Object image module of endoscope, endoscope and control method

Abstract

The invention provides an objective image module of an endoscope, the endoscope and a control method, and relates to the technical field of endoscopes. The objective image module has an optical axis direction and comprises a fixed lens, a movable lens, a transmission part, a moving part and a vibration linear driving part, and the fixed lens and the movable lens are sequentially arranged in the optical axis direction; the extension direction of the transmission part is parallel to the optical axis direction; the moving part is movably arranged on the transmission part, preset friction force is defined and formed between the moving part and the transmission part, and the movable lens is arranged on the moving part; the vibration linear driving part is a piezoelectric linear driving part or an electric linear driving part, the vibration linear driving part is connected with the transmission part, and the vibration linear driving part is used for driving the transmission part to vibrate in the extending direction of the transmission part; the moving member moves along the optical axis direction relative to the transmission member. According to the invention, the position of the movable lens can be accurately controlled, and the focal length adjustment precision and the positioning accuracy are improved.

Description

Technical Field

[0001] The present application relates to the technical field of endoscopes, and in particular, to an object-image module of an endoscope, an endoscope, and a control method thereof. Background Art

[0002] Endoscopes are widely used in the medical field. They are inserted into natural human channels (such as digestive tracts, respiratory tracts, etc.) and obtain images of lesion sites in the channels through the object-image module at the head end for observation, diagnosis, and treatment. An endoscope includes an image processing system, a light source system, and a mirror body. Among them, the head end is inserted into the body to observe the lesion site. To observe the lesion site more clearly, the zoom is adjusted by changing the distance between the lens of the object-image module, improving the image effect of the endoscope. Specifically, the manual focusing method is generally used. However, during the focal length adjustment process, the position of the lens is adjusted by pushing and pulling a wire. Due to the flexible characteristics of the wire, it is impossible to ensure the accuracy of focal length adjustment and the accuracy of positioning. Summary of the Invention

[0003] In view of this, the purpose of the present application is to overcome the deficiencies in the prior art, and provide an object-image module of an endoscope, an endoscope, and a control method thereof, which can accurately control the position of the movable lens, improve the accuracy of focal length adjustment and the accuracy of positioning, facilitate obtaining a clearer endoscope image, and help doctors observe, diagnose, and treat more accurately; and replace the traditional manual focusing, simplify the operation process, and improve the convenience and efficiency of operation.

[0004] The present application provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides an object-image module of an endoscope. The object-image module has an optical axis direction, and the object-image module includes:

[0006] A fixed lens and a movable lens, which are arranged in sequence in the optical axis direction;

[0007] A transmission member, which has an extending direction, and the extending direction of the transmission member is parallel to the optical axis direction;

[0008] A moving member, which is slidably arranged on the transmission member. The movable lens is arranged on the moving member. A preset frictional force is defined between the moving member and the transmission member, and the preset frictional force can keep the moving member stationary relative to the transmission member;

[0009] A vibration linear driver, which is a piezoelectric linear driver or an electrostrictive linear driver. The vibration linear driver is connected to the transmission member, and the vibration linear driver is used to drive the transmission member to vibrate in its extending direction. When the driving force applied by the vibration linear driver to the transmission member is greater than the preset frictional force, the moving member moves relative to the transmission member along the optical axis direction; when the driving force applied by the vibration linear driver to the transmission member is less than or equal to the preset frictional force, the moving member follows the transmission member to move along the optical axis direction.

[0010] In some embodiments of the first aspect, the vibration linear driver includes:

[0011] A carrier, which is elastic and has a load connection portion and a fixed connection portion;

[0012] A vibrating body, which has opposite first and second surfaces. Electrodes are respectively provided on the first and second surfaces. The first surface is attached to the load connection portion. The vibrating body has electroactivity. The transmission member is connected to the vibrating body. Based on the voltage applied to the vibrating body, the vibrating body can generate electrostrictive or piezoelectric expansion in the optical axis direction to form the vibration of the transmission member in the optical axis direction.

[0013] In some embodiments of the first aspect, the image module further includes a lens holder. The fixed lens includes a front fixed lens and a rear fixed lens. The movable lens is located between the front fixed lens and the rear fixed lens. The lens holder has a lens cavity that extends at least along the optical axis direction. The lens cavity has a first opening and a pair of second openings formed on the outer wall of the lens holder. The vibration linear driver is located outside the lens cavity. One end of the transmission member away from the vibration linear driver passes through the lens cavity and the first opening. The pair of second openings are oppositely arranged in the optical axis direction; wherein, the front fixed lens is hermetically arranged in one of the second openings, the rear fixed lens is hermetically arranged in the other second opening, and the transmission member is elastically sealed with the inner wall of the first opening, so that the lens cavity forms a sealed cavity.

[0014] In some embodiments of the first aspect, the lens cavity forms a pair of oppositely arranged first openings on the outer wall of the lens holder, and both ends of the transmission member respectively pass through the corresponding first openings.

[0015] In some embodiments of the first aspect, the transmission member is a transmission shaft, an elastic sealing ring is sleeved on the transmission shaft, the elastic sealing ring is arranged in the first opening, an inner side wall of the elastic sealing ring abuts against an outer wall of the transmission shaft, and an outer side wall of the elastic sealing ring abuts against an inner wall of the first opening, so that an elastic seal is formed between the transmission member and the first opening.

[0016] In some embodiments of the first aspect, the elastic sealing ring is adhesively bonded to the outer wall of the transmission shaft and the inner wall of the first opening respectively;

[0017] Or, the elastic sealing ring is adhesively bonded and sealed to the outer wall of the transmission shaft and the inner wall of the first opening respectively.

[0018] In some embodiments of the first aspect, the moving member includes a driving elastic piece, the transmission member is a transmission shaft, the driving elastic piece has an elastic clamping portion, a clamping space is defined in the elastic clamping portion, the transmission shaft passes through the clamping space, so that a clamping fit is formed between the transmission shaft and the elastic clamping portion, and a preset friction force is formed at a portion of contact between the transmission shaft and the elastic clamping portion.

[0019] In some embodiments of the first aspect, the elastic clamping portion defines the clamping space having a semi-enclosed structure;

[0020] And / or, the moving member further includes a lens frame, the lens frame is detachably connected to the driving elastic piece, a guiding channel is defined in the lens cavity, the guiding channel extends along the optical axis direction, at least a part of the lens frame is located in the guiding channel, the guiding channel is in sliding fit with the lens frame, and the movable lens is arranged on the lens frame.

[0021] In some embodiments of the first aspect, the object-image module further includes a photosensitive element and a mounting seat, the lens seat has a front end and a rear end, the front fixed lens, the movable lens, the rear fixed lens and the photosensitive element are sequentially arranged from the front end to the rear end of the lens seat and are all located on the optical axis direction, the photosensitive element is arranged on the mounting seat, the photosensitive element is used for performing photoelectric conversion on the image of the object to be photographed, the mounting seat is connected to the rear end of the lens seat, and the vibration linear driving member is located at the rear end of the lens seat.

[0022] In a second aspect, the present application further provides an endoscope, and the endoscope includes the object-image module of the endoscope according to any one of the above embodiments.

[0023] In a third aspect, the present application further provides a control method for an endoscope, which is applied to the endoscope according to the above embodiments, and the control method includes:

[0024] Obtain a control instruction, where the control instruction is used to characterize the operating parameters of the vibration linear drive; wherein, the operating parameters include vibration direction, vibration amplitude, vibration duty cycle, speed regulation duty cycle, and vibration frequency;

[0025] Control the operation of the vibration linear drive according to the control instruction, so that the movable lens moves to the target position.

[0026] The embodiments of the present application have the following advantages:

[0027] The present application provides an object image module of an endoscope. Through the cooperation of a vibration linear drive and a transmission member, precise movement of the movable lens is achieved, thereby adjusting the focal length. The specific working principle is as follows: The fixed lens and the movable lens are arranged in sequence along the optical axis direction. The movable lens can change the focal length by moving. The transmission member extends along the optical axis direction and is arranged parallel to the optical axis. The moving member can move along the transmission member, and there is a preset frictional force between the moving member and the transmission member. The movable lens is mounted on the moving member. The vibration linear drive (such as a piezoelectric linear drive or an electrostrictive linear drive) is connected to the transmission member and can drive the transmission member to vibrate in its extending direction.

[0028] When the vibration linear drive works, the vibrating body vibrates and transmits the driving force to the transmission member, driving the transmission member to vibrate together in its extending direction. Due to the preset frictional force between the moving member and the transmission member, the vibration of the transmission member will be transmitted to the moving member. Based on the inertia theorem, when the driving force is less than or equal to the preset frictional force, the moving member follows the transmission member and moves along the optical axis direction; when the driving force is greater than the preset frictional force, the moving member moves relative to the transmission member along the optical axis direction; wherein, by controlling the vibration duty cycle, speed regulation duty cycle, vibration frequency, and vibration amplitude of the vibration linear drive, the moving distance and speed of the moving member can be precisely controlled, and thus the precise position adjustment of the movable lens can be realized. Specifically as follows:

[0029] When the vibrating body receives a positive excitation voltage, it bends and strains in the driving direction, driving the transmission member to move S1 in the driving direction (optical axis direction). The driving force generated by controlling the bending strain through the voltage is less than or equal to the preset frictional force (maximum static frictional force) between the transmission member and the moving member, and the moving member and the transmission member are relatively stationary, and the moving member follows the transmission member and moves S1 in the driving direction (optical axis direction);

[0030] When the vibrating body receives a negative excitation voltage, it bends and strains in the direction opposite to the driving direction, driving the transmission member to move S2 in the driving direction (optical axis direction). The driving force generated by controlling the bending strain through the voltage is greater than the preset frictional force (maximum static frictional force) between the transmission member and the moving member, and sliding occurs between the moving member and the transmission member. The moving member remains stationary due to inertia or moves less than S2 (however, under the same control parameters, the moving distance of the moving member driven by each vibration is the same);

[0031] When the vibrating body is again subjected to a positive excitation voltage and bends in the driving direction, the driving transmission member moves S2 in the driving direction (optical axis direction). If the driving force generated by controlling the bending strain through the voltage is less than or equal to the preset frictional force (maximum static frictional force) between the transmission member and the moving member, the moving member and the transmission member are relatively stationary, and the moving member follows the transmission member to move S2 in the driving direction (optical axis direction).

[0032] By setting the vibration duty cycle, the pulse widths of the positive excitation voltage and the negative excitation voltage and the driving voltage are adjusted to generate different driving forces and vibration amplitudes.

[0033] Repeating this process can control the moving member to reach the target position in the driving direction (optical axis direction). Obviously, by controlling the driving force in the reverse direction, the reverse movement of the moving member can be controlled. For forward movement, the opposite operation can be performed. Several groups of positive and negative excitation cycles form a motion time slot, and a stationary time slot is set between two motion time slots. By adjusting the speed control duty cycle of the motion time slot and the stationary time slot, the regulation of the macroscopic motion speed can be achieved.

[0034] Through the cooperation of the vibration linear driving member and the transmission member in this application, the position of the movable lens can be accurately controlled, significantly improving the accuracy of focal length adjustment and the accuracy of positioning. Moreover, this application replaces the traditional manual focusing method and realizes automatic focusing through the vibration linear driving member, simplifies the operation process, and improves the convenience and efficiency of operation. Furthermore, the design of the vibration linear driving member and the transmission member makes the entire system more stable and reliable, reducing the errors and instabilities caused by manual operation.

[0035] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 Shows a schematic structural diagram of a perspective view of an object-image module of an endoscope provided by an embodiment of the present application;

[0038] Figure 2 Shows a schematic structural diagram of another perspective view of an object-image module of an endoscope provided by an embodiment of the present application;

[0039] Figure 3 The schematic structural diagram of one perspective of the moving member of the object-image module of an endoscope provided by an embodiment of the present application is shown;

[0040] Figure 4 The schematic structural diagram of another perspective of the moving member of the object-image module of an endoscope provided by an embodiment of the present application is shown;

[0041] Figure 5 The schematic diagram of the vibration principle of the vibration linear driving member of the object-image module of an endoscope provided by an embodiment of the present application is shown;

[0042] Figure 6 The schematic diagram of the moving principle of the moving member of the object-image module of an endoscope provided by an embodiment of the present application is shown;

[0043] Figure 7 The schematic diagram of the waveform of the voltage applied to the vibrating body provided by an embodiment of the present application is shown;

[0044] Figure 8 The schematic structural diagram of one perspective of an endoscope provided by an embodiment of the present application is shown;

[0045] Figure 9 The schematic circuit diagram of an endoscope provided by an embodiment of the present application is shown.

[0046] Description of main element symbols:

[0047] 1 - Endoscope;

[0048] 10 - Head end;

[0049] 100 - Object-image module; 110 - Front fixed lens; 120 - Movable lens; 130 - Rear fixed lens; 140 - Lens holder; 141 - Lens cavity; 142 - Guide channel; 150 - Mounting seat; 160 - Photosensitive element; 170 - Moving member; 171 - Lens frame; 172 - Driving spring piece; 173 - Elastic clamping portion; 174 - Clamping space; 180 - Elastic sealing ring; 190 - Transmission member; 200 - Vibration linear driving member; 210 - Vibrating body; 220 - Electrode; 230 - Carrier; S - Amplitude. Detailed implementation manners

[0050] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0051] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0052] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, the meaning of "a plurality" is two or more unless otherwise clearly and specifically defined.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the description of the template herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0055] In the related art, the endoscope 1 is widely used in the medical field. It is inserted into the natural channels of the human body (such as the digestive tract, respiratory tract, etc.) and the image of the lesion site in the channel is obtained through the image and object module 100 at the head end 10 for observation, diagnosis and treatment. The endoscope 1 includes an image processing system, a light source system and a lens body. Among them, the head end 10 is inserted into the body to observe the lesion site. In order to observe the lesion site more clearly, the zoom is adjusted by adjusting the distance between the lens of the image and object module 100, so as to improve the image effect of the endoscope 1. Specifically, generally, the manual focusing method is used. However, during the focal length adjustment process, the position of the lens is adjusted by pushing and pulling the wire. Due to the flexible characteristics of the wire, it is impossible to ensure the accuracy of the focal length adjustment and the accuracy of the positioning.

[0056] Such as Figure 1 、Figure 2 and Figure 5 As shown in Figure 5 , to solve the above technical problems, an object-image module 100 of an endoscope is provided in an embodiment of the present application. The object-image module 100 has an optical axis direction, and the object-image module 100 includes a fixed lens, a movable lens 120, a transmission member 190, a moving member 170, and a vibration linear drive member 200. The fixed lens and the movable lens 120 are arranged in sequence in the optical axis direction; the transmission member 190 has an extending direction, and the extending direction of the transmission member 190 is arranged parallel to the optical axis direction; the moving member 170 is slidably arranged on the transmission member 190, and a preset frictional force is defined between the moving member 170 and the transmission member 190. The movable lens 120 is arranged on the moving member 170, and the preset frictional force can keep the moving member 170 stationary relative to the transmission member 190; the vibration linear drive member 200 is a piezoelectric linear drive member or an electrostrictive linear drive member. The vibration linear drive member 200 is connected to the transmission member, and the vibration linear drive member 200 is used to drive the transmission member to vibrate in its extending direction. When the driving force applied by the vibration linear drive member to the transmission member is greater than the preset frictional force, the moving member moves relative to the transmission member along the optical axis direction; when the driving force applied by the vibration linear drive member to the transmission member is less than or equal to the preset frictional force, the moving member moves along the optical axis direction following the transmission member.

[0057] The object-image module 100 of the endoscope 1 provided in the embodiment of the present application solves the problems of insufficient accuracy and positioning accuracy caused by the flexible characteristics of the push-pull wire during the focal length adjustment process of the traditional endoscope 1. The following is a specific explanation of this technical solution:

[0058] The optical axis direction refers to the main axis direction of light propagation in an optical system. The fixed lens and the movable lens 120 are arranged along this direction to ensure the consistency of the optical path and the clarity of imaging.

[0059] The fixed lens is fixed in the object-image module 100 and does not move during the focusing process. It is mainly used for preliminary focusing and optical path correction. That is to say, the fixed lens is fixedly arranged at the head end portion 10 of the endoscope 1. It should be noted that the fixed connection between the fixed lens and the head end portion 10 is not limited to being non-detachable, and may also include a detachable connection between the two.

[0060] The movable lens 120 is mounted on the moving member 170 and can move along the optical axis direction. By changing the position of the movable lens 120, the relative position between the fixed lens and the movable lens can be changed to achieve the purpose of adjusting the focal length, so as to realize clear imaging of the lesion site.

[0061] The transmission member 190 extends along the optical axis and is arranged parallel to the optical axis, and is used to transmit the vibration energy of the vibration linear drive member 200. Exemplarily, the transmission member 190 can be an optical axis, a square shaft, a guide rail, etc., and no specific limitation is made here, as long as the sliding fit between the transmission member 190 and the moving member 170 in the optical axis direction can be ensured, and a preset frictional force exists between the two. At the same time, the cross-section of the transmission member 190 can be set to be circular, elliptical, triangular, square, rhombic, etc. It should be noted that the transmission member 190 ensures the effective transmission of vibration energy. Based on the inertia theorem, the driving force transmitted to the transmission member overcomes the preset frictional force to make the moving member 170 move along the optical axis direction.

[0062] The moving member 170 can move along the transmission member 190, and there is a preset frictional force between the moving member 170 and the transmission member 190. Exemplarily, the moving member 170 is clamped on the transmission member 190, and a clamping force is formed between the moving member 170 and the transmission member 190. The magnitude of the preset frictional force can be adjusted by the magnitude of the clamping force. Of course, the preset frictional force can also be changed by setting the contact area between the moving member 170 and the transmission member 190.

[0063] Exemplarily, the preset frictional force can be 0.10N, 0.15N, 0.20N, 0.25N, 0.30N, 0.35N, 0.40N or 0.45N, etc., and no specific limitation is made here. On this basis, vibration parameters are set according to the preset frictional force so that the driving force matches the preset frictional force, thereby controlling the moving member 170 to be able to move.

[0064] Among them, the magnitude of the preset frictional force should meet: in the case of removing the external force acting on the moving member, the preset frictional force is configured to be able to limit the position of the moving member and make the moving member 170 in a static state. That is to say, in the case of no external force acting on the moving member 170, the preset frictional force limits and locks the position of the moving member 170 on the transmission member 190, that is, the moving member 170 cannot move along the transmission member 190, and the moving member 170 and the transmission member 190 remain relatively stationary.

[0065] The vibration linear drive member 200 is a piezoelectric linear drive member or an electrostrictive linear drive member, and can generate high-frequency and small-amplitude vibrations.

[0066] Exemplarily, the piezoelectric linear drive member is a device that uses the inverse piezoelectric effect (mechanical deformation generated under the action of an electric field) of piezoelectric materials to achieve precise displacement control. Among them, the piezoelectric linear drive member is a piezoelectric ceramic actuator, a piezoelectric stepping motor, a piezoelectric ultrasonic motor or a piezoelectric inertia actuator, etc.

[0067] Exemplarily, an electro-mechanical linear actuator is a device that utilizes the electrostrictive effect (material deformation under an electric field) or electro-mechanical actuation mechanisms (such as electrostatic actuation, electrothermal actuation, etc.) to achieve linear displacement. It is similar to a piezoelectric linear actuator. Among them, the electro-mechanical linear actuator is an electrostrictive actuator that utilizes the deformation generated by electrostrictive materials (such as PMN-PT, lead magnesium niobate-lead titanate) under an electric field to achieve linear displacement. Alternatively, the electro-mechanical linear actuator is an electrostatic actuator that utilizes electrostatic force (Coulomb force) to drive the relative movement between electrodes 220 to achieve linear displacement. Alternatively, the electro-mechanical linear actuator is an electro-polymer actuator that utilizes the deformation of electro-polymer materials (such as dielectric elastomers, ionic polymer metal composites) under an electric field to achieve linear displacement.

[0068] The vibration linear actuator 200 is coupled to the transmission member 190 and acts on the moving member 170 with a driving force by driving the transmission member 190 to vibrate in its extending direction. When the vibration linear actuator 200 operates, the vibration of the transmission member 190 is transmitted to the moving member 170, causing the moving member 170 to move under the action of inertia.

[0069] When the driving force exceeds the preset frictional force, the moving member 170 will move along the optical axis direction, thereby driving the movable lens 120 to move and achieving precise adjustment of the focal length. The driving force is related to the vibration frequency and amplitude S. Briefly speaking, in each vibration cycle, the moving member 170 only moves a small distance when the driving force is greater than the preset frictional force, forming a step-by-step movement. Through the accumulation of multiple vibration cycles, precise displacement control can be achieved. The precision of the step-by-step movement depends on the step size of each movement. Obviously, as Figure 6 shown, when the driving force formed by each vibration remains unchanged, the step size of the moving member 170 during each vibration process is also fixed. Exemplarily, the voltage applied to the vibrating body 210 is a sawtooth pulse wave voltage, and the waveform schematic diagram of the sawtooth pulse wave voltage is as Figure 7 shown, for one-way movement.

[0070] In addition, when the direction of the sawtooth pulse wave voltage changes and the displacement caused by the changed pulse is transmitted to the transmission member, the moving direction of the moving member changes.

[0071] Optionally, in order to achieve more precise focal length adjustment, a control system can be introduced. The control system monitors the position of the movable lens 120 in real time through a position sensor and adjusts the vibration frequency and amplitude of the vibration linear actuator 200 according to the feedback signal. Obviously, the introduction of the control system can further improve the accuracy and stability of the focal length adjustment.

[0072] Therefore, through the cooperation of the vibration linear drive 200 and the transmission member 190, the present application realizes the precise movement of the movable lens 120, thereby adjusting the focal length. The specific working principle is as follows: The fixed lens and the movable lens 120 are arranged in sequence along the optical axis direction, and the movable lens 120 can change the focal length by moving. The transmission member 190 extends along the optical axis direction and is arranged parallel to the optical axis. The moving member 170 can move along the transmission member 190, and there is a preset frictional force between the moving member 170 and the transmission member 190. The movable lens 120 is mounted on the moving member 170. The vibration linear drive 200 (such as a piezoelectric linear drive or an electrostrictive linear drive) is connected to the transmission member 190 and can drive the transmission member 190 to generate vibration in its extending direction.

[0073] When the vibration linear drive 200 operates, the transmission member 190 will generate a small vibration in its extending direction. Due to the preset frictional force between the moving member 170 and the transmission member 190, the vibration of the transmission member 190 will be transmitted to the moving member 170. When the driving force exceeds the preset frictional force, the moving member 170 will move along the optical axis direction, thereby driving the movable lens 120 to move. By controlling the vibration frequency and amplitude of the vibration linear drive 200, the moving distance and speed of the moving member 170 can be precisely controlled. To obtain a better motion effect, the moving distance can also be controlled by fixing the vibration frequency and amplitude and using the number of vibrations, and the macroscopic motion speed can be controlled by adjusting the duty cycle of the speed regulation to generate different high-frequency intermittent motions, thereby realizing the precise position adjustment of the movable lens 120.

[0074] The movement of the movable lens 120 will change the focal length of the object image module 100, thereby adjusting the imaging clarity of the endoscope 1. By precisely controlling the position of the movable lens 120, clear imaging of the lesion site can be achieved, improving the accuracy of diagnosis and treatment. That is to say, through the cooperation of the vibration linear drive 200 and the transmission member 190, the present application can precisely control the position of the movable lens 120, significantly improving the accuracy of focal length adjustment and the accuracy of positioning. Moreover, the present application replaces the traditional manual focusing method and realizes automatic focusing through the vibration linear drive 200, simplifying the operation process and improving the convenience and efficiency of operation. Furthermore, the design of the vibration linear drive 200 and the transmission member 190 makes the entire system more stable and reliable, reducing the errors and instabilities caused by manual operation.

[0075] For ease of understanding, as Figure 6As shown in the figure, the moving principle is as follows: Based on the inertia theorem, when the driving force is less than or equal to the preset frictional force, the moving part moves along the optical axis direction following the transmission part; when the driving force is greater than the preset frictional force, the moving part moves relative to the transmission part along the optical axis direction; among them, by controlling the vibration duty cycle, speed regulation duty cycle, vibration frequency and vibration amplitude of the vibration linear drive, the moving distance and speed of the moving part can be accurately controlled, and thus the precise position adjustment of the movable lens can be achieved.

[0076] When the vibrating body is subjected to a positive excitation voltage, it bends and strains in the driving direction, driving the transmission part to move S1 in the driving direction (optical axis direction). The driving force generated by controlling the bending strain through the voltage is less than or equal to the preset frictional force (maximum static frictional force) between the transmission part and the moving part, and the moving part and the transmission part are relatively stationary. The moving part follows the transmission part and moves S1 in the driving direction (optical axis direction).

[0077] When the vibrating body is subjected to a negative excitation voltage, it bends and strains in the direction opposite to the driving direction, driving the transmission part to move S2 in the driving direction (optical axis direction). The driving force generated by controlling the bending strain through the voltage is greater than the preset frictional force (maximum static frictional force) between the transmission part and the moving part, and sliding occurs between the moving part and the transmission part. The moving part remains stationary due to inertia or moves less than S2 (however, under the same control parameters, the moving distance of the moving part driven by each vibration is the same).

[0078] When the vibrating body is subjected to a positive excitation voltage again, it bends and strains in the driving direction, driving the transmission part to move S2 in the driving direction (optical axis direction). The driving force generated by controlling the bending strain through the voltage is less than or equal to the preset frictional force (maximum static frictional force) between the transmission part and the moving part, and the moving part and the transmission part are relatively stationary. The moving part follows the transmission part and moves S2 in the driving direction (optical axis direction).

[0079] Repeating this way, the moving part can be controlled to reach the target position along the driving direction (optical axis direction). Obviously, by controlling the driving force in the reverse direction, the reverse movement of the moving part can be controlled. When moving forward, the opposite operation can be performed. Among them, several groups of positive and negative excitation cycles form a motion time slot, and a stationary time slot is set between two motion time slots. By adjusting the duty cycles of the motion time slot and the stationary time slot, the regulation of the macroscopic motion speed can be achieved.

[0080] Such as Figure 3 and Figure 4As shown, in some embodiments, the vibration linear driver 200 includes a carrier 230 and a vibrating body 210. The carrier 230 is elastic and has a load connection portion and a fixed connection portion. The vibrating body 210 has opposite first and second surfaces, and electrodes 220 are respectively provided on the first and second surfaces. The first surface is attached to the load connection portion. The vibrating body 210 is electroactive. The transmission member 190 is connected to the vibrating body 210. Based on the voltage applied to the vibrating body 210, the vibrating body 210 can generate electrostrictive or piezoelectric strain in the optical axis direction, so as to form the vibration of the transmission member 190 in the optical axis direction.

[0081] In these embodiments, the specific structure and working principle of the vibration linear driver 200 are further described. This design utilizes electrostrictive or piezoelectric effects to achieve high-precision linear motion control.

[0082] The carrier 230 is elastic and can deform and return to its original state when subjected to force. The load connection portion is used to connect to the vibrating body 210, while the fixed connection portion is used to fix the entire driver at an appropriate position of the object-image module 100.

[0083] Exemplarily, the carrier 230 is made of an elastic material, such as a rubber material, a phosphor bronze material, etc. Among them, the carrier 230 has a certain thickness, so that the carrier 230 forms a plate-like structure, and the outer shape of the carrier 230 is circular, square, triangular, etc.

[0084] The vibrating body 210 has opposite first and second surfaces, and each surface is provided with an electrode 220. The first surface is attached to the load connection portion of the carrier 230. By applying a voltage, the vibrating body 210 can be excited to generate electrostrictive or piezoelectric effects. Among them, the material of the vibrating body 210 is electroactive, which means that it can deform according to the applied voltage. The material of the vibrating body 210 includes piezoelectric ceramics (such as PZT), electrostrictive materials (such as PMN-PT), etc. Similarly, the vibrating body 210 can be set as a piezoelectric substrate or an electrostrictive substrate.

[0085] Exemplarily, the vibrating body 210 is a piezoelectric ceramic sheet. Metal electrodes 220 (such as silver electrodes 220) are respectively plated on two opposite surfaces of the piezoelectric ceramic sheet. One electrode 220 is connected to the positive pole of a high-voltage AC power supply, and the other electrode 220 is connected to the negative pole. A signal generator is used to generate an AC voltage signal with a specific frequency and amplitude, and after amplifying this signal through a driving circuit, it is applied to the electrode 220. When the voltage is applied to the electrode 220, the piezoelectric ceramic sheet will generate a tiny deformation in the optical axis direction, and this deformation is transmitted to the transmission member 190 through the carrier 230, causing the transmission member 190 to vibrate in the optical axis direction. The vibration of the transmission member 190 acts as a driving force on the moving member 170. When the driving force is greater than the preset frictional force between the moving member 170 and the transmission member 190, the moving member 170 moves in the optical axis direction, driving the movable lens 120 to move together, achieving precise adjustment of the focal length.

[0086] For ease of understanding, the working principle is provided as follows:

[0087] When the voltage is applied to the electrode 220 of the vibrating body 210, the vibrating body 210 will generate a tiny deformation in the optical axis direction according to its material properties (electrostriction or piezoelectric effect). Since the vibrating body 210 is attached to the load connection portion of the carrier 230, this deformation is transmitted to the transmission member 190 through the carrier 230, causing the transmission member 190 to vibrate in the optical axis direction. The vibration of the transmission member 190 generates a driving force, and this driving force acts on the moving member 170. If the driving force is greater than the preset frictional force between the moving member 170 and the transmission member 190, the moving member 170 will move in the optical axis direction, driving the movable lens 120 to move together. Moreover, by precisely controlling the voltage frequency and amplitude applied to the vibrating body 210, the amount of deformation of the vibrating body 210 can be adjusted, thereby precisely controlling the displacement and speed of the moving member 170.

[0088] As Figure 1 and Figure 2 shown, in some embodiments, the object-image module 100 further includes a lens holder 140. The fixed lens includes a front fixed lens 110 and a rear fixed lens 130. The movable lens 120 is located between the front fixed lens 110 and the rear fixed lens 130. The lens holder 140 has a lens cavity 141, and the lens cavity 141 extends at least along the optical axis direction. The lens cavity 141 has a first opening and a pair of second openings formed on the outer wall of the lens holder 140. The vibrating linear drive member 200 is located outside the lens cavity 141. One end of the transmission member 190 facing away from the vibrating linear drive member 200 penetrates through the lens cavity 141 and the first opening, and the pair of second openings are oppositely arranged in the optical axis direction; wherein, the front fixed lens 110 is hermetically arranged at one of the second openings, the rear fixed lens 130 is hermetically arranged at the other second opening, and the transmission member 190 and the inner wall of the first opening are elastically sealed, so that the lens cavity 141 forms a sealed cavity.

[0089] In these embodiments, the structure of the object-image module 100 is further described in detail, especially the layout of the lens holder 140, the fixed lens and the movable lens 120, and the sealing design.

[0090] The lens holder 140 has a lens cavity 141 extending along the optical axis direction inside, which is used to accommodate the fixed lens and the movable lens 120, and allows the movable lens to move along the optical axis direction.

[0091] The first opening is located on one side of the lens cavity 141, allowing the transmission member 190 to pass through and elastically seal with the inner wall of the lens cavity 141 to form a sealed cavity. It should be noted that due to the elastic sealing structure between the transmission member 190 and the first opening, the vibration transmission from the transmission member 190 and the vibration linear drive member 200 to the lens holder 140 can be slowed down or blocked, reducing the impact on the image quality. Moreover, the elastic sealing structure can not only achieve sealing, but also enable the transmission member 190 to perform reciprocating displacement in the vibration direction (i.e., the optical axis direction).

[0092] A pair of second openings are oppositely arranged in the optical axis direction, and are respectively used to mount the front fixed lens 110 and the rear fixed lens 130. Among them, the front fixed lens 110 is hermetically mounted in one second opening and is located in front of the movable lens 120. The rear fixed lens 130 is hermetically mounted in the other second opening and is located behind the movable lens 120. It is also used to make the lens cavity 141 form a sealed cavity. Exemplarily, the front fixed lens 110 is bonded to the corresponding second opening by sealant, and the rear fixed lens 130 is bonded to the corresponding second opening by sealant.

[0093] Making the lens cavity 141 form a sealed cavity can prevent impurities such as dust and moisture in the external environment from entering the lens cavity 141, ensuring the cleanliness and stable operation of the optical system.

[0094] The movable lens 120 is located between the front fixed lens 110 and the rear fixed lens 130, and changes the focal length by moving to achieve clear imaging. The vibration linear drive member 200 is located outside the lens cavity 141 and is connected to the moving member 170 in the lens cavity 141 through the transmission member 190 to drive the movable lens 120 to move along the optical axis direction. One end of the transmission member 190 is connected to the vibration linear drive member 200, and the other end passes through the first opening and enters the lens cavity 141 and is connected to the moving member 170 to transmit vibration energy.

[0095] It should be noted that the movable lens 120 is mounted on the moving member 170 and can move along the optical axis direction. By changing its position relative to other lenses, the focal length of the entire optical system can be adjusted. When the movable lens 120 moves along the optical axis direction, the relative distances between the movable lens 120 and the front fixed lens 110 and the rear fixed lens 130 change, thereby changing the focal length of the optical system. This change enables the system to obtain clear images at different distances. Exemplarily, the movable lens 120 is a single-piece movable lens 120, a composite movable lens 120 group, or a MEMS lens (Micro-Electro-Mechanical Systems), etc.

[0096] The front fixed lens 110 is hermetically mounted in a second opening and is fixed in position. Its main function is to initially focus the light and provide a stable incident light path for subsequent optical elements. The front fixed lens 110 is usually designed to have specific curvatures and refractive indices to correct the direction and angle of the incident light, ensuring that the light can accurately enter the movable lens 120 and other subsequent optical elements. Exemplarily, the front fixed lens 110 is a single-piece spherical lens, a two-piece cemented spherical lens, an aspherical lens, an achromatic lens, a plano-convex lens, or a plano-concave lens, etc.

[0097] The rear fixed lens 130 is also hermetically mounted in another second opening and is fixed in position. Its main function is to finally focus the light after passing through the movable lens 120 to form a clear image. The rear fixed lens 130 determines the resolution and clarity of the final image. It usually has high optical performance and can effectively correct chromatic aberration and spherical aberration, improving the imaging quality. The rear fixed lens 130 is responsible for further focusing the light after being focused by the movable lens 120 to form a clear image for the doctor to observe and diagnose. Exemplarily, the rear fixed lens 130 is a single-piece spherical lens, a two-piece cemented spherical lens, an aspherical lens, an achromatic lens, a plano-convex lens, or a plano-concave lens, etc.

[0098] During the working process, the light first enters the lens cavity 141 through the front fixed lens 110. The front fixed lens 110 preliminarily corrects the light to ensure that the light enters the movable lens 120 at the best angle. The movable lens 120 moves along the optical axis direction as needed, changing its relative distances from the front fixed lens 110 and the rear fixed lens 130, thereby adjusting the focal length of the optical system. The light after being focused by the movable lens 120 continues to propagate and is finally focused by the rear fixed lens 130 to form a clear image.

[0099] As Figure 1 and Figure 2 shown, in some embodiments, the lens cavity 141 forms a pair of oppositely arranged first openings on the outer wall of the lens holder 140, and both ends of the transmission member 190 are respectively inserted into the corresponding first openings.

[0100] In these embodiments, the transmission member 190 is allowed to enter from both sides of the mirror cavity 141, and the moving member 170 is driven to move along the optical axis direction by the vibrating linear drive member 200. A pair of oppositely arranged first openings are formed on the outer wall of the mirror cavity 141, allowing the transmission member 190 to enter the mirror cavity 141 from both sides. The design of these first openings needs to ensure that the transmission member 190 can pass through smoothly and maintain good sealing performance to prevent external contaminants from entering the mirror cavity 141.

[0101] Both ends of the transmission member 190 are respectively inserted into a pair of oppositely arranged first openings, so that the transmission member 190 can be driven by the vibrating linear drive member 200 outside the mirror cavity 141, and at the same time, the vibration is transmitted to the moving member 170 inside the mirror cavity 141. Moreover, through a pair of first opening structures, both ends of the transmission member 190 can be supported, ensuring the stability of the transmission member 190 and avoiding interference between the movement of the moving member 170 and the inner wall of the mirror cavity 141.

[0102] Furthermore, the above structural arrangement can reduce the situation of the transmission member 190 swinging, ensuring the accuracy of the moving position of the moving member 170.

[0103] As Figure 1 and Figure 2 shown, in some embodiments, the transmission member 190 is a transmission shaft, and an elastic sealing ring 180 is sleeved on the transmission shaft. The elastic sealing ring 180 is arranged in the first opening, and the inner side wall of the elastic sealing ring 180 abuts against the outer wall of the transmission shaft, and the outer side wall of the elastic sealing ring 180 abuts against the inner wall of the first opening, so that an elastic seal is formed between the transmission member 190 and the first opening.

[0104] In these embodiments, the transmission member 190 adopts a transmission shaft structure, which is made of a rigid material, and the elastic sealing ring 180 is used to achieve the elastic seal between the transmission shaft and the first opening. This design not only ensures that the transmission member 190 can smoothly transmit vibration energy, but also effectively prevents external contaminants from entering the inside of the mirror cavity 141, maintaining the cleanliness and stable operation of the optical system.

[0105] The first opening is located on the outer wall of the mirror base 140, arranged in pairs, allowing the transmission shaft to pass through. A channel is provided to enable the transmission shaft to be connected from the outside of the mirror cavity 141 to the internal moving member 170, and at the same time, the sealing performance needs to be ensured to prevent external contaminants from entering the mirror cavity 141. The elastic sealing ring 180 is arranged in the first opening and sleeved on the transmission shaft. The inner side wall of the elastic sealing ring 180 closely fits the outer wall of the transmission shaft to form a dynamic seal, preventing contaminants such as dust and moisture from entering the mirror cavity 141 along the transmission shaft. The outer side wall of the elastic sealing ring 180 closely fits the inner wall of the first opening to form a seal, further enhancing the overall sealing effect.

[0106] The elastic sealing ring 180 is usually made of rubber or other elastic materials, has good elasticity and resilience, and can deform and return to its original shape when squeezed, so as to maintain the sealing effect.

[0107] In some embodiments, the elastic sealing ring 180 is adhesively bonded to the outer wall of the transmission shaft and the inner wall of the first opening respectively.

[0108] In these embodiments, the elastic sealing ring 180 is disposed within the first opening, sleeved on the transmission shaft, and fixed by an adhesive bonding method. That is, the inner side wall of the elastic sealing ring 180 is firmly adhesively bonded to the outer wall of the transmission shaft through an adhesive to form a seal. The outer side wall of the elastic sealing ring 180 is firmly adhesively bonded to the inner wall of the first opening through an adhesive to form a seal.

[0109] Select a high-strength and durable adhesive suitable for metal and rubber materials. Common adhesives include silicone glue, polyurethane glue, etc.

[0110] Obviously, by adhesively bonding the elastic sealing ring 180 to the outer wall of the transmission shaft and the inner wall of the first opening respectively, the elastic sealing ring 180 is configured to cooperate with the carrier 230 to drive the reset of the transmission shaft, which is beneficial to improving the service life of the carrier 230 and the position accuracy of the moving member 170.

[0111] In some embodiments, the elastic sealing ring 180 is adhesively bonded and sealed to the outer wall of the transmission shaft and the inner wall of the first opening respectively.

[0112] Obviously, by adhesively bonding the elastic sealing ring 180 to the outer wall of the transmission shaft and the inner wall of the first opening respectively, it can not only improve the sealing performance, but also enable the elastic sealing ring 180 to cooperate with the carrier 230 to drive the reset of the transmission shaft, which is beneficial to improving the service life of the carrier 230 and the position accuracy of the moving member 170.

[0113] As Figure 3 and Figure 4 shown, in some embodiments, the moving member 170 includes a driving spring piece 172, the transmission member 190 is a transmission shaft, the driving spring piece 172 has an elastic clamping portion 173, a clamping space 174 is defined in the elastic clamping portion 173, the transmission shaft passes through the clamping space 174, so that the transmission shaft and the elastic clamping portion 173 form a clamping fit, and a preset friction force is formed at the contact portion between the transmission shaft and the elastic clamping portion 173.

[0114] In these embodiments, the moving member 170 includes a driving spring piece 172 having an elastic clamping portion 173, and the transmission shaft passes through the clamping space 174 formed by the elastic clamping portion 173. This design realizes the preset friction force through the clamping fit between the elastic clamping portion 173 and the transmission shaft, so as to ensure that the moving member 170 can accurately move along the optical axis direction.

[0115] The moving member 170 carries the movable lens 120 and can move along the optical axis direction driven by the transmission shaft to adjust the focal length. In this embodiment, the moving member 170 includes a driving elastic piece 172, and the elastic piece has an elastic clamping portion 173.

[0116] The transmission shaft is responsible for transmitting the vibration energy generated by the vibration linear drive 200 to the moving member 170, and then driving the movable lens 120 to move. The transmission shaft should be made of a material with high strength, wear resistance and certain rigidity, such as a graphite rod. Of course, other materials can also be selected.

[0117] The elastic clamping portion 173 has a certain elasticity and can form a clamping space 174. The space defined by the elastic clamping portion 173 allows the transmission shaft to pass through it, and provides a clamping force through the elastic clamping portion 173. Exemplarily, the elastic clamping portion 173 has two arc-shaped elastic clamping arms, and the clamping space 174 is surrounded by the two arc-shaped elastic clamping arms.

[0118] The transmission shaft passes through the clamping space 174 formed by the elastic clamping portion 173, and a clamping fit is formed between the two. The contact part between the elastic clamping portion 173 and the transmission shaft forms a preset frictional force, and this frictional force can be adjusted according to the design parameters (such as material, thickness, shape, etc.) of the elastic clamping portion 173 to meet different application requirements.

[0119] After the vibration linear drive 200 applies a voltage, it generates a small deformation and transmits it to the moving member 170 through the transmission shaft. While transmitting the vibration, the transmission shaft maintains close contact with the moving member 170 through the elastic clamping portion 173. When the transmission shaft generates vibration, due to the preset frictional force between the elastic clamping portion 173 and the transmission shaft, the moving member 170 will move along the optical axis direction under the action of the driving force. Only when the driving force is greater than the preset frictional force will the moving member 170 move, thereby driving the movable lens 120 to adjust the focal length.

[0120] As Figure 4 shown, in some embodiments, the elastic clamping portion 173 defines a clamping space 174 having a semi-enclosed structure.

[0121] In these embodiments, the elastic clamping portion 173 defines a clamping space 174 having a semi-enclosed structure. This design allows the transmission shaft to pass through the clamping space 174, and realizes precise control of the moving member 170 through the preset frictional force provided by the elastic clamping portion 173. The clamping space 174 defined by the elastic clamping portion 173 has a semi-enclosed structure, which means that the clamping space 174 is not completely enclosed but partially open.

[0122] The semi - enclosed structure makes it easier to install the drive shaft into the clamping space 174, simplifying the assembly process. The semi - enclosed structure can better adapt to the minor deformation and displacement of the drive shaft, ensuring the stability and reliability of the system. The semi - enclosed structure clamping space 174 formed by the elastic clamping part 173 allows the drive shaft to pass through it and provides a clamping force through the elastic clamping part 173.

[0123] The contact part between the elastic clamping part 173 and the drive shaft forms a preset frictional force, which can be adjusted according to the design parameters of the elastic clamping part 173 to meet different application requirements.

[0124] Furthermore, the wear caused by the repeated movement of the elastic clamping part 173 over a long time is compensated by the ability of the clamping space to contract, maintaining the preset frictional force basically constant. Of course, after the elastic clamping part 173 is worn, the step size of the single movement of the moving part can be obtained through a position sensor or a displacement sensor, so as to facilitate the adjustment of voltage parameters, and then adjust the amplitude and frequency to accurately control the moving position of the movable lens.

[0125] Exemplarily, the inner wall of the clamping space 174 forms multiple - point contact with the drive shaft, and the multiple - point contact is at least distributed circumferentially on the drive shaft. Optionally, the elastic clamping part 173 is formed by bending an elastic metal sheet.

[0126] As Figure 4 shown, in some embodiments, the moving part 170 further includes a lens frame 171. The lens frame 171 and the driving elastic piece 172 are detachably connected. The lens cavity 141 is defined with a guiding channel 142, and the guiding channel 142 extends along the optical axis direction. The lens frame 171 is at least partially located in the guiding channel 142, and the guiding channel 142 and the lens frame 171 are in sliding fit. The movable lens 120 is arranged on the lens frame 171.

[0127] In these embodiments, the moving part 170 not only includes the driving elastic piece 172, but also includes a lens frame 171. The lens frame 171 and the driving elastic piece 172 are detachably connected, and a guiding channel 142 extending along the optical axis direction is provided in the lens cavity 141. The lens frame 171 is at least partially located in the guiding channel 142, and precise linear motion is achieved through sliding fit.

[0128] That is to say, the driving elastic piece 172 includes a first elastic clamping portion for clamping the transmission shaft and providing a preset frictional force. The lens frame 171 is used to fix the movable lens 120 and achieve precise linear movement through the guiding channel 142. The transmission shaft is responsible for transmitting the vibration energy generated by the vibration linear driving member 200 to the moving member 170, thereby driving the movable lens 120 to move. The lens frame 171 bears the movable lens 120 and can perform precise linear movement along the optical axis direction under the guidance of the guiding channel 142. The lens frame 171 is made of a light but high-strength material, such as aluminum alloy or engineering plastic, to ensure its reliability and stability during long-term use.

[0129] A detachable connection method, such as snap connection or bonding, is adopted between the lens frame 171 and the driving elastic piece 172, which can effectively reduce the usage amount of components, reduce the weight, and facilitate assembly.

[0130] Among them, the guiding channel 142 is located inside the mirror cavity 141 and extends along the optical axis direction. It provides a precise linear movement path for the lens frame 171 to ensure that the movable lens 120 can move smoothly along the optical axis direction. The guiding channel 142 usually has a high-precision machined surface to reduce friction and ensure the smooth sliding of the lens frame 171.

[0131] At least a part of the lens frame 171 is located inside the guiding channel 142, and a sliding fit is formed between the two. This fitting method ensures that the lens frame 171 will not shift or tilt during the movement, thus ensuring the stability of the optical system and the imaging quality.

[0132] Such as Figure 1 and Figure 2 As shown, in some embodiments, the object-image module 100 further includes a photosensitive element 160 and a mounting seat 150. The lens base 140 has a front end and a rear end. The front fixed lens 110, the movable lens 120, the rear fixed lens 130, and the photosensitive element 160 are sequentially arranged from the front end to the rear end of the lens base 140 and are all located on the optical axis direction. The photosensitive element 160 is arranged on the mounting seat 150, the mounting seat 150 is connected to the rear end of the lens base 140, and the vibration linear driving member 200 is located at the rear end of the lens base 140.

[0133] In these embodiments, the object-image module 100 not only includes the front fixed lens 110, the movable lens 120, and the rear fixed lens 130, but also adds a photosensitive element 160 and a mounting seat 150. These components are sequentially arranged from the front end to the rear end of the lens base 140 and are all located on the optical axis direction. The vibration linear driving member 200 is located at the rear end of the lens base 140 and is used to drive the movable lens 120 for precise focusing.

[0134] The lens holder 140 has a definite front end and a rear end. The front end of the lens holder 140 is the end closer to the end of the head portion 10 of the endoscope 1, and the rear end is the end farther from the end of the head portion 10 of the endoscope 1. The optical elements are arranged in sequence from front to back. The lens holder 140 provides a stable structure to accommodate and protect each optical element and ensure their alignment along the optical axis direction.

[0135] The front fixed lens 110 is located at the front end of the lens holder 140 to initially focus and correct the incident light.

[0136] The movable lens 120 is located between the front fixed lens 110 and the rear fixed lens 130 and can move along the optical axis direction driven by the transmission shaft to adjust the focal length.

[0137] The rear fixed lens 130 is located behind the movable lens 120 to further focus the light and form a clear image.

[0138] The photosensitive element 160 is located at the rear end of the lens holder 140 to receive the light focused by the optical system and convert it into an electrical signal.

[0139] Among them, the photosensitive element 160 converts the light focused by the optical system into an electrical signal for subsequent processing and display. Exemplarily, the photosensitive element 160 includes CMOS (Complementary Metal Oxide Semiconductor) and CCD (Charge Coupled Device) sensors.

[0140] The mounting seat 150 is used to fix the photosensitive element 160 and ensure its tight connection with the rear end of the lens holder 140 to maintain the alignment accuracy of the optical system. The mounting seat 150 is usually firmly connected to the rear end of the lens holder 140 by snap connection, bonding or other mechanical connection methods to ensure the stable position of the photosensitive element 160.

[0141] Furthermore, the vibration linear drive 200 is located at the rear end of the lens holder 140, close to the side of the photosensitive element 160. It transmits vibration energy through the transmission shaft to drive the movable lens 120 to move along the optical axis direction to achieve precise focusing. Obviously, the working characteristics of the vibration linear drive 200 will not generate electromagnetic interference to the photosensitive element 160. Exemplarily, the fixed connection part of the carrier 230 is connected to the mounting seat 150, and the fixed connection part is the edge part of the carrier 230. By fixing the periphery of the fixed connection part, the vibration direction can be defined.

[0142] Of course, in other embodiments, the fixed connection part can also be adhesively fixed to the outer side wall of the first opening, which can further improve the sealing performance. Or, it can also replace the elastic sealing ring 180.

[0143] It should be noted that the lens holder 140 is set as a split structure, which is beneficial to subsequent assembly.

[0144] Such as Figure 1and Figure 2 As shown, in some embodiments, the axis of the transmission shaft and the direction of the optical axis form an angle, such that the object image module 100 is thicker at the front end and thinner at the rear end, that is, the head end 10 of the endoscope 1 is also thicker at the front end and thinner at the rear end, which is beneficial for moving the head end 10 in the human body cavity.

[0145] Such as Figure 8 As shown, in some embodiments, the present application further provides an endoscope 1, which includes the object image module 100 of any one of the endoscopes in the above embodiments.

[0146] Since the object image module 100 of the above endoscope has the above technical effects, the endoscope 1 including the object image module 100 of the endoscope should have the same technical effects, which will not be elaborated here.

[0147] In some embodiments, the present application further provides a control method for an endoscope, which is applied to the endoscope described in the above embodiments, wherein the driver can be provided inside the endoscope or inside the image processor. The control method includes the following steps:

[0148] Step S100: Obtain a control instruction, where the control instruction is used to characterize the operating parameters of the vibration linear drive; wherein, the operating parameters include the vibration direction, vibration amplitude, vibration duty cycle, speed regulation duty cycle, and vibration frequency;

[0149] Step S200: Control the operation of the vibration linear drive according to the control instruction, so that the movable lens moves to the target position.

[0150] Among them, the control instruction is input to the main processor of the image processor by manually controlling the button, and then the main processor sends an operation instruction to the driver, and the driver runs after applying the corresponding voltage to the vibration linear drive. Briefly speaking,

[0151] Manually control the button:

[0152] The user inputs a control instruction to the system by pressing a specific button. These buttons can be physical buttons, virtual buttons on the touch screen, or other forms of human-computer interaction interfaces.

[0153] The operation of the button may correspond to different functions or parameter settings, such as adjusting the vibration direction, vibration amplitude, vibration frequency, etc. (The relevant parameters can also be preset through the setting interface)

[0154] The main processor receives the control instruction:

[0155] The main processor in the image processor is responsible for receiving the input signal from the button.

[0156] The main processor decodes the instructions corresponding to the keys and generates corresponding operation instructions.

[0157] The main processor sends the operation instructions to the driver:

[0158] The main processor sends the decoded operation instructions to the driver.

[0159] The driver is an intermediate device responsible for converting the instructions of the main processor into specific electrical signal outputs.

[0160] The driver applies a voltage to the vibration linear drive:

[0161] After receiving the instructions from the main processor, the driver applies the corresponding voltage to the vibration linear drive.

[0162] Parameters such as the magnitude, frequency, and waveform of the voltage are determined by the instructions of the main processor and are used to control the specific operating state of the vibration linear drive.

[0163] The vibration linear drive operates:

[0164] The vibration linear drive (such as a piezoelectric linear drive or an electrostrictive linear drive) starts to work after receiving the voltage provided by the driver.

[0165] According to the characteristics of the input voltage (such as amplitude, frequency, etc.), the vibration linear drive generates vibrations in a specific direction, amplitude, and frequency.

[0166] This vibration further drives the transmission member and the moving member, thereby achieving precise movement of the movable lens.

[0167] In all the examples shown and described here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0168] It should be noted that like reference numerals and letters denote like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0169] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but should not be construed as a limitation on the scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application.

Claims

1. An endoscope image module, characterized in that: The object-image module has an optical axis direction, and the object-image module includes: A fixed lens and a movable lens, wherein the fixed lens and the movable lens are arranged in sequence in the direction of the optical axis; a transmission member, the transmission member extending along an extension direction parallel to the optical axis direction; a moving member, the moving member slidably arranged on the transmission member, the movable lens being arranged on the moving member, a preset friction force being defined between the moving member and the transmission member, the preset friction force being able to keep the moving member in a stationary state relative to the transmission member; A vibrating linear driver, wherein the vibrating linear driver is a piezoelectric linear driver or an electro-linear driver, wherein the vibrating linear driver is connected to the transmission member, and wherein the vibrating linear driver is used to drive the transmission member to vibrate in its extension direction, and when the driving force applied to the transmission member by the vibrating linear driver is greater than the preset friction force, the movable member moves relative to the transmission member along the optical axis direction; and when the driving force applied to the transmission member by the vibrating linear driver is less than or equal to the preset friction force, the movable member follows the transmission member to move along the optical axis direction.

2. The endoscope image module according to claim 1, characterized in that: The vibrating linear drive comprises: A carrier, wherein the carrier is elastic and has a load connection portion and a fixed connection portion; A vibrating body, wherein the vibrating body has a first surface and a second surface relative to each other, the first surface and the second surface respectively have electrodes, the first surface is attached to the load connecting portion, the vibrating body is electrically active, the transmission member is connected to the vibrating body, and based on the voltage applied to the vibrating body, the vibrating body can generate electrostriction or piezoelectric contraction in the direction of the optical axis to form vibration of the transmission member in the direction of the optical axis.

3. The endoscope image module according to claim 1, characterized in that: The object-image module also includes a mirror seat, the fixed lens includes a front fixed lens and a rear fixed lens, the movable lens is located between the front fixed lens and the rear fixed lens, the mirror seat has a mirror cavity, the mirror cavity is extended at least along the optical axis direction, the mirror cavity is formed with a first opening and a pair of second openings on the outer wall of the mirror seat, the vibrating linear driving member is located outside the mirror cavity, the end of the transmission member away from the vibrating linear driving member is passed through the mirror cavity and the first opening, and the pair of second openings are arranged opposite to each other in the optical axis direction; wherein, the front fixed lens is sealed at one of the second openings, the rear fixed lens is sealed at the other second opening, the transmission member and the inner wall of the first opening are elastically sealed, so that the mirror cavity forms a sealed cavity.

4. The object image module of the endoscope according to claim 3, characterized in that: The mirror cavity forms a pair of first openings that are opposite to each other on the outer wall of the mirror seat, and two ends of the transmission member are respectively inserted into the corresponding first openings.

5. The object image module of the endoscope according to claim 3 or 4, characterized in that: The transmission member is a transmission shaft, and the transmission shaft sleeve is provided with an elastic sealing ring. The elastic sealing ring is arranged in the first opening, and the inner wall of the elastic sealing ring abuts against the outer wall of the transmission shaft, and the outer wall of the elastic sealing ring abuts against the inner wall of the first opening, so that an elastic seal is formed between the transmission member and the first opening.

6. The object image module of the endoscope according to claim 5, characterized in that: The elastic sealing ring is bonded to the outer wall of the transmission shaft and the inner wall of the first opening respectively; Alternatively, the elastic sealing ring is bonded and sealed to the outer wall of the transmission shaft and the inner wall of the first opening respectively.

7. The endoscope image module according to claim 3, characterized in that: The movable part includes a driving spring piece, and the transmission part is a transmission shaft. The driving spring piece has an elastic clamping portion, and the elastic clamping portion defines a clamping space. The transmission shaft is passed through the clamping space, so that the transmission shaft and the elastic clamping portion form a clamping fit, and the contact portion between the transmission shaft and the elastic clamping portion forms the preset friction force.

8. The endoscope image module according to claim 7, characterized in that: The elastic clamping portion defines the clamping space which is formed into a semi-enclosed structure; And / or, the movable part also includes a lens frame, the lens frame and the driving spring are detachably connected, the mirror cavity is defined to form a guide channel, the guide channel is extended along the optical axis direction, the lens frame is at least partially located in the guide channel, the guide channel and the lens frame are slidably matched, and the movable lens is arranged on the lens frame.

9. The object-image module of the endoscope according to claim 3, characterized in that: The object-image module also includes a photosensitive element and a mounting seat, the lens seat has a front end and a rear end, the front fixed lens, the movable lens, the rear fixed lens and the photosensitive element are arranged in sequence from the front end to the rear end of the lens seat and are all located in the direction of the optical axis, the photosensitive element is used to perform photoelectric conversion on the image of the object being photographed, the photosensitive element is arranged on the mounting seat, the mounting seat is connected to the rear end of the lens seat, and the vibrating linear drive component is located at the rear end of the lens seat.

10. An endoscope, characterized in that: The endoscope comprises an object-image module of the endoscope as claimed in any one of claims 1 to 9.

11. A method for controlling an endoscope, characterized in that: Applied to the endoscope according to claim 10, the control method comprises: Acquire a control instruction, wherein the control instruction is used to characterize the operating parameters of the vibrating linear drive; wherein the operating parameters include vibration direction, vibration amplitude, vibration duty cycle, speed regulation duty cycle and vibration frequency; The vibration linear drive is controlled to operate according to the control instruction, so that the movable lens moves to a target position.

Images