Endoscope, endoscope head end structure, and endoscope imaging system

Abstract

The invention discloses an endoscope (30), an endoscope head end structure and an endoscope camera system (1000). The endoscope (30) comprises an endoscope tube (1), a movable arm assembly (2), a control assembly (3) and an image acquisition assembly (4). As the movable arm assembly (2) is arranged at the head end part (11) of the endoscope tube (1), and the binocular image acquisition assemblies (4) are respectively arranged on the first arm (21) and the second arm (22), the first arm (21) and the second arm (22) can be relatively unfolded and folded under the driving of the control assembly (3), and the endoscope tube (1) can be conveniently inserted into and moved out of a human body (100) when the first arm (21) and the second arm (22) are in a closed state, so that the endoscope tube (1) can be conveniently inserted into and moved out of the human body (100). The first arm (21) and the second arm (22) can enlarge the distance between the first image acquisition group (41) and the second image acquisition group (42) in the unfolded state, and break through the limitation of the size of the outer diameter of the endoscope tube (1), so that the first image acquisition group (41) and the second image acquisition group (42) can acquire two images with larger parallax, and further better three-dimensional imaging quality can be realized; and the head end part (11) of the endoscope (30) can be provided with a sensor with a larger size, so that the imaging quality is further improved.

Description

Endoscope, endoscope head structure and endoscope camera system Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an endoscope, an endoscope head end structure and an endoscope camera system. Background Art

[0002] Three-dimensional electronic endoscopes (such as 3D laparoscopes) generally use the "chip-in-the-tip" technology, which places the camera device at the end of the insertion part (also called the distal end). However, due to the limitation of the maximum width of the insertion part of the three-dimensional electronic endoscope (generally required to be controlled at ≤10.5mm), the size of the camera device cannot be too large, and the distance between the binocular objective lenses cannot be too large.

[0003] To achieve high resolution and quality, it's necessary to use sensors with large pixels while maintaining the same output resolution. This means the sensor's effective imaging surface must be as large as possible. Therefore, achieving a larger effective imaging surface within a limited space is a key challenge for these camera devices. Technical issues Technical Solutions

[0004] In one embodiment, an endoscope is provided, comprising:

[0005] A scope tube having a tip end for insertion into a human or animal body;

[0006] a movable arm assembly, comprising a first arm and a second arm, wherein the first arm and the second arm are disposed on the head end portion, and the first arm and / or the second arm are movably connected to the head end portion;

[0007] a control assembly connected to the mirror tube, the control assembly connected to the first arm and / or the second arm, the control assembly being used to control the relative movement between the first arm and the second arm; and

[0008] The image acquisition assembly includes a first image acquisition group and a second image acquisition group. The first image acquisition group is arranged on the first arm, and the second image acquisition group is arranged on the second arm. When the first arm and the second arm are in the unfolded state, the first image acquisition group is used to acquire first imaging light or to generate a first image signal, and the second image acquisition group is used to acquire second imaging light or to generate a second image signal.

[0009] In one embodiment, when the first arm and the second arm are in a closed state, the projection area of ​​the first arm and the second arm onto a surface perpendicular to the axial direction of the mirror tube is smaller than the projection area of ​​the first arm and the second arm onto a surface perpendicular to the axial direction of the mirror tube when they are in an expanded state.

[0010] In one embodiment, the movable connection between the first arm and the second arm and the head end portion is a rotational connection.

[0011] In one embodiment, the maximum outer diameters of the first arm and the second arm in the closed state are less than or equal to the outer diameter of the mirror tube.

[0012] In one embodiment, the maximum outer diameter of the first arm and the second arm in the closed state is less than or equal to 12 mm.

[0013] In one embodiment, the first arm is provided with a first accommodating cavity, a first optical window and a first collection surface, the first image collection group is located in the first accommodating cavity, and the first optical window is located on the first collection surface; the second arm is provided with a second accommodating cavity, a second optical window and a second collection surface, the second image collection group is located in the second accommodating cavity, and the second optical window is located on the second collection surface.

[0014] In one embodiment, the projection areas of the first collecting surface and the second collecting surface on the surface perpendicular to the axial direction of the mirror tube in the closed state are smaller than the projection areas of the first collecting surface and the second collecting surface on the surface perpendicular to the axial direction of the mirror tube in the expanded state.

[0015] In one embodiment, the first image acquisition group includes a first image sensor and a first objective lens group, the first objective lens group is located between the first image sensor and the first optical window, the first objective lens group is used to collect first imaging light and project it onto the first image sensor, and the first image sensor is used to generate a first image signal; the second image acquisition group includes a second image sensor and a second objective lens group, the second objective lens group is located between the second image sensor and the second optical window, the second objective lens group is used to collect second imaging light and project it onto the second image sensor, and the second image sensor is used to generate a second image signal.

[0016] In one embodiment, when the first arm and the second arm are in the unfolded state, the distance between the first objective lens group and the second objective lens group is greater than or equal to the outer diameter of the lens tube.

[0017] In one embodiment, the first image acquisition group includes a first lighting group, which is arranged on the first acquisition surface; the second image acquisition group includes a second lighting group, which is arranged on the second acquisition surface.

[0018] In one embodiment, the first lighting group includes several first lighting lamps, and the several first lighting lamps are arranged around the first optical window; the second lighting group includes several second lighting lamps, and the several second lighting lamps are arranged around the second optical window.

[0019] In one embodiment, the control component includes a control member and a hinge group, the first arm and / or the second arm is rotatably connected to the head end portion through the hinge group, the control member is arranged in the mirror tube, one end of the control member is connected to the hinge group, and the other end of the control member extends out of the mirror tube, and the control member is used to drive the hinge group to move to control the expansion and closing of the first arm and the second arm.

[0020] In one embodiment, the image acquisition component also includes a first flexible cable and a second flexible cable, the first flexible cable and the second flexible cable are located in the mirror tube, one end of the first flexible cable extends to the first image acquisition group for electrical connection, the other end of the first flexible cable extends to be electrically connected to the camera, one end of the second flexible cable extends to the second image acquisition group for electrical connection, and the other end of the second flexible cable extends to be electrically connected to the camera.

[0021] In one embodiment, when the first arm and the second arm are in a closed state, the first arm and the second arm are parallel to the mirror tube.

[0022] In one embodiment, when the first arm and the second arm are in the unfolded state, the first arm and the second arm are perpendicular to the mirror tube.

[0023] In one embodiment, an endoscope head end structure is provided, comprising:

[0024] A scope tube having a tip end for insertion into a human or animal body;

[0025] a movable arm assembly, comprising a first arm and a second arm, wherein the first arm and the second arm are movably connected and can move relative to each other; and

[0026] The image acquisition assembly includes a first image acquisition group and a second image acquisition group. The first image acquisition group is arranged on the first arm, and the second image acquisition group is arranged on the second arm. When the first arm and the second arm are in the unfolded state, the first image acquisition group is used to acquire first imaging light or to generate a first image signal, and the second image acquisition group is used to acquire second imaging light or to generate a second image signal.

[0027] In one embodiment, the projection area of ​​the first arm and the second arm on the surface perpendicular to the axial direction of the mirror tube in the closed state is smaller than the projection area of ​​the first arm and the second arm on the surface perpendicular to the axial direction of the mirror tube in the expanded state.

[0028] In one embodiment, the maximum outer diameter of the first arm and the second arm in the closed state is less than or equal to the outer diameter of the mirror tube.

[0029] In one embodiment, the maximum outer diameter of the first arm and the second arm in the closed state is less than or equal to 12 mm.

[0030] In one embodiment, the first arm is provided with a first accommodating cavity, a first optical window and a first collection surface, the first image collection group is located in the first accommodating cavity, and the first optical window is located on the first collection surface; the second arm is provided with a second accommodating cavity, a second optical window and a second collection surface, the second image collection group is located in the second accommodating cavity, and the second optical window is located on the second collection surface.

[0031] In one embodiment, the projection areas of the first collecting surface and the second collecting surface on the surface perpendicular to the axial direction of the mirror tube in the closed state are smaller than the projection areas of the first collecting surface and the second collecting surface on the surface perpendicular to the axial direction of the mirror tube in the expanded state.

[0032] In one embodiment, the first image acquisition group includes a first image sensor and a first objective lens group, the first objective lens group is located between the first image sensor and the first optical window, the first objective lens group is used to collect first imaging light and project it onto the first image sensor, and the first image sensor is used to generate a first image signal; the second image acquisition group includes a second image sensor and a second objective lens group, the second objective lens group is located between the second image sensor and the second optical window, the second objective lens group is used to collect second imaging light and project it onto the second image sensor, and the second image sensor is used to generate a second image signal.

[0033] In one embodiment, the first image acquisition group further includes a first lighting group, which is disposed on the first acquisition surface; the second image acquisition group further includes a second lighting group, which is disposed on the second acquisition surface.

[0034] In one embodiment, the first lighting group includes several first lighting lamps, and the several first lighting lamps are arranged around the first optical window; the second lighting group includes several second lighting lamps, and the several second lighting lamps are arranged around the second optical window.

[0035] In one embodiment, an endoscope is provided, comprising:

[0036] A scope tube having a tip end for insertion into a human or animal body;

[0037] an image acquisition assembly, comprising a first image acquisition group and a second image acquisition group, wherein the first image acquisition group and / or the second image acquisition group are movably connected to the head end portion; and

[0038] A control component is installed in the mirror tube, the control component is connected to the first image acquisition group and / or the second image acquisition group, and the control component is used to control the relative movement between the first image acquisition group and the second image acquisition group; when the first image acquisition group and the second image acquisition group are in the deployed state, the first image acquisition group is used to capture first imaging light or to generate a first image signal, and the second image acquisition group is used to capture second imaging light or to generate a second image signal.

[0039] In one embodiment, the projection area of ​​the first image acquisition group and the second image acquisition group on the surface perpendicular to the axial direction of the mirror tube in the closed state is smaller than the projection area of ​​the first image acquisition group and the second image acquisition group on the surface perpendicular to the axial direction of the mirror tube in the expanded state.

[0040] In one embodiment, the first image acquisition group and the second image acquisition group are respectively rotatably connected to the head end.

[0041] In one embodiment, the maximum outer diameters of the first image acquisition group and the second image acquisition group in a closed state are less than or equal to the outer diameter of the mirror tube.

[0042] In one embodiment, the maximum outer diameters of the first image acquisition group and the second image acquisition group in a closed state are less than or equal to 12 mm.

[0043] In one embodiment, the first image acquisition group includes a first image sensor and a first objective lens group, the first objective lens group is used to collect first imaging light and project it onto the first image sensor, and the first image sensor is used to generate a first image signal; the second image acquisition group includes a second image sensor and a second objective lens group, the second objective lens group is used to collect second imaging light and project it onto the second image sensor, and the second image sensor is used to generate a second image signal.

[0044] In one embodiment, when the first image acquisition group and the second image acquisition group are in an expanded state, a distance between the first objective lens group and the second objective lens group is greater than or equal to an outer diameter of the lens tube.

[0045] In one embodiment, the first image acquisition group further includes a plurality of first illumination lamps, which are arranged around the first objective lens group; the second image acquisition group further includes a plurality of second illumination lamps, which are arranged around the second objective lens group.

[0046] In one embodiment, the control component includes a control member and a hinge group, the first image acquisition group and / or the second image acquisition group are rotatably connected to the head end portion through the hinge group, the control member is arranged in the mirror tube, one end of the control member is connected to the hinge group, and the other end of the control member extends out of the mirror tube, and the control member is used to drive the hinge group to move to control the expansion and closing of the first image acquisition group and the second image acquisition group.

[0047] In one embodiment, the image acquisition component also includes a first flexible cable and a second flexible cable, the first flexible cable and the second flexible cable are located in the mirror tube, one end of the first flexible cable extends to be electrically connected to the first image acquisition group, the other end of the first flexible cable extends to be electrically connected to the camera, one end of the second flexible cable extends to be electrically connected to the second image acquisition group, and the other end of the second flexible cable extends to be electrically connected to the camera.

[0048] In one embodiment, a movable arm is provided at the front end of the mirror tube, and the image acquisition component is arranged on the movable arm.

[0049] In one embodiment, a movable part is provided at the front end of the mirror tube, and the image acquisition component is arranged on the movable part.

[0050] In one embodiment, an endoscopic camera system is provided, characterized in that it includes a camera, a cable, a camera host and the above-mentioned endoscope, one end of the camera is connected to the endoscope, and the other end of the camera is connected to the camera host through the cable. Beneficial effects

[0051] According to the endoscope, endoscope head end structure and endoscope camera system of the above-mentioned embodiments, since a movable arm assembly is provided at the head end of the endoscope, the binocular image acquisition assembly is respectively provided on the first arm and the second arm. Under the drive of the control assembly, the first arm and the second arm can be relatively expanded and closed. The first arm and the second arm can be distributed along the axial direction of the parallel mirror tube in the closed state, which is conducive to inserting and removing the mirror tube into the human body. The first arm and the second arm can expand the distance between the first image acquisition group and the second image acquisition group in the expanded state, breaking through the size limitation of the outer diameter of the mirror tube, so that the first image acquisition group and the second image acquisition group can capture two images with larger parallax, thereby achieving better three-dimensional imaging quality; and the head end of the endoscope is set as a movable structure, which expands the projection area of ​​the parallel mirror tube axial direction, so that the head end of the endoscope can be installed with a larger sensor, further improving the imaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] FIG1 is a schematic structural diagram of an endoscope in a closed state according to an embodiment;

[0053] FIG2 is a schematic structural diagram of an endoscope in an expanded state according to an embodiment;

[0054] FIG3 is a schematic structural diagram of an endoscope in a closed state according to an embodiment;

[0055] FIG4 is a schematic structural diagram of an endoscope in an expanded state according to an embodiment;

[0056] FIG5 is a schematic structural diagram of an end structure of an endoscope head in one embodiment;

[0057] FIG6 is a schematic structural diagram of an endoscope camera system according to an embodiment;

[0058] FIG7 is a schematic structural diagram of an endoscope camera system according to an embodiment;

[0059] The accompanying drawings are numerals as follows:

[0060] 1-mirror tube, 11-head end, 12-rotating shaft;

[0061] 2-movable arm assembly, 21-first arm, 211-first accommodating cavity, 212-first optical window, 213-first collecting surface, 22-second arm, 221-second accommodating cavity, 222-second optical window, 223-second collecting surface;

[0062] 3-control assembly 3, 31-control member, 32-hinge group;

[0063] 4-image acquisition assembly, 41-first image acquisition group, 411-first image sensor, 412-first objective lens group, 413-first illumination lamp, 42-second image acquisition group, 421-second image sensor, 422-second objective lens group, 423-second illumination lamp;

[0064] 1000-Endoscope camera system, 100-Human body, 10-Light source, 20-Light guide, 30-Endoscope, 40-Camera, 50-Camera host, 60-Display, 71-Cable, 72-Video connecting cable. Modes for Carrying Out the Invention

[0065] Endoscopes such as laparoscopes need to be inserted into the body of a human or animal to obtain images of the human or animal's body and assist in medical observation and surgery. Since endoscopic imaging requires minimally invasive incisions to be made on the human or animal, the endoscope is inserted into the human or animal's body through the minimally invasive incision. The minimally invasive incision limits the diameter of the insertion end of the endoscope, which must be slender. An insertion end that is too wide cannot be inserted through the minimally invasive incision and is likely to injure other internal organs and tissues in the human or animal's body. Therefore, in the prior art, the size of the camera device at the insertion end of the endoscope cannot be made too large, and the spacing between the binocular objective lenses of the camera device cannot be made too large. Ultimately, the limited size of the insertion end limits the imaging quality.

[0066] Based on the above analysis, the present application sets the insertion end of the endoscope as a movable structure, and the insertion end can be provided with movable arms or a single arm, and the arms or the single arm are provided with an image acquisition component; when the insertion end of the endoscope is inserted into or pulled out of a human or animal body, the arms or the single arm can be closed and moved to be parallel to the insertion or extraction direction; when the insertion end of the endoscope is inserted into a human or animal body for imaging, the arms or the single arm can be controlled to expand and move to be perpendicular to the insertion or extraction direction or to form a certain angle. The expandable arms or the single arm are used to widen the width of the insertion end, and the eyepieces are installed on the arms or the single arm so that the distance between the binocular objective lenses is enlarged, thereby improving the three-dimensional imaging quality; and after widening the width of the insertion end, a larger sensor can be placed, which can also improve the imaging quality.

[0067] The movable double arms or single arm can be controlled by setting a control component, and the control component can be manually controlled or automatically controlled.

[0068] The insertion end of the endoscope in this application can collect two paths of imaging light, convert the two paths of imaging light into two imaging images, and then transmit the two imaging images to the host or camera for synthesis processing. The insertion end of the endoscope can directly collect two paths of imaging light and transmit the two paths of imaging light to the host or camera, which converts the two paths of imaging light into two imaging images and performs closed imaging. Both methods can achieve binocular three-dimensional imaging.

[0069] The present invention will be further described in detail below by means of specific embodiments in conjunction with the accompanying drawings. Similar elements in different embodiments are numbered with associated similar elements. In the following embodiments, many detailed descriptions are provided to enable the present application to be better understood. However, those skilled in the art will readily appreciate that some of the features may be omitted in different circumstances, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification. This is to avoid the core portion of the present application being overwhelmed by excessive descriptions, and for those skilled in the art, it is not necessary to describe these related operations in detail. They will fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0070] In addition, the features, operations, or characteristics described in the specification may be combined in any appropriate manner to form various embodiments. Furthermore, the steps or actions in the method description may be reordered or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various sequences in the specification and drawings are provided solely for the purpose of clearly describing a particular embodiment and are not intended to be mandatory, unless otherwise specified.

[0071] Component numbers used herein, such as "first" and "second," are used solely to distinguish the components being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings).

[0072] In one embodiment, an endoscope is provided. The endoscope can be a binocular 3D laparoscope, or other scopes capable of binocular imaging, such as a hysteroscope or gastroscope. The endoscope has an insertion end for insertion into a human or animal body. The insertion end is a movable structure capable of controlling the expansion and closure of the binocular objective lenses. In the expanded state, the distance between the binocular objective lenses increases, facilitating three-dimensional imaging. In the closed state, the distance between the binocular objective lenses decreases, and the entire insertion end shrinks, facilitating insertion and removal of the insertion end from the human or animal body. This embodiment is described using a binocular 3D laparoscope as an example.

[0073] Referring to Figures 1 and 2 , the endoscope primarily comprises a tube 1, a movable arm assembly 2, a control assembly 3, and an image acquisition assembly 4. The tube 1 has a tip 11 for insertion into a human or animal body. The movable arm assembly 2, the image acquisition assembly 4, and a portion of the control assembly 3 are mounted on the tip 11 of the tube 1, forming the insertion end of the endoscope.

[0074] The endoscope is a hard endoscope, and the mirror tube 1 is a fixed straight mirror tube. In other embodiments, when the endoscope is a soft endoscope, the mirror tube 1 is a flexible mirror tube.

[0075] The scope tube 1 is used to pass through optical components such as data cables or optical fibers. The insertion end of the endoscope is used to collect two imaging lights and convert them into two imaging images. The scope tube 1 is provided with a data cable for transmitting electrical signals. In other embodiments, when the insertion end of the endoscope is used only to collect two imaging lights, the scope tube 1 is provided with optical components such as optical fibers for transmitting optical signals.

[0076] In this embodiment, the movable arm assembly 2 includes a first arm 21 and a second arm 22. One end of the first arm 21 is rotatably connected to the head end 11 of the mirror tube 1, and the other end of the first arm 21 is a free end. One end of the second arm 22 is rotatably connected to the head end 11 of the mirror tube 1, and the other end of the second arm 22 is a free end. The first arm 21 and the second arm 22 are rotatably connected to the head end 11 of the mirror tube 1 via the same rotating shaft 12. The rotating shaft 12 is located in the middle of the head end 11 and is perpendicular to the axis of the mirror tube 1, so that the first arm 21 and the second arm 22 are symmetrically arranged along the axis of the mirror tube 1. The first arm 21 and the second arm 22 can be configured as two completely symmetrical structures, or they can be configured as two structures of different sizes.

[0077] In other embodiments, the first arm 21 and the second arm 22 may also be rotatably connected to the head end portion 11 of the mirror tube 1 via a rotating shaft respectively, so as to realize the rotatable connection between the first arm 21 and the second arm 22 .

[0078] In this embodiment, the first arm 21 and the second arm 22 can be relatively extended and closed via the rotating shaft 12. When the first arm 21 and the second arm 22 are closed, the projected areas of the first arm 21 and the second arm 22 onto a plane perpendicular to the axial direction of the mirror tube 1 are smaller than the projected areas of the first arm 21 and the second arm 22 onto a plane perpendicular to the axial direction of the mirror tube 1 when in the extended state. The projected areas of the first arm 21 and the second arm 22 onto a plane perpendicular to the axial direction of the mirror tube 1 represent the area where the binocular objective lens can be placed. When the first arm 21 and the second arm 22 are extended, the projected areas of the first arm 21 and the second arm 22 onto a plane perpendicular to the axial direction of the mirror tube 1 are increased, thereby providing a larger area for displaying the binocular objective lens. The spacing between the binocular objective lenses can exceed the limitations of the existing axial projection area of ​​the mirror tube 1. Binocular objective lenses with a larger spacing can achieve more realistic three-dimensional imaging, accommodate larger sensors and objective lenses, and produce higher-definition images.

[0079] The expansion angle range between the first arm 21 and the second arm 22 is 0° to 180°. When the first arm 21 and the second arm 22 are expanded to the maximum position, the first arm 21 and the second arm 22 are expanded to 180°, and the first arm 21 and the second arm 22 are perpendicular to the axis of the mirror tube 1; when the first arm 21 and the second arm 22 are closed to the minimum position, the first arm 21 and the second arm 22 are closed to 0°, and the first arm 21 and the second arm 22 are parallel to the axis of the mirror tube 1.

[0080] A damping structure may be provided on the rotating shaft 12 or the rotating shaft 12 may be directly used as a damping shaft, so that the first arm 21 and the second arm 22 can be stopped at different rotation positions respectively, so as to facilitate the doctor to image the positions of different areas.

[0081] In other embodiments, a limiting structure is provided on the head end 11 or the rotating shaft 12 of the mirror tube 1, and the limiting structure is used to limit the rotation angle range of the first arm 21 and the second arm 22. For example, the expansion angle range between the first arm 21 and the second arm 22 is limited to 0° to 135° or other range values, which can also meet the usage needs of certain scenarios.

[0082] In other embodiments, the first arm 21 and the second arm 22 can also be set to other movable modes, such as the first arm 21 and the second arm 22 are slidably connected relative to the head end 11 of the mirror tube 1, and the head end 11 is provided with an arc-shaped slide groove, and the first arm 21 and the second arm 22 are connected to the slide groove through rollers. The first arm 21 and the second arm 22 can also achieve relative expansion and closing of the first arm 21 and the second arm 22 by sliding.

[0083] In this embodiment, the first arm 21 and the second arm 22 are configured as a synchronous movable structure, and the first arm 21 and the second arm 22 can be simultaneously extended or closed. In other embodiments, the first arm 21 and the second arm 22 are configured as independent movable structures. For example, when the first arm 21 and the second arm 22 are connected to the head end portion 11 through a rotating shaft, the first arm 21 and the second arm 22 can rotate independently.

[0084] Referring to FIG3 , in other embodiments, one of the first arm 21 and the second arm 22 may be fixedly connected to the head end portion 11, and one of the first arm 21 and the second arm 22 may be rotatably connected to the head end portion 11 via the rotating shaft 12. By rotating one arm, the first arm 21 and the second arm 22 may be relatively expanded and closed. When the first arm 21 or the second arm 22 is fixedly connected to the head end portion 11, the first arm 21 or the second arm 22 may be fixedly connected to the head end portion 11 by welding, clamping, or the like, or the first arm 21 or the second arm 22 may be integrally formed with the head end portion 11.

[0085] In this embodiment, the first arm 21 and the second arm 22 have a predetermined size and shape. They can be semi-cylindrical or rectangular. When closed, the maximum outer diameter (or thickness) of the first arm 21 and the second arm 22 is equal to the outer diameter of the scope tube 1. This allows the first arm 21 and the second arm 22 to be easily inserted into and removed from the body of a human or animal together with the scope tube 1. Of course, the maximum outer diameter (or thickness) of the first arm 21 and the second arm 22 when closed can be slightly smaller or slightly larger than the outer diameter of the scope tube 1, thus meeting the requirements for insertion and removal from the body of a human or animal. However, when the maximum outer diameter (or thickness) of the first arm 21 and the second arm 22 when closed is equal to the outer diameter of the scope tube 1, the step between the first arm 21 and the second arm 22 and the scope tube 1 can be prevented from scratching tissue.

[0086] Specifically, the maximum outer diameter of the first arm 21 and the second arm 22 in the closed state is less than or equal to 12 mm, and the outer diameter of the lens 11 is 12 mm. If the outer diameter of the lens 11 is a size, the maximum outer diameter of the first arm 21 and the second arm 22 in the closed state can be adjusted accordingly.

[0087] In this embodiment, the control assembly 3 is connected to the mirror tube 1 and disposed within the mirror tube 1. One end of the control assembly 3 extends to connect with the first arm 21 and the second arm 22, and the other end of the control assembly 3 extends out of the mirror tube 1. Operating the control assembly 3 can simultaneously control the relative expansion and closure of the first arm 21 and the second arm 22. The control assembly 3 can be provided with two control circuits, which can be used to control the synchronous rotation of the first arm 21 and the second arm 22, or to control the independent rotation of the first arm 21 and the second arm 22. The control assembly 3 can also be connected only to the first arm 21 or the second arm 22 to independently control the rotation of the first arm 21 or the second arm 22.

[0088] The control assembly 3 includes a control member 31 and a hinge assembly 32. The control member 31 can be a control line or a control rope. The hinge assembly 32 is installed in the tip 11 of the endoscope tube 1 and is connected to the rotating shaft 12. The control member 31 is disposed within the endoscope tube 1. One end of the control member 31 extends to connect with the hinge assembly 32. The control member 31 is connected to the first arm 21 and the second arm 22 via the hinge assembly 32. The same end of the control member 31 extends out of the endoscope tube. The doctor can control the relative expansion and contraction of the first arm 21 and the second arm 22 by operating the control member 31. The principle is that when the control member 31 is pulled, the control member 31 drives the first arm 21 and the second arm 22 to rotate in opposite directions respectively through the hinge assembly 32. The hinge assembly 32 can adopt the hinge assembly provided on the surgical energy knife (energy scissors) of the existing endoscopic surgical instrument.

[0089] In other embodiments, the control assembly 3 may also be other control structures, such as a control assembly 3 including a motor and a hinge assembly, wherein the motor is connected to the hinge assembly and is used to control the expansion and closing of the first arm 21 and the second arm 22. A corresponding control button or switch is provided on the camera or other host and is electrically connected to the motor, and the doctor can operate the button or switch to operate the expansion and closing of the first arm 21 and the second arm 22.

[0090] In this embodiment, the image acquisition assembly 4 includes a first image acquisition group 41 and a second image acquisition group 42. The first image acquisition group 41 is disposed on the first arm 21, and the second image acquisition group 42 is disposed on the second arm 22. When the first arm 21 and the second arm 22 are in a closed state, the first image acquisition group 41 and the second image acquisition group 42 are closed and hidden and cannot be used. When the first arm 21 and the second arm 22 are in an extended state, the first image acquisition group 41 and the second image acquisition group 42 are exposed. The first image acquisition group 41 is used to capture first imaging light and convert the first imaging light into a first imaging signal. The second image acquisition group 42 is used to capture the first imaging light and convert the second imaging light into a second imaging signal. The first imaging signal and the second imaging signal are used to synthesize a three-dimensional image.

[0091] The first arm 21 is a hollow structure. It is provided with a first accommodating cavity 211, a first optical window 212, and a first collection surface 213. The first accommodating cavity 211 is located within the first arm 21. The first arm 21 can be assembled by closing two shells. When the first arm 21 and the second arm 22 are closed, the first collection surface 213 of the first arm 21 faces the second arm 22. The first optical window 212 is located on the first collection surface 213. The first optical window 212 can be located at the center of the first collection surface 213, or at a position on the first collection surface 213 away from one end of the rotating shaft 12. The first optical window 212 is embedded in the first collection surface 213, and the outer surface of the first optical window 212 is flush with the first collection surface 213. The first optical window 212 can be a lens such as sapphire glass, which can protect the components within the first arm 21.

[0092] The second arm 22 has the same or similar structure to the first arm 21. The second arm 22 is hollow and includes a second accommodating cavity 221, a second optical window 222, and a second collection surface 223. The second accommodating cavity 221 is located within the second arm 22, and the second arm 22 can be assembled by closing two housings. When the second arm 22 is closed, the second collection surface 223 of the second arm 22 faces the first arm 21. The second optical window 222 is located on the second collection surface 223. The second optical window 222 can be located at the center of the second collection surface 223, or at a position on the second collection surface 223 away from one end of the rotating shaft 12. The second optical window 222 is embedded in the second collection surface 223, and the outer surface of the second optical window 222 is flush with the second collection surface 223. The second optical window 222 can be made of a lens such as sapphire glass, which can protect the components within the second arm 22.

[0093] The first image acquisition group 41 is mounted within the first accommodating cavity 211 of the first arm 21. The first image acquisition group 41 is aligned with the first optical window 212 in the thickness direction of the first arm 21. The first image acquisition group 41 is configured to capture imaging light through the first optical window 212. Correspondingly, the second image acquisition group 42 is mounted within the second accommodating cavity 221 of the second arm 22. The second image acquisition group 42 is aligned with the second optical window 222 in the thickness direction of the second arm 22. The second image acquisition group 42 is configured to capture imaging light through the second optical window 222.

[0094] When the first arm 21 and the second arm 22 are in the closed state, the projected areas of the first and second collection surfaces 213 and 223 onto a surface perpendicular to the axial direction of the mirror tube 1 are smaller than the projected areas of the first and second collection surfaces 213 and 223 onto a surface perpendicular to the axial direction of the mirror tube 1 when the first arm 21 and the second arm 22 are in the extended state. Specifically, when the first arm 21 and the second arm 22 are in the closed state, the projected areas of the first and second collection surfaces 213 and 223 onto a surface perpendicular to the axial direction of the mirror tube 1 form a straight line and are almost zero. When the first arm 21 and the second arm 22 are in the extended state, the projected areas of the first and second collection surfaces 213 and 223 onto a surface perpendicular to the axial direction of the mirror tube 1 are equal to the original areas of the first and second collection surfaces 213 and 223. It can be seen that when the first arm 21 and the second arm 22 are switched from the closed state to the extended state, the projected areas of the first and second collection surfaces 213 and 223 onto a surface perpendicular to the axial direction of the mirror tube 1 expand from almost zero to a maximum value, allowing the first and second image acquisition groups 41 and 42 to be arranged in a larger space, facilitating three-dimensional imaging.

[0095] In this embodiment, the first image acquisition group 41 includes a first image sensor 411 and a first objective lens group 412. The first image sensor 411 is mounted on a side of the first accommodating cavity 211 away from the first optical window 212, with the sensing surface of the first image sensor 411 facing the first optical window 212. The first objective lens group 412 is mounted between the first image sensor 411 and the first optical window 212. The first objective lens group 412 can be composed of a plurality of lenses, such as a triplet lens. The first objective lens group 412 is used to capture first imaging light through the first optical window 212 and project the first imaging light onto the first image sensor 411. The first image sensor 411 is used to generate a first image signal based on the first imaging light.

[0096] The second image acquisition group 42 includes a second image sensor 422 and a second objective lens group 422. The second image sensor 422 is mounted on a side of the second accommodating cavity 221 away from the second optical window 222, with the sensing surface of the second image sensor 422 facing the second optical window 222. The second objective lens group 422 is mounted between the second image sensor 422 and the second optical window 222. The second objective lens group 422 can be composed of a plurality of lenses, such as a triplet lens. The second objective lens group 422 is used to capture the second imaging light through the second optical window 222 and project the second imaging light onto the second image sensor 422. The second image sensor 422 is used to generate a second image signal based on the second imaging light.

[0097] The first objective lens group 412 and the first optical window 212 can be mounted on the same mounting base, or they can be fixedly mounted via two mounting bases, respectively. Similarly, the second objective lens group 422 and the second optical window 222 can be mounted on the same mounting base, or they can be fixedly mounted via two mounting bases, respectively.

[0098] When the first arm 21 and the second arm 22 are deployed, the spacing between the first objective lens group 412 and the second objective lens group 422 is greater than the outer diameter of the lens tube 1, that is, the spacing between the first objective lens group 412 and the second objective lens group 422 is greater than 6 mm. A spacing of 6 mm or more can match the distance between the left and right eyes of a person, making the captured left and right images closer to the parallax of the human eye, and enhancing the stereoscopic effect of the 3D image. The spacing between the first objective lens group 412 and the second objective lens group 422 can be set to 12 mm or even greater. In this embodiment, the provision of the first arm 21 and the second arm 22 that can be deployed and closed allows the spacing between the first objective lens group 412 and the second objective lens group 422 to exceed the size limitations of the lens tube 1, achieving better imaging effects.

[0099] In this embodiment, the image acquisition assembly 4 also includes a first flexible cable and a second flexible cable. The first flexible cable and the second flexible cable are arranged within the mirror tube 1. One end of the first flexible cable extends to the first image sensor 411 of the first image acquisition group 41 for electrical connection, and the other end of the first flexible cable extends to be electrically connected to the processing module within the camera. The first flexible cable is used to transmit the first image signal generated by the first image sensor 411 to the camera. The first flexible cable and the flexible cable are arranged within the mirror tube 1. One end of the first flexible cable extends to the first image sensor 411 of the first image acquisition group 41 for electrical connection, and the other end of the first flexible cable extends to be electrically connected to the camera. The first flexible cable is used to transmit the first image signal generated by the first image sensor 411 to the camera. The camera can perform pre-processing and closing on the first and second image signals, or the camera can directly transmit the first and second image signals to a host computer, which then directly processes the first and second image signals to obtain a three-dimensional image.

[0100] The first and second flexible cables in the mirror tube 1 can be combined into a bus, with the two ends of the bus forming a double Y structure, which is the connection part of the first and second flexible cables. Combining the first and second flexible cables into a bus facilitates cable installation and maintenance.

[0101] In this embodiment, the first flexible cable and the second flexible cable are both flexible structures. For example, the first flexible cable and the second flexible cable are flexible FPCs, so that during the rotation of the first arm 21 and the second arm 22 when they are unfolded and closed, the first flexible cable and the second flexible cable can also swing accordingly, without affecting the connection stability of the first flexible cable and the second flexible cable.

[0102] In other embodiments, the first image acquisition group 41 may only include the first objective lens group 412, and the second image acquisition group 42 may only include the second objective lens group 422. The first image acquisition group 41 is only used to acquire the first imaging light, and the second image acquisition group 42 is also only used to acquire the second imaging light. The first image acquisition group 41 and the second image acquisition group 42 can transmit the first imaging light and the second imaging light to the camera or host for imaging through optical paths such as optical fibers, which can also achieve three-dimensional imaging.

[0103] The endoscope of this embodiment has a movable arm assembly 2 disposed at the end of the endoscope head, and a binocular image acquisition assembly 4 disposed on a first arm 21 and a second arm 22, respectively. Driven by a control assembly 3, the first arm 21 and the second arm 22 can be relatively expanded and closed. In the closed state, the first arm 21 and the second arm 22 can be distributed axially along the parallel mirror tube 1, facilitating insertion and removal of the mirror tube from the human body. In the expanded state, the first arm 21 and the second arm 22 can expand the spacing between the first image acquisition group 41 and the second image acquisition group 42, thus overcoming the limitation of the outer diameter of the mirror tube 2 and enabling the first image acquisition group 41 and the second image acquisition group 42 to capture two images with a larger parallax, thereby achieving better three-dimensional imaging quality. Furthermore, the endoscope head is configured as a movable structure, which expands the axial projection area of ​​the parallel mirror tube 1, allowing the endoscope head to be equipped with a larger sensor, further improving imaging quality.

[0104] In one embodiment, an endoscope is provided. The difference between this endoscope and the previous embodiment is that a lighting lamp is provided at the front end of the endoscope. The lighting lamp can provide illumination for imaging in the body and improve the clarity of the imaging.

[0105] Referring to Figure 4 , in this embodiment, the first image acquisition group 41 includes a first illumination lamp 413, which is mounted on the first acquisition surface 213 of the first arm 21. One or more first illumination lamps 413 may be provided, with multiple first illumination lamps 413 arranged around the first optical window 212 to provide more uniform illumination. The first illumination lamp 413 may also be an annular structure with an inner diameter greater than the outer diameter of the first optical window 212. The annular first illumination lamp 413 may be positioned around the outer ring of the first optical window 212 to similarly achieve uniform illumination.

[0106] The second image acquisition group 42 includes a second illumination lamp 423, which is mounted on the second acquisition surface 223 of the second arm 22. One or more second illumination lamps 423 may be provided, with multiple second illumination lamps 423 arranged around the second optical window 222 to provide more uniform illumination. The second illumination lamp 423 may also be an annular structure with an inner diameter greater than the outer diameter of the second optical window 222. The annular second illumination lamp 423 is positioned around the outer ring of the second optical window 222, similarly achieving uniform illumination.

[0107] In this embodiment, the first and second illuminating lamps 413, 423 may be LEDs or the like, and are connected to the camera or host computer via first and second flexible cables, respectively. The brightness of the first and second illuminating lamps 413, 423 is adjustable. Multiple first and second illuminating lamps 413, 423 may also be individually controlled, with individual on / off control and brightness control to meet the doctor's needs in different scenarios.

[0108] In other embodiments, the lighting lamp may also be provided only on the first arm 21 or the second arm 22 . Providing a lighting lamp on one arm can also achieve a certain lighting effect.

[0109] In this embodiment, the turning on and off of the first and second lights 413, 423 can be linked to the movements of the first and second arms 21, 22. For example, when the first and second arms 21, 22 are extended, the first and second lights 413, 423 are simultaneously turned on. When the first and second arms 21, 22 are closed, the first and second lights 413, 423 are simultaneously turned off. This eliminates the need for separate switches for the first and second lights 413, 423. By linking the movements of the first and second arms 21, 22, electricity waste caused by forgetting to turn off the lights can be avoided.

[0110] In other embodiments, a light guide is provided in the mirror tube 1, one end of the light guide extends to the first collecting surface 213 of the first arm 21 and the second collecting surface 223 of the second arm 22, and the other end of the light guide extends to the outside to connect with the light source. The light source is set outside and can also illuminate and image the body.

[0111] In one embodiment, an endoscope is provided. The difference between this endoscope and the previous embodiment is that no movable arm is provided, and the control component 3 directly controls the expansion and closure of the first image acquisition group 41 and the second image acquisition group 42.

[0112] Please refer to Figure 5. In this embodiment, the first image acquisition group 41 and the second image acquisition group 42 are respectively an integrated structure. The first arm 21 in the above embodiment can be a part of the first image acquisition group 41, and the first arm 21 is the outer shell of the first image acquisition group 41; the second arm 22 can also be a part of the second image acquisition group 42, and the second arm 22 is the outer shell of the second image acquisition group 42.

[0113] In other embodiments, the first image acquisition group 41 and the second image acquisition group 42 may also be provided with housings of other structures to seal and install the image sensor and the objective lens.

[0114] In this embodiment, the first image acquisition group 41 and the second image acquisition group 42 are directly rotatably connected to the head end 11 of the mirror tube 1 via the rotating shaft 12. The first image acquisition group 41 and the second image acquisition group 42 can be relatively expanded and relatively closed, and the first image acquisition group 41 and the second image acquisition group 42 can also move within a range of 0° to 180°.

[0115] The first image acquisition group 41 and the second image acquisition group 42 are the same as those in the above embodiment, and also include a sensor and an objective lens group, and may further include an illumination lamp.

[0116] In other embodiments, the tip 11 of the mirror tube 1 may also be provided with a movable member, which is rotatably connected to the tip 11 via a rotating shaft 12, and the first image acquisition group 41 and the second image acquisition group 42 are fixedly mounted on the movable member. The movable member may be a movable structure such as a movable arm, a movable rod, or a movable plate. The movable member serves only as a movable connection, and the first image acquisition group 41 and the second image acquisition group 42 are connected to the outside of the movable member.

[0117] In this embodiment, the first image acquisition group 41 and the second image acquisition group 42 are directly rotatably connected to the head end 11 of the mirror tube 1, which can also realize the expansion of the binocular objective lens for shooting and imaging and the closing and storage.

[0118] In one embodiment, an endoscope head end structure is provided, which includes the lens tube 1, the movable arm assembly 2 and the image acquisition assembly 4 in the above embodiment.

[0119] In this embodiment, the endoscope head end structure can be a single component that can be combined with different endoscopes for use, meaning that the single component end structure can become a universal component. The endoscope head end structure is intended for insertion into a human or animal body, so it can be configured as a disposable consumable to prevent cross-infection. Of course, the endoscope head end structure can also be configured as a reusable component.

[0120] The endoscope head structure of this endoscope mainly includes a scope tube 1, a movable arm assembly 2, and an image acquisition assembly 4. The specific components and connection relationship of the scope tube 1, movable arm assembly 2, and image acquisition assembly 4 are the same as those in the above embodiment. The expansion and closing of the movable arm assembly 2 can be achieved by externally connecting the control assembly 3 in the above embodiment.

[0121] In other embodiments, the expansion and closing of the movable arm assembly 2 can also be achieved by setting other control components. For example, a torsion spring is provided on the rotating shaft 12, and the expansion of the movable arm assembly 2 can be achieved by the torsion of the torsion spring. The movable arm assembly 2 is then set to be movable along the axial direction of the mirror tube 1, and a push rod is provided in the mirror tube 1. The push rod pushes the axial movement of the movable arm assembly 2. The movable arm assembly 2 can be hidden in the head end portion 11 of the mirror tube 1 along the axial direction. During the axial retraction movement, the movable arm assembly 2 is pushed to be blocked by the head end portion 11 to form a closure; during the axial extension movement, the movable arm assembly 2 can be expanded under the action of the torsion spring.

[0122] 6 , an embodiment provides an endoscope camera system 1000, which includes an endoscope 30, a camera head 40, a cable 71, a camera host 50, a display 60, and a video connection cable 72. The endoscope 30 is the endoscope in any of the above embodiments.

[0123] Endoscope 30 has its own lighting. One end of endoscope 30 is inserted into human body 100, and the other end is connected to camera 40. The end of camera 40, which is remote from endoscope 30, is connected to camera 40 via cable 71. Endoscope 30 is used to transmit the image signals (electrical signals) it has collected and generated to camera 40. Camera 40 pre-processes the image signals and then transmits the pre-processed image signals, or directly the image signals, via cable 71 to camera host 50 for processing and synthesis of the final image. Camera host 50 is connected to display 60 via video cable 72, which transmits the image signals to display 60.

[0124] In other embodiments, the cable 71 may be an optical communication cable, such as an optical fiber; the camera 40 converts the image signal (electrical signal) into an optical signal, which is transmitted via the cable 71 to the camera host 50, which then converts the optical signal into an electrical signal (image signal). Those skilled in the art should understand that FIG6 is merely an example of the endoscopic camera system 1000 and does not limit the endoscopic camera system 1000. The endoscopic camera system 1000 may include more or fewer components than shown in FIG6, or may combine certain components or different components. For example, the endoscopic camera system 1000 may also include a dilator, a smoke control device, input / output devices, a network access device, etc.

[0125] Please refer to Figure 7. In other embodiments, the endoscope 30 does not have lighting. The endoscope camera system 1000 also includes a light source 10 and a light guide 20. The light source 10 is connected to the endoscope 30 through the light guide 20. The light guide 20 extends to the head end 11 of the mirror tube 1 of the endoscope 30. The light source 10 provides lighting for the endoscope 30.

[0126] The present endoscope camera system 1000 utilizes the endoscope 30 of the aforementioned embodiment. The endoscope 30 includes a movable arm assembly 2, enabling the first image acquisition group 41 and the second image acquisition group 42 to capture two images with a greater parallax, thereby achieving better three-dimensional imaging quality for the endoscope camera system 1000. Furthermore, the endoscope's tip is configured as a movable structure, expanding the projected area along the axial direction of the parallel mirror tube 1. This allows for the installation of a larger sensor at the tip of the endoscope, further improving the imaging quality of the endoscope camera system 1000.

[0127] The above examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. Those skilled in the art can make several simple deductions, modifications or substitutions based on the concept of the present invention.

Claims

1. An endoscope, characterized in that: include: A mirror tube (1) having a head end (11) for insertion into a human or animal body; A movable arm assembly (2) comprising a first arm (21) and a second arm (22), wherein the first arm (21) and the second arm (22) are arranged on the head end portion (11), and the first arm (21) and / or the second arm (22) are movably connected to the head end portion (11); a control component (3) connected to the mirror tube (1), the control component (3) being connected to the first arm (21) and / or the second arm (22), the control component (3) being used to control the relative movement between the first arm (21) and the second arm (22); as well as The image acquisition assembly (4) comprises a first image acquisition group (41) and a second image acquisition group (42), wherein the first image acquisition group (41) is arranged on the first arm (21), and the second image acquisition group (42) is arranged on the second arm (22); when the first arm (21) and the second arm (22) are in an unfolded state, the first image acquisition group (41) is used to acquire first imaging light or to generate a first image signal, and the second image acquisition group (42) is used to acquire second imaging light or to generate a second image signal.

2. The endoscope according to claim 1, wherein When the first arm (21) and the second arm (22) are in a closed state, the projection areas of the first arm (21) and the second arm (22) on a surface perpendicular to the axial direction of the mirror tube (1) are smaller than the projection areas of the first arm (21) and the second arm (22) on a surface perpendicular to the axial direction of the mirror tube (1) when they are in an unfolded state.

3. The endoscope according to claim 1, wherein The first arm (21) and the second arm (22) are respectively movably connected to the head end portion (11) in a rotational connection.

4. The endoscope according to claim 3, wherein: The maximum outer diameters of the first arm (21) and the second arm (22) in a closed state are less than or equal to the outer diameter of the mirror tube (1).

5. The endoscope according to claim 3, wherein: The maximum outer diameters of the first arm (21) and the second arm (22) in the closed state are less than or equal to 12 mm.

6. The endoscope according to any one of claims 1 to 5, characterized in that The first arm (21) is provided with a first accommodating cavity (211), a first optical window (212) and a first collection surface (213); the first image collection group (41) is located in the first accommodating cavity (211), and the first optical window (212) is located on the first collection surface (213); the second arm (22) is provided with a second accommodating cavity (221), a second optical window (222) and a second collection surface (223); the second image collection group (42) is located in the second accommodating cavity (221), and the second optical window (222) is located on the second collection surface (223).

7. The endoscope according to claim 6, wherein: The projection areas of the first collecting surface (213) and the second collecting surface (223) on a surface perpendicular to the axial direction of the mirror tube (1) in a closed state are smaller than the projection areas of the first collecting surface (213) and the second collecting surface (223) on a surface perpendicular to the axial direction of the mirror tube (1) in an expanded state.

8. The endoscope according to claim 7, wherein: The first image acquisition group (41) includes a first image sensor (411) and a first objective lens group (412), the first objective lens group (412) is located between the first image sensor (411) and the first optical window (212), the first objective lens group (412) is used to acquire first imaging light and project it onto the first image sensor (411), and the first image sensor (411) is used to generate a first image signal; the second image acquisition group (42) includes a second image sensor (421) and a second objective lens group (422), the second objective lens group (422) is located between the second image sensor (421) and the second optical window (222), the second objective lens group (422) is used to acquire second imaging light and project it onto the second image sensor (421), and the second image sensor (421) is used to generate a second image signal.

9. The endoscope according to claim 8, wherein When the first arm (21) and the second arm (22) are in an unfolded state, the distance between the first objective lens group (412) and the second objective lens group (422) is greater than or equal to the outer diameter of the lens tube (1).

10. The endoscope according to claim 7, wherein: The first image acquisition group (41) includes a first lighting group (413), and the first lighting group (413) is arranged on the first acquisition surface (213); the second image acquisition group (42) includes a second lighting group (423), and the second lighting group (423) is arranged on the second acquisition surface (223).

11. The endoscope according to claim 10, wherein: The first lighting group (413) includes a plurality of first lighting lamps, and the plurality of first lighting lamps are arranged around the first optical window (212); the second lighting group (423) includes a plurality of second lighting lamps, and the plurality of second lighting lamps are arranged around the second optical window (222).

12. The endoscope according to claim 1, wherein The control assembly (3) comprises a control member and a hinge group, wherein the first arm (21) and / or the second arm (22) are rotatably connected to the head end portion (11) via the hinge group, and the control member is arranged in the mirror tube (1), one end of the control member is connected to the hinge group, and the other end of the control member extends out of the mirror tube (1), and the control member is used to drive the hinge group to move, so as to control the expansion and closure of the first arm (21) and the second arm (22).

13. The endoscope according to claim 1, wherein The image acquisition assembly (4) further includes a first flexible cable and a second flexible cable, wherein the first flexible cable and the second flexible cable are located in the mirror tube (1), one end of the first flexible cable extends to the first image acquisition group (41) for electrical connection, and the other end of the first flexible cable extends to be electrically connected to a camera, one end of the second flexible cable extends to the second image acquisition group (42) for electrical connection, and the other end of the second flexible cable extends to be electrically connected to the camera.

14. The endoscope according to claim 1, wherein When the first arm (21) and the second arm (22) are in a closed state, the first arm (21) and the second arm (22) are parallel to the mirror tube.

15. The endoscope according to claim 1, wherein When the first arm (21) and the second arm (22) are in an unfolded state, the first arm (21) and the second arm (22) are perpendicular to the mirror tube.

16. An end structure of an endoscope head, characterized in that: include: A mirror tube (1) having a head end (11) for insertion into a human or animal body; A movable arm assembly (2) comprises a first arm (21) and a second arm (22), wherein the first arm (21) and the second arm (22) are movably connected, and the first arm (21) and the second arm (22) are capable of relative movement; as well as The image acquisition assembly (4) comprises a first image acquisition group (41) and a second image acquisition group (42), wherein the first image acquisition group (41) is arranged on the first arm (21), and the second image acquisition group (42) is arranged on the second arm (22); when the first arm (21) and the second arm (22) are in an unfolded state, the first image acquisition group (41) is used to acquire first imaging light or to generate a first image signal, and the second image acquisition group (42) is used to acquire second imaging light or to generate a second image signal.

17. The endoscope head end structure according to claim 16, wherein: The projection areas of the first arm (21) and the second arm (22) on a surface perpendicular to the axial direction of the mirror tube (1) in the closed state are smaller than the projection areas of the first arm (21) and the second arm (22) on a surface perpendicular to the axial direction of the mirror tube (1) in the unfolded state.

18. The endoscope head structure according to claim 16, wherein: The maximum outer diameters of the first arm (21) and the second arm (22) in the closed state are less than or equal to the outer diameter of the mirror tube (1).

19. The endoscope head structure according to claim 16, wherein: The maximum outer diameter of the first arm (21) and the second arm (22) in the closed state is less than or equal to 12 mm.

20. The endoscope head structure according to claim 16, wherein: The first arm (21) is provided with a first accommodating cavity (211), a first optical window (212) and a first collection surface (213); the first image collection group (41) is located in the first accommodating cavity (211), and the first optical window (212) is located on the first collection surface (213); the second arm (22) is provided with a second accommodating cavity (221), a second optical window (222) and a second collection surface (223); the second image collection group (42) is located in the second accommodating cavity (221), and the second optical window (222) is located on the second collection surface (223).

21. The endoscope head end structure according to claim 20, wherein: The projection areas of the first collecting surface (213) and the second collecting surface (223) on a surface perpendicular to the axial direction of the mirror tube (1) in a closed state are smaller than the projection areas of the first collecting surface (213) and the second collecting surface (223) on a surface perpendicular to the axial direction of the mirror tube (1) in an expanded state.

22. The endoscope head structure according to claim 20, wherein: The first image acquisition group (41) includes a first image sensor (411) and a first objective lens group (412), the first objective lens group (412) is located between the first image sensor (411) and the first optical window (212), the first objective lens group (412) is used to acquire first imaging light and project it onto the first image sensor (411), and the first image sensor (411) is used to generate a first image signal; the second image acquisition group (42) includes a second image sensor (421) and a second objective lens group (422), the second objective lens group (422) is located between the second image sensor (421) and the second optical window (222), the second objective lens group (422) is used to acquire second imaging light and project it onto the second image sensor (421), and the second image sensor (421) is used to generate a second image signal.

23. The endoscope head structure according to claim 22, wherein: The first image acquisition group (41) further includes a first lighting group (413), and the first lighting group (413) is arranged on the first acquisition surface (213); the second image acquisition group (42) further includes a second lighting group (423), and the second lighting group (423) is arranged on the second acquisition surface (223).

24. The endoscope head structure according to claim 23, wherein: The first lighting group (413) includes a plurality of first lighting lamps, and the plurality of first lighting lamps are arranged around the first optical window (212); the second lighting group (423) includes a plurality of second lighting lamps, and the plurality of second lighting lamps are arranged around the second optical window (222).

25. An endoscope, characterized in that: include: A mirror tube (1) having a head end (11) for insertion into a human or animal body; An image acquisition assembly (4) comprising a first image acquisition group (41) and a second image acquisition group (42), wherein the first image acquisition group (41) and / or the second image acquisition group (42) are movably connected to the head end portion (11); as well as A control component (3) is installed in the mirror tube (1), the control component (3) is connected to the first image acquisition group (41) and / or the second image acquisition group (42), and the control component (3) is used to control the relative movement between the first image acquisition group (41) and the second image acquisition group (42); when the first image acquisition group (41) and the second image acquisition group (42) are in the unfolded state, the first image acquisition group (41) is used to acquire first imaging light or to generate a first image signal, and the second image acquisition group (42) is used to acquire second imaging light or to generate a second image signal.

26. The endoscope according to claim 25, wherein The projection areas of the first image acquisition group (41) and the second image acquisition group (42) on a surface perpendicular to the axial direction of the mirror tube (1) in the closed state are smaller than the projection areas of the first image acquisition group (41) and the second image acquisition group (42) on a surface perpendicular to the axial direction of the mirror tube (1) in the expanded state.

27. The endoscope according to claim 25, wherein The first image acquisition group (41) and the second image acquisition group (42) are respectively rotatably connected to the head end portion (11).

28. The endoscope according to claim 26, wherein The maximum outer diameters of the first image acquisition group (41) and the second image acquisition group (42) in a closed state are less than or equal to the outer diameter of the mirror tube (1).

29. The endoscope according to claim 26, wherein The maximum outer diameters of the first image acquisition group (41) and the second image acquisition group (42) in a closed state are less than or equal to 12 mm.

30. The endoscope according to claim 25, wherein The first image acquisition group (41) includes a first image sensor (411) and a first objective lens group (412), the first objective lens group (412) is used to acquire first imaging light and project it onto the first image sensor (411), and the first image sensor (411) is used to generate a first image signal; the second image acquisition group (42) includes a second image sensor (421) and a second objective lens group (422), the second objective lens group (422) is used to acquire second imaging light and project it onto the second image sensor (421), and the second image sensor (421) is used to generate a second image signal.

31. The endoscope according to claim 30, wherein When the first image acquisition group (41) and the second image acquisition group (42) are in an unfolded state, the distance between the first objective lens group (412) and the second objective lens group (422) is greater than or equal to the outer diameter of the lens tube (1).

32. The endoscope according to claim 30, wherein The first image acquisition group (41) further includes a plurality of first illumination lamps, which are arranged around the first objective lens group (412); the second image acquisition group (42) further includes a plurality of second illumination lamps, which are arranged around the second objective lens group (422).

33. The endoscope according to claim 25, wherein The control component (3) includes a control member and a hinge group. The first image acquisition group (41) and / or the second image acquisition group (42) are rotatably connected to the head end portion (11) via the hinge group. The control member is arranged in the mirror tube (1). One end of the control member is connected to the hinge group, and the other end of the control member extends out of the mirror tube (1). The control member is used to drive the hinge group to move, so as to control the expansion and closure of the first image acquisition group (41) and the second image acquisition group (42).

34. The endoscope according to claim 25, wherein The image acquisition assembly (4) further includes a first flexible cable and a second flexible cable, wherein the first flexible cable and the second flexible cable are located in the mirror tube (1), one end of the first flexible cable extends to be electrically connected to the first image acquisition group (41), and the other end of the first flexible cable extends to be electrically connected to the camera, one end of the second flexible cable extends to be electrically connected to the second image acquisition group (42), and the other end of the second flexible cable extends to be electrically connected to the camera.

35. The endoscope according to claim 25, wherein A movable arm is provided at the front end of the mirror tube (1), and the image acquisition component (4) is arranged on the movable arm.

36. The endoscope according to claim 25, wherein A movable part is provided at the front end of the mirror tube (1), and the image acquisition component (4) is arranged on the movable part.

37. An endoscope camera system, characterized in that: The apparatus comprises a camera (40), a cable (71), a camera host (50), and an endoscope (30) according to any one of claims 1 to 15 or 25 to 36, wherein one end of the camera (40) is connected to the endoscope (30), and the other end of the camera (40) is connected to the camera host (50) via the cable (71).

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