatively connected to the camera CamF is configured to display a first fluorescence image derived from the first image data. The device includes a hub detachably fixed to the rear end of a housing and a cannula extending from the front end of the hub; wherein: one of the housing and the hub includes a mounting formed as an axially extending slot, and the other includes a mounting formed as an axially extending rail configured to slide into the slot in a rearward direction, thereby detachably securing the hub and the cannula to a handle portion; the rear end portion of the handle portion includes an opening, and the hub and the cannula include a bending mechanism configured to bend the front end portion of the cannula and includes a rearwardly extending thumb bar that passes through the opening and extends from the rear end of the handle portion when the hub and the handle portion are secured to each other, allowing manual operation of the thumb bar to control the bending of the front end portion of the cannula.

19. The medical device for fluorescence imaging of a patient's cervix according to claim 18, further comprising a camera CamF2 also mounted on the housing, the camera being configured to image the fluorescence of the cervix from a second viewpoint and provide second image data, wherein the display is coupled to the camera CamF2 to display a second fluorescence image derived from the second image data.

20. A method for imaging a patient, comprising: Stereoscopic colposcopic images of the patient's cervix are captured using cameras FFC1 and FFC2 installed in a reusable section, which is equipped with a monitor. An endoscope is used to capture images of a patient's bladder or uterus using a disposable part that is detachably connected to a reusable part to form a Pn-assembled endoscope, the distal end of which has a camera CamW for capturing white light images and / or a camera CamF for capturing narrow-band or fluorescence images. as well as The stereoscopic colposcope image and the endoscopic image are displayed on the monitor. A single-use component includes a hub detachably fixed to the rear end of a housing and a cannula extending from the front end of the hub; wherein: one of the housing and the hub includes a mounting formed as an axially extending slot, and the other includes a mounting formed as an axially extending rail configured to slide into the slot in a rearward direction, thereby detachably securing the hub and the cannula to a handle portion; the rear end of the handle portion includes an opening, and the hub and the cannula include a bending mechanism configured to bend the front end of the cannula and includes a rear-end extending thumb rod that, when the hub and the handle portion are secured to each other, passes through the opening and extends from the rear end of the handle portion, allowing manual operation of the thumb rod to control the bending of the front end of the cannula.

21. The method according to claim 20, characterized in that: Capturing endoscopic images involves taking images with cameras CamW and CamF, and displaying the images includes a spatially calibrated overlay of the CamW and CamF images.

22. A medical endoscopy / colposcopy examination instrument, comprising: A reusable section includes a handle configured to be gripped by a user's hand and a display mounted on the reusable section; A forward-facing colposcope imaging and illumination system mounted on the reusable portion; The single-use component includes a hub detachably fixed to the rear end of the housing and a cannula extending from the front end of the hub. The cannula is configured for insertion into a patient and has an endoscopic imaging and illumination system at the front end of the cannula. The interlocking brackets at the rear end of the single-use portion and the reusable portion are configured to releasably connect the reusable portion and the single-use portion to form an assembled endoscope configured to capture endoscopic images using the endoscopic imaging and illumination system. and A processor configured to process image data from a colposcope and / or endoscope imaging and illumination system into a display image and to display the display image on the monitor. One of the housing and the hub includes a mounting formed as an axially extending slot, and the other includes a mounting formed as an axially extending track configured to slide into the slot in a rearward direction, thereby removably securing the hub and the cannula to the handle portion; the rearward portion of the handle portion includes an opening, and the hub and the cannula include a bending mechanism configured to bend the front end portion of the cannula and includes a rearwardly extending thumb bar that extends through the opening and from the rear end of the handle portion when the hub and the handle portion are secured to each other, allowing manual operation of the thumb bar to control the bending of the front end portion of the cannula.

23. The medical endoscope / colposcopy examination instrument according to claim 22, characterized in that: The colposcopy imaging and illumination system includes a colposcopy camera FFC1 and a colposcopy light source S1 to provide a two-dimensional view.

24. The medical endoscope / colposcopy examination instrument according to claim 23, characterized in that: The colposcopy imaging and illumination system further includes a second colposcopy camera FFC2 spaced apart from the said camera FFC1 to obtain a stereoscopic view and a second colposcopy light source S2.

Images