Endoscope lens assembly and endoscope camera system

Abstract

The invention relates to the field of medical endoscopes, and provides an endoscope lens assembly and an endoscope camera system.The endoscope lens assembly comprises an illumination module used for providing illumination light for a target object; the optical component is used for transmitting an optical signal reflected by a target object; the imaging module is arranged corresponding to the light outlet of the optical component, and the imaging module is configured to convert a received optical signal into an electric signal; the light filtering assembly is arranged between the optical component and the imaging module, the light filtering assembly comprises a first light filtering piece and a second light filtering piece, and the light filtering assembly is driven by the driving mechanism to enable the first light filtering piece and the second light filtering piece to be alternately located at the light outlet of the optical component so as to allow light signals in different wavelength ranges to be transmitted to the imaging module. According to the endoscope lens assembly, the number of the image sensors in the endoscope lens assembly can be reduced, the 4K, fluorescent and 3D functions of an endoscope can be achieved only by arranging the two image sensors, the size of the lens assembly is reduced, the structure is simple, and assembling is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of endoscopic imaging technology, and particularly to an endoscopic lens assembly and an endoscopic imaging system. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operation limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity.

[0003] Currently, minimally invasive surgical robots include a master control arm and slave manipulator arms. The operation signals collected by the master control arm are processed by the control system to generate control signals for the slave manipulator arms, and the slave manipulator arms perform surgical operations. During the robot surgery process, the slave manipulator arms clamp surgical instruments and a 3D endoscope. The surgical instruments enter the patient's body through trocars inserted into the incisions on the patient's body surface, and the 3D endoscope provides monitoring images of the patient's body. Among them, the slave manipulator arm includes a lens holding arm, and an endoscopic adapter is installed on the lens holding arm for clamping and moving the 3D endoscope to provide a suitable viewing angle during the doctor's surgery. Due to the diversity of clinical needs, high-end functional endoscopes integrating 3D, 4K, and fluorescence functions are becoming a popular research object in the medical device field. In addition to the imaging platform, the lens at the imaging front end is the key and most challenging link in the entire chain. How to design 4K dual-channel imaging on a lens with a diameter of only 10 mm to simulate human eye stereoscopic vision and integrate fluorescence function has always been an industry problem restricting the industrialization of high-end functional endoscopes.

[0004] In the document with the publication number CN103889353A and the invention name "Image Capture Unit in Surgical Instruments", the positional and quantitative relationships between optical components and sensor components are recorded. One implementation method is as Figure 1 shown. The image capture unit 302A, that is, the endoscope, includes a lens assembly 301R. Light passes through the lens assembly 301R and is transmitted to the prism assembly 330R. The prism assembly 330R reflects a part of the light into the sensor 310R below, and the other part is transmitted through. The transmitted light is transmitted to the reflection assembly 340R after passing through the lens 350R. The reflection assembly 340R reflects this part of the light into another sensor 315R below that is parallel to the previous sensor 310R. The structure above the platform 312 (i.e., the PCB board) is described here, and the structure below the platform 312 is symmetrically arranged with the above. This kind of setting requires arranging four sensors (310R, 315R, 310L, and 315L) in the endoscope to achieve 3D and fluorescence functions.

[0005] However, the structures for realizing 3D and fluorescence functions as described above have the following problems. Setting four image sensors in the endoscope will occupy a relatively large space, making it difficult to achieve the goal of miniaturizing the endoscope lens end. Moreover, the settings in the above related technologies will also increase the complexity of the lens end structure, further occupying space, increasing production and assembly costs; and there are many connecting lines, requiring additional design of the routing of the connecting lines. Summary of the Invention

[0006] The embodiments of the present application provide an endoscope lens assembly and an endoscope imaging system, which can reduce the number of image sensors in the endoscope lens assembly. Only by setting two image sensors can the 4K, fluorescence, and 3D functions of the endoscope be realized, and the size of the lens assembly is reduced, and the structure is simple, which is conducive to assembly.

[0007] According to the first aspect of the embodiments of the present application, an endoscope lens assembly is provided, including:

[0008] An illumination module for providing illumination light to the target object;

[0009] An optical component for transmitting the optical signal reflected by the target object;

[0010] An imaging module is arranged corresponding to the light outlet of the optical component, and the imaging module is configured to convert the received optical signal into an electrical signal;

[0011] A filter component is arranged between the optical component and the imaging module. The filter component includes a first filter element and a second filter element. Under the drive of a driving mechanism, the first filter element and the second filter element are alternately located at the light outlet of the optical component to allow optical signals with different wavelength ranges to be transmitted to the imaging module respectively.

[0012] In a feasible implementation manner, the filter component includes a support member, the first filter element and the second filter element are adjacently arranged on the support member, and a light blocking member is arranged between the first filter element and the second filter element;

[0013] The driving mechanism is connected to the support member to drive the support member to reciprocate.

[0014] In a feasible implementation manner, the imaging module includes a circuit board, a first image sensor and a second image sensor, and the first image sensor and the second image sensor are respectively arranged on opposite surfaces of the circuit board.

[0015] In a feasible implementation, the support member includes a first mounting bracket and a second mounting bracket, and the first mounting bracket and the second mounting bracket are provided with the corresponding first light filter and the second light filter;

[0016] The first mounting bracket is connected to a first driving mechanism, so as to drive the first mounting bracket to reciprocate along the axial direction of the endoscope through the first driving mechanism, and transmit optical signals of different wavelengths to the first image sensor;

[0017] The second mounting bracket is connected to a second driving mechanism, so as to drive the second mounting bracket to move synchronously with the first mounting bracket through the second driving mechanism, and transmit optical signals of different wavelengths to the second image sensor.

[0018] In a feasible implementation, the first driving mechanism and the second driving mechanism are mounted on opposite surfaces of the circuit board;

[0019] Along the axial direction of the endoscope, the first driving mechanism and the second driving mechanism are arranged in a staggered manner.

[0020] In a feasible implementation, the support member includes a mounting housing and a connecting block, the mounting housing is sleeved on the circuit board, and the corresponding first light filter and the second light filter are arranged on both sides of the mounting housing facing the large surface of the circuit board;

[0021] The connecting block drives the mounting housing to reciprocate along the axial direction of the endoscope under the drive of the driving mechanism.

[0022] In a feasible implementation, a part of the mounting housing is provided with a hollow.

[0023] In a feasible implementation, the first image sensor and the second image sensor are 4K composite image sensors.

[0024] In a feasible implementation, the driving mechanism is an ultrasonic linear motor;

[0025] The reciprocating speed of the ultrasonic linear motor is adapted to the frequency of the optical signal collected by the 4K composite image sensor.

[0026] In a feasible implementation, the first light filter is a visible light filter, and the second light filter is a near-infrared light filter.

[0027] In a feasible implementation, the visible light filter allows visible light with a wavelength between 390nm and 650nm to pass through;

[0028] The near-infrared light filter allows the transmission of near-infrared light with wavelengths between 650 nm and 940 nm.

[0029] In a feasible implementation, the optical component includes a first lens, a second lens, a first mirror, and a second mirror. The first lens corresponds to the first mirror, and a filter assembly is disposed between the first mirror and the first image sensor; the second lens corresponds to the second mirror, and a filter assembly is disposed between the second mirror and the second image sensor.

[0030] According to the second aspect of the embodiments of the present application, an endoscope camera system is provided, including the endoscope lens assembly described in the above embodiments. The endoscope lens assembly is disposed inside the endoscope tube, and,

[0031] A light source, which is in communication with the lighting module to provide illumination to the target object.

[0032] In the endoscope lens assembly and the endoscope camera system provided by the embodiments of the present application, by alternately appearing the first filter element and the second filter element in the filter assembly in the optical path between the optical component and the imaging module at different times, the image sensor in the imaging module alternately acquires visible light (white light) signals and fluorescence signals, thereby improving the image quality of the formed fused fluorescence image. This setting can reduce the number of image sensors in the endoscope lens assembly. Only two image sensors are required to implement the 4K, fluorescence, and 3D functions of the endoscope, and it reduces the size of the lens assembly, and has a simple structure, which is conducive to assembly. In addition, as the number of image sensors decreases, the connecting wires also decrease, and no additional wire routing design is required, further reducing the cost. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 is a schematic structural diagram of the prior art;

[0035] Figure 2 is a schematic structural diagram of the endoscope provided by the embodiments of the present application;

[0036] Figure 3 is a schematic external structural diagram of the endoscope lens assembly provided by the embodiments of the present application;

[0037] Figure 4One of the schematic structural diagrams of the endoscope lens assembly provided by the embodiments of the present application;

[0038] Figure 5 The disassembled structural schematic diagram of the endoscope lens assembly provided by the embodiments of the present application;

[0039] Figure 6 The schematic structural diagram of the filter component (the first mounting bracket) provided by the embodiments of the present application;

[0040] Figure 7 The schematic structural diagram of the filter component (the second mounting bracket) provided by the embodiments of the present application;

[0041] Figure 8 Another schematic structural diagram of the endoscope lens assembly provided by the embodiments of the present application;

[0042] Figure 9 The schematic structural diagram of the filter component (the mounting housing) provided by the embodiments of the present application;

[0043] Figure 10 One of the schematic diagrams of the acquisition frequency of the image sensor and the movement speed of the driving mechanism provided by the embodiments of the present application;

[0044] Figure 11 One of the schematic diagrams of the acquisition frequency of the image sensor and the movement speed of the driving mechanism provided by the embodiments of the present application.

[0045] Reference numerals:

[0046] 10. Endoscope lens assembly;

[0047] 11. Endoscope tube;

[0048] 12. Control handle;

[0049] 13. Data optical fiber;

[0050] 110. Lighting module;

[0051] 120. Optical component; 121. First lens; 122. Second lens; 123. First reflector; 124. Second reflector;

[0052] 130. Imaging module; 131. Circuit board; 132. First image sensor; 133. Second image sensor;

[0053] 140. Filter component; 141. First filter element; 142. Second filter element; 143. Support member; 1431. First mounting bracket; 1432. Second mounting bracket; 1433. Mounting housing; 1434. Connecting block;

[0054] 150. Driving mechanism; 151. First driving mechanism; 152. Second driving mechanism. Detailed implementation manners

[0055] Next, the technical solutions in the embodiments of the present invention will be described with reference to the accompanying drawings in the embodiments of the present invention.

[0056] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present invention can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the protection scope of the present invention is only defined by the claims. In other places, well-known structures, circuits, and other details are not shown in detail to avoid misunderstanding of the key points of the present invention by the public.

[0057] In this specification, the accompanying drawings show schematic diagrams of several embodiments of the present invention. However, the accompanying drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and mechanical structures, physical compositions, electrical aspects, and steps can be changed without departing from the spirit and scope of the present invention.

[0058] The terms used hereinafter are only for describing specific embodiments and are not intended to limit the present invention. Spatially relative terms, such as "below", "lower part", "above", "upper part", etc., may be used for convenience in describing the relationship between one element or feature illustrated in the figure and another element or feature. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure is turned over, then the element described as "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover both upward and downward orientations. And the device can be oriented in other ways (for example, rotated 90° or in other orientations), and the corresponding spatially relative descriptive terms used herein are interpreted accordingly.

[0059] As used herein, "a plurality of", the singular form "one", and "the" are also intended to include the plural form unless the context otherwise indicates. It should be further understood that the terms "comprising" and / or "including" specify the presence of the described features, steps, operations, elements, and / or components, without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0060] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "part", and "piece" may be used interchangeably.

[0061] The terms "instrument", "surgical instrument", and "surgical operative instrument" are used herein to describe a medical device configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, including an end effector. The end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, a needle holder, scissors, a bipolar cautery, a tissue stabilizer or retractor, a clip applier, an anastomosis device, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present invention further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool, such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain information stored permanently or updatable by a surgical system (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way information communication between the instrument and one or more system components.

[0062] The term "coupled" can be broadly understood to mean any situation in which two or more objects are connected in such a way as to allow the coupled objects to operate in conjunction with each other. It should be noted that coupling does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to couple two or more objects. For example, object A and B can be coupled by using object C. Further, the terms "detachably coupled" or "detachably mated" can be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0063] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B, and C. Exceptions to this definition will only occur when the combination of elements, functions, steps, or acts are inherently mutually exclusive in some way.

[0064] Overview of the master-slave teleoperated laparoscopic surgical robot

[0065] A laparoscopic surgical robot generally includes a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits at the doctor control platform, views two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed in the patient's body, and manipulates the movement of the robotic arm on the patient surgical platform, as well as the surgical instrument or laparoscope attached to the robotic arm. The robotic arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand. The two provide a series of actions that simulate the human wrist for the surgeon, while also filtering out the tremors of the human hand itself.

[0066] The patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at a surgical site within the patient. The associated surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move in one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Generally, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located at the position where the surgical instrument enters the body, and this center of motion is referred to as the "centroid point".

[0067] The image platform generally includes a device with video image capture capabilities (commonly an endoscope) and one or more video displays for showing the surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transmit images from the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video images are transmitted to the host of the image platform. Subsequently, through image processing, the processed images are displayed on the video displays for the assistant to observe.

[0068] The doctor control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot or it can be distributed at two or more locations in the system. Remote master / slave operation can be completed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, powered and gravity-compensated manipulators, and so on. These input devices collect the operation signals of the surgeon, and after being processed by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote-controlled motor on the surgical instrument manipulator, and this motor in turn controls the movement of the surgical instrument.

[0069] Generally, the force generated by the remote-controlled motor is transmitted via a transmission system to transfer the force from the remote-controlled motor to the end effector of the surgical instrument. In some embodiments of remote surgery, the input device for controlling the manipulator can be set at a location far from the patient, inside or outside the room where the patient is located, or even in a different city. Then the input signal of the input device is transmitted to the control system. Those familiar with remote manipulation, teleoperation, and telepresence surgery will understand such a system and its components.

[0070] In the related art, the lens structure adopted when implementing 3D, fluorescence, and 4K functions is complex, and four 4K image sensors need to be arranged to achieve the functions. Since the 4K image sensors are large in size, it is not conducive to saving lens space, and the assembly is difficult, which is not conducive to controlling the production cost. Moreover, due to the large number of connecting wires, additional wiring design is required.

[0071] In addition, as Figure 1 shown, due to the arrangement of sensors in the related art (the front group is a white light sensor and the back group is a fluorescence sensor), and since the optical paths of the front and back groups of sensors are different, it will lead to differences in the image imaging quality, thereby affecting the effect of the fusion fluorescence mode.

[0072] The target object in the following examples is a human tissue such as the abdominal cavity, pelvic cavity, thoracic cavity, etc., and the endoscope is used to detect various regions of the target object; the optical component can be understood as an optical element, which mainly plays the role of imaging. For example, it can be a lens, a prism, a mirror, etc., and can be freely combined according to the actual use situation, and no specific limitation is made here.

[0073] Figure 2 is a schematic structural diagram of an endoscope provided by an embodiment of the present application; Figure 3 is a schematic external structure diagram of an endoscope lens assembly provided by an embodiment of the present application.

[0074] Based on the above existing problems, referring to Figure 2 and Figure 3 shown, an embodiment of the present application first provides an endoscope lens assembly 10, which may include an illumination module 110, an optical component 120, an imaging module 130, and a filter assembly 140.

[0075] The illumination module 110 is used to provide illumination light to the target object; the optical component 120 is used to transmit the optical signal reflected by the target object; the imaging module 130 is disposed corresponding to the light outlet of the optical component 120, and the imaging module 130 is configured to convert the received optical signal into an electrical signal; the filter assembly 140 is disposed between the optical component 120 and the imaging module 130, and the filter assembly 140 includes a first filter element 141 and a second filter element 142. Under the drive of the drive mechanism 150, the filter assembly 140 enables the first filter element 141 and the second filter element 142 to alternately be located at the light outlet of the optical component 120, so as to allow optical signals with different wavelength ranges to be transmitted to the imaging module 130 respectively.

[0076] It can be understood that the illumination module 110 can be an illumination optical fiber disposed in the endoscope tube 11 and connected to a light source to irradiate a composite light (such as including visible light and near-infrared light) emitted by the light source onto a target object. Among them, the visible light can enable the target object to present a color image, and the near-infrared light, as an excitation light, can excite a fluorescent substance (such as a contrast agent) on the target object, so that the fluorescent area on the target object shows a specific color such as green. If the images formed after irradiating the target object with visible light and near-infrared light are fused, an image with a specific green area and full-color in other areas on the target object can be formed, which can be more convenient for medical staff to observe, for example, the lesion location of the target object.

[0077] Two groups of illumination modules 110 can be provided and symmetrically disposed on both sides of the optical component 120 respectively. More specifically, the illumination module 110 located in the endoscope tube 11 can be closely attached to the inner wall of the tube. That is, it passes through from the side of the optical component 120 and the imaging module 130 located in the middle. The shape of the illumination module 110 exposed at the end face of the tube can be set as a semi-circular shape adapted to the shape of the tube. While achieving the maximum illumination intensity, it can reasonably utilize the space of the tube to miniaturize the endoscope as much as possible.

[0078] The endoscope further includes a control handle 12. A fiber optic interface is provided on the control handle 12. One end of the illumination module 110 (illumination optical fiber) located in the endoscope tube 11 is exposed at the outer end face of the tube, and the other end is integrated on the control handle 12. The composite light emitted by the light source host is transmitted to the corresponding area of the target object through an external optical fiber connecting the fiber optic interface and the light source host.

[0079] The optical component 120 converges the composite light signals (such as visible light and fluorescence) reflected by the target object. For example, it can be composed of several lenses and prisms. After the light passes through the lenses, it is reflected by the prisms to the surface of the imaging module 130. The material of the lenses can be glass or resin and other materials. In normal use, lenses composed of glass or resin can be used. While meeting the imaging quality, it can also reduce the weight of the lens assembly.

[0080] To achieve the above-mentioned high-quality image after fusing visible light and fluorescence, but without increasing the number of imaging modules 130 (image sensors) at the same time, a filter component 140 is provided on the optical path between the optical component 120 and the imaging module 130. Specifically understood, it is to make the first filter element 141 or the second filter element 142 in the filter component 140 alternately located on the optical path between the optical component 120 and the imaging module 130, and filter the composite light signals on this optical path through the first filter element 141 or the second filter element 142, so that the optical signals of the required wavelengths (visible light signals, fluorescence signals) are alternately collected by the imaging module 130.

[0081] In one example, the first filter 141 is a visible light filter, and the second filter 142 is a near-infrared light filter. Specifically, the visible light filter enables the visible light in the composite light to be transmitted and collected by the imaging module 130, so as to convert the collected visible light signal into an electrical signal (color image information). The near-infrared light filter enables the fluorescence in the composite light (the fluorescence emitted after the fluorescent substance is excited by the near-infrared light) to be transmitted. After the fluorescence signal is collected by the imaging module 130, it can be converted into an electrical signal (fluorescence image information). By driving the filter assembly 140 to move through the driving mechanism 150, the visible light filter and the near-infrared light filter can alternately appear on the optical path at different times, that is, the optical signals collected by the imaging module 130 are visible light - fluorescence - visible light - fluorescence in sequence. The generated color image signal and fluorescence image information can be transmitted to the backend image processing module. The image processing module can fuse the sequentially received color image and fluorescence image, and then output a high-quality image with the function of fused fluorescence.

[0082] If a separate color image or fluorescence image is needed, the driving mechanism 150 can be controlled to drive the first filter 141 or the second filter 142 in the filter assembly 140 to stay on the optical path between the optical component 120 and the imaging module 130 for a long time. Specifically, the imaging image mode can be adjusted by controlling the button on the handle 12. The button can be a color image mode, a fluorescence image mode, and a visible light fused fluorescence image mode.

[0083] Since the size of the endoscope tube 11 is very small, usually the diameter needs to be controlled at about 10 mm. Therefore, it is necessary to focus on considering the quantity, arrangement method of its internal optical component 120 and imaging module 130, as well as the arrangement of the above-mentioned visible light filter and near-infrared light filter and the connection of the driving mechanism 150. Since there is more available space along the axial direction of the endoscope, the visible light filter and the near-infrared light filter can be arranged adjacent to each other along the axial direction of the endoscope. The driving mechanism 150 can adopt a micro linear motor to drive the visible light filter and the near-infrared light filter to alternately appear on the optical path between the optical component 120 and the imaging module 130 along the axial direction of the endoscope, so that the imaging of the endoscope has the function of fused fluorescence imaging. Of course, by setting a 4K composite image sensor in the imaging module 130, for example, and setting a dual optical path (optical component 120) in the lens assembly, the functions of 3D, 4K, and fused fluorescence imaging can be achieved to improve the quality of the finally output image.

[0084] In the embodiments of the present application, by alternately appearing the first filter element 141 and the second filter element 142 in the optical path between the optical component 120 and the imaging module 130 at different times in the filter assembly 140, the image sensor in the imaging module 130 alternately collects visible light (white light) signals and fluorescence signals, thereby improving the image quality of the formed fused fluorescence image. This setting can reduce the number of image sensors in the endoscope lens assembly 10. Only two image sensors are needed to achieve the 4K, fluorescence, and 3D functions of the endoscope, and the size of the lens assembly is reduced, and the structure is simple, which is conducive to assembly. In addition, as the number of image sensors decreases, the connecting wires also decrease, and no additional wiring design is required, further reducing the cost.

[0085] Figure 4 is one of the structural schematic diagrams of the endoscope lens assembly 10 provided by the embodiments of the present application; Figure 5 is the disassembled structural schematic diagram of the endoscope lens assembly 10 provided by the embodiments of the present application; Figure 8 is the second structural schematic diagram of the endoscope lens assembly 10 provided by the embodiments of the present application.

[0086] Refer to Figure 5 and Figure 8 As shown, in some embodiments, the filter assembly 140 includes a support member 143, the first filter element 141 and the second filter element 142 are disposed adjacent to each other on the support member 143, and a light shielding member is disposed between the first filter element 141 and the second filter element 142; the driving mechanism 150 is connected to the support member 143 to drive the support member 143 to reciprocate.

[0087] It can be understood that in order to enable the first filter element 141 and the second filter element 142 to alternately appear in the optical path between the optical component 120 and the imaging module 130, a support member 143 such as a support plate can be provided. Two through holes are formed in the support plate, and then the visible light filter and the near-infrared light filter are respectively installed on the through holes, so that the light signal emitted from the light outlet of the optical component 120 can be collected by the imaging module 130 after passing through the first filter element 141 (visible light filter) or the second filter element 142 (near-infrared light filter). There may be a certain interval between the first filter element 141 and the second filter element 142, but the interval between the two needs to be made light-tight. Specifically, a light shielding member can be disposed between the two, for example, a light shielding film is pasted on the support plate between the two, or a light-tight support plate is directly used to avoid the composite light signal being collected by the imaging module 130, which is not conducive to the subsequent imaging quality.

[0088] Of course, the first filter element 141 and the second filter element 142 can be arranged closely. In this case, there is a situation where both the first filter element 141 and the second filter element 142 are located on the optical path between the optical component 120 and the imaging module 130, that is, the imaging module 130 simultaneously collects visible light signals and fluorescence signals. At this time, the moving speed of the driving mechanism 150, such as a linear motor, can be controlled to ensure that within the time range when the imaging module 130 collects optical signals, only the first filter element 141 or only the second filter element 142 is located on the optical path between the optical component 120 and the imaging module 130. In other words, when both the first filter element 141 and the second filter element 142 are located on the optical path, the imaging module 130 does not collect optical signals. This setting can also reduce the moving speed of the driving mechanism 150.

[0089] To make reasonable use of the space of the lens assembly, the support plate in this example can be made into a long strip extending along the axial direction of the endoscope, and the driving direction of the linear motor also extends along the axial direction of the endoscope to minimize the radial space occupied by the endoscope tube 11.

[0090] To more clearly illustrate the setting method of the filter assembly 140 in the endoscope, first, the arrangement method and setting position of the optical component 120 and the imaging module 130 in the endoscope will be introduced.

[0091] As Figure 5 shown, in some embodiments, the imaging module 130 includes a circuit board 131, a first image sensor 132, and a second image sensor 133. The first image sensor 132 and the second image sensor 133 are respectively arranged on opposite surfaces of the circuit board 131.

[0092] It can be understood that two image sensors, namely the first image sensor 132 and the second image sensor 133, are provided. Then, the corresponding optical component 120 can be set to two, forming two optical paths to achieve a 3D imaging effect. In one example, the first image sensor 132 and the second image sensor 133 are 4K composite image sensors. Combining the above two optical paths and the filter assembly 140 that enables visible light and fluorescence to be alternately collected by the 4K composite image sensor, the imaging of the endoscope lens assembly 10 can achieve the functions of 3D, 4K, and fluorescence fusion, thus greatly improving the quality of the finally output image.

[0093] Specifically, the circuit board 131 can be a PCBA board, which can be placed in the middle of the endoscope tube 11, and transmit the acquired signals to an external data processing module through a data optical fiber 13, etc., and finally display the processed image on a display screen. Specifically, an electro-optical modulator can be provided on the PCBA board to convert the electrical signal converted by the 4K composite image sensor into an optical signal, and transmit it to the external data processing module through the data optical fiber 13. Specifically, it can be understood according to the existing technology and will not be elaborated here.

[0094] As Figure 3 and Figure 5 shown, in one example, the optical component 120 includes a first lens 121, a second lens 122, a first mirror 123 and a second mirror 124. The first lens 121 corresponds to the first mirror 123, and a filter component 140 is provided between the first mirror 123 and the first image sensor 132; the second lens 122 corresponds to the second mirror 124, and a filter component 140 is provided between the second mirror 124 and the second image sensor 133.

[0095] For the sake of compact structure, the two 4K composite image sensors are respectively arranged on the opposite surfaces of the circuit board 131. As Figure 5 shown, one 4K composite image sensor (the first image sensor 132) is arranged above the circuit board 131, and the corresponding first mirror 123 and first lens 121 are also arranged above the endoscope tube 11. Correspondingly, the other 4K composite image sensor (the second image sensor 133) is arranged below the circuit board 131, and the corresponding second mirror 124 and second lens 122 are also arranged below the endoscope tube 11.

[0096] In one example, a fixing seat (not shown in the figure) can also be provided in the endoscope tube 11. The fixing seat is used to support the circuit board 131 and the optical component 120. The circuit board 131, the first mirror 123 and the second mirror 124 can be supported and fixed through the fixing seat to avoid shaking during the endoscope exploration process, thereby affecting the final imaging quality.

[0097] The 4K composite image sensor provided in this example refers to an image sensor that can receive both visible light signals and fluorescence signals. The image sensor uses the photoelectric conversion function of optoelectronic devices to convert the light signals on the photosensitive surface into electrical signals (image signals) that are in a corresponding proportional relationship with them. Then, the converted electrical signals are converted through the components on the circuit board 131 and then sent to an external data processing module through a data optical fiber 13, etc. The external data processing module performs data fusion and other processing on the collected electrical signals, so as to display a high-quality 3D, 4K and fluorescence-fused picture on the display screen.

[0098] As Figure 3 shown, in one example, the first lens 121 and the second lens 122 are respectively communicated with the outer end surface of the endoscope tube 11, that is, the first lens 121 and the second lens 122 are exposed outside the outer end surface of the tube. The first lens 121 and the second lens 122 can be objective lenses, which have a certain length and can not only converge the light reflected by the target object into the tube, but also magnify the real image of the target object, so as to facilitate the medical staff to observe more clearly.

[0099] Figure 6 is a schematic structural diagram of the filter component (the first mounting bracket 1431) provided by an embodiment of the present application; Figure 7 is a schematic structural diagram of the filter component (the second mounting bracket 1432) provided by an embodiment of the present application.

[0100] Based on the setting form of the above optical component 120 and imaging module 130 in the endoscope, the filter component 140 can be set as, as Figures 4 to 7 shown, in one example, the support 143 includes a first mounting bracket 1431 and a second mounting bracket 1432. The first mounting bracket 1431 and the second mounting bracket 1432 are provided with corresponding first filter element 141 and second filter element 142; The first mounting bracket 1431 is connected to the first driving mechanism 151 to drive the first mounting bracket 1431 to reciprocate along the axial direction of the endoscope through the first driving mechanism 151, so as to transmit light signals of different wavelengths to the first image sensor 132; The second mounting bracket 1432 is connected to the second driving mechanism 152 to drive the second mounting bracket 1432 to move synchronously with the first mounting bracket 1431 through the second driving mechanism 152, so as to transmit light signals of different wavelengths to the second image sensor 133.

[0101] It can be understood that, in order to enable two 4K composite image sensors located on the circuit board 131 to simultaneously collect visible light signals or fluorescence signals, a first mounting bracket 1431 and a first driving mechanism 151 are provided on one side of the circuit board 131 (the side where the first image sensor 132 is located), and a second mounting bracket 1432 and a second driving mechanism 152 are provided on the other side of the circuit board 131 (the side where the second image sensor 133 is located). In the direction from the distal end to the proximal end of the endoscope, a first filter element 141 (visible light filter) and a second filter element 142 (near-infrared light filter) are successively mounted on the first mounting bracket 1431 and the second mounting bracket 1432, that is, the two first filter elements 141 correspond to each other along the radial direction of the endoscope, and the two second filter elements 142 correspond to each other along the radial direction of the endoscope. And the moving speeds of the two driving mechanisms 150, such as linear motors, are set to be the same, so that the two 4K composite image sensors can simultaneously collect visible light signals or fluorescence signals. In this example, the optical paths of the two 4K composite image sensors always remain the same, and there is no difference whether it is visible light imaging or fluorescence imaging, which is more conducive to improving the imaging effect of the fusion fluorescence mode compared with the related technology.

[0102] To further save space and send control signals to the first driving mechanism 151 and the second driving mechanism 152 through the circuit board 131, in one example, the first driving mechanism 151 and the second driving mechanism 152 are mounted on opposite surfaces of the circuit board 131; along the axial direction of the endoscope, the first driving mechanism 151 and the second driving mechanism 152 are arranged in a staggered manner.

[0103] It can be understood that, to ensure the installation reliability of the first driving mechanism 151 and the second driving mechanism 152, that is, two identical linear motors, the first driving mechanism 151 and the second driving mechanism 152 are arranged one in front of the other along the axial direction of the endoscope. And for the driving mechanism 150 that is farther away from the 4K composite image sensor, the length of the mounting bracket connected thereto is longer, and the long-term reciprocating motion is not conducive to the use stability, and it is difficult to ensure the completely synchronous movement by setting two driving mechanisms 150.

[0104] Based on this, the setting of the filter assembly 140 in the endoscope can also be that the ends (the ends away from the 4K composite image sensor) of the two mounting brackets with the same structure are connected by a ring-shaped connecting piece (not shown in the figure). The setting positions of the two mounting brackets are the same as those in the above example, except that the ring-shaped connecting piece sleeved on the circuit board 131 and connected to a driving mechanism 150 drives the ring-shaped connecting piece to move through a driving mechanism 150, and then drives the two mounting brackets to move simultaneously through the ring-shaped connecting piece, so that the first filter element 141 and the second filter element 142 alternately appear on the acquisition surface of the 4K composite image sensor at different times, and the setting of one driving mechanism 150 also greatly reduces the occupation of the space of the lens assembly.

[0105] Figure 9 It is a schematic structural diagram of the filter component (installation housing 1433) provided by an embodiment of the present application.

[0106] Of course, in addition to the above setting method, the setting of the filter component 140 in the endoscope can also be, with reference to Figure 8 and Figure 9 As shown, in one example, the support member 143 includes an installation housing 1433 and a connection block 1434. The installation housing 1433 is sleeved on the circuit board 131. A first filter member 141 and a second filter member 142 corresponding to each other are arranged on both sides of the installation housing 1433 facing the large surface of the circuit board 131. Driven by the driving mechanism 150, the connection block 1434 drives the installation housing 1433 to reciprocate along the axial direction of the endoscope.

[0107] Specifically, the installation housing 1433 can be designed as an annular housing, sleeved on the circuit board 131, and can move along with the movement of the connection block 1434. Through holes are provided on the opposite side walls of the installation housing 1433 (facing the large surface of the circuit board 131). The first filter member 141 and the second filter member 142 are installed at the through holes. The two first filter members 141 correspond to each other in the radial direction of the endoscope. Similarly, the two second filter members 142 correspond to each other in the radial direction of the endoscope, so as to ensure that the two 4K composite image sensors connected to the circuit board 131 can simultaneously collect visible light signals or fluorescence signals. This setting method can also realize the synchronous movement of the two groups of first filter members 141 and second filter members 142 through one driving mechanism 150, and the setting of one driving mechanism 150 also greatly reduces the occupation of the space of the lens assembly.

[0108] In some embodiments, part of the installation housing 1433 is hollowed out. Specifically, to ensure the smoothness of the driving mechanism 150 driving the installation housing 1433, the rest of the installation housing 1433 except the connection part of the first filter member 141 and the second filter member 142 can be hollowed out, so as to reduce the weight of the installation housing 1433 as much as possible, thereby reducing the driving burden of the driving mechanism 150, improving its movement smoothness, and further improving the imaging effect.

[0109] In some embodiments, the driving mechanism 150 is an ultrasonic linear motor. Specifically, in this example, the ultrasonic linear motor is adopted, which can meet the requirement that the acquisition frequency of the 4K composite image sensor is relatively fast. When switching between the first filter and the second filter, it requires the functions of high-speed linear movement and stopping of the motor, and its size is also very small, which can meet the requirements for use in the lens assembly.

[0110] Figure 10 It is one of the schematic diagrams of the acquisition frequency of the image sensor and the movement speed of the driving mechanism 150 provided by an embodiment of the present application;Figure 11 It is one of the schematic diagrams of the acquisition frequency of the image sensor provided by the embodiments of the present application and the moving speed of the driving mechanism 150.

[0111] Referring to Figure 10 and Figure 11 As shown, in one example, the reciprocating speed of the ultrasonic linear motor corresponds to the frequency of the 4K composite image sensor for collecting optical signals.

[0112] For example, within the shutter opening time range of the first 4K composite image sensor, the first filter element 141 (visible light filter) is located in the optical path between the optical component 120 and the 4K composite image sensor, so that visible light is collected by the 4K composite image sensor; within the shutter opening time range of the second 4K composite image sensor, the second filter element 142 (near-infrared light filter) is located in the optical path between the optical component 120 and the 4K composite image sensor, so that fluorescence is collected by the 4K composite image sensor, and so on in a cycle.

[0113] More specifically, if the frame rate of the 4K composite image sensor is 60fps, one frame of visible light and one frame of fluorescence can be alternated and combined into a fused image, thus realizing the fused fluorescence mode. As Figure 10 shown, where the approximately vertical column a represents the shutter opening of the 4K composite image sensor, corresponding to the number of exposure rows of the 4K composite image sensor in one exposure, and 100% represents that all row pixels are exposed. The trapezoidal dotted line / dashed line represents the filtering area, which refers to the area of the corresponding filter (visible light filter, near-infrared light filter) located in the optical path between the optical component 120 and the 4K composite image sensor, and a filtering area of 100% means that all light passes through the filter. In this acquisition mode, if the acquisition frequency of the 4K composite image sensor is 30Hz, 60Hz, 90Hz or 120Hz, the reciprocating speed of the ultrasonic linear motor corresponds to 900S / min, 1800S / min, 2700S / min, 3600S / min, where S represents a stroke of the ultrasonic linear motor. Through this method, the best fused fluorescence imaging image can be achieved.

[0114] Figure 10 The position shown by the square b in the figure represents that visible light and fluorescence are simultaneously collected by the 4K composite image sensor, but at this time the shutter of the 4K composite image sensor is closed and no optical signal is collected, so it will not affect the final fused fluorescence imaging image.

[0115] Of course, it is also possible to receive the same visible light signal or fluorescence signal within the shutter opening time ranges of the two 4K composite image sensors, as Figure 11As shown, this setting can reduce the operating speed of the ultrasonic linear motor and still maintain high-quality image output for 3D, 4K, and fused fluorescence functions. Figure 10 and Figure 11 In [relevant content], specific times, ratios, etc. are only examples and do not represent real parameters. The approximately vertical column a in the figure represents the opening of the shutter of the 4K composite image sensor, which corresponds to the number of exposure rows of the 4K composite image sensor in one exposure, and 100% means that the pixels of all rows are exposed. The trapezoid represents the filter area, which refers to the area of the corresponding filter (visible light filter, near-infrared light filter) in the optical path between the optical component 120 and the 4K composite image sensor. A filter area of 100% means that all light rays pass through the filter.

[0116] Figure 10 and Figure 11 The position shown by the square b in [relevant content] indicates that visible light and fluorescence are simultaneously collected by the 4K composite image sensor. However, at this time, the shutter of the 4K composite image sensor is closed and does not collect optical signals. Therefore, it will not affect the final fused fluorescence imaging image.

[0117] Of course, the first filter element 141 (visible light filter) can also stay between the optical component 120 and the 4K composite image sensor for a long time to finally achieve 3D and 4K imaging of visible light; the second filter element 142 (near-infrared light filter) can also stay between the optical component 120 and the 4K composite image sensor for a long time to finally achieve 3D and 4K imaging of fluorescence, which is not limited here.

[0118] In some embodiments, the visible light filter allows visible light with wavelengths between 390 nm and 650 nm to pass through; the near-infrared light filter allows near-infrared light with wavelengths between 650 nm and 940 nm to pass through.

[0119] Specifically, a filter is an optical device used to select the required radiation band, that is, it can allow light waves within a certain range to pass through. The first filter element 141 will transmit visible light with wavelengths between 390 nm and 650 nm and block near-infrared light with wavelengths between 650 nm and 940 nm. The excitation light filter is the opposite, which will transmit near-infrared light with wavelengths between 650 nm and 940 nm and block visible light with wavelengths between 390 nm and 650 nm. Of course, those skilled in the art can design wavelength ranges different from but intersecting with this range according to the characteristics of the image sensor and the light source.

[0120] In one example, the shapes of the visible light filter and the near-infrared light filter need to cover the light transmission aperture between the optical component 120 and the imaging module 130. The sizes of the visible light filter and the near-infrared light filter can be larger than the light transmission aperture. The visible light filter and the near-infrared light filter can be arranged as long strips extending along the axial direction of the endoscope, but there is no limitation.

[0121] The embodiment of the present application also provides an endoscope camera system, including the endoscope lens assembly 10 of the above embodiment and a light source.

[0122] The endoscope lens assembly 10 is arranged inside the endoscope outer sheath; the light source is communicated with the lighting module 110 to provide illumination to the target object. Specifically, the light source can be understood as a light source host. A fiber optic connector is arranged at the light output port of the light source host for connecting with an external illumination optical fiber. A notch can be arranged at the fiber optic connector and the light output port to facilitate heat dissipation of the light source, thereby improving the service life of the light source. The external illumination optical fiber is connected to the fiber optic interface on the endoscope control handle 12, so as to transmit the composite light into the illumination module 110 (illumination optical fiber) in the endoscope tube 11, and the composite light is irradiated to the target object through the illumination module 110.

[0123] The endoscope lens assembly 10 is arranged at the distal end of the endoscope. The optical component 120, the filter assembly 140 and the imaging module 130 inside it can sequentially convert the light (visible light, fluorescence) reflected by the target object into image signals, and then send them to an external image processing module for fusion processing, thereby realizing the 4K, fluorescence, and 3D functions of the endoscope.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should all be covered within the scope of the claims of the present invention.

Claims

1. An endoscope lens assembly, characterized in that, Comprising: A lighting module for providing illumination light to a target object; An optical component for transmitting the optical signal reflected by the target object; An imaging module disposed corresponding to the light outlet of the optical component, the imaging module being configured to convert the received optical signal into an electrical signal; A filter assembly disposed between the optical component and the imaging module, the filter assembly including a first filter element and a second filter element, the filter assembly being driven by a driving mechanism to alternately position the first filter element and the second filter element at the light outlet of the optical component to allow optical signals of different wavelength ranges to be transmitted to the imaging module respectively.

2. The endoscope lens assembly according to claim 1, characterized in that, The filter assembly further includes a support member, the first filter element and the second filter element are adjacently disposed on the support member, and a light shielding member is disposed between the first filter element and the second filter element; The driving mechanism is connected to the support member to drive the support member to reciprocate.

3. The endoscope lens assembly according to claim 2, characterized in that, The imaging module includes a circuit board, a first image sensor and a second image sensor, and the first image sensor and the second image sensor are respectively disposed on opposite surfaces of the circuit board.

4. The endoscope lens assembly according to claim 3, characterized in that, The support member includes a first mounting bracket and a second mounting bracket, and the first filter element and the second filter element corresponding to each other are disposed on the first mounting bracket and the second mounting bracket; The first mounting bracket is connected to a first driving mechanism to drive the first mounting bracket to reciprocate along the axial direction of the endoscope through the first driving mechanism to transmit optical signals of different wavelengths to the first image sensor; The second mounting bracket is connected to a second driving mechanism to drive the second mounting bracket to move synchronously with the first mounting bracket through the second driving mechanism to transmit optical signals of different wavelengths to the second image sensor.

5. The endoscope lens assembly according to claim 4, characterized in that, The first driving mechanism and the second driving mechanism are mounted on opposite surfaces of the circuit board; Along the axial direction of the endoscope, the first driving mechanism and the second driving mechanism are arranged in a staggered manner.

6. The endoscope lens assembly according to claim 3, characterized in that, The support member includes a mounting housing and a connecting block, the mounting housing is sleeved on the circuit board, and the first filter element and the second filter element corresponding to each other are disposed on both sides of the mounting housing facing the large surface of the circuit board; The connecting block drives the mounting housing to reciprocate along the axial direction of the endoscope under the drive of the driving mechanism.

7. The endoscope lens assembly according to claim 6, characterized in that, Part of the mounting housing is provided with a hollow.

8. The endoscope lens assembly according to any one of claims 3-7, characterized in that, The first image sensor and the second image sensor are 4K composite image sensors.

9. The endoscope lens assembly according to claim 8, characterized in that, The driving mechanism is an ultrasonic linear motor; The reciprocating speed of the ultrasonic linear motor is adapted to the frequency of the 4K composite image sensor for collecting optical signals.

10. The endoscope lens assembly according to any one of claims 1-7, characterized in that, The first filter element is a visible light filter, and the second filter element is a near-infrared light filter.

11. The endoscope lens assembly according to claim 10, characterized in that, The visible light filter allows visible light with a wavelength between 390nm - 650nm to be transmitted; The near-infrared light filter allows near-infrared light with a wavelength between 650nm - 940nm to be transmitted.

12. The endoscope lens assembly according to any one of claims 3-7, characterized in that, The optical component includes a first lens, a second lens, a first mirror, and a second mirror. The first lens corresponds to the first mirror, and a filter assembly is disposed between the first mirror and the first image sensor; the second lens corresponds to the second mirror, and a filter assembly is disposed between the second mirror and the second image sensor.

13. An endoscope imaging system, characterized in that, An endoscope lens assembly according to any one of claims 1-12, the endoscope lens assembly being disposed within an endoscope tube; and, A light source, in communication with the illumination module to provide illumination to the target object.

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