Endoscope optical module

Abstract

The application discloses an endoscope optical module, which comprises a left optical module, a right optical module, a reflection module, a first image sensor and a second image sensor arranged in a mirror tube. Left incident light is reflected to the first image sensor through the left reflection unit of the left optical module and the reflection module, and right incident light is reflected to the second image sensor through the right reflection unit of the right optical module and the reflection module. The arrangement direction of the left optical module and the right optical module intersects with the arrangement direction of the first image sensor and the second image sensor. The endoscope optical module provided by the application uses the left reflection unit, the right reflection unit and the reflection module to three-dimensionally turn the incident light, so that the image sensor can be placed on the inner wall of the mirror tube, a larger size image sensor can be placed in the mirror tube, the higher resolution imaging requirement can be met, and the 3D effect, the visible light imaging and the fluorescence imaging requirement can be met.

Description

Technical Field

[0001] This invention relates to the field of endoscope technology, and more particularly to an endoscope optical module. Background Technology

[0002] Minimally invasive surgery now demands increasingly higher high-definition image quality. Ordinary 1080P resolution can no longer meet market demands, requiring image sensors with resolutions of 2K, 2.5K, or even 4K. The higher the resolution of the image sensor, the larger its size will be.

[0003] Furthermore, in laparoscopic surgery, traditional white light imaging lacks disease-specific optical features, making it impossible to locate and visualize precancerous lesions. Therefore, endoscopes need to also possess fluorescence imaging capabilities. There are two main implementation methods:

[0004] 1. Image sensors have the ability to image both white light and fluorescence simultaneously, and such image sensors can be larger in size for the same resolution.

[0005] 2. By using a beam-splitting structure, the white light image sensor and the fluorescence image sensor can image white light and fluorescence respectively. This will increase the number of image sensors, which in turn will increase the overall size.

[0006] Meanwhile, robotic surgery requires that the diameter of the rigid medical endoscope tube used does not exceed 10mm, and that two identical optical systems be placed inside the tube to enable three-dimensional (3D) imaging through the principle of binocular stereoscopic vision. Therefore, conventional structural forms cannot meet the requirements due to the excessively large size of the image sensor.

[0007] Due to the above limitations, most rigid endoscopes on the market cannot simultaneously meet the following three requirements:

[0008] 1. Higher resolution picture quality, such as 1080P and above.

[0009] 2. Imaging by superimposing white light and fluorescence.

[0010] 3. Achieve binocular 3D vision within a 10mm lens tube.

[0011] Most common rigid endoscopes can only fulfill the two of these requirements at most at the same time. Summary of the Invention

[0012] This invention provides an endoscope optical module to solve the problem that the endoscope tube cannot accommodate an image sensor, thereby enabling the simultaneous use of high-definition image quality, white light and fluorescence superposition imaging, and binocular 3D vision.

[0013] This invention provides an endoscope optical module, including a tube and a left optical module, a right optical module, a reflection module, a first image sensor and a second image sensor disposed within the tube;

[0014] The left optical module and the right optical module are located on opposite sides of the central axis of the lens tube, respectively.

[0015] The left optical module includes a left optical lens group and a left reflection unit arranged along the direction of incident light propagation. The left incident light received by the left optical lens group is reflected to the reflection module by the left reflection unit.

[0016] The right-path optical module includes a right-path optical lens group and a right-path reflection unit arranged along the direction of incident light propagation. The right-path incident light received by the right-path optical lens group is reflected to the reflection module by the right-path reflection unit.

[0017] The first image sensor and the second image sensor are located on opposite sides of the central axis of the lens tube; the left incident light is reflected to the first image sensor by the reflection module, and the right incident light is reflected to the second image sensor by the reflection module.

[0018] The left optical module and the right optical module are arranged in a first direction, and the first image sensor and the second image sensor are arranged in a second direction, wherein the first direction and the second direction intersect.

[0019] Optionally, the short side of the first image sensor extends in a direction that intersects with the central axis of the lens tube.

[0020] The short side of the second image sensor extends in a direction that intersects with the central axis of the lens tube.

[0021] Optionally, the angle between the optical axis of the left optical lens group and the reflective surface of the left reflective unit is θ1, where 40°≤θ1≤50°;

[0022] The angle between the optical axis of the right-side optical lens group and the reflective surface of the right-side reflective unit is θ2, where 40°≤θ2≤50°.

[0023] Optionally, the angle between the first direction and the second direction is θ, where 80°≤θ≤100°.

[0024] Optionally, the shortest distance between the optical axis of the left optical lens group and the optical axis of the right optical lens group is d1, where d1 ≥ 4 mm.

[0025] Optionally, the left-side optical lens group includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a seventh lens arranged sequentially along the incident light propagation direction;

[0026] The first lens has negative optical power, and the second lens has positive optical power;

[0027] The third lens has positive optical power, and the fourth lens has negative optical power; or, the third lens has negative optical power, and the fourth lens has positive optical power.

[0028] The sixth lens has positive optical power, and the seventh lens has negative optical power; or, the sixth lens has negative optical power, and the seventh lens has positive optical power.

[0029] The right-side optical lens group and the left-side optical lens group have the same structure.

[0030] Optionally, the refractive index of the third lens is Nd3, and the Abbe number of the third lens is Vd3; the refractive index of the fourth lens is Nd4, and the Abbe number of the fourth lens is Vd4; the refractive index of the sixth lens is Nd6, and the Abbe number of the sixth lens is Vd6; the refractive index of the seventh lens is Nd7, and the Abbe number of the seventh lens is Vd7; wherein,

[0031] 1.5 <Nd3<1.7,45<Vd3<66;1.7<Nd4<1.8,35<Vd4<50;

[0032] 1.5 <Nd6<1.7,45<Vd6<65;1.8<Nd7<1.9,25<Vd7<40。

[0033] Optionally, the third lens and the fourth lens form a cemented lens group;

[0034] And / or,

[0035] The sixth lens and the seventh lens form a cemented lens group.

[0036] Optionally, the second lens is a steering prism.

[0037] Optionally, the left-path optical module further includes an eighth lens, which is located in the optical path between the seventh lens and the left-path reflection unit, or the eighth lens is located in the optical path between the reflection module and the first image sensor;

[0038] The right optical module and the left optical module have the same structure, and the right optical module and the left optical module are symmetrically arranged with respect to the central axis of the lens tube.

[0039] The endoscope optical module provided in this embodiment of the invention comprises a left optical module, a right optical module, a reflection module, a first image sensor, and a second image sensor disposed within the endoscope tube. The left and right optical modules are located on opposite sides of the central axis of the endoscope tube. The left optical module includes a left optical lens group and a left reflection unit arranged along the direction of incident light propagation. The left incident light received by the left optical lens group is reflected by the left reflection unit to the reflection module. The right optical module includes a right optical lens group and a right reflection unit arranged along the direction of incident light propagation. The right incident light received by the right optical lens group is reflected by the right reflection unit to the reflection module. The first and second image sensors are located on opposite sides of the central axis of the endoscope tube. The left incident light is reflected by the reflection module to the first image sensor, and the right incident light is reflected by the reflection module to the second image sensor. In this invention, the arrangement of the left and right optical modules intersects with the arrangement of the first and second image sensors. The left and right reflection units and the reflection module perform two folds on the left and right incident light, achieving three-dimensional folding of the left and right incident light within the endoscope tube. This arrangement allows the first and second image sensors to be mounted against the inner wall of the endoscope tube. Compared to placing two image sensors side-by-side behind two optical modules, this endoscope optical module structure, with the same endoscope tube diameter, allows for the placement of larger first and second image sensors within the endoscope tube. This satisfies the need for higher resolution imaging and simultaneously meets the requirements for realistic 3D effects and visible light and fluorescence imaging, solving the problem that existing endoscope optical module structures cannot accommodate image sensors within the endoscope tube.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a top view of an endoscope optical module provided in an embodiment of the present invention;

[0043] Figure 2 This is a side view structural diagram of an endoscope optical module provided in an embodiment of the present invention;

[0044] Figure 3 This is a front view structural diagram of an endoscope optical module provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the optical path of an endoscope optical module provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of a reflecting prism provided in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of a right-angle reflecting prism provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the structure of a plane mirror provided in an embodiment of the present invention;

[0049] Figure 8 This is a schematic diagram of a combined structure of a reflecting prism provided in an embodiment of the present invention;

[0050] Figure 9 This is a front view schematic diagram of another endoscope optical module provided in an embodiment of the present invention;

[0051] Figure 10 This is a front view structural diagram of another endoscope optical module provided in an embodiment of the present invention;

[0052] Figure 11 This is a schematic diagram of the structure of a left-path optical module provided in an embodiment of the present invention;

[0053] Figure 12 A color difference curve diagram of an endoscope optical module provided in an embodiment of the present invention;

[0054] Figure 13 The field curvature and distortion curves of an endoscope optical module provided in an embodiment of the present invention are shown. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0057] Figure 1 This is a top view schematic diagram of an endoscope optical module provided in an embodiment of the present invention. Figure 2 This is a side view structural diagram of an endoscope optical module provided in an embodiment of the present invention. Figure 3 This is a front view schematic diagram of an endoscope optical module provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the optical path of an endoscope optical module provided in an embodiment of the present invention, as shown below. Figures 1-4 As shown, the endoscope optical module provided in this embodiment of the invention includes a scope tube 10 and a left optical module 11, a right optical module 12, a reflection module 13, a first image sensor 14, and a second image sensor 15 disposed within the scope tube 10. The left optical module 11 and the right optical module 12 are located on opposite sides of the central axis 20 of the scope tube 10. The left optical module 11 includes a left optical lens group 111 and a left reflection unit 112 arranged along the direction of incident light propagation. The left incident light 21 received by the left optical lens group 111 is reflected by the left reflection unit 112 to the reflection module 13. The right optical module 12 includes a right optical lens group 121 and a right reflection unit 122 arranged along the direction of incident light propagation. The right incident light 22 received by the right optical lens group 121 is reflected by the right reflection unit 122 to the reflection module 13. The first image sensor 14 and the second image sensor 15 are located on opposite sides of the central axis 20 of the lens tube 10. The left-path incident light 21 is reflected by the reflection module 13 to the first image sensor 14, and the right-path incident light 22 is reflected by the reflection module 13 to the second image sensor 15. The left-path optical module 11 and the right-path optical module 12 are arranged in the first direction X, and the first image sensor 14 and the second image sensor 15 are arranged in the second direction Y, wherein the first direction X and the second direction Y intersect.

[0058] Specifically, the endoscopic optical module provided in this embodiment of the invention can be a 3D rigid endoscopic optical module used in surgical procedures to capture images inside the patient's body.

[0059] The endoscope optical module has a left optical module 11 and a right optical module 12 installed inside the endoscope tube 10. The left optical module 11 can include multiple optical elements, and similarly, the right optical module 12 can also include multiple optical elements. The structures of the left optical module 11 and the right optical module 12 can be completely identical. The left optical module 11 and the right optical module 12 can be symmetrically arranged with respect to the central axis 20 of the endoscope tube 10. This can ensure the consistency of the left and right imaging, reduce the differences in brightness, contrast and color between the left and right images, and help to obtain high-quality three-dimensional images.

[0060] Meanwhile, the optical axes of the left optical module 11 and the right optical module 12 can both be set parallel to the central axis 20 of the lens tube 10, which helps to provide sufficient space for other devices.

[0061] It should be noted that the extension direction of the central axis 20 of the endoscope tube 10 is parallel to the extension direction of the endoscope tube 10.

[0062] Continue to refer to Figures 1-4 The left-path optical module 11 includes a left-path optical lens group 111 and a left-path reflection unit 112. The left-path optical lens group 111 can be equipped with multiple optical lenses to form a left-path lens. The left-path reflection unit 112 is used to refract the left-path incident light 21 received by the left-path optical lens group 111. That is, after the left-path incident light 21 passes through the left-path optical lens group 111, the left-path reflection unit 112 changes the propagation direction of the left-path incident light 21, so as to reflect the left-path incident light 21 to the reflection module 13. Similarly, the right optical module 12 includes a right optical lens group 121 and a right reflection unit 122. The right optical lens group 121 can be provided with multiple optical lenses to form a right lens. The right reflection unit 122 is used to refract the right incident light 22 received by the right optical lens group 121. That is, after the right incident light 22 passes through the right optical lens group 121, the propagation direction of the right incident light 22 is changed by the right reflection unit 122 so as to reflect the right incident light 22 to the reflection module 13.

[0063] Among them, such as Figures 1-4 As shown, the reflection module 13 can be disposed between the left reflection unit 112 and the right reflection unit 122. The reflection module 13 is used to refract the left incident light 21 reflected by the left reflection unit 112 to the first image sensor 14, and refract the right incident light 22 reflected by the right reflection unit 122 to the second image sensor 15. In this way, the first image sensor 14 receives the left incident light 21 and can convert the left incident light 21 into a first electrical signal; the second image sensor 15 receives the right incident light 22 and can convert the right incident light 22 into a second electrical signal.

[0064] Furthermore, the left image can be obtained through the first electrical signal output by the first image sensor 14, and the right image can be obtained through the second electrical signal output by the second image sensor 15. The left and right images are images obtained by simultaneously imaging the subject from different angles. Therefore, the images of the left and right images are different. By fusing the left and right images, a 3D effect can be formed, and a 3D image can be obtained.

[0065] The first image sensor 14 and the second image sensor 15 may include at least one of a complementary metal-oxide-semiconductor (CMOS) device and a charge-coupled device (CCD), but are not limited thereto. Furthermore, the first image sensor 14 and the second image sensor 15 can simultaneously image visible light and fluorescence, or they can image visible light or fluorescence independently; this embodiment of the invention does not specifically limit this.

[0066] It should be noted that the left optical module 11 and the right optical module 12 share the same reflection module 13. That is, by using a single reflection module 13, the left incident light 21 propagated by the left optical module 11 is reflected to the first image sensor 14, and the right incident light 22 propagated by the right optical module 12 is reflected to the second image sensor 15. In this way, the first image sensor 14 can receive the left incident light 21 and the second image sensor 15 can receive the right incident light 22 with the fewest possible reflection structures.

[0067] Further reference Figures 1-4 The reflection module 13 can be set on the central axis 20 of the lens tube 10, which provides sufficient space for the first image sensor 14 and the second image sensor 15.

[0068] In embodiments of the present invention, such as Figures 1-4As shown, the arrangement direction of the left optical module 11 and the right optical module 12 (e.g., the first direction X in the figure) intersects with the arrangement direction of the first image sensor 14 and the second image sensor 15 (e.g., the second direction Y in the figure). The left reflection unit 112, the right reflection unit 122 and the reflection module 13 are used to fold the left incident light 21 and the right incident light 22 twice, thereby realizing the three-dimensional folding of the left incident light 21 and the right incident light 22 in the endoscope tube 10. With this setting, the first image sensor 14 and the second image sensor 15 can be attached to the inner wall of the endoscope tube 10. Compared with the two image sensors placed side by side behind the two optical modules (the photosensitive surface of the image sensor is perpendicular to the central axis of the endoscope tube), in the endoscope optical module provided in the embodiment of the present invention, with the diameter of the endoscope tube 10 unchanged, a larger first image sensor 14 and second image sensor 15 can be placed in the endoscope tube 10, thereby meeting the requirements of higher resolution imaging and facilitating the simultaneous satisfaction of the requirements of real 3D effect and visible light and fluorescence imaging.

[0069] For example, taking an image sensor with a resolution of 2.5K that can achieve visible light and fluorescence superposition imaging as an example, the size of such an image sensor is often 1 / 3 inch or larger. For instance, when the length of the image sensor is 6.35 mm and the width is 4 mm, if two 2.5K image sensors are placed side by side behind two optical modules, the 10 mm diameter endoscope tube cannot accommodate the two 2.5K image sensors. In this structure, the endoscope tube needs to be at least 12.7 mm in diameter. However, in the endoscope optical module structure provided in the embodiment of the present invention, two of the above-mentioned 2.5K image sensors can be placed in an endoscope tube with a diameter of 10 mm, thereby achieving a high-resolution 3D imaging effect under visible light and fluorescence within an endoscope tube with a diameter of 10 mm.

[0070] Continue to refer to Figures 1-4 Optionally, the first image sensor 14 and the second image sensor 15 are symmetrically arranged with respect to the central axis 20 of the lens tube 10, which can improve the consistency between the left and right images and help to obtain high-quality three-dimensional images.

[0071] In summary, the endoscope optical module provided in this embodiment of the invention comprises a left optical module, a right optical module, a reflection module, a first image sensor, and a second image sensor within the endoscope tube. The left and right optical modules are located on opposite sides of the central axis of the endoscope tube. The left optical module includes a left optical lens group and a left reflection unit arranged along the direction of incident light propagation. The left incident light received by the left optical lens group is reflected by the left reflection unit to the reflection module. The right optical module includes a right optical lens group and a right reflection unit arranged along the direction of incident light propagation. The right incident light received by the right optical lens group is reflected by the right reflection unit to the reflection module. The first and second image sensors are located on opposite sides of the central axis of the endoscope tube. The left incident light is reflected by the reflection module to the first image sensor, and the right incident light is reflected by the reflection module to the second image sensor. In this invention, the arrangement of the left and right optical modules intersects with the arrangement of the first and second image sensors. The left and right reflection units and the reflection module perform two folds on the left and right incident light, achieving three-dimensional folding of the left and right incident light within the endoscope tube. This arrangement allows the first and second image sensors to be mounted against the inner wall of the endoscope tube. Compared to placing two image sensors side-by-side behind two optical modules, this endoscope optical module structure, with the same endoscope tube diameter, allows for the placement of larger first and second image sensors within the endoscope tube. This satisfies the need for higher resolution imaging and simultaneously meets the requirements for realistic 3D effects and visible light and fluorescence imaging, solving the problem that existing endoscope optical module structures cannot accommodate image sensors within the endoscope tube.

[0072] Continue to refer to Figures 1-4 Optionally, the short side of the first image sensor 14 extends in a direction that intersects with the extension direction of the central axis 20 of the lens tube 10, and the short side of the second image sensor 15 extends in a direction that intersects with the extension direction of the central axis 20 of the lens tube 10.

[0073] In this context, the shorter side of an image sensor refers to the side with the shorter length at the edge of the image sensor, while the longer side refers to the side with the longer length at the edge of the image sensor. Taking a rectangular image sensor as an example, the image sensor consists of two opposite shorter sides and two opposite longer sides.

[0074] In this embodiment, as Figures 1-4As shown, by setting the short sides of the first image sensor 14 and the second image sensor 15 to extend in directions that intersect with the extension direction of the central axis 20 of the lens tube 10, that is, the short sides of the first image sensor 14 and the second image sensor 15 are placed facing the extension direction of the lens tube 10, so that the length of the first image sensor 14 in the direction perpendicular to the central axis 20 is less than the length of the first image sensor 14 in the extension direction of the central axis 20. Similarly, the length of the second image sensor 15 in the direction perpendicular to the central axis 20 is less than the length of the second image sensor 15 in the extension direction of the central axis 20. With this setting, the distance between the first image sensor 14 and the inner wall of the lens tube 10, and the distance between the second image sensor 15 and the inner wall of the lens tube 10 can be smaller, thereby providing more space for the left optical module 11, the right optical module 12 and the reflection module 13, and improving space utilization.

[0075] Further reference Figures 1-4 The short sides of the first image sensor 14 and the second image sensor 15 can be set to extend perpendicularly to the extension direction of the central axis 20 of the lens tube 10. That is, the short sides of the first image sensor 14 and the second image sensor 15 are placed facing the extension direction of the lens tube 10. At this time, the long sides of the first image sensor 14 and the second image sensor 15 can extend parallel to the extension direction of the central axis 20 of the lens tube 10. This minimizes the length of the first image sensor 14 in the direction perpendicular to the central axis 20. Similarly, the length of the second image sensor 15 in the direction perpendicular to the central axis 20 is also minimized. This minimizes the distance between the first image sensor 14 and the inner wall of the lens tube 10, as well as the distance between the second image sensor 15 and the inner wall of the lens tube 10. This allows for more space to be provided for the left optical module 11, the right optical module 12, and the reflection module 13, further improving space utilization.

[0076] Continue to refer to Figures 1-4 Optionally, the angle between the optical axis of the left optical lens group 111 and the reflective surface of the left reflective unit 112 is θ1, where 40°≤θ1≤50°, and the angle between the optical axis of the right optical lens group 121 and the reflective surface of the right reflective unit 122 is θ2, where 40°≤θ2≤50°.

[0077] Specifically, by setting the angle θ1 between the optical axis of the left optical lens group 111 and the reflective surface of the left reflective unit 112 to satisfy 40°≤θ1≤50°, the angle at which the left reflective unit 112 refracts the left incident light 21 received by the left optical lens group 111 is 80°~100°. Similarly, the angle θ2 between the optical axis of the right optical lens group 121 and the reflective surface of the right reflective unit 122 to satisfy 40°≤θ2≤50°, the angle at which the right reflective unit 122 refracts the right incident light 22 received by the right optical lens group 121 is 80°~100°. With this setting, the reflective module 13 can be placed between the left reflective unit 112 and the right reflective unit 122, so that the structure of the left optical module 11, the right optical module 12 and the reflective module 13 is more compact in the extension direction of the central axis 20 of the lens tube 10, thereby improving the space utilization rate.

[0078] Furthermore, such as Figures 1-4 As shown, the angle θ1 between the optical axis of the left optical lens group 111 and the reflective surface of the left reflective unit 112 can be set to 45°, so that the left reflective unit 112 refracts the left incident light 21 received by the left optical lens group 111 by 90°. Similarly, the angle θ2 between the optical axis of the right optical lens group 121 and the reflective surface of the right reflective unit 122 can be set to 45°, so that the right reflective unit 122 refracts the right incident light 22 received by the right optical lens group 121 by 90°. With this setting, the reflective module 13 is located between the left reflective unit 112 and the right reflective unit 122. This allows the structure of the left optical module 11, the right optical module 12, and the reflective module 13 to be more compact along the extension direction of the central axis 20 of the lens tube 10, making full use of the space inside the lens tube 10 and further improving the space utilization rate.

[0079] Continue to refer to Figures 1-4 Optionally, the angle between the first direction X and the second direction Y is θ, where 80°≤θ≤100°.

[0080] Specifically, such as Figures 1-4As shown, the angle θ between the first direction X and the second direction Y satisfies 80°≤θ≤100°. At this time, the angle between the propagation direction of the left incident light 21 reflected by the left reflection unit 112 and the reflective surface of the reflection module 13 is 40°~50°, so that the reflection module 13 folds the left incident light 21 at an angle of 80°~100°. Similarly, the angle between the propagation direction of the right incident light 22 reflected by the right optical lens group 121 and the reflective surface of the reflection module 13 is 40°~50°, so that the reflection module 13 folds the right incident light 22 at an angle of 80°~100°. With this configuration, the first image sensor 14 and the second image sensor 15 can be placed on opposite sides of the reflection module 13. At this time, the left reflection unit 112, the right reflection unit 122, the first image sensor 14 and the second image sensor 15 are arranged around the reflection module 13. In the extension direction of the central axis 20 of the lens tube 10, the spatial arrangement of the left optical module 11, the right optical module 12, the first image sensor 14, the second image sensor 15 and the reflection module 13 is relatively compact, which improves the space utilization.

[0081] Furthermore, such as Figures 1-4 As shown, the angle θ between the first direction X and the second direction Y can be set to 90°. At this time, the angle between the propagation direction of the left incident light 21 reflected by the left reflection unit 112 and the reflective surface of the reflection module 13 is 45°, so that the reflection module 13 folds the left incident light 21 at a angle of 90°. Similarly, the angle between the propagation direction of the right incident light 22 reflected by the right optical lens group 121 and the reflective surface of the reflection module 13 is 45°, so that the reflection module 13 folds the right incident light 22 at a angle of 90°. With this configuration, the first image sensor 14 and the second image sensor 15 are positioned on opposite sides of the reflection module 13. The left reflection unit 112, the right reflection unit 122, the first image sensor 14, and the second image sensor 15 are arranged around the reflection module 13. In the extension direction of the central axis 20 of the lens tube 10, the spatial arrangement of the left optical module 11, the right optical module 12, the first image sensor 14, the second image sensor 15, and the reflection module 13 is more compact, which can further improve the space utilization rate.

[0082] Continue to refer to Figures 1-4 Optionally, the photosensitive surfaces of the first image sensor 14 and the second image sensor 15 are both arranged parallel to the central axis 20 of the lens tube 10. This allows for more space to be provided for the left optical module 11, the right optical module 12 and the reflection module 13, improving space utilization. At the same time, it also helps to reduce the assembly error of the first image sensor 14 and the second image sensor 15.

[0083] Figure 5This is a schematic diagram of a reflecting prism provided in an embodiment of the present invention. Figure 6 This is a schematic diagram of the structure of a right-angle reflecting prism provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of a plane mirror provided in an embodiment of the present invention, as shown below. Figures 1-7 As shown, optionally, the left-path reflection unit 112 may include any one of a reflection prism, a right-angle reflection prism, and a plane reflection mirror, the right-path reflection unit 122 may include any one of a reflection prism, a right-angle reflection prism, and a plane reflection mirror, and the reflection module 13 may also include any one of a reflection prism, a right-angle reflection prism, and a plane reflection mirror.

[0084] For example, such as Figure 4 As shown, the left-path reflection unit 112, the right-path reflection unit 122, and the reflection module 13 can all employ reflecting prisms. These prisms have multiple positioning surfaces, which improves positioning accuracy during assembly and helps obtain high-quality three-dimensional images. Furthermore, the reflecting surfaces of the prisms are located inside the prisms, reducing the risk of surface detachment and extending the lifespan of the endoscope optical module; however, this is not a limitation.

[0085] Figure 8 This is a schematic diagram of a combined structure of a reflecting prism provided in an embodiment of the present invention, as shown below. Figure 4 and Figure 8 As shown, when the reflection module 13 is a reflection prism, the reflection prism can be composed of two right-angle reflection prisms, which can reduce the manufacturing difficulty of the reflection prism. The reflection surfaces of the two right-angle reflection prisms are attached to each other, which helps to reduce the space occupied by the reflection module 13 and improve the space utilization inside the mirror tube 10.

[0086] Figure 9 This is a frontal view of another endoscope optical module provided in an embodiment of the present invention, as shown in the figure. Figure 9 As shown, optionally, the reflection module 13 can also be a plane mirror, which can have a thinner thickness (e.g., about 0.5 mm), which helps to reduce the weight of the endoscope optical module.

[0087] It should be noted that the surface reflectivity of the reflective surfaces of the left-path reflective unit 112, the right-path reflective unit 122, and the reflective module 13 can all be greater than or equal to 70% to ensure the reflection efficiency of the left-path reflective unit 112, the right-path reflective unit 122, and the reflective module 13, which is beneficial to improving the imaging quality.

[0088] Figure 10 This is a frontal view of another endoscope optical module provided in an embodiment of the present invention, as shown in the figure. Figure 9 and Figure 10As shown, the reflective surface of the reflective module 13 can be flipped according to design requirements. Based on the setting direction of the reflective surface of the reflective module 13, the first image sensor 14 corresponding to the left optical module 11 and the second image sensor 15 corresponding to the right optical module 12 can be interchanged. Those skilled in the art can set it according to actual needs.

[0089] Continue to refer to Figures 1-4 Optionally, the shortest distance between the optical axis of the left optical lens group 111 and the optical axis of the right optical lens group 121 is d1, where d1 ≥ 4 mm.

[0090] By setting the shortest distance d1 between the optical axis of the left optical lens group 111 and the optical axis of the right optical lens group 121 to be no less than 4mm, sufficient space can be provided for the reflection module 13. On the other hand, the 3D imaging effect can be made closer to the effect of real human eye observation (the interpupillary distance of the human eye is generally around 63mm), thereby making the 3D imaging effect more realistic and reducing the risk of dizziness.

[0091] Figure 11 This is a schematic diagram of the structure of a left-path optical module provided in an embodiment of the present invention, as shown below. Figures 1-4 , Figure 11 As shown, optionally, the left optical lens group 111 includes a first lens L1, a second lens L2, a third lens L3, a fourth lens L4, a fifth lens L5, a sixth lens L6, and a seventh lens L7 arranged sequentially along the incident light propagation direction. The first lens L1 has negative optical power, and the second lens L2 has positive optical power; the third lens L3 has positive optical power, and the fourth lens L4 has negative optical power; or, the third lens L3 has negative optical power, and the fourth lens L4 has positive optical power; the sixth lens L6 has positive optical power, and the seventh lens L7 has negative optical power; or, the sixth lens L6 has negative optical power, and the seventh lens L7 has positive optical power. The right optical lens group 121 has the same structure as the left optical lens group 111.

[0092] Optical power is equal to the difference between the convergence of the image-side beam and the convergence of the object-side beam; it characterizes the ability of an optical system to deflect light. The larger the absolute value of the optical power, the stronger its ability to bend light; the smaller the absolute value, the weaker its ability to bend light. When the optical power is positive, the refraction of light is converging; when the optical power is negative, the refraction of light is diverging. Optical power can be used to characterize a single refractive surface of a lens (i.e., one surface of the lens), a single lens, or a system of multiple lenses (i.e., a lens group).

[0093] In this embodiment of the invention, the right optical lens group 121 and the left optical lens group 111 are configured to have the same structure, which can ensure the consistency of the left and right imaging, reduce the differences in brightness, contrast and color between the left and right images, and help to obtain high-quality three-dimensional images.

[0094] By setting the optical power of the first lens L1 to be negative and the optical power of the second lens L2 to be positive, the field of view (FOV) of the left optical module 11 and the right optical module 12 can meet the requirement of FOV≥75°, thereby providing a sufficient field of view. At the same time, the size of the lenses used in the left optical lens group 111 and the right optical lens group 121 can be reduced.

[0095] Furthermore, setting the optical powers of the third lens L3 and the fourth lens L4 to be opposite, and the optical powers of the sixth lens L6 and the seventh lens L7 to be opposite, helps to reduce aberrations.

[0096] Furthermore, by rationally setting the number of lenses in the left optical lens group 111 and the right optical lens group 121 and the optical power matching between each lens, aberrations can be reduced, a better imaging effect can be achieved, and it is beneficial to obtain high-quality three-dimensional images.

[0097] For example, taking the third lens L3 having positive optical power, the fourth lens L4 having negative optical power, the sixth lens L6 having positive optical power, and the seventh lens L7 having negative optical power as an example, the first lens L1 has negative optical power, the second lens L2 has positive optical power, the third lens L3 has positive optical power, the fourth lens L4 has negative optical power, the fifth lens L5 has negative optical power, the sixth lens L6 has positive optical power, and the seventh lens L7 has negative optical power as an example, this setting can significantly reduce aberrations and obtain better imaging results.

[0098] Continue to refer to Figure 11 Optionally, the refractive index of the third lens L3 is Nd3, and the Abbe number of the third lens L3 is Vd3; the refractive index of the fourth lens L4 is Nd4, and the Abbe number of the fourth lens L4 is Vd4; the refractive index of the sixth lens L6 is Nd6, and the Abbe number of the sixth lens L6 is Vd6; the refractive index of the seventh lens L7 is Nd7, and the Abbe number of the seventh lens L7 is Vd7; wherein,

[0099] 1.5 <Nd3<1.7,45<Vd3<66;1.7<Nd4<1.8,35<Vd4<50;

[0100] 1.5 <Nd6<1.7,45<Vd6<65;1.8<Nd7<1.9,25<Vd7<40。

[0101] Among them, the refractive index is the ratio of the speed of light in a vacuum to the speed of light in the medium, mainly used to describe the refractive ability of the material to light, and the refractive indices of different materials are different.

[0102] The Abbe number is an index used to represent the dispersion ability of a transparent medium. The more severe the dispersion of the medium, the smaller the Abbe number; conversely, the milder the dispersion of the medium, the larger the Abbe number.

[0103] In this embodiment, by reasonably setting the refractive indices and Abbe numbers of the third lens L3 and the fourth lens L4, and combining with the power distribution of the third lens L3 and the fourth lens L4, chromatic aberration can be effectively improved.

[0104] At the same time, by reasonably setting the refractive indices and Abbe numbers of the sixth lens L6 and the seventh lens L7, and combining with the power distribution of the sixth lens L6 and the seventh lens L7, chromatic aberration and distortion can be effectively improved.

[0105] Furthermore, by reasonably setting the refractive indices and Abbe numbers of each lens in the left optical lens group 111 and the right optical lens group 121, chromatic aberration and distortion can be further reduced to achieve a better imaging effect and obtain a high-quality three-dimensional image.

[0106] Exemplarily, the refractive index of the first lens L1 is Nd1, and the Abbe number of the first lens L1 is Vd1; the refractive index of the second lens L2 is Nd2, and the Abbe number of the second lens L2 is Vd2; the refractive index of the fifth lens L5 is Nd5, and the Abbe number of the fifth lens L5 is Vd5; among them, 1.8 < Nd1 < 1.9, 35 < Vd1 < 50; 1.7 < Nd2 < 1.85, 35 < Vd2 < 50; 1.8 < Nd5 < 2.0, 20 < Vd5 < 35. With such settings, chromatic aberration and distortion can be significantly reduced to obtain a better imaging effect.

[0107] Continue to refer to Figure 11 , optionally, the third lens L3 and the fourth lens L4 form a cemented lens group; and / or, the sixth lens L6 and the seventh lens L7 form a cemented lens group.

[0108] Among them, by setting the third lens L3 and the fourth lens L4 to form a cemented lens group, the primary chromatic aberration of the optical system can be effectively corrected. At the same time, by setting the sixth lens L6 and the seventh lens L7 to form a cemented lens group, the axial chromatic aberration and lateral chromatic aberration of the system can be effectively corrected, thereby obtaining a better imaging effect.

[0109] In addition, by reasonably arranging the positions of the cemented lens groups, while maintaining the field angle FOV of the left optical module 11 and the right optical module 12 satisfying FOV ≥ 75°, the sizes of the lenses used in the left optical lens group 111 and the right optical lens group 121 can be further reduced.

[0110] Continue to refer to Figure 11 , optionally, the second lens L2 is a turning prism.

[0111] Among them, the turning prism can be an optical element or a combination of multiple optical elements. The turning prism can change the direction of the optical path based on principles such as reflection or refraction. By setting the second lens L2 as the turning prism, the endoscope optical module can adapt to different usage scenarios. For example, in some embodiments, the turning prism can change the optical path by 30°, so that the endoscope optical module can be applied to an application scenario with a viewing angle of 30°, making the viewing direction of the endoscope optical module inclined to the extension direction of the lens tube, so as to adapt to different diagnostic needs. Of course, according to different diagnostic needs, the turning prism can also be set to be able to change the optical path by any other angle, including but not limited to 10°, 20°, 45°, 60°, etc., and the embodiments of the present invention do not make specific limitations in this regard.

[0112] Furthermore, set the central thickness of the second lens L2 to be greater than or equal to 4 mm, which helps the second lens L2 to meet the turning requirements of different viewing angles.

[0113] Continue to refer to Figure 11 , optionally, the left optical module 11 further includes an eighth lens L8, and the eighth lens L8 is located in the optical path between the seventh lens L7 and the left reflection unit 112, or the eighth lens L8 is located in the optical path between the reflection module 13 and the first image sensor 14; the right optical module 12 and the left optical module 11 have the same structure, and the right optical module 12 and the left optical module 11 are symmetrically arranged with respect to the central axis 20 of the lens tube 10.

[0114] Among them, as Figure 11 shown, taking the eighth lens L8 of the left optical module 11 being located in the optical path between the reflection module 13 and the first image sensor 14, and the eighth lens L8 of the right optical module 12 being located in the optical path between the reflection module 13 and the second image sensor 15 as an example for illustration, the eighth lens L8 can reduce the principal ray angle, making the matching of the principal ray angle between the left optical module 11 and the first image sensor 14 better, and the matching of the principal ray angle between the right optical module 12 and the second image sensor 15 better, which helps to improve the imaging quality.

[0115] Furthermore, the eighth lens L8 can have a negative optical power. At the same time, the refractive index of the eighth lens L8 is Nd8, and the Abbe number of the eighth lens L8 is Vd8. Among them, 1.6 < Nd8 < 1.8 and 35 < Vd8 < 60. With such settings, it helps to reduce aberration and achieve a better imaging effect.

[0116] In other embodiments, the eighth lens L8 may also be located in the optical path between the seventh lens L7 and the left path reflection unit 112, and the embodiments of the present invention do not make specific limitations thereto.

[0117] Continuing to refer to Figure 11 , the left path optical module 11 further includes a protective glass L0, and the protective glass L0 is located on the side of the first lens L1 away from the second lens L2 to protect the optical lens group and improve the service life of the endoscope optical module.

[0118] It should be noted that each of the above lenses may be made of glass material to meet the requirements of high-temperature sterilization.

[0119] In addition, the surface type of each of the above lenses may be spherical, aspherical, quadratic surface or free surface, and the embodiments of the present invention do not make specific limitations thereto.

[0120] Optionally, the effective focal length of the left path optical module 11 / right path optical module 12 is f, where 1 mm < f < 5 mm, so that it is easy to achieve that the field of view angle FOV of the left path optical module 11 and the right path optical module 12 satisfies FOV≥75°, which helps to provide a sufficient field of view range. At the same time, the size of the lenses used in the left path optical lens group 111 and the right path optical lens group 121 can also be reduced.

[0121] Optionally, the aperture number (F number) of the left path optical module 11 / right path optical module 12 is F#, where F# > 5. By reasonably controlling the F number range of the optical system, the depth of field range of the optical system can be increased (for example, the depth of field range of the left path optical module 11 / right path optical module 12 is between 30 mm and 150 mm) on the premise of ensuring a certain resolution ability, so as to meet the requirement that the endoscope can clearly image within a certain range.

[0122] Optionally, the designed object distance of the left path optical module 11 / right path optical module is mm, which is equivalent to a person's eye observing an object at 750 mm, more in line with the eye usage habits of a person, and can make the 3D effect of the endoscope optical module more real without a sense of dizziness.

[0123] Figure 12 This is a chromatic aberration curve diagram of an endoscope optical module provided by an embodiment of the present invention. As Figure 12 shown, the vertical direction represents the normalization of the field of view angle, 0 represents on the optical axis, and the vertical direction vertex represents the maximum field of view radius; the horizontal direction is the offset amount in the meridional range based on 0.5876 μm, in micrometers (μm). The numbers on the curve in the figure represent the wavelength represented by the curve, in micrometers (μm), and the maximum field of view is 44.9525 Deg. From Figure 12It can be seen that the chromatic aberration along the vertical axis can be controlled within the range of (-1μm, 6μm), indicating that the chromatic aberration of the endoscope optical module is well controlled and can meet the application requirements of endoscopic imaging.

[0124] Figure 13 A field curvature and distortion curve diagram of an endoscope optical module provided in an embodiment of the present invention, such as... Figure 13 As shown in the figure, in the left coordinate system, the horizontal axis represents the field curvature of the zoom lens, in mm; the vertical axis represents the normalized image height, without units. In the right coordinate system, the horizontal axis represents the distortion magnitude, in %; the vertical axis represents the normalized image height, without units. Figure 13 It can be seen that the endoscopic optical module provided in this embodiment has effectively controlled field curvature and the distortion has been well corrected.

[0125] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An endoscope optical module, characterized in that, It includes a lens tube and a left optical module, a right optical module, a reflection module, a first image sensor, and a second image sensor disposed within the lens tube; The left optical module and the right optical module are located on opposite sides of the central axis of the lens tube, respectively. The left optical module includes a left optical lens group and a left reflection unit arranged along the direction of incident light propagation. The left incident light received by the left optical lens group is reflected to the reflection module by the left reflection unit. The right-path optical module includes a right-path optical lens group and a right-path reflection unit arranged along the direction of incident light propagation. The right-path incident light received by the right-path optical lens group is reflected to the reflection module by the right-path reflection unit. The first image sensor and the second image sensor are located on opposite sides of the central axis of the lens tube; the left incident light is reflected to the first image sensor by the reflection module, and the right incident light is reflected to the second image sensor by the reflection module. The left optical module and the right optical module are arranged in a first direction, and the first image sensor and the second image sensor are arranged in a second direction, wherein the first direction and the second direction intersect.

2. The endoscope optical module according to claim 1, characterized in that, The short side of the first image sensor extends in a direction that intersects with the central axis of the lens tube. The short side of the second image sensor extends in a direction that intersects with the central axis of the lens tube.

3. The endoscope optical module according to claim 1, characterized in that, The angle between the optical axis of the left optical lens group and the reflective surface of the left reflective unit is θ1, where 40°≤θ1≤50°; The angle between the optical axis of the right-side optical lens group and the reflective surface of the right-side reflective unit is θ2, where 40°≤θ2≤50°.

4. The endoscope optical module according to claim 1, characterized in that, The angle between the first direction and the second direction is θ, where 80°≤θ≤100°.

5. The endoscope optical module according to claim 1, characterized in that, The shortest distance between the optical axis of the left optical lens group and the optical axis of the right optical lens group is d1, where d1 ≥ 4 mm.

6. The endoscope optical module according to claim 1, characterized in that, The left-side optical lens group includes a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, and a seventh lens arranged sequentially along the direction of incident light propagation; The first lens has negative optical power, and the second lens has positive optical power; The third lens has positive optical power, and the fourth lens has negative optical power; or, the third lens has negative optical power, and the fourth lens has positive optical power. The sixth lens has positive optical power, and the seventh lens has negative optical power; or, the sixth lens has negative optical power, and the seventh lens has positive optical power. The right-side optical lens group and the left-side optical lens group have the same structure.

7. The endoscope optical module according to claim 6, characterized in that, The third lens has a refractive index of Nd3 and an Abbe number of Vd3; the fourth lens has a refractive index of Nd4 and an Abbe number of Vd4; the sixth lens has a refractive index of Nd6 and an Abbe number of Vd6; the seventh lens has a refractive index of Nd7 and an Abbe number of Vd7; wherein, 1.5 <Nd3<1.7,45<Vd3<66;1.7<Nd4<1.8,35<Vd4<50; 1.5 <Nd6<1.7,45<Vd6<65;1.8<Nd7<1.9,25<Vd7<40。 8. The endoscope optical module according to claim 6, characterized in that, The third lens and the fourth lens form a cemented lens group; And / or, The sixth lens and the seventh lens form a cemented lens group.

9. The endoscope optical module according to claim 6, characterized in that, The second lens is a steering prism.

10. The endoscope optical module according to claim 6, characterized in that, The left-path optical module further includes an eighth lens, which is located in the optical path between the seventh lens and the left-path reflection unit, or the eighth lens is located in the optical path between the reflection module and the first image sensor; The right optical module and the left optical module have the same structure, and the right optical module and the left optical module are symmetrically arranged with respect to the central axis of the lens tube.

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