Endoscope imaging module, endoscope and endoscope system

Abstract

The invention provides an endoscope imaging module, an endoscope and an endoscope system.The endoscope imaging module comprises a movable lens set and a supporting structure arranged on the periphery of the movable lens set, a first magnetic attraction structure is arranged on the peripheral wall of the movable lens set in the circumferential direction, and a second magnetic attraction structure is arranged on the inner peripheral wall of the supporting structure in the circumferential direction; magnetic force capable of enabling the movable lens set to be arranged in the supporting structure in a suspended mode is formed between the first magnetic attraction structure and the second magnetic attraction structure. According to the endoscope imaging module, the endoscope and the endoscope system provided by the invention, the magnetic force between the first magnetic attraction structure and the second magnetic attraction structure can enable the movable lens group to suspend in the supporting structure, that is, the movable lens group is not in contact with the supporting structure, so that when the movable lens group moves relative to the supporting structure, the moving resistance of the movable lens group is relatively small, and the imaging effect of the endoscope is improved. And mutual abrasion with the supporting structure is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and more specifically, relates to an endoscopic imaging module, an endoscope and an endoscope system. Background Art

[0002] An endoscope is a commonly used medical device. It has an imaging module that allows it to enter the human body through natural openings or surgical incisions and observe lesions. The imaging module of an endoscope usually has a zoom function, and some mirror groups can move along the optical axis. During the movement of the mirror group, the friction resistance of the mirror group is large, and the mirror group itself and the supporting structure of the mirror group will produce a certain degree of wear. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide an endoscope imaging module, an endoscope and an endoscope system to solve the technical problems existing in the prior art that the friction resistance of the mirror group is large and the mirror group and its supporting structure are easy to wear.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide an endoscope imaging module, including a movable mirror group and a supporting structure arranged on the periphery of the movable mirror group, the outer peripheral wall of the movable mirror group is circumferentially provided with a first magnetic attraction structure, and the inner peripheral wall of the supporting structure is circumferentially provided with a second magnetic attraction structure, and a magnetic force is formed between the first magnetic attraction structure and the second magnetic attraction structure to enable the movable mirror group to be suspended in the supporting structure.

[0005] By adopting the above scheme, the magnetic force between the first magnetic attraction structure and the second magnetic attraction structure can make the movable mirror group suspend inside the supporting structure, that is, the movable mirror group does not contact with the supporting structure. In this way, when the movable mirror group moves relative to the supporting structure, the moving resistance of the movable mirror group is small, and there will be no mutual wear between the movable mirror group and the supporting structure.

[0006] Optionally, one of the first magnetic attraction structure and the second magnetic attraction structure is a permanent magnet, and the other is an energized coil; or, both the first magnetic attraction structure and the second magnetic attraction structure are energized coils.

[0007] When at least one of the first magnetic attraction structure and the second magnetic attraction structure is an energized coil, the magnetic field force generated by the energized coil can be adjusted by adjusting the current in the energized coil, so that the position of the movable mirror group in its radial direction can be adjusted, thereby avoiding the optical axis of the movable mirror group being unable to be coaxial with the optical axis of the endoscope due to installation errors and quality errors.

[0008] Optionally, the first magnetic attraction structure includes at least one first magnetic attraction group distributed sequentially along the axial direction of the movable mirror group, and the second magnetic attraction structure includes at least one second magnetic attraction group distributed sequentially along the axial direction of the movable mirror group.

[0009] The first magnetic attraction structure is composed of a plurality of first magnetic attraction groups, which can reduce the processing difficulty of the first magnetic attraction structure and reduce the processing cost of the first magnetic attraction structure. The second magnetic attraction structure is composed of a plurality of second magnetic attraction groups, which can reduce the processing difficulty of the second magnetic attraction structure and reduce the processing cost of the second magnetic attraction structure.

[0010] Optionally, the first magnetic attraction group includes at least three first magnetic attraction parts distributed at intervals along the circumference of the movable mirror group, and the second magnetic attraction group includes at least three second magnetic attraction parts distributed at intervals along the circumference of the movable mirror group.

[0011] The magnetic force between each first magnetic attraction part and the second magnetic attraction part can provide a force point for the support structure and the movable mirror group. When there are three first magnetic attraction parts and second magnetic attraction parts, at least three force points can be provided for the support structure and the movable mirror group. By adjusting the force at each force point according to the position of the force point, the force of the movable mirror group can be balanced. At the same time, the volume of the first magnetic attraction part and the second magnetic attraction part can be set to be relatively small, the processing cost and design cost are relatively low, and the force balance of the movable module is also easier to control.

[0012] Optionally, on the longitudinal section of the movable mirror group, the magnetic force between the two first magnetic attraction parts arranged opposite to each other is an attractive force, and the central axis of the movable mirror group is located on the longitudinal section.

[0013] When the magnetic force between the two facing first magnetic parts is attractive, the first magnetic parts can have a force toward the center of the movable mirror group, so that the first magnetic parts can have a force close to the movable bracket, thereby preventing the first magnetic parts from falling.

[0014] Optionally, each of the first magnetic attraction groups and the corresponding second magnetic attraction group has an attractive force; or each of the first magnetic attraction groups and the corresponding second magnetic attraction group has a repulsive force; or some of the first magnetic attraction groups and the corresponding second magnetic attraction group have an attractive force, and the remaining first magnetic attraction groups and the corresponding second magnetic attraction group have a repulsive force. The arrangement of the magnetic poles of the first magnetic attraction group and the second magnetic attraction group is relatively flexible.

[0015] Optionally, a length of the first magnetic attraction structure along the axial direction of the movable mirror group is smaller than a length of the second magnetic attraction structure along the axial direction of the movable mirror group.

[0016] The axial length of the first magnetic structure along the movable mirror group is smaller than the axial length of the second magnetic structure along the movable mirror group, so that the electromagnetic field generated by the second magnetic structure can always act on the first magnetic structure and will not lose its magnetic force as the first magnetic structure moves.

[0017] Optionally, the endoscopic imaging module also includes an end mirror group arranged at the axial end of the movable mirror group, the axial end of the movable mirror group is provided with a third magnetic structure, the end mirror group includes a fourth magnetic structure arranged facing the third magnetic structure, and there is a magnetic force parallel to the axial direction of the movable mirror group between the third magnetic structure and the fourth magnetic structure.

[0018] The magnetic force between the third magnetic attraction structure and the fourth magnetic attraction structure can push or pull the movable mirror group to move in its axial direction, thereby adjusting the focal length of the endoscope to achieve clear imaging.

[0019] Optionally, one of the third magnetic attraction structure and the fourth magnetic attraction structure is a permanent magnet, and the other is an energized coil; or, both the third magnetic attraction structure and the fourth magnetic attraction structure are energized coils.

[0020] At least one of the third magnetic attraction structure and the third magnetic attraction structure is an energized coil. The magnitude of the magnetic force can be changed by changing the current in the energized coil, thereby making the movable mirror group move axially and changing the moving direction of the movable mirror group.

[0021] Optionally, the third magnetic attraction structure is a permanent magnet, the fourth magnetic attraction structure is an energized coil, the third magnetic attraction structure includes a plurality of third magnetic attraction parts distributed along the circumference of the movable mirror group, the fourth magnetic attraction structure includes at least one fourth coil unit distributed along the axial direction of the movable mirror group, and the fourth coil unit is wound around the circumferential direction of the movable mirror group.

[0022] The permanent magnet is located on the moving mirror group, which will produce axial movement. The permanent magnet does not need to be connected to electricity, and there is no cable movement when the moving mirror group moves, making its structure more reliable. The power-on coil is located on the end mirror group and is fixedly set. The power-on coil is connected to electricity through a cable.

[0023] Optionally, the end mirror assembly further includes an end bracket, and a heat conducting portion is provided between the fourth magnetic attraction structure and the end bracket, and the heat conducting portion is used to transfer heat generated by the fourth magnetic attraction structure.

[0024] A heat-conducting part is arranged between the fourth magnetic structure and the end bracket. The fourth magnetic structure will generate heat when working regardless of whether it is a permanent magnet or an energized coil. The setting of the heat-conducting part can make the heat generated by the fourth magnetic structure quickly dissipate to the end bracket, and then dissipate to the outside world by the end bracket.

[0025] Optionally, the number of the end mirror groups is two, which are respectively arranged at two axial ends of the movable mirror group at intervals, and the third magnetic attraction structure is arranged at both axial ends of the movable mirror group.

[0026] Both axial ends of the movable mirror group can be acted upon by thrust or tension, so that the movable mirror group moves along its axial direction.

[0027] Optionally, the magnetic force between the two third magnetic attraction structures at two axial ends of the movable mirror assembly is an attractive force.

[0028] The magnetic poles of the two third magnetic structures facing each other are opposite, and mutual attraction is generated between the two third magnetic structures, so that the two third magnetic structures can be tightly attached to the mobile bracket, reducing the possibility of the third magnetic structures falling from the mobile bracket.

[0029] Optionally, the endoscope imaging module further includes a detection component, which is used to detect the change of the magnetic field generated when the movable mirror group moves axially. By setting the detection component, it is convenient to change the current of the energized coil according to the change of the magnetic field, so that the movable mirror group can be stably moved to a predetermined position.

[0030] Optionally, the detection assembly includes a detection bracket, a detection cover and a detector, the movable mirror group, the support structure, and the end mirror group are arranged in the detection bracket, and an accommodating space for accommodating the detector is formed between the outer wall of the detection bracket and the detection cover, and the detector partially passes through the detection cover and is arranged adjacent to the movable mirror group.

[0031] The detection cover can protect the detector and facilitate the installation, maintenance and replacement of the detector. The detector is fixed to the inner wall of the accommodating space, and the accommodating space is provided with an opening, and the detector part is arranged through the opening, so that there is no obstruction between the detection part of the detector and the movable mirror group, and the magnetic field there can be detected more accurately. The detector is electrically connected to a detector cable, and the detector cable is connected to the power terminal.

[0032] The present invention also provides an endoscope, comprising the above-mentioned endoscope imaging module.

[0033] The present invention also provides an endoscope system, comprising the above-mentioned endoscope, a light source device, an image processor and a display device.

[0034] In the endoscope and endoscope system provided by the present invention, the endoscope imaging module includes a movable mirror group and a supporting structure arranged on the periphery of the movable mirror group, the outer peripheral wall of the movable mirror group and the inner peripheral wall of the supporting structure are respectively provided with a first magnetic attraction structure and a second magnetic attraction structure, and the magnetic force between the first magnetic attraction structure and the second magnetic attraction structure can make the movable mirror group suspended inside the supporting structure, that is, the movable mirror group does not contact the supporting structure. In this way, when the movable mirror group moves relative to the supporting structure, the moving resistance of the movable mirror group is small, and there will be no mutual wear between the movable mirror group and the supporting structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 A longitudinal sectional view of a first endoscope imaging module provided by an embodiment of the present invention;

[0037] Figure 2 An exploded structural diagram of an endoscope imaging module provided by an embodiment of the present invention;

[0038] Figure 3 A cross-sectional view of a movable mirror assembly provided by an embodiment of the present invention;

[0039] Figure 4 A three-dimensional structural diagram of a movable mirror assembly provided by an embodiment of the present invention;

[0040] Figure 5 A cross-sectional view of a support assembly provided by an embodiment of the present invention;

[0041] Figure 6 A three-dimensional structural diagram of a support assembly provided in an embodiment of the present invention;

[0042] Figure 7 A first distribution view (cross section) of the first magnetic attraction structure and the second magnetic attraction structure provided in an embodiment of the present invention;

[0043] Figure 8 A second distribution view (longitudinal section) of the first magnetic attraction structure and the second magnetic attraction structure provided in an embodiment of the present invention;

[0044] Fig. 9 A second distribution view (cross section) of the first magnetic attraction structure and the second magnetic attraction structure provided in an embodiment of the present invention;

[0045] Fig.10 A third distribution view (longitudinal section) of the first magnetic attraction structure and the second magnetic attraction structure provided in an embodiment of the present invention;

[0046] Fig.11 A longitudinal sectional view of a second endoscope imaging module provided by an embodiment of the present invention;

[0047] Fig.12 for Fig.11 A cross-sectional view of an endoscope imaging module;

[0048] Fig.13 for Fig.11 A three-dimensional structural diagram of the second magnetic attraction portion;

[0049] Fig.14 A cross-sectional view of a first component provided by an embodiment of the present invention;

[0050] Fig.15 A cross-sectional view of a second component provided by an embodiment of the present invention;

[0051] Fig.16 A cross-sectional view of a detection assembly provided by an embodiment of the present invention;

[0052] Fig.17 A cross-sectional view of a sensor assembly provided in accordance with an embodiment of the present invention.

[0053] Among them, the reference numerals in the figure are:

[0054] 1-movable mirror group; 11-first magnetic structure; 111-first magnetic group; 1111-first magnetic part; 12-movable bracket; 13-third magnetic structure; 131-third magnetic part; 2-support structure; 21-second magnetic structure; 2111-second magnetic part; 22-support bracket; 3-end mirror group; 31-fourth magnetic structure; 311-fourth coil unit; 32-end bracket; 5-detection component; 51-detection bracket; 52-detection cover; 53-detector; 531-detector cable; 54-accommodating space; 6-sensor component; 61-sensor bracket; 62-sensor body; 63-sensor cable; 64-cable fixing part. DETAILED DESCRIPTION

[0055] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0056] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0057] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] An endoscope has an image sensor, an optical lens, a light source, a mechanical device, etc. It can enter the stomach through the mouth or other natural orifices into the human body. Endoscopes can be used to see lesions that cannot be shown by X-rays, so they are very useful for diagnosing the cause of disease. For example, with the help of an endoscope, doctors can observe ulcers or tumors in the stomach and develop the best treatment plan accordingly.

[0060] In order to enable the endoscope to image clearly, the imaging lens group of the endoscope usually has a zoom function, and part of the lens group can move along the optical axis. During the movement of the lens group, the friction resistance of the lens group is relatively large, and the lens group itself and the supporting structure 2 of the lens group will produce a certain degree of wear. In order to overcome the above technical problems, the present invention provides a new endoscope imaging module and an endoscope.

[0061] The endoscope imaging module provided in the embodiment of the present invention is now described.

[0062] Please also read Figure 1 and Figure 2 The endoscope imaging module includes a movable lens group 1 and a supporting structure 2.

[0063] The movable lens group 1 can at least move along its axial direction to adjust the position of the movable lens group 1 in the axial direction, so that the endoscope can clearly image at different focal lengths. The axial direction of the movable lens group 1 is the optical axis direction of the endoscope. The movable lens group 1 includes at least one lens, which can adjust the imaging focal length when the movable lens group 1 moves axially.

[0064] The support structure 2 is arranged on the outer periphery of the movable mirror group 1 , and is used to circumferentially support the movable mirror group 1 so that the movable mirror group 1 can move axially under the support of the support structure 2 . The support structure 2 is fixed relative to the movable mirror group 1 .

[0065] See also Figures 3 to 6, the outer peripheral wall of the movable mirror group 1 is circumferentially provided with a first magnetic attraction structure 11, and the inner peripheral wall of the support structure 2 is circumferentially provided with the first magnetic attraction structure 11. The first magnetic attraction structure 11 is at least provided on a part of the outer peripheral wall of the movable mirror group 1, and the second magnetic attraction structure 21 is at least provided on a part of the inner peripheral wall of the support structure 2. The first magnetic attraction structure 11 and the second magnetic attraction structure 21 are arranged opposite to each other, and there is a magnetic force between the two, so that the movable mirror group 1 can be acted upon by the magnetic force, and then the movable mirror group 1 can be suspended in the support structure 2. Among them, the magnetic force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21 can be an attractive force or a repulsive force, as long as the movable mirror group 1 can maintain a force balance and be suspended in the support structure 2. The movable mirror group 1 maintains a force balance in each radial direction, and now takes one of the radial directions (the first direction) as an example for explanation. For example, when there is a magnetic attraction force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21, the first end and the second end of the movable mirror group 1 are its two ends in the first direction, the first end of the movable mirror group 1 is subjected to a magnetic attraction force that causes it to move away from the second end, and the second end of the movable mirror group 1 is subjected to a magnetic attraction force that causes it to move away from the first end, and the above two magnetic attraction forces and the gravity of the movable mirror group 1 are kept in balance. For example, when there is a magnetic repulsion force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21, the two ends of the movable mirror group 1 in the first direction (the first direction is the radial direction of the movable mirror group 1) are respectively the first end and the second end, the first end of the movable mirror group 1 is subjected to a magnetic attraction force that causes it to move toward the second end, and the second end of the movable mirror group 1 is subjected to a magnetic attraction force that causes it to move toward the first end, and the above two magnetic attraction forces and the gravity of the movable mirror group 1 are kept in balance.

[0066] The support structure 2 supports the movable mirror group 1 through the magnetic force of the first magnetic attraction structure 11 and the second magnetic attraction structure 21. There is always a gap between the outer wall of the movable mirror group 1 and the inner wall of the support structure 2. Therefore, the movable mirror group 1 can be said to be "suspended" in the support structure 2. In this way, when the movable mirror group 1 moves, it will not generate friction with the inner wall of the support structure 2, and will not damage the movable mirror group 1 and the support structure 2, thereby avoiding foreign matter such as powder generated by friction, avoiding affecting the imaging quality and life of the imaging module, thereby improving the quality and life of the imaging module. At the same time, when the movable mirror group 1 moves, there is no friction resistance, and the driving force required to drive the movable mirror group 1 is also smaller.

[0067] The endoscope imaging module in the above embodiment includes a movable mirror group 1 and a support structure 2 arranged on the periphery of the movable mirror group 1, and the outer peripheral wall of the movable mirror group 1 and the inner peripheral wall of the support structure 2 are respectively provided with a first magnetic attraction structure 11 and a second magnetic attraction structure 21. The magnetic force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21 can make the movable mirror group 1 suspended inside the support structure 2, that is, the movable mirror group 1 does not contact the support structure 2. In this way, when the movable mirror group 1 moves relative to the support structure 2, the moving resistance of the movable mirror group 1 is small, and there will be no wear between the movable mirror group 1 and the support structure 2.

[0068] In some embodiments of the present invention, see Figure 1 The first magnetic attraction structure 11 and the second magnetic attraction structure 21 are both permanent magnets. The side of the first magnetic attraction structure 11 facing the second magnetic attraction structure 21 and the side of the second magnetic attraction structure 21 facing the first magnetic attraction structure 11 are the same poles, generating magnetic attraction, or are opposite poles, generating magnetic repulsion. The magnetic force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21 and the gravity of the movable mirror group 1 can keep the movable mirror group 1 balanced in all radial directions.

[0069] In some embodiments of the present invention, see Fig.11 and Fig.12 , the first magnetic attraction structure 11 is a permanent magnet, and the second magnetic attraction structure 21 is a powered coil. When the powered coil is energized, it can generate an electromagnetic field near it. The permanent magnet is located in the electromagnetic field and will be subjected to the force of the electromagnetic field. If the powered coil rotates around the axis of the first direction, the magnetic field force generated by the powered coil is also arranged along the first direction, so that the magnetic force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21 is in a radial direction. When the second magnetic attraction structure 21 is a powered coil, it needs to be energized. The second magnetic attraction structure 21 belongs to the support structure 2 and is relatively fixed. Therefore, it is more convenient to connect the second magnetic attraction structure 21 with a cable, and the cable does not need to move with the movable mirror group 1 after connection.

[0070] In some embodiments of the present invention, the first magnetic attraction structure 11 is a powered coil, and the second magnetic attraction structure 21 is a permanent magnet. When the powered coil is powered, it can generate an electromagnetic field near it. The permanent magnet is located in the electromagnetic field and will be affected by the electromagnetic field. If the powered coil rotates around the axis in the first direction, the magnetic field force generated by the powered coil is also set along the first direction, so that the magnetic force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21 is in the radial direction.

[0071] In some embodiments of the present invention, the first magnetic attraction structure 11 is a powered coil, and the second magnetic attraction structure 21 is also a powered coil. The two powered coils arranged opposite to each other rotate around the axis in the same direction, and the magnetic poles generated by the two powered coils can be the same or opposite.

[0072] When at least one of the first magnetic attraction structure 11 and the second magnetic attraction structure 21 is an energized coil, the magnetic field force generated by the energized coil can be adjusted by adjusting the current in the energized coil. Therefore, the position of the movable mirror group 1 in its radial direction can be adjusted, thereby avoiding the optical axis of the movable mirror group 1 being unable to be coaxial with the optical axis of the endoscope due to installation errors and quality errors.

[0073] In some embodiments, the energized coil is wound around the movable mirror assembly 1 in a radial direction, so that the magnetic field force is also in a radial direction.

[0074] Optionally, see Fig.13 The powered coil is wound around the first direction, and the powered coil is arranged in a flat shape, and is located in a plane region perpendicular to the first direction. That is, the powered coil is spirally wound in the plane region. At the same position of the movable mirror group 1 or the support structure 2, the number of powered coils can be selected to be multiple, and the multiple powered coils are stacked along the first direction.

[0075] Optionally, the powered coil is wound around the first direction, and the outer contour of the powered coil is arranged in a columnar shape, that is, the powered coil is spirally wound in a three-dimensional space, and the more the number of turns, the longer the length of the powered coil in the first direction. At the same position of the movable mirror assembly 1 or the support structure 2, the number of powered coils can be selected to be multiple, and the multiple powered coils can be arranged along the axial direction of the movable mirror assembly 1, or arranged in an array.

[0076] Among them, permanent magnet refers to a magnet that can retain a high remanence for a long time in an open circuit state.

[0077] In some embodiments of the present invention, see Figure 3 and Figure 4 The first magnetic attraction structure 11 includes at least one first magnetic attraction group 111 distributed in sequence along the axial direction of the movable mirror group 1. When the number of the first magnetic attraction group 111 is one, the length of the first magnetic attraction group 111 in the axial direction of the movable mirror group 1 is longer, and the electromagnetic field generated by it can cover the moving path of the movable mirror group 1. When the number of the first magnetic attraction groups 111 is multiple, the multiple first magnetic attraction groups 111 are distributed in sequence along the axial direction of the movable mirror group 1, and can be evenly distributed, that is, the spacing between every two adjacent first magnetic attraction groups 111 is equal. The first magnetic attraction structure 11 is composed of multiple first magnetic attraction groups 111, which can reduce the processing difficulty of the first magnetic attraction structure 11 and reduce the processing cost of the first magnetic attraction structure 11.

[0078] In some embodiments of the present invention, see Figure 5 and Figure 6The second magnetic attraction structure 21 includes at least one second magnetic attraction group distributed in sequence along the axial direction of the movable mirror group 1. When the number of the second magnetic attraction group is one, the length of the second magnetic attraction group in the axial direction of the movable mirror group 1 is longer, and the electromagnetic field generated by the second magnetic attraction group can cover the moving path of the movable mirror group 1. When the number of the second magnetic attraction groups is multiple, the multiple second magnetic attraction groups are distributed in sequence along the axial direction of the movable mirror group 1 at intervals, and can be evenly distributed, that is, the spacing between every two adjacent second magnetic attraction groups is equal. The second magnetic attraction structure 21 is composed of multiple second magnetic attraction groups, which can reduce the processing difficulty of the second magnetic attraction structure 21 and reduce the processing cost of the second magnetic attraction structure 21.

[0079] In some embodiments of the present invention, see Figures 3 to 6 , the first magnetic attraction structure 11 includes a plurality of first magnetic attraction groups 111 sequentially distributed along the axial direction of the movable mirror group 1, and the second magnetic attraction structure 21 includes a second magnetic attraction group. In this embodiment, the first magnetic attraction structure 11 can be a permanent magnet, and the second magnetic attraction structure 21 can be a powered coil. The permanent magnet can be composed of a plurality of magnets with a relatively small volume, so that its cost is relatively low; the powered coil can increase the number of windings or increase the inner circle diameter, so that its length along the axial direction of the movable mirror group 1 can be lengthened to meet the requirements of its axial length.

[0080] In some embodiments of the present invention, the first magnetic attraction group 111 includes a first magnetic attraction portion 1111, the first magnetic attraction portion 1111 has a certain circumferential length, and the first magnetic attraction portion 1111 can be annular or semicircular in structure. The second magnetic attraction group includes a second magnetic attraction portion 2111, and the second magnetic attraction portion 2111 can be annular or semicircular in structure. Alternatively, the second magnetic attraction group includes a plurality of second magnetic attraction portions 2111 arranged at intervals in the circumferential direction.

[0081] In some embodiments of the present invention, the second magnetic attraction group includes a second magnetic attraction portion 2111, the second magnetic attraction portion 2111 has a certain circumferential length, and the second magnetic attraction portion 2111 can be annular or semicircular in structure. The first magnetic attraction group 111 includes a first magnetic attraction portion 1111, and the first magnetic attraction portion 1111 can be annular or semicircular in structure. Alternatively, the first magnetic attraction group 111 includes a plurality of first magnetic attraction portions 1111 arranged at intervals in the circumferential direction.

[0082] In some embodiments of the present invention, the first magnetic group 111 includes two first magnetic portions 1111 spaced apart along the circumferential direction, and the first magnetic portions 1111 have a certain circumferential length, so that the first magnetic group 111 can cooperate with the second magnetic group to form a relatively stable support.

[0083] In some embodiments of the present invention, the second magnetic attraction group includes two first magnetic attraction portions 1111 spaced apart along the circumferential direction, and the second magnetic attraction portion 2111 has a certain circumferential length, so that the first magnetic attraction group 111 can cooperate with the second magnetic attraction group to form a relatively stable support.

[0084] In the same first magnetic attraction group 111, when the number of first magnetic attraction parts 1111 is less than or equal to two, the number is small, which is more convenient to install and fix. In the same second magnetic attraction group, when the number of second magnetic attraction parts 2111 is less than or equal to two, the number is small, which is more convenient to install and fix.

[0085] In some embodiments of the present invention, see Figures 7 to 10 , the first magnetic attraction group 111 includes at least three first magnetic attraction parts 1111 distributed at intervals along the circumference of the movable mirror group 1, and the second magnetic attraction group includes at least three second magnetic attraction parts 2111 distributed at intervals along the circumference of the movable mirror group 1. In this way, the magnetic force between each first magnetic attraction part 1111 and the second magnetic attraction part 2111 can provide a force point for the support structure 2 and the movable mirror group 1. When the number of the first magnetic attraction part 1111 and the second magnetic attraction part 2111 is three, at least three force points can be provided for the support structure 2 and the movable mirror group 1. By adjusting the force at each force point according to the position of the force point, the force of the movable mirror group 1 can be balanced. At the same time, the volume of the first magnetic attraction part 1111 and the second magnetic attraction part 2111 can be set to be smaller, the processing cost and the design cost are relatively low, and the force balance of the movable module is also easier to control.

[0086] In some embodiments, see Figure 7 The first magnetic attraction group 111 includes three first magnetic attraction parts 1111 distributed at intervals along the circumference of the movable mirror group 1, and the three first magnetic attraction parts 1111 can be evenly arranged circumferentially. The second magnetic attraction group includes three second magnetic attraction parts 2111 distributed at intervals along the circumference of the movable mirror group 1, and the three second magnetic attraction parts 2111 can be evenly arranged circumferentially.

[0087] In some embodiments, see Figures 8 to 10 The first magnetic attraction group 111 includes four first magnetic attraction parts 1111 distributed at intervals along the circumference of the movable mirror group 1, and the four first magnetic attraction parts 1111 can be evenly arranged circumferentially. The second magnetic attraction group includes four second magnetic attraction parts 2111 distributed at intervals along the circumference of the movable mirror group 1, and the three fourth magnetic attraction parts can be evenly arranged circumferentially.

[0088] It should be noted that in a first magnetic attraction group 111 and a second magnetic attraction group that match each other, the number of first magnetic attraction parts 1111 and the number of second magnetic attraction parts 2111 may be the same or different. The number and distribution of the first magnetic attraction parts 1111 and the second magnetic attraction parts 2111 may be selected according to the actual structure and requirements, as long as at least three force points can be provided for the movable mirror group 1 and the support structure 2.

[0089] In some embodiments of the present invention, in a first magnetic attraction group 111 and a second magnetic attraction group that match each other, the magnetic forces between all first magnetic attraction parts 1111 and all second magnetic attraction parts 2111 are attractive forces, or are repulsive forces; or, the magnetic forces between some of the first magnetic attraction parts 1111 and some of the second magnetic attraction parts 2111 are attractive forces, and the magnetic forces between some of the first magnetic attraction parts 1111 and some of the second magnetic attraction parts 2111 are repulsive forces.

[0090] In some embodiments of the present invention, in a first magnetic attraction group 111 and a second magnetic attraction group that match each other, the magnetic poles of each first magnetic attraction portion 1111 facing the center of the movable mirror group 1 may be the same or different.

[0091] In some embodiments of the present invention, on the longitudinal section of the movable mirror assembly 1, the magnetic force between the two first magnetic attraction parts 1111 disposed opposite to each other is an attractive force, and the central axis of the movable mirror assembly 1 is located on the longitudinal section. The longitudinal section of the movable mirror assembly 1 is parallel to the axial direction of the movable mirror assembly 1, and the longitudinal section can divide the two first magnetic attraction parts 1111 that are opposite to each other in the radial direction. When the magnetic force between the two first magnetic attraction parts 1111 that are opposite to each other is an attractive force, the first magnetic attraction parts 1111 can have a force toward the center direction of the movable mirror assembly 1, so that the first magnetic attraction parts 1111 can have a force that is close to the movable bracket 12, thereby preventing the first magnetic attraction parts 1111 from falling off.

[0092] In some embodiments of the present invention, there is an attractive force between each first magnetic attraction group 111 and the corresponding second magnetic attraction group. In a first magnetic attraction group 111 and a second magnetic attraction group that match each other, each attractive force is arranged along each radial direction to maintain force balance.

[0093] In some embodiments of the present invention, there is a repulsive force between each first magnetic attraction group 111 and the corresponding second magnetic attraction group. In a first magnetic attraction group 111 and a second magnetic attraction group that match each other, each repulsive force is arranged along each radial direction to maintain force balance.

[0094] In some embodiments of the present invention, there is an attractive force between some of the first magnetic attraction groups 111 and the corresponding second magnetic attraction groups, and there is a repulsive force between the remaining first magnetic attraction groups 111 and the corresponding second magnetic attraction groups. In other words, the directions of the magnetic forces of the first magnetic attraction groups 111 and the corresponding second magnetic attraction groups may be different, and each first magnetic attraction group 111 and the corresponding second magnetic attraction group may keep the movable mirror group 1 in a state of force balance.

[0095] In some embodiments of the present invention, see Figure 8 , the axial length of the first magnetic structure 11 along the movable mirror group 1 is less than the length of the second magnetic structure 21 along the axial direction of the movable mirror group 1. The axial length of the first magnetic structure 11 along the movable mirror group 1 can be understood as the total axial length of each first magnetic group 111 (including the spacing distance between adjacent first magnetic groups 111), and the axial length of the second magnetic structure 21 along the movable mirror group 1 can be understood as the total axial length of each second magnetic group (including the spacing distance between adjacent first magnetic groups 111). In this embodiment, the second magnetic structure 21 is fixed, the first magnetic structure 11 moves with the movable mirror group 1, and the axial length of the first magnetic structure 11 along the movable mirror group 1 is less than the length of the second magnetic structure 21 along the axial direction of the movable mirror group 1, so that the electromagnetic field generated by the second magnetic structure 21 can always act on the first magnetic structure 11, and will not lose its magnetic force with the movement of the first magnetic structure 11.

[0096] In some embodiments of the present invention, see Figure 3 The movable mirror assembly 1 further includes a movable bracket 12, and the first magnetic structure 11 is fixed on the movable bracket 12. The first magnetic structure 11 can be fixed on the movable bracket 12 by various methods such as pasting, crimping, and fixing with a fixing member. The first magnetic structure 11 is arranged on the outer peripheral wall of the movable bracket 12, and the movable bracket 12 can be arranged in a cylindrical shape.

[0097] In some embodiments of the present invention, see Figure 4 The support structure 2 also includes a support bracket 22, and the second magnetic structure 21 is fixed on the support bracket 22. The second magnetic structure 21 can be fixed on the support bracket 22 by various methods such as pasting, crimping, and fixing with a fixing member. The second magnetic structure 21 is arranged on the inner circumferential wall of the support bracket 22, and the support bracket 22 can be arranged in a cylindrical shape.

[0098] In some embodiments of the present invention, see Figure 1 and Fig.11The endoscope imaging module also includes an end lens group 3, which is arranged at at least one axial end of the movable lens group 1, and the end lens group 3 is used to control the axial movement of the movable lens group 1. The axial end of the movable lens group 1 is provided with a third magnetic attraction structure 13, and the end lens group 3 includes a fourth magnetic attraction structure 31 arranged facing the third magnetic attraction structure 13, that is, the third magnetic attraction structure 13 and the fourth magnetic attraction structure 31 are arranged opposite to each other, and there is a magnetic force between the third magnetic attraction structure 13 and the fourth magnetic attraction structure 31 that is parallel to the axial direction of the movable lens group 1. The magnetic force between the third magnetic attraction structure 13 and the fourth magnetic attraction structure 31 can push or pull the movable lens group 1 to move in its axial direction, so that the focal length of the endoscope can be adjusted to enable clear imaging.

[0099] The magnetic force between the third magnetic attraction structure 13 and the fourth magnetic attraction structure 31 may be an attractive force or a repulsive force.

[0100] In some embodiments of the present invention, the number of the end mirror group 3 is one, and the end mirror group 3 is arranged at one axial end of the movable mirror group 1, that is, one end of the movable mirror group 1 can be subjected to a thrust or a pull, so that the movable mirror group 1 moves along its axial direction.

[0101] In some embodiments of the present invention, there are two end mirror groups 3, and the two end mirror groups 3 are respectively arranged at two axial ends of the movable mirror group 1, and the end mirror groups 3 are arranged at an interval from the movable mirror group 1. The third magnetic attraction structure 13 is arranged at both axial ends of the movable mirror group 1. In other words, both axial ends of the movable mirror group 1 can be subjected to thrust or tension, so that the movable mirror group 1 moves along its axial direction.

[0102] In some embodiments, the magnetic force between the two third magnetic structures 13 at the axial ends of the movable mirror assembly 1 is an attractive force. That is, the magnetic poles of the two third magnetic structures 13 facing each other are opposite, and a mutual attractive force is generated between the two third magnetic structures 13, so that the two third magnetic structures 13 can be closely attached to the movable bracket 12, reducing the possibility of the third magnetic structures 13 falling off the movable bracket 12.

[0103] In some embodiments of the present invention, see Figure 4 , Fig.14 and Fig.15 One of the third magnetic attraction structure 13 and the fourth magnetic attraction structure 31 is a permanent magnet, and the other is a powered coil. When powered, the powered coil generates an electromagnetic field, and the permanent magnet is acted upon by a force in the electromagnetic field. The powered coil is wound along the circumferential direction of the movable mirror assembly 1, and its central axis is parallel to the axial direction of the movable mirror assembly 1. The direction of the magnetic force generated between the permanent magnet and the powered coil is parallel to the axial direction of the movable mirror assembly 1.

[0104] In some embodiments of the present invention, the third magnetic attraction structure 13 and the fourth magnetic attraction structure 31 are both energized coils.

[0105] At least one of the third magnetic attraction structure 13 and the third magnetic attraction structure 13 is an energized coil. The magnitude of the magnetic force can be changed by changing the current in the energized coil, so that the movable mirror group 1 can be moved axially and the moving direction of the movable mirror group 1 can be changed.

[0106] In some embodiments of the present invention, see Figure 4 , Fig.14 and Fig.15 The third magnetic attraction structure 13 is a permanent magnet, and the fourth magnetic attraction structure 31 is a powered coil. The permanent magnet is located on the movable mirror group 1 and will produce axial movement. The permanent magnet does not need to be connected to electricity. When the movable mirror group 1 moves, there is no cable movement, making its structure more reliable. The powered coil is located on the end mirror group 3 and is fixedly arranged. The powered coil is powered by a cable.

[0107] In some embodiments, the third magnetic structure 13 includes multiple third magnetic parts 131, which are distributed along the circumference of the movable mirror group 1. The third magnetic structure 13 is a magnet. The provision of multiple third magnetic parts 131 can reduce the material cost of the third magnetic structure 13.

[0108] In some embodiments, the third magnetic attraction structure 13 includes a third magnetic attraction portion 131 . The third magnetic attraction portion 131 is arranged in a ring shape, and the magnetic force direction thereof is the same as the axial direction of the movable mirror assembly 1 .

[0109] In some embodiments, the fourth magnetic attraction unit includes at least one fourth coil unit 311. When there are multiple fourth coil units 311, the multiple fourth coil units 311 are sequentially distributed along the axial direction of the movable mirror assembly 1. The more the number of fourth coil units 311 is, the greater the magnetic force that can be generated, and correspondingly, the larger the space occupied. The fourth coil unit 311 is wound around the circumferential direction of the movable mirror assembly 1 so that the direction of the magnetic force generated by it is the same as the axial direction of the movable mirror assembly 1.

[0110] In some embodiments, the fourth magnetic unit includes a plurality of fourth coil units 311 arranged along the circumferential direction of the movable mirror assembly 1, the diameter of the fourth coil unit 311 is much smaller than the diameter of the end mirror assembly 3, and the axial direction of the fourth coil unit 311 is parallel to the axial direction of the movable mirror assembly 1.

[0111] In some embodiments of the present invention, see Fig.14 and Fig.15The end mirror group 3 also includes an end bracket 32, and the fourth magnetic structure 31 is arranged on the end bracket 32. Specifically, the fourth magnetic structure 31 can be fixed on the end bracket 32 ​​by bonding, fixing parts, crimping, etc. A heat conduction part is arranged between the fourth magnetic structure 31 and the end bracket 32. Whether the fourth magnetic structure 31 is a permanent magnet or a powered coil, it will generate heat when working. The arrangement of the heat conduction part can make the heat generated by the fourth magnetic structure 31 quickly dissipate to the end bracket 32, and then dissipate to the outside by the end bracket 32.

[0112] In some embodiments, the heat conductive portion is thermally conductive silicone.

[0113] In some embodiments of the present invention, see Figure 1 and Fig.11 , the support structure 2 and the end mirror group 3 are fixedly connected to each other. Specifically, the support bracket 22 and the end bracket 32 ​​are fixedly connected to each other.

[0114] In some embodiments of the present invention, see Figure 1 and Fig.16 The endoscope imaging module also includes a detection component 5, which is used to detect the change of the magnetic field generated when the movable mirror group 1 moves axially, so as to change the current of the energized coil according to the change of the magnetic field, so that the movable mirror group 1 can be stably moved to a predetermined position. The detection part of the detection component 5 is fixedly arranged. When the movable mirror group 1 moves axially, the position of the third magnetic attraction structure 13 thereon changes, and the magnetic field inside the endoscope imaging module also changes accordingly. By measuring the magnetic field here by the detection part of the detection component 5, the position change of the movable module can be detected.

[0115] In some embodiments of the present invention, see Fig.16 , the detection assembly 5 includes a detection bracket 51, a detection cover plate 52 and a detector 53. The detection bracket 51 is the main installation and support structure 2 of the detection assembly 5. The detection bracket 51 has an inner cavity. The movable mirror group 1, the support structure 2 and the end mirror group 3 are all arranged in the inner cavity of the detection bracket 51. The detection bracket 51 can wrap and protect the above components. It should be noted that the end mirror group 3 and the support structure 2 can be partially located in the detection bracket 51 and partially exposed to the detection bracket 51. The detection bracket 51 can be cylindrical, the movable bracket 12 can also be cylindrical, and the support bracket 22 can also be cylindrical.

[0116] An accommodating space 54 for accommodating the detector 53 is formed between the outer wall of the detection bracket 51 and the detection cover plate 52, and the detector 53 partially passes through the detection cover plate 52 and is arranged adjacent to the movable mirror group 1. The arrangement of the detection cover plate 52 can protect the detector 53 and can also facilitate the installation, maintenance and replacement of the detector 53. The detector 53 is fixed to the inner wall of the accommodating space 54, and the accommodating space 54 is provided with an opening, and the detector 53 is partially arranged through the opening, so that there is no obstruction between the detection part of the detector 53 and the movable mirror group 1, and the magnetic field therein can be detected more accurately. The detector 53 is electrically connected to a detector cable 531, and the detector cable 531 is connected to the power terminal.

[0117] In some embodiments of the present invention, see Figure 1 and Fig.17 The endoscope imaging module also includes a sensor assembly 6, which is fixedly connected to one of the end mirror groups 3. The sensor assembly 6 can be an image sensor assembly 6. The image sensor assembly 6 uses the photoelectric conversion function of the photoelectric device to convert the light image on the photosensitive surface into an electrical signal in a corresponding proportional relationship with the light image. Compared with the photosensitive elements of "point" light sources such as photodiodes and phototransistors, the image sensor is a functional device that divides the light image on its light-receiving surface into many small units and converts them into usable electrical signals.

[0118] The sensor assembly 6 includes a sensor bracket 61, a sensor body 62, a sensor cable 63 and a cable fixing portion 64. The sensor bracket 61 can be fixedly connected to the end bracket 32 ​​of the end mirror group 3. The sensor body 62 is fixed on the sensor bracket 61, one end of the sensor cable 63 is fixedly connected and electrically connected to the sensor body 62, the other end of the sensor cable 63 is connected to the power connection end, and the cable fixing portion 64 is used to fix the sensor cable 63. The sensor cable 63 passes through the cable fixing portion 64, and the cable fixing portion 64 is fixedly connected to the detection bracket 51, so that the sensor cable 63 can be fixed. Among them, the cable led out of the energized coil, the detector cable 531, etc. can be extended to the sensor cable 63 to form a cable, which is convenient for the power connection end to connect the cable to electricity.

[0119] The endoscope imaging module provided by the present invention has the following advantages:

[0120] 1. Through the magnetic force between the first magnetic attraction structure 11 on the outer wall of the movable mirror group 1 and the second magnetic attraction structure 21 on the inner wall of the support structure 2, the movable mirror group 1 can be balanced in force and suspended in the support structure 2 without contacting other components. There is no friction during the movement of the movable mirror group 1. On the one hand, it can avoid damage to the movable mirror group 1 and the support structure 2, avoid foreign matter such as powder generated by friction, avoid affecting the imaging quality and life of the imaging module, and thus improve the quality and life of the imaging module. On the other hand, the movable mirror group 1 has no friction resistance when moving, and the driving force required to drive the movable mirror group 1 is also smaller.

[0121] 2. By setting one of the first magnetic attraction structure 11 and the second magnetic attraction structure 21 as a powered coil, the radial force of the movable mirror assembly 1 can be adjusted, so that the radial position of the movable mirror assembly 1 can be fine-tuned.

[0122] 3. The magnetic force between the first magnetic structure 11 and the second magnetic structure 21 can be an attractive force or a repulsive force, that is, the adjacent magnetic poles of the first magnetic structure 11 and the second magnetic structure 21 can be like poles or opposite poles, and the setting of the magnetic poles is relatively flexible.

[0123] 4. In the same first magnetic attraction group 111 and the corresponding second magnetic attraction group, the number of first magnetic attraction parts 1111 and the number of second magnetic attraction parts 2111 can be freely set as long as the force balance of the movable mirror group 1 is satisfied.

[0124] The present invention also provides an endoscope, which includes the endoscope imaging module in any of the above embodiments. The endoscope also includes a shooting camera and other structures, and the shooting camera and the endoscope imaging module can be coaxially arranged.

[0125] The present invention also provides an endoscope system, which includes an endoscope, a light source device, an image processor and a display device. The light source device is used for lighting, so that the endoscope can clearly capture images of the human body, the image processor is used to store and process the captured images, and the image processor can be electrically connected to the sensor body 62. The display device is used to display the captured images, etc., so that the doctor can view them with the naked eye, and the display device can be a display.

[0126] The endoscope and endoscope system provided by the present invention adopt the above-mentioned endoscope imaging module, which includes a movable mirror group 1 and a support structure 2 arranged on the periphery of the movable mirror group 1. The outer peripheral wall of the movable mirror group 1 and the inner peripheral wall of the support structure 2 are respectively provided with a first magnetic attraction structure 11 and a second magnetic attraction structure 21. The magnetic force between the first magnetic attraction structure 11 and the second magnetic attraction structure 21 can make the movable mirror group 1 suspended inside the support structure 2, that is, the movable mirror group 1 does not contact the support structure 2. In this way, when the movable mirror group 1 moves relative to the support structure 2, the moving resistance of the movable mirror group 1 is small, and there will be no mutual wear between the movable mirror group 1 and the support structure 2.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An endoscope imaging module, characterized in that: The invention comprises a movable mirror group (1) and a support structure (2) arranged on the periphery of the movable mirror group (1); a first magnetic attraction structure (11) is arranged on the periphery of the outer wall of the movable mirror group (1); a second magnetic attraction structure (21) is arranged on the periphery of the inner wall of the support structure (2); a magnetic force is formed between the first magnetic attraction structure (11) and the second magnetic attraction structure (21) so as to enable the movable mirror group (1) to be suspended in the support structure (2).

2. The endoscope imaging module according to claim 1, characterized in that: One of the first magnetic attraction structure (11) and the second magnetic attraction structure (21) is a permanent magnet, and the other is an energized coil; or both the first magnetic attraction structure (11) and the second magnetic attraction structure (21) are energized coils.

3. The endoscope imaging module according to claim 1, characterized in that: The first magnetic attraction structure (11) comprises at least one first magnetic attraction group (111) distributed in sequence along the axial direction of the movable mirror group (1), and the second magnetic attraction structure (21) comprises at least one second magnetic attraction group distributed in sequence along the axial direction of the movable mirror group (1).

4. The endoscope imaging module according to claim 3, characterized in that: The first magnetic attraction group (111) comprises at least three first magnetic attraction parts (1111) distributed at intervals along the circumference of the movable mirror group (1), and the second magnetic attraction group comprises at least three second magnetic attraction parts (2111) distributed at intervals along the circumference of the movable mirror group (1).

5. The endoscope imaging module according to claim 4, characterized in that: On the longitudinal section of the movable mirror group (1), the magnetic force between the two first magnetic attraction parts (1111) arranged opposite to each other is an attractive force, and the central axis of the movable mirror group (1) is located on the longitudinal section.

6. The endoscope imaging module according to claim 1, characterized in that: The length of the first magnetic attraction structure (11) along the axial direction of the movable mirror group (1) is smaller than the length of the second magnetic attraction structure (21) along the axial direction of the movable mirror group (1).

7. The endoscopic imaging module according to any one of claims 1 to 6, characterized in that: The endoscope imaging module further comprises an end mirror group (3) arranged at the axial end of the movable mirror group (1); the axial end of the movable mirror group (1) is provided with a third magnetic attraction structure (13); the end mirror group (3) comprises a fourth magnetic attraction structure (31) arranged facing the third magnetic attraction structure (13); and a magnetic force parallel to the axial direction of the movable mirror group (1) exists between the third magnetic attraction structure (13) and the fourth magnetic attraction structure (31).

8. The endoscope imaging module according to claim 7, characterized in that: One of the third magnetic attraction structure (13) and the fourth magnetic attraction structure (31) is a permanent magnet, and the other is an energized coil; or, both the third magnetic attraction structure (13) and the fourth magnetic attraction structure (31) are energized coils.

9. The endoscope imaging module according to claim 7, characterized in that: The end mirror assembly (3) further comprises an end bracket (31), and a heat conducting portion is provided between the fourth magnetic attraction structure (31) and the end bracket (32), the heat conducting portion being used to transfer heat generated by the fourth magnetic attraction structure (31).

10. The endoscope imaging module according to claim 7, characterized in that: The number of the end mirror groups (3) is two, which are arranged at intervals at the two axial ends of the movable mirror group (1), and the third magnetic attraction structure (13) is arranged at both axial ends of the movable mirror group (1).

11. The endoscope imaging module according to claim 7, characterized in that: The endoscope imaging module further comprises a detection component (5), wherein the detection component (5) is used to detect changes in the magnetic field generated when the movable mirror group (1) moves axially.

12. The endoscope imaging module according to claim 11, characterized in that: The detection assembly (5) comprises a detection bracket (51), a detection cover plate (52) and a detector (53); the movable mirror group (1), the support structure (2) and the end mirror group (3) are arranged in the detection bracket (51); an accommodating space (54) for accommodating the detector (53) is formed between the outer wall of the detection bracket (51) and the detection cover plate (52); the detector (53) partially passes through the detection cover plate (52) and is arranged adjacent to the movable mirror group (1).

13. An endoscope, characterized in that: Comprising the endoscopic imaging module described in any one of claims 1-12.

14. An endoscope system, characterized in that: It comprises the endoscope as claimed in claim 13, a light source device, an image processor and a display device.

Images