3D endoscope

Abstract

The embodiment of the invention discloses a 3D endoscope, relates to the technical field of medical diagnosis instruments, and aims to improve the imaging definition of the endoscope. The 3D endoscope includes: a handle; the first end of the inner tube body is fixedly connected with the handle, and a 3D camera module is arranged on the inner tube body; wherein the 3D camera module comprises a first lens, a second lens, a first image sensor corresponding to the first lens, and a second image sensor corresponding to the second lens; the outer tube body is arranged on the outer side of the inner tube body in a sleeving mode, a lens is arranged on the outer tube body, and the lens is located on the object side of the first lens and the object side of the second lens; wherein the outer tube body is detachably connected with the handle. The embodiment of the invention is suitable for the occasion of disease examination in the human body.

Description

Technical Field

[0001] The present invention relates to the technical field of medical diagnostic instruments, and in particular to an 8K ultra-high definition optical endoscope and imaging system. Background Art

[0002] 3D endoscope is a commonly used medical device that can enter the human body through natural channels or small surgical incisions to help doctors diagnose and analyze the condition of the lesion and treat the disease. For example, there are gastroscopes, sinusoscopes, laparoscopes, etc.

[0003] In order to avoid cross infection, existing 3D endoscopes usually need to be disinfected after clinical use. However, the disinfected 3D endoscope may not be completely disinfected and may still cause cross infection when used next time, which poses a safety hazard. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a 3D endoscope, which can not only improve the safety in clinical application, but also conveniently change the observation range.

[0005] To achieve the above purpose, the embodiments of the present invention provide the following technical solutions: A 3D endoscope comprises: a handle; an inner tube body, a first end of the inner tube body being fixedly connected to the handle, and a 3D camera module being arranged on the inner tube body; wherein the 3D camera module comprises a first lens and a second lens, a first image sensor corresponding to the first lens, and a second image sensor corresponding to the second lens; an outer tube body, the outer tube body being sleeved on the outer side of the inner tube body, a lens being arranged on the outer tube body, and the lens being located on the object side of the first lens and the second lens; wherein the outer tube body comprises a first tube body and a second tube body sleeved on the outside of the first tube body; the first tube body being sleeved on the outer side of the inner tube body ; An optical fiber is passed between the outer surface of the first tube body and the inner surface of the second tube body; a light source connector is provided on the second tube body for connecting an external light source to provide illumination for the object side of the 3D endoscope through the optical fiber; the outer tube body is detachably connected to the handle; the lens is a prism, the light incident surface of the prism faces the outside of the outer tube body, and there is a preset angle between the light incident surface and the central axis of the outer tube body; the light exit surface of the prism corresponds to the first lens and the second lens; the outer tube body is rotatably connected to the handle; when the outer tube body is rotated, the outer tube body can rotate relative to the handle and the inner tube body.

[0006] According to an implementation method of an embodiment of the present invention, a rotating handwheel is connected between the outer tube body and the handle; the rotating handwheel is rotatably connected to the handle; the outer tube body and the rotating handwheel are detachably connected; by rotating the rotating handwheel, the rotating handwheel drives the outer tube body to rotate relative to the inner tube body.

[0007] According to an implementation method of an embodiment of the present invention, a rotating handwheel is connected between the outer tube body and the handle; the rotating handwheel is rotatably connected to the handle, and the rotating handwheel is detachably connected to the handle; the outer tube body is connected to the rotating handwheel; by rotating the rotating handwheel, the rotating handwheel drives the outer tube body to rotate relative to the inner tube body.

[0008] According to an implementation of the embodiment of the present invention, an intermediate connecting piece is provided between the outer tube body and the rotating hand wheel; the outer tube body and the intermediate connecting piece are fixedly connected, and the intermediate connecting piece and the rotating hand wheel are detachably connected.

[0009] According to an implementation method of an embodiment of the present invention, the intermediate connecting piece is cylindrical; one end of the intermediate connecting piece is threadedly connected to the outer tube body through an internal thread, and the other end of the intermediate connecting piece is a plug-in head; the rotating hand wheel is provided with a plug-in groove that is interference fit with the plug-in head.

[0010] According to an implementation of the embodiment of the present invention, the imaging target surface of the first image sensor and the imaging target surface of the second image sensor respectively have an angle greater than 0 degrees and less than 90 degrees with the central axis of the inner tube body; A first prism is provided between the first lens and the imaging target surface of the first image sensor, and a second prism is provided between the second lens and the imaging target surface of the second image sensor.

[0011] According to an implementation method of the embodiment of the present invention, the angle between the imaging target surface of the first image sensor and the imaging target surface of the second image sensor and the central axis of the inner tube body is greater than or equal to 20 degrees and less than or equal to 60 degrees; and the imaging target surface of the first image sensor and the imaging target surface of the second image sensor are arranged in a V-shape or an inverted eight-shape.

[0012] According to an implementation method of the embodiment of the present invention, a seat is provided at the end of the inner tube body away from the handle; a V-shaped groove is provided on the seat, the first image sensor is provided on one side wall of the V-shaped groove, and the second image sensor is provided on the other side wall of the V-shaped groove, and the imaging target surface of the first image sensor and the imaging target surface of the second image sensor are opposite to each other.

[0013] According to an implementation method of an embodiment of the present invention, the seat body is further provided with a threading hole connected to the V-shaped groove, and the threading hole is connected to the lumen in the inner tube body; the connecting wires of the first image sensor and the second image sensor are arranged in the lumen of the inner tube body through the threading hole.

[0014] The 3D endoscope provided in this embodiment adopts a detachable connection between the outer tube body and the handle, so that the outer tube body can be used as a disposable structure. After clinical use, the outer tube body can be disassembled and discarded, and replaced with a new outer tube body and reused. In this way, cross infection can be avoided and the safety in clinical application can be improved. In addition, the 3D endoscope in this embodiment only disassembles and discards the outer tube body after clinical use, and the remaining structure can be reused again, which can effectively control the cost while improving the safety of clinical application. Furthermore, in the case where the lens on the outer tube body is a prism, the outer tube body and the handle can be rotatably connected. In this way, when the outer tube body is rotated, the outer tube body can rotate relative to the handle and the inner tube body, thereby driving the light incident surface of the prism to face different directions, so that the observation range can be easily changed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below 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 work.

[0016] Figure 1 It is a schematic structural diagram of an embodiment of a 3D endoscope of the present invention; Figure 2 for Figure 1 Schematic cross-sectional view of ; Figure 3 for Figure 1 A schematic cross-sectional view of (showing the location of the partial enlargement); Figure 4 for Figure 3 A local enlarged schematic diagram of the middle A; Figure 5 It is a cross-sectional schematic diagram of an outer tube body (disposable structure) with an intermediate connecting piece after being disassembled in one embodiment of the present invention; Figure 6 is a cross-sectional schematic diagram of a disassembled reusable structure according to an embodiment of the present invention; Figure 7 It is a schematic cross-sectional structure diagram of an intermediate connecting piece connecting the outer tube body and the rotating hand wheel in one embodiment of the present invention; Figure 8is a schematic cross-sectional structure diagram of a base body of a camera module in one embodiment of the present invention; Fig. 9 In another embodiment Figure 3 A local enlarged schematic diagram of point A in the middle. DETAILED DESCRIPTION

[0017] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0018] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The embodiment of the present invention provides a 3D endoscope, part of which is a disposable structure and part of which is a reusable structure. After clinical use, the disposable structure can be disassembled and discarded, and the remaining structure can be used again as a reusable structure, which can improve the safety of use and reduce the cost of clinical application.

[0020] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. Implementation

[0021] See also Figure 1 and Figure 2 The 3D endoscope 1 of this embodiment includes: a handle 2, an inner tube body 3 and an outer tube body 4.

[0022] The 3D endoscope 1 may also be referred to as an endoscope capable of realizing three-dimensional stereoscopic imaging, and may specifically be a sinusoscope, a laparoscope, and the like.

[0023] The handle 2 is a part held by hand and is used by clinical users to hold and manipulate the 3D endoscope.

[0024] The inner tube body 3 may be a hard tube body, and a first end thereof is fixedly connected to the handle 2. A 3D camera module 30 is provided on the inner tube body 3 for realizing 3D camera.

[0025] See also Figure 3 The 3D camera module 30 includes a first lens 301 and a second lens 302 , a first image sensor 303 corresponding to the first lens 301 , and a second image sensor 304 corresponding to the second lens 302 .

[0026] The first lens 301 is used to form a first optical image of the observed object. The first optical image is formed on the imaging target surface of the first image sensor 303 , and the first image sensor 303 performs photoelectric conversion to obtain an electrical signal of the first optical image.

[0027] Similarly, the second lens 302 is used to form a second optical image of the same observed object. The second optical image is formed on the imaging target surface of the second image sensor 304, and the second image sensor 304 performs photoelectric conversion to obtain an electrical signal of the second optical image.

[0028] The electrical signal of the first optical image and the electrical signal of the second optical image can be transmitted to an image processing device (not shown in the figure) by wired or wireless means. After the image processing device processes the electrical signal of the first optical image and the electrical signal of the second optical image, a stereoscopic image of the observed object can be obtained, and the stereoscopic image can be displayed through a display (not shown in the figure).

[0029] See also Figure 2 The outer tube body 4 can also be a hard tube body, which is sleeved on the outer side of the inner tube body 3.

[0030] The outer tube body 4 is provided with a lens 401. When the outer tube body 4 is sleeved on the outer side of the inner tube body 3, the lens 401 is located on the object side of the first lens 301 and the second lens 302. The lens 401 can be a plane mirror, a convex mirror or a prism made of glass or resin. The lens 401 can be adhered to the port of the outer tube body 4 by colloid, and the port of the outer tube body 4 is sealed to prevent body fluids and other substances from entering the outer tube body 4 and contaminating the 3D camera module 30 during clinical application, thereby protecting the 3D camera module 30.

[0031] The outer tube body 4 is detachably connected to the handle 2. The outer tube body 4 is detachably connected to the handle 2, which means that the outer tube body 4 and the handle 2 are split structures, not integrated structures. There are many ways to realize the detachable connection between the two, such as threaded connection, pluggable connection, snap connection, magnetic connection, etc.

[0032] The 3D endoscope 1 of this embodiment adopts a detachable connection between the outer tube body 4 and the handle 2, so that the outer tube body 4 can be used as a disposable structure. After clinical use, the outer tube body 4 can be disassembled and discarded, and replaced with a new outer tube body 4 and reused. In this way, cross infection can be avoided and the safety of clinical application can be improved. In addition, the 3D endoscope 1 of this embodiment, after clinical use, only the outer tube body 4 is disassembled and discarded, and the remaining structure can be used as a reused structure, which can effectively control the cost while improving the safety of clinical application.

[0033] As mentioned above, the lens 401 on the outer tube 4 can be a plane mirror, a convex mirror or a prism.

[0034] If the lens 401 on the outer tube 4 is a plane mirror or a convex mirror, the viewing angle of the 3D endoscope 1 is 0 degrees. However, when a convex mirror is used, the 3D endoscope 1 can have a larger viewing angle than a plane mirror, for example, a viewing angle of 60-75 degrees.

[0035] If the lens 401 on the outer tube 4 is a prism (such as Figure 2 ), the 3D endoscope 1 can have a viewing angle greater than 0 degrees, such as a viewing angle of 15 degrees, 20 degrees or 30 degrees. Specifically, the light incident surface of the prism faces the outside of the outer tube body 4, and there is a preset angle between the light incident surface and the central axis of the outer tube body 4, and the light exit surface of the prism corresponds to the first lens 301 and the second lens 302. Among them, the viewing angle refers to the angle formed by the visual axis of the endoscope and the main axis of the endoscope body, and the visual axis of the endoscope is the normal direction of the light incident surface of the prism.

[0036] In the case where the lens 401 on the outer tube 4 is a prism, the outer tube 4 is rotatably connected to the handle 2. Thus, when the outer tube 4 is rotated, the outer tube 4 can rotate relative to the handle 2 and the inner tube 3, thereby driving the light incident surface of the prism to face different directions, thereby changing the observation range.

[0037] See also Figure 3 and Figure 4 In some embodiments, the outer tube body 4 may be a double tube structure. Specifically, the outer tube body 4 includes a first tube body 41 for sleeved on the outer side of the inner tube body 3 and a second tube body 42 sleeved on the outer side of the first tube body 41. An optical fiber (not shown in the figure) is passed between the outer surface of the first tube body 41 and the inner surface of the second tube body 42. A light source connector 43 (see FIG. 1 ) is provided on the second tube body 42. Figure 1 and Figure 2 ), which is used to connect an external light source to provide illumination to the object side of the 3D endoscope 1 through the optical fiber between the first tube body 41 and the second tube body 42. The outer tube body 4 adopts the above-mentioned double-tube structure, which makes it easier to arrange the optical fiber and to put it on the inner tube body 3 and detach it from the inner tube body 3.

[0038] In other embodiments, the outer tube 4 may also be a single tube structure. An optical fiber may be provided between the outer tube 4 and the inner tube 3, and a light source connector is provided on the outer tube 4 for connecting an external light source to provide illumination to the object side of the 3D endoscope 1 through the optical fiber. Implementation Method 2

[0039] In the above embodiment 1, when the outer tube body 4 and the handle 2 are rotatably connected, the outer tube body 4 and the handle 2 are directly connected. Figure 1 and Figure 2In this embodiment, in order to facilitate the control of the outer tube body 4 to rotate relative to the handle 2, a rotating hand wheel 5 is connected between the outer tube body 4 and the handle 2.

[0040] The rotating hand wheel 5 is rotatably connected to the handle 2 . Figure 2 In the illustrated embodiment, an I-shaped connector 7 is provided between the rotating handwheel 5 and the handle 2, wherein a first end of the I-shaped connector 7 is fixedly connected to the handle 2, and a second end of the I-shaped connector 7 is rotatably connected to the rotating handwheel 5. The rotating handwheel 5 may include two half-wheel bodies, which are buckled together to form the rotating handwheel 5. The second end of the I-shaped connector 7 is clamped in a cavity formed by the buckling of the two half-wheel bodies, so as to ensure that the rotating handwheel 5 can rotate relative to the handle 2 while preventing the rotating handwheel 5 from being separated from the handle 2. The inner tube 3 can be fixedly connected to the handle 2 by being fixed on the I-shaped connector 7.

[0041] While keeping the handle 2 stationary, the rotating hand wheel 5 is rotated to drive the outer tube body 4 to rotate relative to the inner tube body 3, thereby driving the light incident surface of the prism to face different directions, thereby changing the observation range.

[0042] In order to maintain the disposable structure and function of the outer tube body 4, the outer tube body 4 is detachably connected to the rotating hand wheel 5. In this way, after clinical use, the outer tube body 4 can be removed from the rotating hand wheel 5 and discarded ( Figure 5 The remaining structure (including the rotating hand wheel 5) can be reused as a reusable structure ( Figure 6 The reusable part is shown), which can improve the safety of use and reduce the cost of clinical application.

[0043] The outer tube 4 and the rotating hand wheel 5 are detachably connected, which means that the outer tube 4 and the rotating hand wheel 5 are split structures, not integrated structures. There are many ways to realize the detachable connection between the two, such as threaded connection, pluggable connection, snap connection, magnetic connection, etc.

[0044] In some embodiments, the outer tube 4 and the rotating hand wheel 5 may be directly connected. Figure 2 In the illustrated embodiment, an intermediate connecting member 6 is provided between the outer tube body 4 and the rotating hand wheel 5 , the outer tube body 4 and the intermediate connecting member 6 are fixedly connected, and the intermediate connecting member 6 and the rotating hand wheel 5 are detachably connected.

[0045] See also Figure 7 In some embodiments, the intermediate connecting member 6 may be cylindrical. One end of the intermediate connecting member 6 is fixedly connected to the outer tube body 4. For example, the connection may be fixedly connected by bonding. Figure 2Specifically, the inner thread 61 at one end of the intermediate connecting member 6 is connected to the outer thread on the outer tube body 4. The intermediate connecting member 6 is fixedly connected to the outer tube body 4, and the two can be separated from the rotating hand wheel 5 and discarded (such as Figure 5 as shown).

[0046] See also Figures 5 to 7 In some embodiments, the intermediate connector 6 and the rotating hand wheel 5 can be plugged and fixedly connected. Specifically, the other end of the intermediate connector 6 is a plug-in head 62, and accordingly, the rotating hand wheel 5 is provided with a plug-in slot 52 that is interference-fitted with the plug-in head. When the plug-in head 62 at the other end of the intermediate connector 6 is inserted into the plug-in slot 52 by force, the plug-in head 62 and the plug-in slot 52 are interference-fitted, thereby fixing the outer tube 4 and the intermediate connector 6. When the reverse force is applied, the plug-in head 62 at the other end of the intermediate connector 6 can be pulled out of the plug-in slot 52. Implementation Method 3

[0047] The structure of this embodiment is basically the same as that of the first embodiment or the second embodiment, except that in the first embodiment or the second embodiment, the imaging target surface of the first image sensor 303 and the imaging target surface of the second image sensor 304 can be arranged in parallel, that is, both can be perpendicular to the central axis of the inner tube body 3; while in this embodiment, see Figure 4 As shown, the imaging target surface of the first image sensor 303 and the imaging target surface of the second image sensor 304 have an angle greater than 0 degree and less than 90 degrees with the central axis of the inner tube body 3, respectively. This can reduce the radial dimension jointly occupied by the first image sensor 303 and the second image sensor 304 as much as possible. In other words, the outer diameter of the outer tube body 4 can be reduced as much as possible (making the outer diameter of the outer tube body 4 as thin as possible).

[0048] In order to adapt to the above-mentioned arrangement of the imaging target surface of the first image sensor 303 and the imaging target surface of the second image sensor 304, and to enable the first optical image of the observed object formed by the first lens 301 to be formed on the imaging target surface of the first image sensor 303, and to enable the second optical image of the observed object formed by the second lens 302 to be formed on the imaging target surface of the second image sensor 304, a first prism 305 is provided between the first lens 301 and the imaging target surface of the first image sensor 303, and a second prism 306 is provided between the second lens 302 and the imaging target surface of the second image sensor 304.

[0049] In some embodiments, the angle between the imaging target surface of the first image sensor 303 and the imaging target surface of the second image sensor 304 and the central axis of the inner tube body 3 is greater than or equal to 20 degrees and less than or equal to 60 degrees, and is preferably any angle between 40 degrees and 45 degrees (including 40 degrees or 45 degrees). This allows for both the first image sensor 303 and the second image sensor 304 to obtain more light flux (correspondingly, have higher imaging quality) and the outer tube body 4 to have a smaller outer diameter.

[0050] In order to enable the first image sensor 303 and the second image sensor 304 to synchronously image the same observed object and provide 3D imaging quality, the imaging target surface of the first image sensor 303 and the imaging target surface of the second image sensor 304 are arranged in a V shape or an inverted eight shape.

[0051] In some embodiments, the 3D imaging module can be bonded to the port of the inner tube 3. The embodiment of the present invention is not limited thereto. In order to facilitate the installation and fixation of the 3D module, Figure 4 In the embodiment shown, a seat body 8 is provided at the end of the inner tube body 3 away from the handle 2, and a V-shaped groove 81 is provided on the seat body 8 (see Figure 8 ), the first image sensor 303 is arranged on one side wall of the V-shaped groove 81, and the second image sensor 304 is arranged on the other side wall of the V-shaped groove 81, and the imaging target surface of the first image sensor 303 is opposite to the imaging target surface of the second image sensor 304. The seat body 8 can be fixed to the end of the inner tube body 3 away from the handle 2 by bonding, and the first image sensor 303 and the second image sensor 304 can also be fixed in the V-shaped groove 81 by bonding.

[0052] In some embodiments, during assembly, the first image sensor 303 and the second image sensor 304 may be firstly bonded and fixed in the V-shaped groove 81, the first prism 305 may be bonded and fixed to the first image sensor 303, the second prism 306 may be bonded and fixed to the second image sensor 304, the first lens 301 may be bonded and fixed to the first prism 305, and the second lens 302 may be bonded and fixed to the second prism 306, thereby forming a relatively fixed camera module, and then the seat 8 may be bonded and fixed to the end of the inner tube 3 away from the handle 2. By providing the seat 8 with the V-shaped groove 81, a stable and reliable support may be provided for the first image sensor 303 and the second image sensor 304, and the rapid assembly of the 3D imaging module may be facilitated.

[0053] See also Fig. 9 In some other embodiments, the 3D imaging module may further include a first sleeve 90 and a second sleeve 92 .

[0054] The first sleeve 90 is sleeved on the outer circumference of the first prism 305 and the second prism 306, and the first end of the first sleeve 90 is bonded to the end of the base 8. The first prism 305 and the second prism 306 can be fixed on the inner wall of the first sleeve 90 by the colloid 91. Optionally, the first prism 305 and the second prism 306 can also be embedded in the prism fixing groove on the inner wall of the first sleeve 90.

[0055] The second sleeve 92 is sleeved on the outer circumference of the first lens 301 and the second lens 302 to provide protection and support for the first lens 301 and the second lens 302. The first end of the second sleeve 92 is bonded to the second end of the first sleeve 90. The side of the first lens 301 and the second lens 302 is fixed to the inner wall of the second sleeve 92 by a colloid (not shown in the figure). The colloid between the side of the first lens 301 and the second lens 302 and the inner wall of the second sleeve 92 is a light-proof colloid. In addition to bonding and fixing the first lens 301 and the second lens 302 to the inner wall of the second sleeve 92, it can also prevent light from entering the first prism 305 and the second prism 306, or entering the first image sensor 303 and the second image sensor 304 from the side of the first lens 301 and the second lens 302 and the inner wall of the second sleeve 92.

[0056] The first sleeve 90 and the second sleeve 92 are both light-proof sleeves, which can prevent stray light from entering the first prism 305 and the second prism 306 .

[0057] The ends of the object side surfaces of the first lens 301 and the second lens 302 are 1-2 mm away from the port of the second end of the second sleeve 92. When the outer tube 4 is sleeved on the inner tube 3 from the free end of the inner tube 3 and pushed toward the direction of the handle 2 so that the outer tube 4 is sleeved on the inner tube 3 as a whole, when pushed to a certain extent, the end surface of the second end of the second sleeve 92 abuts against the prism 401 at the end of the outer tube 4, playing a limiting role.

[0058] The first image sensor 303 and the second image sensor 304 can transmit the electrical signal of the first optical image and the electrical signal of the second optical image to the image processing device respectively through wireless communication (such as Bluetooth or WiFi). The embodiment of the present invention is not limited to this. Figure 4 In the embodiment shown, the first image sensor 303 and the second image sensor 304 transmit the electrical signal of the first optical image and the electrical signal of the second optical image to the image processing device (not shown) via wires. Figure 8 The seat body 8 is also provided with a threading hole 82 connected to the V-shaped groove 81, and the threading hole is connected to the lumen in the inner tube body 3; the connecting wires of the first image sensor 303 and the second image sensor 304 are passed through the threading hole 82 and arranged in the lumen of the inner tube body 3.

[0059] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0060] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A 3D endoscope, characterized in that: include: handle; An inner tube body, wherein the first end of the inner tube body is fixedly connected to the handle, and a 3D camera module is provided on the inner tube body; wherein the 3D camera module comprises a first lens and a second lens, a first image sensor corresponding to the first lens, and a second image sensor corresponding to the second lens; An outer tube body, the outer tube body is sleeved on the outer side of the inner tube body, a lens is provided on the outer tube body, and the lens is located on the object side of the first lens and the second lens; The outer tube body includes a first tube body and a second tube body sleeved outside the first tube body; the first tube body is sleeved outside the inner tube body; an optical fiber is passed between the outer surface of the first tube body and the inner surface of the second tube body; the second tube body is provided with a light source connector for connecting an external light source to provide illumination to the object side of the 3D endoscope through the optical fiber; The outer tube body is detachably connected to the handle; The lens is a prism, the light incident surface of the prism faces the outside of the outer tube body, and there is a preset angle between the light incident surface and the central axis of the outer tube body; the light exit surface of the prism corresponds to the first lens and the second lens; The outer tube body is rotatably connected to the handle; by rotating the outer tube body, the outer tube body can rotate relative to the handle and the inner tube body.

2. The 3D endoscope according to claim 1, characterized in that: A rotating hand wheel is connected between the outer tube body and the handle; The rotating hand wheel is rotatably connected to the handle; The outer tube body is detachably connected to the rotating hand wheel; The rotating hand wheel is rotated, and the rotating hand wheel drives the outer tube body to rotate relative to the inner tube body.

3. The 3D endoscope according to claim 1, characterized in that: A rotating hand wheel is connected between the outer tube body and the handle; The rotating hand wheel is rotatably connected to the handle, and the rotating hand wheel is detachably connected to the handle; The outer tube body is connected to the rotating hand wheel; The rotating hand wheel is rotated, and the rotating hand wheel drives the outer tube body to rotate relative to the inner tube body.

4. The 3D endoscope according to claim 2, characterized in that: An intermediate connecting piece is provided between the outer tube body and the rotating hand wheel; The outer tube body is fixedly connected to the intermediate connecting piece, and the intermediate connecting piece is detachably connected to the rotating hand wheel.

5. The 3D endoscope according to claim 4, characterized in that: The intermediate connecting piece is cylindrical; One end of the intermediate connector is threadedly connected to the outer tube body via an internal thread, and the other end of the intermediate connector is a plug-in connector; The rotating hand wheel is provided with an insertion groove which is interference fit with the insertion head.

6. The 3D endoscope according to claim 1, characterized in that: The imaging target surface of the first image sensor and the imaging target surface of the second image sensor respectively have an angle greater than 0 degrees and less than 90 degrees with the central axis of the inner tube body; A first prism is provided between the first lens and the imaging target surface of the first image sensor, and a second prism is provided between the second lens and the imaging target surface of the second image sensor.

7. The 3D endoscope according to claim 6, characterized in that: The angle between the imaging target surface of the first image sensor and the imaging target surface of the second image sensor and the central axis of the inner tube body is greater than or equal to 20 degrees and less than or equal to 60 degrees; The imaging target surface of the first image sensor and the imaging target surface of the second image sensor are arranged in a V shape or an inverted eight shape.

8. The 3D endoscope according to claim 6 or 7, characterized in that: A seat is provided at an end of the inner tube body away from the handle; A V-shaped groove is provided on the base body, the first image sensor is arranged on one side wall of the V-shaped groove, the second image sensor is arranged on the other side wall of the V-shaped groove, and the imaging target surface of the first image sensor is opposite to the imaging target surface of the second image sensor.

9. The 3D endoscope according to claim 8, characterized in that: The seat body is also provided with a threading hole connected to the V-shaped groove, and the threading hole is connected to the lumen in the inner tube body; The connecting wires of the first image sensor and the second image sensor are arranged in the lumen of the inner tube body through the threading holes.

Images