Endoscope 3D zoom lens and endoscope imaging system

Abstract

The application discloses an endoscope 3D zoom lens and an endoscope imaging system, which comprises a binocular imaging system, a zoom system and a filter 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 side by side between the fixed lens group G1 and the zoom system; the optical imaging assembly comprises a fixed lens group G2 and a relay lens group G3 in sequence from the object side to the image side; the zoom system comprises a fixed lens group G4, a focusing lens group G5, a zoom lens group G6 and a compensation lens group G7 in sequence 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 filter assembly along the direction of the optical axis. The system is combined through the binocular light path design and the zoom design, breaks through the limitation that the traditional endoscope is incompatible in 3D imaging and zoom imaging functions, realizes the synchronous compatibility of the 3D imaging and zoom imaging functions, and improves the imaging effect and the application range of the endoscope.

Description

Technical Field

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

[0002] In the medical field, endoscopy, as a core component of surgical observation instruments, has an extremely wide range of applications. Thanks to its compact design, endoscopy significantly reduces surgical trauma, effectively alleviates patient pain, promotes postoperative wound healing, and significantly improves surgical precision. However, current endoscopic technologies on the market generally have limitations, primarily manifested in monocular imaging systems lacking zoom capabilities, resulting in limited magnification and difficulty in meeting the high standards required for continuously improving surgical quality, especially in the field of small-sized endoscopes (such as endoscopes with a lens size of approximately 4mm). This invention aims to overcome the limitations of existing technologies and, through innovative design, revolutionize endoscopic technology to meet the urgent needs of the medical field for high-definition, highly flexible surgical observation tools. Summary of the Invention

[0003] The purpose of this invention is to provide an endoscope 3D zoom lens and an endoscope imaging system. This lens, through the combination of dual optical path design and zoom design, overcomes the limitations of traditional endoscopes in that 3D imaging and zoom imaging functions are incompatible, thereby improving the imaging effect and applicability of the endoscope.

[0004] The technical solution adopted in this invention is as follows:

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

[0006] The binocular imaging system consists of a fixed lens group G1 and two identical optical imaging components. 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 optical path is formed between the two optical imaging components. Each optical imaging component includes a fixed lens group G2 and a relay lens group G3 from the object side to the image side. The relay lens group has a symmetrical structure with an imaging magnification ratio of 1:1 and includes multiple relay sub-lenses with identical structures arranged from the object side to the image side.

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

[0008] When the system is working: the zoom lens group G6 and the compensation 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 compensation lens group G7 to realize the stepless zoom function of the system from the wide-angle end to the telephoto end. During the movement of the zoom lens group G6 along the optical axis, the system zooms between the wide-angle end and the telephoto end. During the movement of the compensation lens group G7 along the optical axis, it compensates for the change in 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, the fixed lens group G1 further includes, from the object side to the image side, the following components 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, from the object side to the image side, includes a third negative lens, a second cemented lens with positive optical power, a third cemented lens with negative optical power, and a fourth cemented lens with positive optical power. The relay lens group G3 includes 1 to 5 relay sub-lenses with identical structures, arranged sequentially from the object side to the image side. The relay sub-lenses, from the object side to the image side, include a fifth cemented lens with positive optical power, a third positive lens, a sixth cemented lens with positive optical power, a seventh cemented lens with positive optical power, a fourth positive lens, and an eighth cemented lens with positive optical power.

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

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

[0014] The zoom lens group G6 includes, along the optical axis from the object side to the image side, the following in sequence: a fifth positive lens, a twelfth cemented lens with positive optical 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 surface and a first image surface; the second negative lens includes a second object surface and a second image surface; the first positive lens includes a third object surface and a third image surface; the first cemented lens includes a fourth object surface, a fourth image surface, a fifth object surface, and a fifth image surface, wherein the fourth image surface and the fifth object surface are in close contact and overlap; the second positive lens includes a sixth object surface and a sixth image surface; the third negative lens includes a seventh object surface and a seventh image surface; the second cemented lens includes an eighth object surface, an eighth image surface, a ninth object surface, and a ninth image surface, wherein the eighth image surface and the ninth image surface are in close contact and overlap; the second positive lens includes a sixth object surface and a sixth image surface; the third negative lens includes a seventh object surface and a seventh image surface; the second cemented lens includes an eighth object surface, an eighth image surface, a ninth object surface, and a ninth image surface, wherein the eighth image surface and the ninth image surface are in close contact and overlap; The object end surfaces are tightly overlapped; the third cemented lens includes a tenth object end surface, a tenth image end surface, an eleventh object end surface, and an eleventh image end surface, wherein the tenth image end surface and the eleventh object end surface are tightly overlapped; the fourth cemented lens includes a twelfth object end surface, a twelfth image end surface, a thirteenth object end surface, and a thirteenth image end surface, wherein the twelfth image end surface and the thirteenth object end surface are tightly overlapped; the fifth cemented lens includes a fourteenth object end surface, a fourteenth image end surface, a fifteenth object end surface, and a fifteenth image end surface, wherein the fourteenth image end surface and the fifteenth object end surface are tightly overlapped; the third positive lens includes a sixteenth object end surface and a sixteenth image end surface; the sixth cemented lens... The cemented 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 and the eighteenth object end surface are in close contact and overlap; 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 and the twentieth object end surface are in close contact and overlap; 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 and the twenty-third object end surface are in close contact and overlap; the ninth cemented lens... The first cemented lens includes 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 and the 25th object end surface are in close contact and overlap; the 10th cemented lens includes 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 and the 27th object end surface are in close contact and overlap; the 11th cemented lens includes 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 and the 29th object end surface are in close contact and overlap; the 5th positive lens includes 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 and the thirty-second object end surface are in close contact and overlap; 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 and the thirty-fifth object end surface are in close contact and overlap.

[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; and the focal length of the sixth cemented lens is between... The focal lengths of the seventh cemented lens, the fourth positive lens, and the eighth cemented lens are between 0mm and 50mm; the ninth cemented lens is between -30mm and 0mm; the tenth cemented lens is between 0mm and 40mm; the eleventh cemented lens is between -70mm and -10mm; the fifth positive lens is between 250mm and 300mm; the twelfth cemented lens is between 80mm and 150mm; the fourth negative lens is between 0mm and 50mm; and the thirteenth cemented lens is between 0mm and 50mm. In this invention, "between" can refer to any of the endpoint values.

[0018] Optionally, all positive lens types are specifically: 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; and the fifth positive lens includes a biconvex lens or a meniscus lens.

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

[0020] Optionally, the first negative lens, second negative lens, first positive lens, first cemented lens, second positive lens, third negative lens, second cemented lens, third cemented lens, fourth cemented lens, fifth cemented lens, third positive lens, sixth cemented lens, seventh cemented lens, fourth positive lens, eighth cemented lens, ninth cemented lens, tenth cemented lens, eleventh cemented lens, fifth positive lens, twelfth cemented lens, fourth negative lens, and thirteenth cemented lens are made of 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; and 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; and the refractive index of the sixth cemented lens B is between 1.05 and 1.60. 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 1.70 and 1.85; the refractive index of the tenth cemented lens B is between 1.70 and 1.85; the refractive index of the ninth cemented lens B ...70 and 1.85; the refractive index of the tenth cemented lens A is between 1.70 and 1.85; the refractive index of the tenth cemented lens B is between 1.70 and 1.85; the refractive index of the tenth cemented lens B is between 1.70 and 1.85; the refractive index of the ninth cemented lens B is between 1.70 and 1.85; the refractive index of the tenth cemented lens B is between 1.70 and 1.85; the refractive index of the tenth cement The refractive index of the eleventh cemented lens A is between 1.50 and 1.65; the refractive index of the eleventh cemented lens B 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; and the refractive index of the thirteenth cemented lens B is between 1.70 and 1.85.

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

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

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

[0025] Optionally, the endoscopic 3D zoom lens satisfies the following condition: -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 when it is at the wide-angle end.

[0026] Optionally, the endoscopic 3D zoom lens satisfies the following condition: 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 when it is at the wide-angle end.

[0027] Optionally, the endoscopic 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 endoscopic 3D zoom lens satisfies the following condition: 1.7≤Ft / Fw≤2.5, where Ft is the total effective focal length of the zoom lens at the telephoto end, and Fw is the total effective focal length of the zoom lens at the wide-angle end.

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

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

[0031] Optionally, the endoscopic 3D zoom lens satisfies the following condition: 2.8≤d2≤5.2, where d2 is the distance the zoom lens group G6 moves 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 endoscopic 3D zoom lens satisfies the following condition: 6≤d3≤25, where d3 is the distance the compensation lens group G7 moves 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 preceding claims, and can also be used in conjunction with an illumination, camera control and display module, and can also be integrated into a surgical robot as a stereo vision component.

[0034] The endoscopic 3D zoom lens and endoscopic imaging system of this application adopt the above-described configuration, which allows the zoom lens group and compensation lens group provided by this application to have a wide range of movement, resulting in a wide focusing range and achieving the following advantages:

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

[0036] 2. Wide observation depth and clear imaging: This system, through its optical zoom function, can achieve high-quality imaging at different depths, clearly displaying both surface tissues and deep structures. Doctors can quickly switch the observation range by adjusting the focal length to comprehensively assess the condition of the lesion area. This wide focusing range design allows the system to provide more comprehensive visual support in complex surgeries, helping doctors to more accurately identify lesions.

[0037] 3. High image quality, enhancing diagnostic accuracy: This system maintains high resolution and a large field of view (up to 20mm in total object height) at various focal lengths. Through optimized optical design, the system effectively suppresses aberrations, ensuring image clarity and color reproduction. This high-quality image output significantly improves diagnostic accuracy and reliability, helping doctors to more accurately locate and treat lesions.

[0038] On the other hand, the zoom lens provided in this application can achieve a wide-spectrum (450nm-850nm) imaging effect at various focal lengths, and the wide imaging band can achieve the following advantages:

[0039] 1. Diverse imaging capabilities: The wide spectral range covers the visible and near-infrared spectra, allowing doctors to acquire image information in different bands, which helps to diagnose and assess lesions more accurately, improve medical outcomes, and meet the needs of various medical applications.

[0040] 2. Improved tissue contrast: Near-infrared light has stronger tissue penetration capabilities, providing clearer images of deep tissues and improving the precision and safety of surgery.

[0041] 3. Multifunctional Diagnostics: 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 tissue surfaces and assess certain skin lesions, while near-infrared light is suitable for imaging deep tissues. During surgery, fluorescent dyes, such as blue light-excited fluorescent markers, can be used in combination to accurately identify lesion sites, significantly improving the accuracy and safety of the procedure. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the 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.

[0043] Figure 1 This is a schematic diagram of an endoscope 3D zoom lens and an endoscope imaging system provided in an embodiment of the present invention;

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

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

[0046] Figure 4This is a schematic diagram of a relay lens assembly of an endoscope 3D zoom lens and an endoscope imaging system provided in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of a zoom lens assembly for an endoscope 3D zoom lens and an endoscope imaging system provided in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of a filter assembly for an endoscope 3D zoom lens and an endoscopic imaging system provided in an embodiment of the present invention;

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

[0050] Figure 8 The spherical aberration curve, astigmatism curve, and distortion curve of the wide-angle end, medium-focal end, and telephoto end of the endoscope 3D zoom lens in Example 1 are shown in the visible light band.

[0051] Figure 9 The MTF curves of the image alignment plane at the wide-angle end, medium-focal end and telephoto end of the endoscopic 3D zoom lens and endoscopic imaging system in the visible light band in Example 1 are shown.

[0052] Figure 10 This is a schematic diagram of an endoscopic imaging system according to an embodiment of the present invention. Detailed Implementation

[0053] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this 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 location of the convexity 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 location of the concaveness 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 subject is called the object-side surface of the lens, and the surface of each lens closest to the imaging plane is called the image-side surface of the lens.

[0055] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this application should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely 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, the terms "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one. "A plurality" or "several" indicates two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper," etc., are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including," etc., mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms “connection” or “link” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The singular forms “a,” “the,” and “the” used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0056] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms (e.g., those defined in common dictionaries) shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art and shall not be interpreted in an idealized or overly formalized sense, unless expressly so specified herein.

[0057] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

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

[0059] An endoscopic 3D zoom lens according to an exemplary embodiment of this application includes a binocular imaging system, a zoom system, and a filter assembly arranged sequentially 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 provided between them to form parallel or non-parallel imaging light paths. The optical imaging components, from the object side to the image side, sequentially include a fixed lens group G2 with positive optical power and a relay lens group G3 with positive optical power. The zoom system, from the object side to the image side, sequentially 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. The filter assembly includes a first filter F1 with no optical power. The fixed lens group G1 consists of 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. The fixed lens group G2 consists of a third negative lens, a second cemented lens with positive optical power, a third cemented lens with negative optical power, and a fourth cemented lens with positive optical power. The relay lens group G3 consists of three relay sub-lenses with identical structures arranged sequentially, and each relay sub-lens consists of a fifth cemented lens with positive optical power, a third positive lens, and a fourth cemented lens with positive optical power. The lens group G4 consists of a sixth cemented lens with a positive optical power, a seventh cemented lens with a positive optical power, a fourth positive lens, and an eighth cemented lens with a positive optical power. The fixed lens group G4 consists of a ninth cemented lens with a negative optical power and a tenth cemented lens with a positive optical power. The focusing lens group G5 consists of an eleventh cemented lens with a negative optical power. The zoom lens group G6 consists of a fifth positive lens, a twelfth cemented lens with a positive optical power, and a fourth negative lens. The compensating lens group G7 consists of a thirteenth cemented lens with a negative optical power.

[0060] In a 3D zoom lens, the aforementioned optical lens groups are located between the object being imaged and the image plane (IMA), arranged sequentially from the object side to the image side along the optical axis. The zoom lens group G6 and the compensation lens group G7 can move along the optical axis between the focusing lens group G5 and the first filter F1. There is also a non-fixed distance between the zoom lens group G6 and the compensation lens group G7. As the zoom lens group G6 moves along the optical axis, it enables the zoom optical system to zoom between the wide-angle and telephoto ends. As the compensation lens group G7 moves along the optical axis, it compensates for changes in the image plane position caused by the movement of the zoom lens group G6. In summary, with the fixed lens groups G1, G2, G3, and G4 remaining stationary, and the zoom lens group G6 and the compensation lens group G7 moving in tandem along the optical axis, a stepless zoom function from the wide-angle to the telephoto end is achieved.

[0061] Among them, 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 achieve clear imaging at different focal lengths.

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

[0063] In an exemplary embodiment, the fixed lens group G1 includes, in sequence along the optical axis 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 optical 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 and has negative optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has 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 positive and negative lenses; the fixed lens group G1 uses this combination to directly image an object.

[0070] In an exemplary embodiment, the fixed lens group G2 includes, in sequence along the optical axis from the object side to the image side: a third negative lens, a second cemented lens with positive optical power, a third cemented lens with negative optical power, and a fourth cemented lens with positive optical 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconcave lens and has 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has positive optical power.

[0075] In an exemplary embodiment, the fixed lens group G2 includes a negative lens, two cemented lenses composed of two positive lenses, and a cemented lens composed of a positive lens and a negative lens. The fixed lens group G2 uses this combination, and there are two sets of fixed lens groups G2 arranged side-by-side, dividing the optical path into two paths. Each path receives a portion of the image formed by the fixed lens group G1, and then images these portions of the image onto the relay lens group G3. The combination of fixed lens groups G1 and G2 effectively improves image quality, optimizes the light path, reduces optical distortion and nonlinear errors, and controls dispersion, ensuring that light of different wavelengths can be accurately focused onto the imaging plane, providing excellent optical imaging results.

[0076] In an exemplary embodiment, the relay lens group G3 consists of three relay sub-lenses with identical structures, and each relay sub-lens sequentially includes, along the optical axis from the object side to the image side: a fifth cemented lens with positive optical power, a third positive lens, a sixth cemented lens with positive optical power, a seventh cemented lens with positive optical power, a fourth positive lens, and an eighth cemented lens with positive optical 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconcave lens and has 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has positive optical power.

[0082] In an exemplary embodiment, the relay lens group G3 includes two positive lenses, three cemented lenses composed of two positive lenses, and one cemented lens composed of a positive lens and a negative lens. In an exemplary embodiment, there are three relay lens groups in total. In other embodiments, there can be any group from 1 to 5. By using this combination, the relay lens group G3 can 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 sequence along the optical axis from the object side to the image side: a ninth cemented lens with negative optical power and a tenth cemented lens with positive optical 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconcave lens and has 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has 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 a high degree of consistency in the optical axis, focus and imaging quality of the images from the dual optical paths, effectively avoiding ghosting, misalignment or distortion problems that may occur when merging optical paths, 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, along the optical axis from the object side to the image side, an eleventh cemented lens having negative optical 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 and has negative optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has positive optical power.

[0089] In an exemplary embodiment, the focusing lens group G5 consists of a cemented lens composed of a positive lens and a negative lens. By precisely moving along the optical axis, the focusing lens group G5 can adjust the image quality when the system is at different focal lengths. When image sharpness decreases due to changes in focal length, G5 can correct the focusing state of the optical path by fine-tuning its position, thereby readjusting the image to sharpness. This design provides the optical system with flexible focusing capabilities, ensuring high-quality imaging at different working distances or zoom levels.

[0090] In an exemplary embodiment, the zoom lens group G6 includes, along the optical axis from the object side to the image side, a fifth positive lens, a twelfth cemented lens with positive optical 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 and has negative optical power; the first cemented lens B includes a meniscus lens or a biconvex lens and has 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 the positive and negative lenses. The system focal length can be adjusted by moving the zoom lens group G6 along the optical axis, thereby magnifying or reducing the image. When it is necessary to magnify the image to observe more details, the zoom lens group G6 can increase the focal length to obtain a higher magnification; when it is necessary to expand the field of view to capture a wider range, the zoom lens group G6 can decrease the focal length to achieve a reduction effect.

[0095] In an exemplary embodiment, the compensation lens group G7 includes, sequentially 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 and has positive optical power; the first cemented lens B includes a meniscus lens or a biconcave lens and has negative optical power.

[0097] In an exemplary embodiment, the compensation lens group G7 consists of a cemented lens composed 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 remains stable at all times, avoiding image blurring or image shift, thereby providing a clear and high-quality imaging effect throughout the zoom range.

[0098] In an exemplary embodiment, an endoscope 3D zoom lens and endoscopic imaging system according to this application further includes an aperture stop disposed in the relay lens group G3. The aperture stop is beneficial for correcting coma, spherical aberration, and astigmatism at different focal lengths, adjusting depth of field, and limiting stray light. In an exemplary embodiment of this application, the aperture stop may be disposed between the sixth and seventh cemented lenses in the second relay lens group. However, it should be noted that the position of the aperture stop disclosed herein is merely an example and not a limitation; in alternative embodiments, the aperture stop may be disposed in other positions as needed.

[0099] In an exemplary embodiment, an endoscope 3D zoom lens and endoscope imaging system according to this 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. By satisfying -8.2≤FG1 / Fw≤-7 and 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, thus meeting the imaging requirements of a wider field of view.

[0100] In an exemplary embodiment, an endoscope 3D zoom lens and endoscopic imaging system according to this application can 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 when it is at the wide-angle end. By satisfying 1.2≤FG2 / Fw≤1.9 and reasonably controlling the focal length value of the zoom lens group G2, various aberrations in the optical system, including spherical aberration, coma, and astigmatism, can be effectively balanced, thereby improving the overall image quality.

[0101] In an exemplary embodiment, an endoscope 3D zoom lens and endoscope imaging system according to this application can 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 endoscope imaging system according to this application can 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 beneficial for 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 endoscope imaging system according to this application can satisfy: -15.5≤FG5 / Fw≤-13.5, where FG5 is the effective focal length of the focusing lens group G5. Satisfying -15.5≤FG5 / Fw≤-13.5 is beneficial to enhance the adjustment sensitivity of the focusing lens group, enabling quick and accurate adjustment of the focus position when the system image is blurry, ensuring image clarity.

[0104] In an exemplary embodiment, an endoscope 3D zoom lens and endoscope imaging system according to this application can 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 for achieving imaging performance while ensuring the required zoom ratio during zooming.

[0105] In an exemplary embodiment, an endoscope 3D zoom lens and endoscope imaging system according to this 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 beneficial for compensating for image plane displacement caused by the movement of other lens groups (such as zoom lens group G6), ensuring that the imaging plane remains stable.

[0106] In an exemplary embodiment, an endoscope 3D zoom lens and endoscopic imaging system according to this application can satisfy the following condition: 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 on-axis distance from the object side of the first positive lens to the imaging plane of the zoom lens. Satisfying 0.012≤Ft / TTL≤0.02 effectively guarantees the length of the zoom lens, thereby meeting the practical application requirements of endoscopic imaging.

[0107] In an exemplary embodiment, an endoscope 3D zoom lens and endoscope imaging system according to this application can satisfy the following condition: 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 plane of the zoom lens. Satisfying 0.005≤Fw / TTL≤0.009 effectively guarantees the length of the zoom lens, thereby meeting the practical application requirements of endoscope imaging.

[0108] In an exemplary embodiment, an endoscope 3D zoom lens and endoscopic imaging system according to this application can satisfy: 2.8≤d2≤5.2, where d2 is the distance the zoom lens group GG6 moves 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 range of movement.

[0109] In an exemplary embodiment, an endoscope 3D zoom lens and endoscopic imaging system according to this application can satisfy: 6≤d3≤25, where 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. Satisfying 6≤d4≤25 enables the zoom lens to have a faster zoom speed and the compensation lens group G7 to have a larger range of movement.

[0110] In exemplary embodiments, the first to fourth positive lenses and the first to thirteenth cemented lenses can be spherical lenses or aspherical lenses. This application does not specifically limit the number of spherical and aspherical lenses; when image quality is a primary concern, the number of aspherical lenses can be increased, and even all lenses can be aspherical. Aspherical lenses are characterized by a continuously changing curvature from the lens center to the periphery. Unlike spherical lenses, which have a constant curvature from the lens center to the periphery, aspherical lenses have better radius of curvature characteristics, offering advantages in improving distortion and astigmatism. By using aspherical lenses, aberrations occurring during imaging can be eliminated as much as possible, thereby improving the image quality of the lens.

[0111] The endoscopic 3D zoom lens and endoscopic imaging system disclosed in this application have excellent resolution.

[0112] The endoscopic 3D zoom lens and endoscopic imaging system disclosed in this application have the characteristics of a large field of view, with a total height of up to 20mm.

[0113] The endoscopic 3D zoom lens and endoscopic imaging system disclosed in this 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, clear focus can be ensured under a wide range of object distances, resulting in good imaging effect.

[0114] The endoscopic 3D zoom lens and endoscopic imaging system disclosed in this application can image in the visible light band and near-infrared band, with a wavelength range of 450nm-850nm.

[0115] This application, by reasonably setting the optical power of each lens group and the optical power and surface shape of each lens, is beneficial to the zoom lens in terms of the ability to correct optical aberrations and chromatic aberrations when switching between wide-angle and telephoto ends. At the same time, it helps to reduce the tolerance sensitivity of the system and improve the uniformity of the image.

[0116] According to the above embodiments of this application, an endoscope 3D zoom lens and endoscope imaging system can employ multiple lenses. By rationally allocating optical parameters such as the optical power, surface shape, center thickness of each lens, and on-axis spacing between each lens, the zoom lens provided by this application has at least one of the following beneficial effects: high resolution, large field of view (total object height up to 20mm), wide focusing range, and wide imaging band (450nm-850nm). It can be adapted to a 3D zoom lens and an endoscope imaging system adapter lens.

[0117] However, those skilled in the art will understand that the number of lenses constituting the 3D zoom lens can be changed to obtain the various results and advantages described in this specification without departing from the technical solutions claimed in this application. For example, although a three-level relay has been described as an example in the embodiment, the 3D zoom lens is not limited to a three-level relay. If desired, the 3D zoom lens may also include other numbers of lenses.

[0118] The following describes in further detail, with reference to the accompanying drawings, specific embodiments of a zoom optical system for medical exoscopes applicable to the above-described implementation methods.

[0119] Example 1

[0120] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0121] The following is for reference Figure 1 As described in Embodiment 1 of this application, an endoscope 3D zoom lens and an endoscope imaging system are provided. Figure 1 This is a schematic diagram of an endoscope 3D zoom lens and an endoscope imaging system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the fixed lens group G1 of an endoscope 3D zoom lens and endoscopic imaging system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the fixed lens group G2 of an endoscope 3D zoom lens and endoscopic imaging system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a relay lens assembly of an endoscope 3D zoom lens and an endoscope imaging system provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a zoom lens assembly for an endoscope 3D zoom lens and an endoscope imaging system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a filter assembly for an endoscope 3D zoom lens and an endoscopic imaging system provided in 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 hybrid single-dual optical path system, which includes a binocular imaging system, a zoom system, and a filter assembly 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 provided between them to form parallel or non-parallel imaging optical paths. The optical imaging components include, in sequence from the object side to the image side, a fixed lens group G2 with positive optical power and a relay lens group G3 with positive optical power. The zoom system includes, in sequence from the object side to the image side, 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. The filter assembly includes a first filter F1 with no optical power.

[0123] The fixed lens group G1 consists of a first negative lens N1, a second negative lens N2, a first positive lens P1, a first cemented lens J1 with positive optical power, and a second positive lens P2. The fixed lens group G2 consists of a third negative lens N3, a second cemented lens J2 with positive optical power, a third cemented lens J3 with negative optical power, and a fourth cemented lens J4 with positive optical power. The relay lens group G3 consists of three relay sub-lenses with identical structures, and each relay sub-lens consists of a fifth cemented lens J5 with positive optical power, a third positive lens P3, and a fourth cemented lens J4 with positive optical power. The lens group G4 consists of a sixth cemented lens J6, a seventh cemented lens J7 with positive optical power, a fourth positive lens P4, and an eighth cemented lens J8 with optical power. The fixed lens group G4 consists of a ninth cemented lens J9 with negative optical power and a tenth cemented lens J10 with positive optical power. The focusing lens group G5 consists of an eleventh cemented lens J11 with negative optical power. The zoom lens group G6 consists of a fifth positive lens P5, a twelfth cemented lens J12 with positive optical power, and a fourth negative lens N4. The compensating lens group G7 consists of a thirteenth cemented lens J13 with negative optical power. The first negative lens N1 includes either a biconcave lens or a meniscus lens. The second negative lens N2 includes either a biconcave lens or a meniscus lens. The first positive lens P1 includes either a biconvex lens or a meniscus lens. The first cemented lens J1 consists of a first cemented lens A: J1A and a first cemented lens B: J1B. First cemented lens A: J1A is a meniscus lens or a biconcave lens with negative optical power; first cemented lens B: J1B is a meniscus lens or a biconvex lens with positive optical power. The second positive lens P2 includes a biconvex lens or a meniscus lens. The third negative lens N3 includes a biconcave lens or a meniscus lens. The second cemented lens J2 consists of a second cemented lens A: J2A and a second cemented lens B: J2B. Second cemented lens A: J2A includes a meniscus lens or a biconvex lens with positive optical power; 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 third cemented lens A: J3A and third cemented lens B: J3B. Third cemented lens A: J3A includes a meniscus lens or a biconvex lens and has positive optical power; third cemented lens B: J3B includes a meniscus lens or a biconcave lens and has negative optical power. The fourth cemented lens J4 is composed of fourth cemented lens A: J4A and fourth cemented lens B: J4B. Fourth cemented lens A: J4A includes a meniscus lens or a biconvex lens and has positive optical power; fourth cemented lens B: J4B includes a meniscus lens or a biconvex lens and has positive optical power. The fifth cemented lens J5 is composed of fifth cemented lens A: J5A and fifth cemented lens B: J5B. Fifth cemented lens A: J5A includes a meniscus lens or a biconvex lens and has positive optical power; fifth cemented lens B: J5B includes a meniscus lens or a biconvex lens and has positive optical power.The third positive lens P3 includes either a biconvex lens or a meniscus lens. The sixth cemented lens J6 consists of sixth cemented lens A: J6A and sixth cemented lens B: J6B, where sixth cemented lens A: J6A includes either a meniscus lens or a biconvex lens and has positive optical power; sixth cemented lens B: J6B includes either a meniscus lens or a biconcave lens and has negative optical power. The seventh cemented lens J7 consists of seventh cemented lens A: J7A and seventh cemented lens B: J7B, where seventh cemented lens A: J7A includes either a meniscus lens or a biconvex lens and has positive optical power; seventh cemented lens B: J7B includes either a meniscus lens or a biconvex lens and has positive optical power. The eighth cemented lens J8 is composed of eighth cemented lens A: J8A and eighth cemented lens B: J8B. Eighth cemented lens A: J8A includes a meniscus lens or a biconvex lens and has positive optical power; eighth cemented lens B: J8B includes a meniscus lens or a biconvex lens and has positive optical power. The ninth cemented lens J9 is composed of ninth cemented lens A: J9A and ninth cemented lens B: J9B. Ninth cemented lens A: J9A includes a meniscus lens or a biconvex lens and has positive optical power; ninth cemented lens B: J9B includes a meniscus lens or a biconcave lens and has negative optical power. The tenth cemented lens J10 is composed of tenth cemented lens A: J10A and tenth cemented lens B: J10B. Tenth cemented lens A: J10A includes a meniscus lens or a biconvex lens and has positive optical power; tenth cemented lens B: J10B includes a meniscus lens or a biconvex lens and has positive optical power. The eleventh cemented lens J11 is composed of eleventh cemented lens A: J11A and eleventh cemented lens B: J11B. Eleventh cemented lens A: J11A includes a meniscus lens or a biconcave lens and has negative optical power; eleventh cemented lens B: J11B includes a meniscus lens or a biconvex lens and has positive optical power. The fifth positive lens P5 includes a biconvex lens or a meniscus lens. The twelfth cemented lens J12 is composed of twelfth cemented lens A: J12A and twelfth cemented lens B: J12B. Twelfth cemented lens A: J12A includes a meniscus lens or a biconcave lens and has negative optical power; twelfth cemented lens B: J12B includes a meniscus lens or a biconvex lens and has positive optical power. The fourth negative lens N4 includes a biconcave lens or a meniscus lens. The thirteenth cemented lens J13 is composed of the thirteenth cemented lens A: J13A and the eleventh cemented lens B: J13B. The thirteenth cemented lens A: J13A includes a meniscus lens or a biconvex lens and has positive optical power; the thirteenth cemented lens B: J13B includes a meniscus lens or a biconcave lens and has negative optical power.

[0124] In the fixed lens group G1 design, for chromatic aberration correction, a combination of positive and negative lenses is used. The negative lenses (N1, N2) and positive lenses (P1, P2) work together, and the cemented lens J1 finely adjusts the refraction of different wavelengths of light to reduce chromatic aberration. For spherical aberration correction, multiple lenses are combined, with the negative lenses (N1, N2) adjusting the peripheral rays to improve the convergence of paraxial and peripheral rays. For coma correction, through reasonable allocation and placement of optical power, the positive and negative lenses work together to change the path of off-axis rays, reducing coma. For field curvature correction, the optical power of each lens is adjusted, and a meniscus lens is used to compensate for field curvature, resulting in a flatter image plane.

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

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

[0127] The single / dual hybrid optical path system has unique design concepts and technical features in 3D rigid endoscopes: The common optical path in front of the objective lens aims to converge light, ensuring sufficient light flux enters the system and laying the foundation for subsequent imaging. Technically, it simplifies the initial optical path, reduces light loss, and makes the image clearer, facilitating the surgeon's observation of surgical site details. The dual optical paths in the rear half of the objective lens and the relay aim to achieve stereoscopic vision, enabling the surgeon to accurately determine the depth and position of tissues. Technically, the optical parameters of the left and right optical paths must be precisely matched to ensure accurate imaging. At the same time, the optical path length of the two optical paths must be consistent to avoid image distortion or parallax caused by optical path differences, just like the human eye working in binocular coordination. The common optical path of the eyepiece and the zoom coupling lens facilitates overall imaging and zoom operation, ensuring consistent binocular visual effects. Technically, this common optical path design simplifies the complexity of operating the left and right optical paths separately, allowing for flexible adjustment of magnification according to surgical needs without compromising stereoscopic vision. For example, when observing the fine structure of nerve fibers, the image can be magnified through the common optical path zoom coupling lens, assisting in the surgical operation. This hybrid single- and dual optical path system, through the rational planning of the common optical path and dual optical paths, meets the needs of neurosurgery for imaging clarity, stereo vision, and zoom flexibility.

[0128] Table 1 shows the basic parameters of an endoscope 3D zoom lens and endoscopic imaging system according to Embodiment 1, where the units for radius of curvature and thickness / distance are 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, medium-telephoto, and telephoto ends of the endoscopic zoom lens. Table 2 also shows the total effective focal length F, working distance L, and aperture value Fno of an endoscopic 3D zoom lens and endoscopic imaging system according to Example 1.

[0134] Table 2

[0135]

[0136] Figure 7 Figure (a) shows a zoom cam curve of the endoscopic 3D zoom lens and endoscopic imaging system according to Embodiment 1 of this application, illustrating the positional changes of the focusing 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. This figure illustrates the relative positional relationship of each lens group during the zoom process, ensuring that the system can achieve smooth zoom operation and maintain the stability of the image plane position. Figure 7 Figure (b) shows the zoom displacement curve of the endoscopic 3D zoom lens and endoscopic imaging system according to Embodiment 1 of this application, illustrating the changes in displacement of the focusing group, zoom group, and compensation group at different focal lengths during the zoom process from the wide-angle end to the telephoto end. This figure illustrates the specific movement distance of each lens group during the zoom process, providing an important reference for the design of the system's mechanical structure and ensuring the accuracy and reliability of the zoom process.

[0137] Figure 8 The figures shown are the spherical aberration curves, astigmatism curves, and distortion curves of the wide-angle end, medium-focal end, and telephoto end of the endoscopic 3D zoom lens and endoscopic imaging system in the visible light band according to Embodiment 1. Figure 9 The MTF (Modulation Transfer Function) curves of the image-side alignment plane at the wide-angle, mid-range, and telephoto ends of the endoscopic 3D zoom lens and endoscopic imaging system in Embodiment 1 are shown in the visible light band. The MTF curve is one of the important indicators for evaluating optical components. In geometrical 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 represents frequency in mm, which can indicate resolution. The vertical axis represents the modulation transfer function value. Figure 8 In this context, the MTF value corresponding to T represents the meridional MTF value, and the MTF value corresponding to S represents the sagittal MTF value.

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

[0139] according to Figure 9 As can be seen, the optical zoom lens given 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 work in a wide spectral range (visible light and near-infrared light), providing multi-wavelength image information to help surgeons perform surgical operations and make decisions, and making it easier for doctors to use.

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

Claims

1. An endoscope 3D zoom lens, characterized in that, The system includes a binocular imaging system and a zoom system arranged sequentially from the object side to the image side. The binocular imaging system consists of a fixed lens group G1 and two identical optical imaging components. 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 optical path is formed between the two optical imaging components. Each optical imaging component includes a fixed lens group G2 and a relay lens group G3 sequentially from the object side to the image side. The relay lens group has a symmetrical structure with a 1:1 imaging magnification ratio and includes multiple relay sub-lens groups with identical structures arranged sequentially from the object side to the image side. 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 sequentially from the object side to the image side. The zoom lens group G6 has a positive optical power, and the compensating lens group G7 has a negative optical power. When the system is working: the zoom lens group G6 and the compensation 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 compensation lens group G7 to realize the stepless zoom function of the system from the wide-angle end to the telephoto end. During the movement of the zoom lens group G6 along the optical axis, the system zooms between the wide-angle end and the telephoto end. During the movement of the compensation lens group G7 along the optical axis, it compensates for the change in 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; The fixed lens group G1, from the object side to the image side, includes, 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. The lens satisfies one or more of the following conditions: (1), (2), (3), (4), (5), (6), (7), and (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； Wherein, 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 of the 3D zoom lens when it is at the telephoto end, Fw is the total effective focal length of the 3D zoom lens when it is at the wide-angle end, TTL is the on-axis distance from the object side of the first positive lens to the imaging plane of the zoom lens, d2 is the distance the zoom lens group G6 moves 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 distance the compensation lens group G7 moves between the object side and the image side when the 3D zoom lens switches between the wide-angle end and the telephoto end.

2. The endoscopic 3D zoom lens according to claim 1, characterized in that, The fixed lens group G2, from the object side to the image side, includes a third negative lens, a second cemented lens with positive optical power, a third cemented lens with negative optical power, and a fourth cemented lens with positive optical power. The relay lens group G3 includes 1 to 5 relay sub-lenses with identical structures, arranged sequentially from the object side to the image side. The relay sub-lenses, from the object side to the image side, include a fifth cemented lens with positive optical power, a third positive lens, a sixth cemented lens with positive optical power, a seventh cemented lens with positive optical power, a fourth positive lens, and an eighth cemented lens with positive optical power.

3. The endoscopic 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 optical power and a tenth cemented lens with positive optical power. The focusing lens group G5 includes an eleventh cemented lens with negative optical power; The zoom lens group G6 includes, along the optical axis from the object side to the image side, the following in sequence: a fifth positive lens, a twelfth cemented lens with positive optical power, and a fourth negative lens; The compensation lens group G7 includes a thirteenth cemented lens with negative optical power.

4. The endoscopic 3D zoom lens according to claim 3, characterized in that, 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 0 mm; 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 0mm and 50mm; 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; The term "between" can take any endpoint value.

5. The endoscopic 3D zoom lens according to claim 3, characterized in that, All cemented lenses are made by cementing lenses A and B together, wherein: The first cemented lens A includes a meniscus lens or a biconcave lens, having negative optical power; and / or The first cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The second cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The second cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The third cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The third cemented lens B includes a meniscus lens or a biconcave lens, having negative optical power; and / or The fourth cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The fourth cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The fifth cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The fifth cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The sixth cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The sixth cemented lens B includes a meniscus lens or a biconcave lens, having negative optical power; and / or The seventh cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The seventh cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The eighth cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The eighth cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The ninth cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The ninth cemented lens B includes a meniscus lens or a biconcave lens, having negative optical power; and / or The tenth cemented lens A includes a meniscus lens or a biconvex lens, having positive optical power; and / or The tenth cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The eleventh cemented lens A includes a meniscus lens or a biconcave lens, having negative optical power; and / or The eleventh cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The twelfth cemented lens A includes a meniscus lens or a biconcave lens, having negative optical power; and / or The twelfth cemented lens B includes a meniscus lens or a biconvex lens, having positive optical power; and / or The thirteenth cemented lens A includes a meniscus lens or a biconvex lens, having 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 endoscopic 3D zoom lens according to claim 5, characterized in that, The first negative lens, second negative lens, first positive lens, first cemented lens, second positive lens, third negative lens, second cemented lens, third cemented lens, fourth cemented lens, fifth cemented lens, third positive lens, sixth cemented lens, seventh cemented lens, fourth positive lens, eighth cemented lens, ninth cemented lens, tenth cemented lens, eleventh cemented lens, fifth positive lens, twelfth cemented lens, fourth negative lens, and 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 term "between" can take any endpoint value.

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

8. An endoscopic imaging system, characterized in that, Including the endoscopic 3D zoom lens as described in any one of claims 1-7.

9. A surgical robot, characterized in that, It includes the endoscopic imaging system as described in claim 8.

Images