Endoscope 3D zoom lens and endoscopic imaging system

Abstract

The invention discloses an endoscope 3D zoom lens and an endoscopic imaging system. The endoscope 3D zoom lens comprises a binocular imaging system, a zoom system and a light filtering assembly. The binocular imaging system is composed of a fixed lens group G1 and two optical imaging assemblies, and the two optical imaging assemblies are arranged between the fixed lens group G1 and the zoom system side by side; the optical imaging assembly sequentially comprises a fixed lens group G2 and a relay lens group G3 from an object side to an image side; the zoom system sequentially comprises a fixed lens group G4, a focusing lens group G5, a zoom lens group G6 and a compensation lens group G7 from the object side to the image side, wherein the focusing lens group G5, the zoom lens group G6 and the compensation lens group G7 are movably arranged between the fixed lens group G4 and the light filtering assembly in the optical axis direction of the focusing lens group G5, the zoom lens group G6 and the compensation lens group G7. According to the system, through the combination of the double-optical-path design and the zoom design, the limitation that a traditional endoscope is incompatible in 3D imaging and zoom imaging functions is broken through, synchronous compatibility of the 3D imaging and zoom imaging functions is achieved, the imaging effect of the endoscope is improved, and the application range of the endoscope is widened.

Description

Technical Field

[0001] The present invention relates to the field of endoscopy, and in particular to an endoscope 3D zoom lens and an endoscopy imaging system. Background Art

[0002] In the medical field, endoscope technology, as a core component of surgical observation instruments, has a very wide range of applications. With its exquisite size design, endoscope technology significantly reduces the trauma during surgery, effectively reduces the pain of patients, promotes the healing of postoperative wounds, and significantly improves the accuracy of surgery. However, the endoscope technology currently on the market generally has limitations, mainly manifested in the monocular imaging system and the lack of zoom function, which leads to limited magnification and makes it difficult to meet the high standards for continuous improvement of surgical quality, especially in the field of small-sized endoscopes (such as endoscopes with a lens size of about 4mm). The present invention aims to break through the limitations of the prior art and realize the innovation of endoscope technology through innovative design to meet the urgent needs of the medical field for high-definition and high-flexibility surgical observation tools. Summary of the invention

[0003] The purpose of the present invention is to provide an endoscope 3D zoom lens and an endoscopic imaging system. The lens breaks through the limitations of the incompatibility of 3D imaging and zoom imaging functions of traditional endoscopes through the combination of dual optical path design and zoom design, and improves the imaging effect and application scope of the endoscope.

[0004] The technical solution adopted by the present invention is as follows:

[0005] An endoscope 3D zoom lens comprises a binocular imaging system and a zoom system which are sequentially arranged from the object side to the image side;

[0006] The binocular imaging system is composed of a fixed lens group G1 and two optical imaging components with identical structures; the two optical imaging components are symmetrically arranged on the object side of the zoom system along the central axis of the lens tube, and a parallel or non-parallel imaging light path is formed between the two optical imaging components; each of the optical imaging components includes a fixed lens group G2 and a relay lens group G3 in sequence from the object side to the image side; the relay lens group is a symmetrical structure with an imaging magnification ratio of 1:1, including a plurality of relay sub-lens groups with identical structures arranged in sequence from the object side to the imaging side;

[0007] The zoom system includes a fixed lens group G4, a focusing lens group G5, a zoom lens group G6, and a compensating lens group G7 from the object side to the image side; the zoom lens group G6 has a positive optical power; the compensating lens group G7 has a negative optical power;

[0008] When the system is in operation, the zoom lens group G6 and the compensating lens group G7 can move along the optical axis, and there is a non-fixed distance relationship between the zoom lens group G6 and the compensating lens group G7 to realize the stepless zoom function of the system from the wide-angle end to the telephoto end, wherein the zoom lens group G6, in the process of moving along the optical axis, enables the system to zoom between the wide-angle end and the telephoto end, and the compensating lens group G7, in the process of moving along the optical axis, realizes compensation for the change of the image plane position when the zoom lens group G6 moves;

[0009] When the system is working, the focusing lens group G5 can move along the optical axis, so that the system can form a clear image at different focal lengths.

[0010] In the above technical solution, further, the fixed lens group G1 includes, from the object side to the image side, in sequence: a first negative lens, a second negative lens, a first positive lens, a first cemented lens with positive optical power, and a second positive lens;

[0011] The fixed lens group G2 includes, from the object side to the image side, a third negative lens, a second cemented lens with positive focal power, a third cemented lens with negative focal power, and a fourth cemented lens with positive focal power; the relay lens group G3 includes 1 to 5 relay sub-lens groups with exactly the same structure arranged in sequence from the object side to the image side, and the relay sub-lens groups include, from the object side to the image side, a fifth cemented lens with positive focal power, a third positive lens, a sixth cemented lens with positive focal power, a seventh cemented lens with positive focal power, a fourth positive lens, and an eighth cemented lens with positive focal power.

[0012] Furthermore, the fixed lens group G4 includes, from the object side to the image side, a ninth cemented lens with negative focal power and a tenth cemented lens with positive focal power;

[0013] The focusing lens group G5 includes an eleventh cemented lens with negative optical power;

[0014] The zoom lens group G6 includes, in order from the object side to the image side along the optical axis: a fifth positive lens, a twelfth cemented lens with positive power, and a fourth negative lens;

[0015] The compensation lens group G7 includes: a thirteenth cemented lens with negative optical power.

[0016] The zoom lens group is optional, the first negative lens includes a first object end surface and a first image end surface; the second negative lens includes a second object end surface and a second image end surface; the first positive lens includes a third object end surface and a third image end surface; the first cemented lens includes a fourth object end surface, a fourth image end surface, a fifth object end surface and a fifth image end surface, wherein the fourth image end surface and the fifth object end surface are closely overlapped; the second positive lens includes a sixth object end surface and a sixth image end surface; the third negative lens includes a seventh object end surface and a seventh image end surface; the second cemented lens includes an eighth object end surface, an eighth image end surface, a ninth object end surface and a ninth image end surface, wherein the eighth image end surface and the ninth image end surface are closely overlapped The object end surfaces are closely overlapped; the third cemented lens includes the tenth object end surface, the tenth image end surface, the eleventh object end surface and the eleventh image end surface, wherein the tenth image end surface and the eleventh object end surface are closely overlapped; the fourth cemented lens includes the twelfth object end surface, the twelfth image end surface, the thirteenth object end surface and the thirteenth image end surface, wherein the twelfth image end surface and the thirteenth object end surface are closely overlapped; the fifth cemented lens includes the fourteenth object end surface, the fourteenth image end surface, the fifteenth object end surface and the fifteenth image end surface, wherein the fourteenth image end surface and the fifteenth object end surface are closely overlapped; the third positive lens includes the sixteenth object end surface and the sixteenth image end surface; the sixth cemented lens includes the sixteenth object end surface and the sixteenth image end surface The combined lens includes a seventeenth object end surface, a seventeenth image end surface, an eighteenth object end surface and an eighteenth image end surface, wherein the seventeenth image end surface closely overlaps with the eighteenth object end surface; the seventh cemented lens includes a nineteenth object end surface, a nineteenth image end surface, a twentieth object end surface and a twentieth image end surface, wherein the nineteenth image end surface closely overlaps with the twentieth object end surface; the fourth positive lens includes a twenty-first object end surface and a twenty-first image end surface; the eighth cemented lens includes a twenty-second object end surface, a twenty-second image end surface, a twenty-third object end surface and a twenty-third image end surface, wherein the twenty-second image end surface closely overlaps with the twenty-third object end surface; the ninth cemented lens The lens comprises a 24th object end surface, a 24th image end surface, a 25th object end surface and a 25th image end surface, wherein the 24th image end surface closely overlaps with the 25th object end surface; the 10th cemented lens comprises a 26th object end surface, a 26th image end surface, a 27th object end surface and a 27th image end surface, wherein the 26th image end surface closely overlaps with the 27th object end surface; the 11th cemented lens comprises a 28th object end surface, a 28th image end surface, a 29th object end surface and a 29th image end surface, wherein the 28th image end surface closely overlaps with the 29th object end surface; the 5th positive lens comprises a 30th object end surface and a 30th image end surface;The twelfth cemented lens includes a thirty-first object end surface, a thirty-first image end surface, a thirty-second object end surface and a thirty-second image end surface, wherein the thirty-first image end surface closely overlaps with the thirty-second object end surface; the fourth negative lens includes a thirty-third object end surface and a thirty-third image end surface; the thirteenth cemented lens includes a thirty-fourth object end surface, a thirty-fourth image end surface, a thirty-fifth object end surface and a thirty-fifth image end surface, wherein the thirty-fourth image end surface closely overlaps with the thirty-fifth object end surface.;

[0017] Optionally, the focal length of the first negative lens is between -20mm and 0mm; the focal length of the second negative lens is between -50mm and 0mm; the focal length of the first positive lens is between 0mm and 20mm; the focal length of the first cemented lens is between -30mm and 0mm; the focal length of the second positive lens is between 0mm and 30mm; the focal length of the third negative lens is between negative infinity and 0mm; the focal length of the second cemented lens is between 0mm and 20mm; the focal length of the third cemented lens is between -20mm and 0mm; the focal length of the fourth cemented lens is between 0mm and 20mm; the focal length of the fifth cemented lens is between 0mm and 50mm; the focal length of the third positive lens is between 0mm and 30mm; the focal length of the sixth cemented lens is between The focal length of the seventh cemented lens is between 0mm and 50mm; the focal length of the fourth positive lens is between 0mm and 30mm; the focal length of the eighth cemented lens is between 0mm and 50mm; the focal length of the ninth cemented lens is between -30mm and 0mm; the focal length of the tenth cemented lens is between 0mm and 40mm; the focal length of the eleventh cemented lens is between -70mm and -10mm; the focal length of the fifth positive lens is between 250mm and 300mm; the focal length of the twelfth cemented lens is between 80mm and 150mm; the focal length of the fourth negative lens is between 0mm and 50mm; the focal length of the thirteenth cemented lens is between 0mm and 50mm, and the "between" mentioned in the present invention can all be endpoint values.

[0018] Optionally, all positive lens types are specifically as follows: the first positive lens includes a biconvex lens or a meniscus lens; the second positive lens includes a biconvex lens or a meniscus lens; the third positive lens includes a biconvex lens or a meniscus lens; the fourth positive lens includes a biconvex lens or a meniscus lens; the fifth positive lens includes a biconvex lens or a meniscus lens.

[0019] Optionally, all the types of cemented lenses are specifically as follows: all the cemented lenses are cemented by A and B lenses, wherein: the first cemented lens A includes a meniscus lens or a biconcave lens with negative optical power; the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power; the second cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; the second cemented lens B includes a meniscus lens or a biconvex lens with positive optical power; the third cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; the third cemented lens B includes a meniscus lens or a biconvex lens The fourth cemented lens A comprises a meniscus lens or a biconvex lens, having a positive focal power; the fourth cemented lens B comprises a meniscus lens or a biconvex lens, having a positive focal power; the fifth cemented lens A comprises a meniscus lens or a biconvex lens, having a positive focal power; the fifth cemented lens B comprises a meniscus lens or a biconvex lens, having a positive focal power; the sixth cemented lens A comprises a meniscus lens or a biconvex lens, having a positive focal power; the sixth cemented lens B comprises a meniscus lens or a biconcave lens, having a negative focal power; the seventh cemented lens A comprises a meniscus lens The seventh cemented lens B comprises a meniscus lens or a biconvex lens, having positive focal power; the eighth cemented lens A comprises a meniscus lens or a biconvex lens, having positive focal power; the eighth cemented lens B comprises a meniscus lens or a biconvex lens, having positive focal power; the ninth cemented lens A comprises a meniscus lens or a biconvex lens, having positive focal power; the ninth cemented lens B comprises a meniscus lens or a biconcave lens, having negative focal power; the tenth cemented lens A comprises a meniscus lens or a biconvex lens, having positive focal power; the tenth cemented lens B comprises The eleventh cemented lens A comprises a meniscus lens or a biconvex lens with positive focal power; the eleventh cemented lens B comprises a meniscus lens or a biconvex lens with positive focal power; the twelfth cemented lens A comprises a meniscus lens or a biconcave lens with negative focal power; the twelfth cemented lens B comprises a meniscus lens or a biconvex lens with positive focal power; the thirteenth cemented lens A comprises a meniscus lens or a biconvex lens with positive focal power; the thirteenth cemented lens B comprises a meniscus lens or a biconcave lens with negative focal power.

[0020] Optionally, the material of the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens is glass.

[0021] Optionally, the refractive index of the first negative lens is between 1.80 and 1.95; the refractive index of the second negative lens is between 1.60 and 1.75; the refractive index of the first positive lens is between 1.70 and 1.85; the refractive index of the first cemented lens A is between 1.80 and 1.95; the refractive index of the first cemented lens B is between 1.40 and 1.65; the refractive index of the second positive lens is between 1.70 and 1.95; the refractive index of the third negative lens is between 1.65 and 1.80; the refractive index of the second cemented lens A is between 1.70 and 1.85; the refractive index of the second cemented lens B is between 1.65 and 1.80 The refractive index of the third cemented lens A is between 1.75 and 1.90; the refractive index of the third cemented lens B is between 1.75 and 1.90; the refractive index of the fourth cemented lens A is between 1.75 and 1.90; the refractive index of the fourth cemented lens B is between 1.90 and 2.05; the refractive index of the fifth cemented lens A is between 1.60 and 1.75; the refractive index of the fifth cemented lens B is between 1.60 and 1.75; the refractive index of the third positive lens is between 1.50 and 1.65; the refractive index of the sixth cemented lens A is between 1.60 and 1.75; the refractive index of the sixth cemented lens B is between 1. The refractive index of the seventh cemented lens A is between 1.70 and 1.85; the refractive index of the seventh cemented lens B is between 1.60 and 1.75; the refractive index of the fourth positive lens is between 1.50 and 1.65; the refractive index of the eighth cemented lens A is between 1.60 and 1.75; the refractive index of the eighth cemented lens B is between 1.60 and 1.75; the refractive index of the ninth cemented lens A is between 1.70 and 1.85; the refractive index of the ninth cemented lens B is between 1.50 and 1.65; the refractive index of the tenth cemented lens A is between 1.50 and 1.65; the refractive index of the tenth cemented lens B is between 1.60 and 1.75; The refractive index is between 1.50 and 1.65; the refractive index of the eleventh cemented lens A is between 1.40 and 1.55; the refractive index of the eleventh cemented lens B is between 1.70 and 1.85; the refractive index of the fifth positive lens is between 1.50 and 1.65; the refractive index of the twelfth cemented lens A is between 1.90 and 2.05; the refractive index of the twelfth cemented lens B is between 1.50 and 1.65; the refractive index of the fourth negative lens is between 1.50 and 1.65; the refractive index of the thirteenth cemented lens A is between 1.90 and 2.05; the refractive index of the thirteenth cemented lens B is between 1.70 and 1.85.

[0022] Optionally, the thickness CT of the middle area of ​​the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens is greater than 0.25mm.

[0023] Optionally, the thickness ET of the edge area of ​​the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens is greater than 0.3mm.

[0024] Optionally, the thickness AT of the air gaps between adjacent lenses in the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens is greater than 0.05 mm.

[0025] Optionally, the endoscope 3D zoom lens satisfies the following condition: -8.2≤FG1 / Fw≤-7, wherein FG1 is the effective focal length of the fixed lens group G1, and Fw is the total effective focal length of the zoom lens at the wide-angle end.

[0026] Optionally, the endoscope 3D zoom lens satisfies the following condition: 1.2≤FG2 / Fw≤1.9, wherein FG2 is the effective focal length of the fixed lens group G2, and Fw is the total effective focal length of the zoom lens at the wide-angle end.

[0027] Optionally, the endoscope 3D zoom lens satisfies the following condition: 90≤FG3≤110, where FG3 is the effective focal length of the relay lens group G3.

[0028] Optionally, the endoscope 3D zoom lens satisfies the following condition: 1.7≤Ft / Fw≤2.5, wherein Ft is the total effective focal length of the zoom lens when it is at the telephoto end, and Fw is the total effective focal length of the zoom lens when it is at the wide-angle end.

[0029] Optionally, the endoscope 3D zoom lens satisfies the following condition: 0.012≤Ft / TTL≤0.02, wherein Ft is the total effective focal length of the zoom lens when it is at the telephoto end, and TTL is the axial distance from the object side of the first positive lens to the imaging surface of the zoom lens.

[0030] Optionally, the endoscope 3D zoom lens satisfies the following condition: 0.005≤Fw / TTL≤0.009, wherein Fw is the total effective focal length of the zoom lens at the wide-angle end, and TTL is the on-axis distance from the object side of the first positive lens to the imaging surface of the zoom lens.

[0031] Optionally, the endoscope 3D zoom lens satisfies the following condition: 2.8≤d2≤5.2, wherein d2 is the moving distance of the zoom lens group G6 between the object side and the image side when the zoom lens switches between the wide-angle end and the telephoto end.

[0032] Optionally, the endoscope 3D zoom lens satisfies the following condition: 6≤d3≤25, wherein d3 is the movement distance of the compensation lens group G7 between the object side and the image side when the zoom lens switches between the wide-angle end and the telephoto end.

[0033] The present invention also provides an endoscopic imaging system, which includes an endoscope 3D zoom lens as described in any of the above items, and can also be combined with lighting, camera control and display modules, and can also be integrated into a surgical robot as a stereoscopic vision component.

[0034] The endoscope 3D zoom lens and endoscope imaging system of the embodiment of the present application adopt the above configuration, which can make the zoom lens group and the compensation lens group of the zoom lens provided by the present application move in a wide range, so that the focusing range is wide, and the following advantages can be achieved:

[0035] 1. Synchronous compatibility of binocular imaging and zoom function: This system realizes the synchronous compatibility of 3D imaging and optical zoom function through the combination of dual optical path design and zoom design. Traditional endoscopes can usually only choose one function between binocular imaging or zoom imaging, while this system can realize both functions in the same device, significantly improving the scope of application and operational flexibility of endoscopes.

[0036] 2. Wide observation depth and clear imaging: The system can achieve high-quality imaging at different depths through the optical zoom function, and both surface tissue and deep structure can be clearly presented. Doctors can quickly switch the observation range by adjusting the focal length to comprehensively evaluate the situation of the lesion area. This wide focus range design enables the system to provide more comprehensive field of view support in complex operations, helping doctors to more accurately identify lesions.

[0037] 3. High image quality, improved diagnostic accuracy: The system can maintain high resolution and large field of view (full object height up to 20mm) imaging effects at different focal lengths. Through optimized optical design, the system can effectively suppress aberrations and ensure imaging clarity and color reproduction. This high-quality image output significantly improves the accuracy and reliability of diagnosis, and can help doctors locate and treat diseased tissues more accurately.

[0038] On the other hand, the zoom lens provided in the present application can achieve a wide spectrum (450nm-850nm) imaging effect at each focal length. The wide imaging band can achieve the following advantages:

[0039] 1. Diversified imaging capabilities: The wide spectral range covers visible light and near-infrared spectra. Doctors can obtain image information in different bands, which helps to diagnose and evaluate lesions more accurately, improve medical effects and meet the needs of various medical applications.

[0040] 2. Improve tissue contrast: Near-infrared light has stronger tissue penetration ability, can provide clearer deep tissue images, and improve the accuracy and safety of surgery.

[0041] 3. Multifunctional diagnosis: Broad spectrum imaging can be used to detect and evaluate a variety of pathological conditions. For example, blue light can be used to observe the structure of the tissue surface and evaluate certain skin lesions, while near-infrared light is suitable for deep tissue imaging. During surgery, fluorescent dyes, such as fluorescent markers excited by blue light, can be used in combination to accurately identify the lesion site, significantly improving the accuracy and safety of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0043] Figure 1 A schematic diagram of an endoscope 3D zoom lens and an endoscope imaging system provided by an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a fixed lens group G1 of an endoscope 3D zoom lens and an endoscope imaging system provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of a fixed lens group G2 of an endoscope 3D zoom lens and an endoscope imaging system provided by an embodiment of the present invention;

[0046] Figure 4A schematic diagram of an endoscope 3D zoom lens and a relay sub-lens assembly of an endoscope imaging system provided by an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of an endoscope 3D zoom lens and a zoom lens assembly of an endoscopic imaging system provided by an embodiment of the present invention;

[0048] Figure 6 A schematic diagram of an endoscope 3D zoom lens and a filter lens assembly of an endoscope imaging system provided by an embodiment of the present invention;

[0049] Figure 7 The zoom cam curve diagram (a) and the zoom displacement curve diagram (b) of the endoscope 3D zoom lens and the endoscope imaging system of Example 1;

[0050] Figure 8 The spherical aberration curve, astigmatism curve and distortion curve of the wide-angle end, mid-focus end and telephoto end of the endoscope 3D zoom lens of Example 1 in the visible light band;

[0051] Fig. 9 The MTF curves of the wide-angle end, the mid-focus end and the telephoto end of the endoscope 3D zoom lens and the endoscope imaging system of Example 1 in the image side alignment plane in the visible light band;

[0052] Fig.10 FIG. 4 is a schematic diagram of an endoscopic imaging system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0054] In this application, the paraxial region refers to the region near the optical axis. If the lens surface is convex and the position of the convex surface is not defined, it means that the lens surface is convex at least in the paraxial region; if the lens surface is concave and the position of the concave surface is not defined, it means that the lens surface is concave at least in the paraxial region. The surface of each lens closest to the object is called the object side of the lens, and the surface of each lens closest to the imaging plane is called the image side of the lens.

[0055] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Therefore, without departing from the teachings of this application, the first lens discussed below may also be referred to as the second lens or the third lens. Similarly, words such as "one" or "one" do not indicate a quantity limit, but indicate that there is at least one. "Multiple" or "several" means two or more. Unless otherwise specified, words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation and are not limited to one position or one spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms of "a", "an", "the" and "the" used in this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0056] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this article have the same meaning as those commonly understood by ordinary technicians in the field to which this application belongs. It should also be understood that terms (such as terms defined in commonly used dictionaries) should be interpreted as having the same meaning as their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined in this article.

[0057] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0058] The features, principles and other aspects of the present application will be described in detail below.

[0059] According to an exemplary embodiment of the present application, an endoscope 3D zoom lens includes a binocular imaging system, a zoom system and a filter component arranged in sequence from the object side to the image side. The binocular imaging system consists of a fixed lens group G1 with negative optical power and two optical imaging components, the two optical imaging components are arranged side by side between the fixed lens group G1 and the zoom system, and a preset angle can be set between the two, so as to form a parallel or non-parallel imaging light path; the optical imaging component includes a fixed lens group G2 with positive optical power and a relay lens group G3 with positive optical power from the object side to the image side; the zoom system includes a fixed lens group G4 with positive optical power, a focusing lens group G5 with negative optical power, a zoom lens group G6 with positive optical power, and a compensation lens group G7 with negative optical power from the object side to the image side; the filter component includes a first filter F1 with no optical power. The fixed lens group G1 is composed of a first negative lens, a second negative lens, a first positive lens, a first cemented lens with positive focal power, and a second positive lens. The fixed lens group G2 is composed of a third negative lens, a second cemented lens with positive focal power, a third cemented lens with negative focal power, and a fourth cemented lens with positive focal power. The relay lens group G3 is composed of three relay sub-lens groups with exactly the same structure, and each relay sub-lens group is composed of a fifth cemented lens with positive focal power, a third positive lens, a third cemented lens with positive focal power, and a fourth cemented lens with positive focal power. The fixed lens group G4 is composed of a ninth cemented lens with negative focal power and a tenth cemented lens with positive focal power, the focusing lens group G5 is composed of an eleventh cemented lens with negative focal power, the zoom lens group G6 is composed of a fifth positive lens, a twelfth cemented lens with positive focal power and a fourth negative lens, and the compensating lens group G7 is composed of a thirteenth cemented lens with negative focal power.

[0060] The above optical lens groups are located between the imaged object and the image plane IMA in the 3D zoom lens, and are arranged in sequence from the object side to the image side along the optical axis, wherein the zoom lens group G6 and the compensation lens group G7 can move along the optical axis between the focus lens group G5 and the first filter F1, and there is also a non-fixed distance relationship between the zoom lens group G6 and the compensation lens group G7. When the zoom lens group G6 moves along the optical axis, the zoom optical system zooms between the wide-angle end and the telephoto end. When the compensation lens group G7 moves along the optical axis, it compensates for the change in the image plane position when the zoom lens group G6 moves. In summary, when the fixed lens group G1, the fixed lens group G2, the relay lens group G3, and the fixed lens group G4 are stationary, and the zoom lens group G6 and the compensation lens group G7 are linked along the optical axis, a stepless zoom function from the wide-angle end to the telephoto end is realized.

[0061] The focusing lens group G5 can move along the optical axis between the fixed lens group G4 and the zoom lens group G6. During the movement of the focusing lens group, the imaging system can produce clear images at different focal lengths.

[0062] The first filter F1 with no optical power is used to filter out unnecessary spectral components, thereby further optimizing the imaging effect.

[0063] In an exemplary embodiment, the fixed lens group G1 includes, in order from the object side to the image side along the optical axis: a first negative lens, a second negative lens, a first positive lens, a first cemented lens with positive power, and a second positive lens.

[0064] In an exemplary embodiment, the first negative lens includes a biconcave lens or a meniscus lens.

[0065] In an exemplary embodiment, the second negative lens includes a biconcave lens or a meniscus lens.

[0066] In an exemplary embodiment, the first positive lens includes a biconvex lens or a meniscus lens.

[0067] In an exemplary embodiment, the first cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconcave lens with negative optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0068] In an exemplary embodiment, the second positive lens includes a biconvex lens or a meniscus lens.

[0069] In an exemplary embodiment, the fixed lens group G1 includes two negative lenses, two positive lenses, and a cemented lens composed of a positive lens and a negative lens; the fixed lens group G1 uses this combination to directly form an image of the object.

[0070] In an exemplary embodiment, the fixed lens group G2 includes, in order from the object side to the image side along the optical axis: a third negative lens, a second cemented lens with positive power, a third cemented lens with negative power, and a fourth cemented lens with positive power.

[0071] In an exemplary embodiment, the third negative lens includes a biconcave lens or a meniscus lens.

[0072] In an exemplary embodiment, the second cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0073] In an exemplary embodiment, the third cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconcave lens with negative optical power.

[0074] In an exemplary embodiment, the fourth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0075] In an exemplary embodiment, the fixed lens group G2 includes a negative lens, two cemented lenses consisting of two positive lenses, and a cemented lens consisting of a positive lens and a negative lens; the fixed lens group G2 uses this combination, and there are two groups of fixed lens groups G2, which are arranged side by side to divide the light path into two paths, each of which receives a part of the image formed by the fixed lens group G1, and then images these parts of the image are respectively formed in front of the relay lens group G3. The combination of the fixed lens groups G1 and G2 can effectively improve the imaging quality, optimize the light path, reduce optical distortion and nonlinear errors, and control dispersion at the same time, so that light of different bands can be accurately focused on the imaging plane, providing high-quality optical imaging effects.

[0076] In an exemplary embodiment, the relay lens group G3 is composed of three relay sub-lens groups with exactly the same structure, and each relay sub-lens group includes, in order from the object side to the image side along the optical axis: a fifth cemented lens with positive focal power, a third positive lens, a sixth cemented lens with positive focal power, a seventh cemented lens with positive focal power, a fourth positive lens, and an eighth cemented lens with positive focal power.

[0077] In an exemplary embodiment, the fifth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0078] In an exemplary embodiment, the third positive lens includes a biconvex lens or a meniscus lens.

[0079] In an exemplary embodiment, the sixth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconcave lens with negative optical power.

[0080] In an exemplary embodiment, the seventh cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0081] In an exemplary embodiment, the eighth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0082] In an exemplary embodiment, the relay sub-mirror group in the relay lens group G3 includes two positive lenses, three cemented lenses consisting of two positive lenses, and one cemented lens consisting of a positive lens and a negative lens; in an exemplary embodiment, there are three relay sub-mirror groups in total, and in other embodiments, they can be any group from 1 to 5; the relay lens group G3 uses this combination to effectively extend the optical path, thereby increasing the overall length of the endoscope, while ensuring that the imaging quality is not affected during the extension of the optical path.

[0083] In an exemplary embodiment, the fixed lens group G4 includes, in order from the object side to the image side along the optical axis: a ninth cemented lens having negative refractive power and a tenth cemented lens having positive refractive power.

[0084] In an exemplary embodiment, the ninth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconcave lens with negative optical power.

[0085] In an exemplary embodiment, the tenth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0086] In an exemplary embodiment, the fixed lens group G4 includes a cemented lens composed of two positive lenses and a cemented lens composed of a positive lens and a negative lens; the fixed lens group G4 uses this combination to ensure that the images from the dual optical paths are highly consistent in terms of optical axis, focus and imaging quality, effectively avoiding ghosting, misalignment or distortion problems that may occur when the optical paths are merged, and merging the images transmitted by the two relay lens groups G3 arranged side by side into a single path.

[0087] In an exemplary embodiment, the focusing lens group G5 includes, in order from the object side to the image side along the optical axis: an eleventh cemented lens having negative refractive power.

[0088] In an exemplary embodiment, the eleventh cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconcave lens with negative optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0089] In an exemplary embodiment, the focusing lens group G5 is composed of a cemented lens composed of a positive lens and a negative lens; the focusing lens group G5 can adjust the image quality when the system is at different focal length positions by precise movement along the optical axis. When the image clarity decreases due to focal length changes, G5 can correct the focus state of the optical path by fine-tuning the position, thereby readjusting the image to be clear. This design provides the optical system with flexible focusing capabilities, ensuring high-quality imaging effects at different working distances or zoom states.

[0090] In an exemplary embodiment, the zoom lens group G6 includes, in order from the object side to the image side along the optical axis: a fifth positive lens, a twelfth cemented lens having positive refractive power, and a fourth negative lens.

[0091] In an exemplary embodiment, the fifth positive lens includes a biconvex lens or a meniscus lens.

[0092] In an exemplary embodiment, the twelfth cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconcave lens with negative optical power; and the first cemented lens B includes a meniscus lens or a biconvex lens with positive optical power.

[0093] In an exemplary embodiment, the fourth negative lens includes a biconcave lens or a meniscus lens.

[0094] In an exemplary embodiment, the zoom lens group G6 includes a positive lens, a negative lens, and a cemented lens composed of a positive lens and a negative lens; the focal length of the system can be adjusted by moving the position of the zoom lens group G6 along the optical axis, thereby achieving image magnification or reduction. When the image needs to be magnified to observe more details, the zoom lens group G6 can increase the focal length to obtain a higher magnification; when the field of view needs to be expanded to capture a larger range, the zoom lens group G6 can reduce the focal length to achieve a reduction effect.

[0095] In an exemplary embodiment, the compensation lens group G7 includes, in order from the object side to the image side along the optical axis: a thirteenth cemented lens having negative optical power.

[0096] In an exemplary embodiment, the eleventh cemented lens is composed of a first cemented lens A and a first cemented lens B, wherein the first cemented lens A includes a meniscus lens or a biconvex lens with positive optical power; and the first cemented lens B includes a meniscus lens or a biconcave lens with negative optical power.

[0097] In an exemplary embodiment, the compensation lens group G7 is composed of a cemented lens consisting of a positive lens and a negative lens; when the zoom lens group G6 moves to change the focal length, the compensation lens group G7 can move synchronously along the optical axis to compensate for the image plane displacement caused by zooming, ensuring that the image plane position always remains stable, avoiding image blur or image shift, thereby providing clear and high-quality imaging effects throughout the entire zoom range.

[0098] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscopic imaging system according to the present application further include an aperture arranged in the relay lens group G3. The aperture is conducive to correcting coma, spherical aberration and astigmatism of different focal length segments, adjusting the depth of field, and limiting stray light. In an exemplary embodiment of the present application, the aperture can be arranged between the sixth cemented lens and the seventh cemented lens in the second relay sub-lens group. However, it should be noted that the position of the aperture disclosed here is only an example and not a limitation; in alternative embodiments, the aperture can also be arranged at other positions according to actual needs.

[0099] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application can satisfy: -8.2≤FG1 / Fw≤-7, where FG1 is the effective focal length of the fixed lens group G1, and Fw is the total effective focal length of the zoom lens at the wide-angle end. Satisfying -8.2≤FG1 / Fw≤-7, by reasonably setting the relationship between the focal length of the fixed lens group G1 and the total effective focal length of the zoom lens at the wide-angle end, the performance of the optical system in the wide-angle state can be effectively improved, ensuring that more incident light can be fully utilized by the system, meeting the imaging requirements of a wider field of view.

[0100] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application may satisfy: 1.2≤FG2 / Fw≤1.9, where FG2 is the effective focal length of the fixed lens group G2, and Fw is the total effective focal length of the zoom lens at the wide-angle end. Satisfying 1.2≤FG2 / Fw≤1.9, by reasonably controlling the focal length value of the zoom lens group G2, it is possible to effectively balance various aberrations in the optical system, including spherical aberration, coma, and astigmatism, and improve the overall image quality.

[0101] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscopic imaging system according to the present application may satisfy: 90≤FG3≤110, where FG3 is the effective focal length of the relay lens group G3.

[0102] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application may satisfy: 3.8≤FG4 / Fw≤5, where FG4 is the effective focal length of the fixed lens group G4. Satisfying 3.8≤FG4 / Fw≤5 is conducive to maintaining a high level of image quality after the dual optical paths are combined into a single path.

[0103] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application may satisfy: -15.5≤FG5 / Fw≤-13.5, where FG5 is the effective focal length of the focus lens group G5. Satisfying -15.5≤FG5 / Fw≤-13.5 is conducive to enhancing the adjustment sensitivity of the focus lens group, and when the system imaging is blurred, the focus position can be adjusted quickly and accurately to ensure a clear image.

[0104] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application may satisfy: 4.8≤FG6 / Fw≤6.0, where FG6 is the effective focal length of the zoom lens group G6. Satisfying 4.8≤FG6 / Fw≤6.0 is beneficial to achieving imaging performance while ensuring the required zoom ratio during zooming.

[0105] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application can satisfy: -9.2≤FG7 / Fw≤-8.4, where FG7 is the effective focal length of the compensation lens group G7. Satisfying -9.2≤FG7 / Fw≤-8.4 is conducive to compensating for the image plane displacement caused by the movement of other lens groups (such as the zoom lens group G6), ensuring that the imaging plane is always stable.

[0106] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscopic imaging system according to the present application can satisfy: 0.012≤Ft / TTL≤0.02, where Ft is the total effective focal length of the zoom lens at the telephoto end, and TTL is the axial distance from the object side of the first positive lens to the imaging surface of the zoom lens. Satisfying 0.012≤Ft / TTL≤0.02 can effectively ensure the length of the zoom lens, thereby meeting the actual use requirements of endoscopic imaging.

[0107] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscopic imaging system according to the present application can satisfy: 0.005≤Fw / TTL≤0.009, where Fw is the total effective focal length of the zoom lens at the wide-angle end, and TTL is the on-axis distance from the object side of the first positive lens to the imaging surface of the zoom lens. Satisfying 0.005≤Fw / TTL≤0.009 can effectively ensure the length of the zoom lens, thereby meeting the actual use requirements of endoscopic imaging.

[0108] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application may satisfy: 2.8≤d2≤5.2, where d2 is the moving distance of the zoom lens group GG6 between the object side and the image side when the zoom lens switches between the wide-angle end and the telephoto end. Satisfying 2.8≤d2≤5.2 enables the zoom lens to have a faster zoom speed and the zoom lens group G6 to have a larger moving range.

[0109] In an exemplary embodiment, an endoscope 3D zoom lens and an endoscope imaging system according to the present application may satisfy: 6≤d3≤25, where d3 is the moving distance of the compensation lens group G7 between the object side and the image side when the zoom lens switches between the wide-angle end and the telephoto end. Satisfying 6≤d4≤25 enables the zoom lens to have a faster zoom speed and the compensation lens group G7 to have a larger moving range.

[0110] In an exemplary embodiment, the first to fourth positive lenses; the first to thirteenth cemented lenses may be spherical lenses or aspherical lenses. The present application does not specifically limit the specific number of spherical lenses and aspherical lenses. When focusing on imaging quality, the number of aspherical lenses can be increased, or even all lenses can use aspherical lenses. The characteristic of an aspherical lens is that the curvature changes continuously from the center of the lens to the periphery. Unlike a spherical lens with a constant curvature from the center of the lens to the periphery, an aspherical lens has a better curvature radius characteristic, and has the advantages of improving distortion aberration and improving astigmatism aberration. After using an aspherical lens, the aberration that occurs during imaging can be eliminated as much as possible, thereby improving the imaging quality of the lens.

[0111] An endoscope 3D zoom lens and an endoscope imaging system of the present application have excellent resolution.

[0112] An endoscope 3D zoom lens and an endoscope imaging system of the present application have the characteristics of a large field of view, and the total object height can reach 20 mm.

[0113] An endoscope 3D zoom lens and an endoscope imaging system of the present application can focus on a wide range of object distances. When the zoom lens is at the wide-angle end, by adjusting the relative positions of the focusing lens group G5, the zoom lens group G6, and the compensation lens group G7 along the optical axis between the fixed lens group G4 and the filter F1, it can be ensured that clear focus can be achieved in a wide range of object distances and the imaging effect is good.

[0114] An endoscope 3D zoom lens and an endoscope imaging system of the present application can image in the visible light band and the near-infrared band, and the wavelength range is: 450nm-850nm.

[0115] The present application reasonably sets the focal length of each lens group as well as the focal length and surface shape of each lens, which is beneficial for the zoom lens to have a better ability to correct optical aberrations and chromatic aberrations when switching between the wide-angle end and the telephoto end. It is also beneficial for reducing the tolerance sensitivity of the system and improving the uniformity of the picture.

[0116] According to the above-mentioned embodiment of the present application, an endoscope 3D zoom lens and an endoscopic imaging system can use multiple lenses. By reasonably allocating optical parameters such as the optical focal length, surface shape, center thickness of each lens and on-axis spacing between each lens, the zoom lens provided by the present application has at least one of the beneficial effects of high resolution, large field of view (total object height can reach 20mm), wide focusing range, wide imaging band (450nm-850nm), etc., and can be adapted to a 3D zoom lens and an endoscopic imaging system adapter lens.

[0117] However, it should be understood by those skilled in the art that, without departing from the technical solution claimed in the present application, the number of lenses constituting the 3D zoom lens can be changed to obtain the various results and advantages described in this specification. For example, although the three-stage relay is used as an example in the embodiment, the 3D zoom lens is not limited to the three-stage relay. If necessary, the 3D zoom lens may also include other numbers of lenses.

[0118] The following further describes a specific embodiment of the zoom optical system for medical exoscopes that can be applied to the above-described implementation method with reference to the accompanying drawings.

[0119] Example 1

[0120] The present invention is described in detail below with reference to specific embodiments and accompanying drawings.

[0121] The following reference Figure 1 As described above, according to an endoscope 3D zoom lens and an endoscope imaging system according to Embodiment 1 of the present application, Figure 1 A schematic diagram of an endoscope 3D zoom lens and an endoscope imaging system provided by an embodiment of the present invention; Figure 2 A schematic diagram of a fixed lens group G1 of an endoscope 3D zoom lens and an endoscope imaging system provided by an embodiment of the present invention; Figure 3 A schematic diagram of an endoscope 3D zoom lens and a fixed lens group G2 of an endoscope imaging system provided by an embodiment of the present invention; Figure 4 A schematic diagram of an endoscope 3D zoom lens and a relay sub-lens assembly of an endoscope imaging system provided by an embodiment of the present invention; Figure 5 A schematic diagram of an endoscope 3D zoom lens and a zoom lens assembly of an endoscopic imaging system provided by an embodiment of the present invention; Figure 6 A schematic diagram of an endoscope 3D zoom lens and a filter lens assembly of an endoscope imaging system provided by an embodiment of the present invention;

[0122] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the optical imaging assembly in this embodiment adopts a single-double hybrid optical path system, and includes a binocular imaging system, a zoom system and a filter assembly from the object side to the image side. The binocular imaging system is composed of a fixed lens group G1 with negative optical power and two optical imaging assemblies, and the two optical imaging assemblies are arranged side by side between the fixed lens group G1 and the zoom system, and a preset angle can be set between the two, so as to form a parallel or non-parallel imaging optical path; the optical imaging assembly includes a fixed lens group G2 with positive optical power and a relay lens group G3 with positive optical power from the object side to the image side; the zoom system includes a fixed lens group G4 with positive optical power, a focusing lens group G5 with negative optical power, a zoom lens group G6 with positive optical power, and a compensation lens group G7 with negative optical power from the object side to the image side; the filter assembly includes a first filter F1 with no optical power.

[0123] The fixed lens group G1 is composed of a first negative lens N1, a second negative lens N2, a first positive lens P1, a first cemented lens J1 with positive focal length, and a second positive lens P2. The fixed lens group G2 is composed of a third negative lens N3, a second cemented lens J2 with positive focal length, a third cemented lens J3 with negative focal length, and a fourth cemented lens J4 with positive focal length. The relay lens group G3 is composed of three relay sub-lens groups with exactly the same structure, and each relay sub-lens group is composed of a fifth cemented lens J5 with positive focal length, a third positive lens P3, a fifth cemented lens J6 with positive focal length, and a fifth positive lens J7 with positive focal length. The sixth cemented lens J6, the seventh cemented lens J7 with positive focal power, the fourth positive lens P4, and the eighth cemented lens J8 with focal power are composed, the fixed lens group G4 is composed of the ninth cemented lens J9 with negative focal power and the tenth cemented lens J10 with positive focal power, the focusing lens group G5 is composed of the eleventh cemented lens J11 with negative focal power, the zoom lens group G6 is composed of the fifth positive lens P5, the twelfth cemented lens J12 with positive focal power, and the fourth negative lens N4, and the compensation lens group G7 is composed of the thirteenth cemented lens J13 with negative focal power. Among them, the first negative lens N1 includes a double concave lens or a meniscus lens. The second negative lens N2 includes a double concave lens or a meniscus lens. The first positive lens P1 includes a double convex lens or a meniscus lens. The first cemented lens J1 is composed of a first cemented lens A: J1A and a first cemented lens B: J1B, wherein the first cemented lens A: J1A includes a meniscus lens or a biconcave lens with negative optical power; the first cemented lens B: J1B includes a meniscus lens or a biconvex lens with positive optical power. The second positive lens P2 includes a biconvex lens or a meniscus lens. Among them, the third negative lens N3 includes a biconcave lens or a meniscus lens. The second cemented lens J2 is composed of a second cemented lens A: J2A and a second cemented lens B: J2B, wherein the second cemented lens A: J2A includes a meniscus lens or a biconvex lens with positive optical power; the second cemented lens B: J2B includes a meniscus lens or a biconvex lens with positive optical power. The third cemented lens J3 is composed of a third cemented lens A: J3A and a third cemented lens B: J3B, wherein the third cemented lens A: J3A includes a meniscus lens or a biconvex lens with positive focal power; the third cemented lens B: J3B includes a meniscus lens or a biconcave lens with negative focal power. The fourth cemented lens J4 is composed of a fourth cemented lens A: J4A and a fourth cemented lens B: J4B, wherein the fourth cemented lens A: J4A includes a meniscus lens or a biconvex lens with positive focal power; the fourth cemented lens B: J4B includes a meniscus lens or a biconvex lens with positive focal power. The fifth cemented lens J5 is composed of a fifth cemented lens A: J5A and a fifth cemented lens B: J5B, wherein the fifth cemented lens A: J5A includes a meniscus lens or a biconvex lens with positive focal power; the fifth cemented lens B: J5B includes a meniscus lens or a biconvex lens with positive focal power.The third positive lens P3 includes a biconvex lens or a meniscus lens. The sixth cemented lens J6 is composed of a sixth cemented lens A: J6A and a sixth cemented lens B: J6B, wherein the sixth cemented lens A: J6A includes a meniscus lens or a biconvex lens with positive focal power; the sixth cemented lens B: J6B includes a meniscus lens or a biconcave lens with negative focal power. The seventh cemented lens J7 is composed of a seventh cemented lens A: J7A and a seventh cemented lens B: J7B, wherein the seventh cemented lens A: J7A includes a meniscus lens or a biconvex lens with positive focal power; the seventh cemented lens B: J7B includes a meniscus lens or a biconvex lens with positive focal power. The eighth cemented lens J8 is composed of the eighth cemented lens A: J8A and the eighth cemented lens B: J8B, wherein the eighth cemented lens A: J8A includes a meniscus lens or a biconvex lens with positive focal power; the eighth cemented lens B: J8B includes a meniscus lens or a biconvex lens with positive focal power. The ninth cemented lens J9 is composed of the ninth cemented lens A: J9A and the ninth cemented lens B: J9B, wherein the ninth cemented lens A: J9A includes a meniscus lens or a biconvex lens with positive focal power; the ninth cemented lens B: J9B includes a meniscus lens or a biconcave lens with negative focal power. The tenth cemented lens J10 is composed of the tenth cemented lens A: J10A and the tenth cemented lens B: J10B, wherein the tenth cemented lens A: J10A includes a meniscus lens or a biconvex lens with positive focal power; the tenth cemented lens B: J10B includes a meniscus lens or a biconvex lens with positive focal power. Among them, the eleventh cemented lens J11 is composed of the eleventh cemented lens A: J11A and the eleventh cemented lens B: J11B, wherein the eleventh cemented lens A: J11A includes a meniscus lens or a biconcave lens with negative optical power; the eleventh cemented lens B: J11B includes a meniscus lens or a biconvex lens with positive optical power. Among them, the fifth positive lens P5 includes a biconvex lens or a meniscus lens. The twelfth cemented lens J12 is composed of the twelfth cemented lens A: J12A and the twelfth cemented lens B: J12B, wherein the twelfth cemented lens A: J12A includes a meniscus lens or a biconcave lens with negative optical power; the twelfth cemented lens B: J12B includes a meniscus lens or a biconvex lens with positive optical power. The fourth negative lens N4 includes a biconcave lens or a meniscus lens. Among them, the thirteenth cemented lens J13 is composed of the thirteenth cemented lens A: J13A and the eleventh cemented lens B: J13B, among which the thirteenth cemented lens A: J13A includes a meniscus lens or a double convex lens with positive optical focal power; the thirteenth cemented lens B: J13B includes a meniscus lens or a double concave lens with negative optical focal power.

[0124] In the fixed lens group G1 design, for chromatic aberration correction, a positive and negative lens combination, the negative lens (N1, N2) and the positive lens (P1, P2) cooperate with each other, and the cemented lens J1 finely adjusts the refraction of light of different wavelengths to reduce chromatic aberration. For spherical aberration correction, a combination of multiple lenses is used, and the negative lens (N1, N2) adjusts the marginal light to better converge the paraxial and marginal light. For coma correction, through reasonable optical power distribution and position arrangement, the positive and negative lenses cooperate to change the off-axis light path to reduce coma. When correcting field curvature, adjust the optical power of each lens, and use a meniscus lens to compensate for field curvature to make the imaging plane flatter.

[0125] The aperture STO can be disposed in the relay lens group G3. More specifically, the aperture STO can be disposed between the sixth cemented lens J6 and the seventh cemented lens J7 in the second relay sub-lens group G3-2.

[0126] Light from an object passes through each surface in sequence (ie, passes through the first negative lens N1 to the first filter F1 in sequence) and is finally imaged on an imaging surface IMA, where an image sensor chip may be disposed.

[0127] The single-double hybrid optical path system has unique design ideas and technical features in the 3D rigid tube endoscope: the common optical path in front of the objective lens is designed to converge light and ensure sufficient light flux into the system, laying the foundation for subsequent imaging. Technically, the initial optical path is simplified, light loss is reduced, and the imaging is clearer, which is convenient for doctors to observe the details of the surgical site. The purpose of the double optical path in the back half of the objective lens and the relay is to achieve stereoscopic vision, which is conducive to doctors to accurately judge the relationship between tissue depth and position. In terms of technical details, the optical parameters of the left and right optical paths need to be accurately matched to ensure accurate imaging. At the same time, the optical path of the double optical paths is guaranteed to be consistent to avoid image distortion or parallax due to the difference in optical path, just like the human eye working together. The eyepiece and the zoom coupling mirror share the optical path to facilitate the overall imaging zoom operation and ensure the consistency of binocular vision. On the technical level, this common optical path design simplifies the complexity of operating the left and right optical paths separately, and can flexibly adjust the magnification according to surgical needs without destroying stereoscopic vision. For example, when observing the fine structure of nerve fibers, the image can be magnified through the common optical path zoom coupling mirror to assist in surgical operations. This single-double hybrid optical path system meets the requirements of neurosurgery for imaging clarity, stereoscopic vision and zoom flexibility through reasonable planning of common optical paths and double optical paths.

[0128] Table 1 shows a basic parameter table of an endoscope 3D zoom lens and an endoscope imaging system according to Example 1, wherein the units of the curvature radius and thickness / distance are both millimeters (mm).

[0129] Table 1

[0130]

[0131]

[0132]

[0133] Table 2 shows the values ​​of D1, D2, and D3 in Table 1 at the wide-angle end, the medium focal end, and the long focal end of the endoscope zoom lens. Table 2 also shows the total effective focal length F, the working distance L, and the aperture value Fno of an endoscope 3D zoom lens and an endoscope imaging system in Example 1.

[0134] Table 2

[0135]

[0136] Figure 7 (a) shows a zoom cam curve diagram of the endoscope 3D zoom lens and the endoscope imaging system according to Example 1 of the present application, which describes the position changes of the focus group, zoom group and compensation group along the optical axis at different focal lengths during the zoom process from the wide-angle end to the telephoto end. The figure shows the relative position relationship of each group of lenses during the zoom process, ensuring that the system can achieve smooth zoom operation and maintain the stability of the image plane position. Figure 7 (b) shows a zoom displacement curve of the endoscope 3D zoom lens and the endoscope imaging system according to Example 1 of the present application, which describes the displacement changes of the focus group, zoom group and compensation group at different focal lengths during the zoom process from the wide-angle end to the telephoto end. The figure shows the specific movement distance of each group of lenses during the zoom process, which provides an important reference for the design of the system mechanical structure and ensures the accuracy and reliability of the zoom process.

[0137] Figure 8 The figure shows the spherical aberration curve, astigmatism curve and distortion curve of the wide-angle end, the mid-focus end and the telephoto end of the embodiment 1 of the endoscope 3D zoom lens and the endoscope imaging system in the visible light band. Fig. 9 The MTF (Modulation Transfer Function) curves of the wide-angle end, mid-focus end and telephoto end of the embodiment 1 of the endoscope 3D zoom lens and endoscope imaging system in the visible light band on the image side alignment plane. The MTF curve is one of the important indicators for measuring optical components. In geometric optics, T (Tangential) and S (Sagittal) represent two different directions. For example, T can refer to the Y direction and S can refer to the X direction. Figure 8 The horizontal axis is frequency / mm, which can represent the resolution, and the vertical axis represents the modulation transfer function value. Figure 8 The MTF value corresponding to T in the figure represents the meridian MTF value, and the MTF value corresponding to S represents the sagittal MTF value.

[0138] Fig. 9The multiple TS values ​​shown in the figure represent the meridional MTF value and sagittal MTF value under different fields of view of visible light. The diffraction limit value of the TS MTF value is used as a reference value for optical performance. The closer the TS MTF value under different fields of view is to the corresponding diffraction limit value, the smaller the diffraction and the better the performance.

[0139] according to Fig. 9 It can be seen that the optical zoom lens provided in Example 1 can achieve good imaging quality in the 450nm-850nm band and at different focal lengths. This design allows the zoom lens for medical exoscopes to operate in a wide spectral range (visible light, near-infrared light), providing multi-wavelength image information, helping surgeons to better perform surgical operations and make decisions, and facilitating doctors' use.

[0140] The endoscope 3D zoom lens can be combined with lighting, camera control and display modules to form an endoscope imaging system, which can be used as a stereoscopic vision component to facilitate integration with surgical robots. Fig.10 As shown, the control system outputs a signal to control the illumination. The illumination system outputs white light or other special light to the illumination channel E12 in the zoom lens body E10 according to the signal, thereby illuminating the endoscopic field. The light signal reflected by the tissue is transmitted to the control system through the binocular imaging system E11, and the image information is transmitted to the display system for presentation after processing. The above modules together constitute the visual component, which can be easily integrated into the surgical robot system.

Claims

1. An endoscope 3D zoom lens, characterized in that: It comprises a binocular imaging system and a zoom system which are arranged in sequence from the object side to the image side; the binocular imaging system is composed of a fixed lens group G1 and two optical imaging components with completely identical structures; the two optical imaging components are symmetrically arranged along the central axis of the lens tube on the object side of the zoom system, and a parallel or non-parallel imaging light path is formed between the two optical imaging components; each of the optical imaging components comprises a fixed lens group G2 and a relay lens group G3 in sequence from the object side to the image side; the relay lens group is a symmetrical structure with an imaging magnification ratio of 1:1, and comprises a plurality of relay sub-lens groups with completely identical structures which are arranged in sequence from the object side to the imaging side; the zoom system comprises a fixed lens group G4, a focusing lens group G5, a zoom lens group G6, and a compensating lens group G7 in sequence from the object side to the image side; the zoom lens group G6 has a positive optical focal length; the compensating lens group G7 has a negative optical focal length; When the system is in operation, the zoom lens group G6 and the compensating lens group G7 can move along the optical axis, and there is a non-fixed distance relationship between the zoom lens group G6 and the compensating lens group G7 to realize the stepless zoom function of the system from the wide-angle end to the telephoto end, wherein the zoom lens group G6, in the process of moving along the optical axis, enables the system to zoom between the wide-angle end and the telephoto end, and the compensating lens group G7, in the process of moving along the optical axis, realizes compensation for the change of the image plane position when the zoom lens group G6 moves; When the system is working, the focusing lens group G5 can move along the optical axis, so that the system can form a clear image at different focal lengths.

2. The endoscope 3D zoom lens according to claim 1, characterized in that: The fixed lens group G1 includes, from the object side to the image side, a first negative lens, a second negative lens, a first positive lens, a first cemented lens with positive power, and a second positive lens; The fixed lens group G2 includes, from the object side to the image side, a third negative lens, a second cemented lens with positive focal power, a third cemented lens with negative focal power, and a fourth cemented lens with positive focal power; the relay lens group G3 includes 1 to 5 relay sub-lens groups with exactly the same structure arranged in sequence from the object side to the image side, and the relay sub-lens groups include, from the object side to the image side, a fifth cemented lens with positive focal power, a third positive lens, a sixth cemented lens with positive focal power, a seventh cemented lens with positive focal power, a fourth positive lens, and an eighth cemented lens with positive focal power.

3. The endoscope 3D zoom lens according to claim 2, characterized in that: The fixed lens group G4 includes, from the object side to the image side, a ninth cemented lens with negative focal power and a tenth cemented lens with positive focal power; The focusing lens group G5 includes an eleventh cemented lens with negative optical power; The zoom lens group G6 includes, in order from the object side to the image side along the optical axis: a fifth positive lens, a twelfth cemented lens with positive power, and a fourth negative lens; The compensation lens group G7 includes: a thirteenth cemented lens with negative optical power.

4. The endoscope 3D zoom lens according to claim 3, characterized in that: The focal length of the first negative lens is between -20 mm and 0 mm; The focal length of the second negative lens is between -50 mm and 0 mm; The focal length of the first positive lens is between 0 mm and 20 mm; The focal length of the first cemented lens is between -30 mm and 0 mm; The focal length of the second positive lens is between 0 mm and 30 mm; The focal length of the third negative lens is between negative infinity and 0 mm; The focal length of the second cemented lens is between 0 mm and 20 mm; The focal length of the third cemented lens is between -20 mm and 0 mm; The focal length of the fourth cemented lens is between 0 mm and 20 mm; The focal length of the fifth cemented lens is between 0 mm and 50 mm; The focal length of the third positive lens is between 0 mm and 30 mm; The focal length of the sixth cemented lens is between 0 mm and 50 mm; The focal length of the seventh cemented lens is between 0 mm and 50 mm; The focal length of the fourth positive lens is between 0 mm and 30 mm; The focal length of the eighth cemented lens is between 0 mm and 50 mm; The focal length of the ninth cemented lens is between -30 mm and 0 mm; The focal length of the tenth cemented lens is between 0 mm and 40 mm; The focal length of the eleventh cemented lens is between -70 mm and -10 mm; The focal length of the fifth positive lens is between 250 mm and 300 mm; The focal length of the twelfth cemented lens is between 80 mm and 150 mm; The focal length of the fourth negative lens is between 0 mm and 50 mm; The focal length of the thirteenth cemented lens is between 0 mm and 50 mm; The “between” mentioned above may take endpoint values.

5. The endoscope 3D zoom lens according to claim 3, characterized in that: All cemented lenses are cemented by A and B lenses, where: The first cemented lens A comprises a meniscus lens or a biconcave lens and has negative optical power; and / or The first cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The second cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The second cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The third cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The third cemented lens B comprises a meniscus lens or a biconcave lens and has negative optical power; and / or The fourth cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The fourth cemented lens B comprises a meniscus lens or a biconvex lens and has positive focal power; and / or The fifth cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The fifth cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The sixth cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The sixth cemented lens B comprises a meniscus lens or a biconcave lens and has negative optical power; and / or The seventh cemented lens A comprises a meniscus lens or a biconvex lens and has positive focal power; and / or The seventh cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The eighth cemented lens A comprises a meniscus lens or a biconvex lens and has positive focal power; and / or The eighth cemented lens B comprises a meniscus lens or a biconvex lens and has positive focal power; and / or The ninth cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The ninth cemented lens B comprises a meniscus lens or a biconcave lens and has negative optical power; and / or The tenth cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The tenth cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The eleventh cemented lens A comprises a meniscus lens or a biconcave lens and has negative optical power; and / or The eleventh cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The twelfth cemented lens A comprises a meniscus lens or a biconcave lens and has negative optical power; and / or The twelfth cemented lens B comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The thirteenth cemented lens A comprises a meniscus lens or a biconvex lens and has positive optical power; and / or The thirteenth cemented lens B includes a meniscus lens or a biconcave lens and has negative optical power.

6. The endoscope 3D zoom lens according to claim 5, characterized in that: The first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens are made of glass; and / or The refractive index of the first negative lens is between 1.80 and 1.95; and / or The refractive index of the second negative lens is between 1.60 and 1.75; and / or The refractive index of the first positive lens is between 1.70 and 1.85; and / or The refractive index of the first cemented lens A is between 1.80 and 1.95; and / or The refractive index of the first cemented lens B is between 1.40 and 1.65; and / or The refractive index of the second positive lens is between 1.70 and 1.95; and / or The refractive index of the third negative lens is between 1.65 and 1.80; and / or The refractive index of the second cemented lens A is between 1.70 and 1.85; and / or the refractive index of the second cemented lens B is between 1.65 and 1.80; and / or the refractive index of the third cemented lens A is between 1.75 and 1.90; and / or the refractive index of the third cemented lens B is between 1.75 and 1.90; and / or the refractive index of the fourth cemented lens A is between 1.75 and 1.90; and / or the refractive index of the fourth cemented lens B is between 1.90 and 2.05; and / or the refractive index of the fifth cemented lens A is between 1.60 and 1.75; and / or the refractive index of the fifth cemented lens B is between 1.60 and 1.75; and / or the refractive index of the third positive lens is between 1.50 and 1.65; and / or The refractive index of the sixth cemented lens A is between 1.60 and 1.75; and / or the refractive index of the sixth cemented lens B is between 1.70 and 1.85; and / or the refractive index of the seventh cemented lens A is between 1.70 and 1.85; and / or the refractive index of the seventh cemented lens B is between 1.60 and 1.75; and / or the refractive index of the fourth positive lens is between 1.50 and 1.65; and / or The refractive index of the eighth cemented lens A is between 1.60 and 1.75; and / or the refractive index of the eighth cemented lens B is between 1.60 and 1.75; and / or the refractive index of the ninth cemented lens A is between 1.70 and 1.85; and / or the refractive index of the ninth cemented lens B is between 1.50 and 1.65; and / or the refractive index of the tenth cemented lens A is between 1.50 and 1.65; and / or the refractive index of the tenth cemented lens B is between 1.50 and 1.65; and / or the refractive index of the eleventh cemented lens A is between 1.40 and 1.55; and / or the refractive index of the eleventh cemented lens B is between 1.70 and 1.85; and / or the refractive index of the fifth positive lens is between 1.50 and 1.65; and / or The refractive index of the twelfth cemented lens A is between 1.90 and 2.05; and / or the refractive index of the twelfth cemented lens B is between 1.50 and 1.65; and / or the refractive index of the fourth negative lens is between 1.50 and 1.65; and / or The refractive index of the thirteenth cemented lens A is between 1.90 and 2.05; and / or the refractive index of the thirteenth cemented lens B is between 1.70 and 1.85; The “between” mentioned above may take endpoint values.

7. The endoscope 3D zoom lens according to claim 3, characterized in that: The thickness CT of the middle area of ​​the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens is greater than 0.25 mm; and / or The thickness ET of the edge region of the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens, and the thirteenth cemented lens is greater than 0.3 mm; and / or The thickness AT of the air gaps between adjacent lenses in the first negative lens, the second negative lens, the first positive lens, the first cemented lens, the second positive lens, the third negative lens, the second cemented lens, the third cemented lens, the fourth cemented lens, the fifth cemented lens, the third positive lens, the sixth cemented lens, the seventh cemented lens, the fourth positive lens, the eighth cemented lens, the ninth cemented lens, the tenth cemented lens, the eleventh cemented lens, the fifth positive lens, the twelfth cemented lens, the fourth negative lens and the thirteenth cemented lens is greater than 0.05mm.

8. The endoscope 3D zoom lens according to claim 3, characterized in that: Satisfy one or more of the following conditions: (1), (2), (3), (4), (5), (6), (7), (8): (1) -8.2≤FG1 / Fw≤-7; (2) 1.2 ≤ FG2 / Fw ≤ 1.9; (3)90≤FG3≤110 (4) 1.7≤Ft / Fw≤2.5; (5) 0.012≤Ft / TTL≤0.02; (6) 0.005≤Fw / TTL≤0.009; (7)2.8≤d2≤5.2； (8)6≤d3≤25； Among them, FG1 is the effective focal length of the fixed lens group G1, FG2 is the effective focal length of the fixed lens group G2, FG3 is the effective focal length of the relay lens group G3, Ft is the total effective focal length when the 3D zoom lens is at the telephoto end, Fw is the total effective focal length when the 3D zoom lens is at the wide-angle end, TTL is the on-axis distance from the object side of the first positive lens to the imaging surface of the zoom lens, d2 is the moving distance of the zoom lens group G6 between the object side and the image side when the 3D zoom lens switches between the wide-angle end and the telephoto end, and d3 is the moving distance of the compensation lens group G7 between the object side and the image side when the 3D zoom lens switches between the wide-angle end and the telephoto end.

9. An endoscopic imaging system, characterized in that: Comprising an endoscope 3D zoom lens as described in any one of claims 1-8.

10. A surgical robot, characterized in that: The invention comprises an endoscopic imaging system as claimed in claim 9.

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