An object image module of an endoscope, an endoscope, and a control method

Abstract

The application provides an object image module of an endoscope, the endoscope and a control method, and relates to the technical field of endoscopes. The object image module has an optical axis direction and comprises a fixed lens, a movable lens, a transmission member, a moving member and a vibration linear driving member. The fixed lens and the movable lens are sequentially arranged in the optical axis direction. The extension direction of the transmission member is parallel to the optical axis direction. The moving member is movably arranged on the transmission member, and a preset friction force is defined between the moving member and the transmission member. The movable lens is arranged on the moving member. The vibration linear driving member is a piezoelectric linear driving member or an electrostrictive linear driving member. The vibration linear driving member is connected with the transmission member, and is used for driving the transmission member to vibrate in the extension direction thereof. When the driving force of the vibration linear driving member applied to the transmission member is greater than the preset friction force, the moving member moves along the optical axis direction relative to the transmission member. The application can accurately control the position of the movable lens, and improve the accuracy of focal length adjustment and the accuracy of positioning.

Description

Technical Field

[0001] This application relates to the field of endoscope technology, and more particularly to an image module of an endoscope, an endoscope, and a control method thereof. Background Technology

[0002] Endoscopes are widely used in the medical field. They are inserted into natural passages of the human body (digestive tract, respiratory tract, etc.) and use an image module at the tip to acquire images of lesions within those passages for observation, diagnosis, and treatment. An endoscope consists of an image processing system, a light source system, and the endoscope itself. The tip is inserted into the body to observe lesions. To observe lesions more clearly, the lens of the image module is adjusted to zoom in or out, improving the endoscopic image quality. Specifically, manual focusing is generally used. However, during focus adjustment, the lens position is adjusted via a push-pull cable. Due to the flexibility of the push-pull cable, the precision of focus adjustment and the accuracy of positioning cannot be guaranteed. Summary of the Invention

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide an image module, endoscope, and control method for an endoscope, which can precisely control the position of the movable lens, improve the accuracy of focus adjustment and positioning, facilitate obtaining clearer endoscopic images, and help doctors to 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] This application provides the following technical solution:

[0005] In a first aspect, embodiments of this application provide an image module for an endoscope, the image module having an optical axis direction, the image module comprising:

[0006] A fixed lens and a movable lens are arranged sequentially along the optical axis.

[0007] A transmission component, wherein the transmission component has an extending direction, and the extending direction of the transmission component is arranged parallel to the optical axis direction;

[0008] A movable component is slidably disposed on the transmission component, and a movable lens is disposed on the movable component. A preset frictional force is defined between the movable component and the transmission component, and the preset frictional force enables the movable component to remain stationary relative to the transmission component.

[0009] A vibration linear actuator, which is a piezoelectric linear actuator or an electro-linear actuator, is connected to the transmission component. The vibration linear actuator drives the transmission component to vibrate in its extension direction. When the driving force applied by the vibration linear actuator to the transmission component is greater than the preset frictional force, the moving component moves relative to the transmission component along the optical axis. When the driving force applied by the vibration linear actuator to the transmission component is less than or equal to the preset frictional force, the moving component follows the transmission component and moves along the optical axis.

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

[0011] The carrier is elastic and has a load-bearing connection part and a fixed connection part;

[0012] A vibrating body having opposing first and second surfaces, each having an electrode, the first surface being attached to the load connection portion, the vibrating body being electrically active, the transmission member being connected to the vibrating body, and the vibrating body being able to generate electrostriction or piezoelectric stretching in the optical axis direction based on the voltage applied to the vibrating body, thereby generating 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 mount, 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 mount has a lens cavity, the lens cavity extends at least along the optical axis direction, the lens cavity forms a first opening and a pair of second openings on the outer wall of the lens mount, the vibration linear drive is located outside the lens cavity, one end of the transmission member away from the vibration linear drive member passes through the lens cavity and the first opening, the pair of second openings are arranged opposite to each other in the optical axis direction; wherein, the front fixed lens is sealed in one of the second openings, the rear fixed lens is sealed in the other second opening, and the inner walls of the transmission member and the first opening are elastically sealed, so that the lens cavity forms a sealed cavity.

[0014] In some embodiments of the first aspect, the mirror cavity forms a pair of opposing first openings on the outer wall of the mirror base, and the two ends of the transmission member respectively pass through the corresponding first openings.

[0015] In some embodiments of the first aspect, the transmission component is a transmission shaft, the transmission shaft is fitted with an elastic sealing ring, the elastic sealing ring is disposed in the first opening, and the inner sidewall of the elastic sealing ring abuts against the outer wall of the transmission shaft, and the outer sidewall of the elastic sealing ring abuts against the inner wall of the first opening, so that an elastic seal is formed between the transmission component and the first opening.

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

[0017] Alternatively, the elastic sealing ring may be bonded and sealed to the outer wall of the drive shaft and the inner wall of the first opening, respectively.

[0018] In some embodiments of the first aspect, the moving member includes a driving spring, the transmission member is a transmission shaft, the driving spring has an elastic clamping portion, the elastic clamping portion defines a clamping space, the transmission shaft passes through the clamping space, such that the transmission shaft and the elastic clamping portion form a clamping engagement, and the portion in contact between the transmission shaft and the elastic clamping portion forms the preset frictional force.

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

[0020] And / or, the movable component further includes a lens frame, the lens frame and the drive spring are detachably connected, the lens cavity defines a guide channel, the guide channel extends along the optical axis, the lens frame is at least partially located in the guide channel, the guide channel and the lens frame are slidably engaged, and the movable lens is disposed on the lens frame.

[0021] In some embodiments of the first aspect, the image module further includes a photosensitive element and a mounting base. The mounting base 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 sequentially from the front end to the rear end of the mounting base and are all located in the optical axis direction. The photosensitive element is disposed on the mounting base and is used to perform photoelectric conversion on the image of the subject. The mounting base and the rear end of the mounting base are connected, and the vibration linear drive is located at the rear end of the mounting base.

[0022] Secondly, this application also provides an endoscope, the endoscope including an image module of the endoscope as described in any of the above embodiments.

[0023] Thirdly, this application also provides a method for controlling an endoscope, applied to an endoscope as described in the above embodiments, the method comprising:

[0024] A control command is acquired, the control command being 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] The vibration linear drive is controlled according to the control command, so that the movable lens moves to the target position.

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

[0027] This application provides an image module for an endoscope, which achieves precise movement of a movable lens and thus adjusts the focal length through the cooperation of a vibration linear drive and a transmission component. The specific working principle is as follows: a fixed lens and a movable lens are arranged sequentially along the optical axis, and the movable lens can change its focal length by moving. The transmission component extends along the optical axis and is arranged parallel to the optical axis. A movable component can move along the transmission component and has a preset frictional force with it. The movable lens is mounted on the movable component. The vibration linear drive (such as a piezoelectric linear drive or an electrostrictive linear drive) is connected to the transmission component and can drive the transmission component to vibrate in its extension direction.

[0028] When the linear vibration drive is working, the vibrating body vibrates and transmits the driving force to the transmission component, causing the transmission component to vibrate along its extension direction. Due to the preset friction between the moving component and the transmission component, the vibration of the transmission component is transmitted to the moving component. Based on the law of inertia, when the driving force is less than or equal to the preset friction, the moving component follows the transmission component along the optical axis; when the driving force is greater than the preset friction, the moving component moves relative to the transmission component along the optical axis. By controlling the vibration duty cycle, speed regulation duty cycle, vibration frequency, and vibration amplitude of the linear vibration drive, the moving distance and speed of the moving component can be precisely controlled, thereby achieving precise position adjustment of the movable lens. Specifically:

[0029] When the vibrating body is subjected to a positive excitation voltage, it undergoes bending strain in the driving direction, which drives the transmission component to move S1 along the driving direction (optical axis direction). The driving force generated by the bending strain is controlled by voltage to be less than or equal to the preset friction force (maximum static friction force) between the transmission component and the moving component. The moving component and the transmission component are relatively stationary, and the moving component follows the transmission component to move S1 along the driving direction (optical axis direction).

[0030] When the vibrating body is subjected to a negative excitation voltage, it undergoes bending strain in the opposite direction of the driving direction, driving the transmission component to move S2 along the driving direction (optical axis direction). The driving force generated by the bending strain controlled by the voltage is greater than the preset friction force (maximum static friction force) between the transmission component and the moving component, causing sliding between the moving component and the transmission component. The moving component remains stationary due to inertial force or moves less than S2 (but under the same control parameters, the moving distance of the moving component is the same for each vibration).

[0031] When the vibrator is subjected to a positive excitation voltage again, it undergoes bending strain in the driving direction, which drives the transmission component to move along the driving direction (optical axis direction) for S2. The driving force generated by the bending strain is controlled by voltage to be less than or equal to the preset friction force (maximum static friction force) between the transmission component and the moving component. The moving component and the transmission component are relatively stationary, and the moving component follows the transmission component to move along the driving direction (optical axis direction) for S2.

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

[0033] By repeating this process, the moving part can be controlled to reach the target position along the driving direction (optical axis). Clearly, by controlling the driving force in the opposite direction, the moving part can be controlled to move in the opposite direction. For forward movement, the opposite operation is performed. Several sets of positive and negative excitation cycles are combined into a motion time slot, with a stationary time slot set between two motion time slots. By adjusting the speed regulation duty cycle of the motion and stationary time slots, the macroscopic motion speed can be adjusted.

[0034] This application, through the cooperation of a vibration linear drive and a transmission component, enables precise control of the position of the movable lens, significantly improving the accuracy of focus adjustment and positioning. Furthermore, this application replaces the traditional manual focusing method, achieving automatic focusing through the vibration linear drive, simplifying the operation process and improving convenience and efficiency. Moreover, the design of the vibration linear drive and transmission component makes the entire system more stable and reliable, reducing errors and instability caused by manual operation.

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This illustration shows a schematic diagram of the image module of an endoscope from one perspective, according to an embodiment of this application.

[0038] Figure 2 This illustration shows a structural schematic diagram of an endoscope image module provided by an embodiment of this application from another perspective;

[0039] Figure 3 This illustration shows a schematic diagram of the structure of a moving component of an endoscope's image module according to an embodiment of this application, taken from one perspective.

[0040] Figure 4 This illustration shows a structural schematic diagram from another perspective of the moving part of the image module of an endoscope provided in an embodiment of this application;

[0041] Figure 5 This illustration shows a schematic diagram of the vibration principle of a vibration linear drive for an endoscope's image module, provided in an embodiment of this application.

[0042] Figure 6 A schematic diagram illustrating the movement principle of a moving component of an endoscope's image module, provided in an embodiment of this application, is shown.

[0043] Figure 7 A waveform diagram of a voltage applied to a vibrating body according to an embodiment of this application is shown;

[0044] Figure 8 This illustration shows a schematic diagram of the structure of an endoscope provided by an embodiment of this application from one perspective;

[0045] Figure 9 A circuit diagram of an endoscope provided by an embodiment of this application is shown.

[0046] Explanation of key component symbols:

[0047] 1-Endoscope;

[0048] 10 - Head end;

[0049] 100-Image module; 110-Front fixed lens; 120-Modible lens; 130-Rear fixed lens; 140-Lens mount; 141-Lens cavity; 142-Guide channel; 150-Mounting base; 160-Photosensitive element; 170-Moving component; 171-Lens frame; 172-Drive spring; 173-Elastic clamping part; 174-Clamping space; 180-Elastic sealing ring; 190-Transmission component; 200-Vibration linear drive component; 210-Vibrating body; 220-Electrode; 230-Carrier; S-Amplitude. Detailed Implementation

[0050] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein 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 this application, and should not be construed as limiting this application.

[0051] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0052] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

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

[0055] In related technologies, endoscopes 1 are widely used in the medical field. They are inserted into natural human passages (digestive cavities, respiratory cavities, etc.) and the image module 100 at the tip 10 acquires images of lesions within these cavities for observation, diagnosis, and treatment. Endoscope 1 includes an image processing system, a light source system, and a scope body. The tip 10 is inserted into the body to observe lesions. To observe lesions more clearly, the lens of the image module 100 is adjusted to zoom in and out, improving the image quality of the endoscope 1. Specifically, manual focusing is generally used. However, during focus adjustment, the lens position is adjusted via a push-pull cable. Due to the flexibility of the push-pull cable, the precision of focus adjustment and the accuracy of positioning cannot be guaranteed.

[0056] like Figure 1 , Figure 2 and Figure 5 As shown, to solve the above-mentioned technical problems, this application provides an image module 100 for an endoscope. The image module 100 has an optical axis direction and 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 sequentially in the optical axis direction. The transmission member 190 has an extension direction, and the extension direction of the transmission member 190 is parallel to the optical axis direction. The moving member 170 is slidably disposed 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 190... 20 is disposed on the moving part 170, and the preset friction force enables the moving part 170 to remain stationary relative to the transmission part 190; the vibration linear drive 200 is a piezoelectric linear drive or an electro-linear drive, the vibration linear drive 200 is connected to the transmission part, and the vibration linear drive 200 is used to drive the transmission part to vibrate in its extension direction. When the driving force applied by the vibration linear drive to the transmission part is greater than the preset friction force, the moving part moves relative to the transmission part along the optical axis; when the driving force applied by the vibration linear drive to the transmission part is less than or equal to the preset friction force, the moving part follows the transmission part and moves along the optical axis.

[0057] The endoscope 1 image module 100 provided in this application embodiment solves the problem of insufficient precision and positioning accuracy caused by the flexible characteristics of the push-pull cable during the focus adjustment process of traditional endoscopes 1. The following is a detailed explanation of this technical solution:

[0058] The optical axis direction refers to the main axis direction of light propagation in the 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 the image.

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

[0060] The movable lens 120 is mounted on the movable component 170 and can move along the optical axis. By changing the position of the movable lens 120, the relative position of the fixed lens and the movable lens is changed, thereby adjusting the focal length and achieving clear imaging of the lesion.

[0061] The transmission component 190 extends along the optical axis and is arranged parallel to the optical axis to transmit the vibration energy of the linear vibration drive component 200. For example, the transmission component 190 can be an optical axis, a square shaft, or a guide rail, etc., without specific limitations, as long as it ensures sliding contact between the transmission component 190 and the moving component 170 in the optical axis direction and that there is a preset frictional force between them. Simultaneously, the cross-section of the transmission component 190 can be circular, elliptical, triangular, square, or rhomboid, etc. It should be noted that the transmission component 190 ensures the effective transmission of vibration energy. Based on the law of inertia, the driving force transmitted to the transmission component overcomes the preset frictional force, causing the moving component 170 to move along the optical axis direction.

[0062] The movable member 170 is movable along the transmission member 190 and has a preset frictional force with the transmission member 190. For example, the movable member 170 is clamped to the transmission member 190, and a clamping force is formed between the movable member 170 and the transmission member 190. The magnitude of the preset frictional force can be adjusted by the magnitude of the clamping force. Alternatively, the preset frictional force can be changed by setting the contact area between the movable member 170 and the transmission member 190.

[0063] For example, the preset friction force can be 0.10N, 0.15N, 0.20N, 0.25N, 0.30N, 0.35N, 0.40N, or 0.45N, etc., and is not specifically limited here. Based on this, vibration parameters are set according to the preset friction force to match the driving force and the preset friction force, thereby controlling the moving part 170 to move.

[0064] The magnitude of the preset friction force should meet the following condition: when the external force acting on the moving part is removed, the preset friction force is configured to limit the moving part, keeping the moving part 170 stationary. In other words, when no external force acts on the moving part 170, the preset friction force limits and locks the position of the moving part 170 on the transmission part 190, meaning that the moving part 170 cannot move along the transmission part 190, and the moving part 170 and the transmission part 190 remain relatively stationary.

[0065] The vibration linear actuator 200 is a piezoelectric linear actuator or an electro-linear actuator, capable of generating high-frequency micro-amplitude vibration.

[0066] For example, a piezoelectric linear actuator is a device that utilizes the inverse piezoelectric effect (mechanical deformation under the action of an electric field) of piezoelectric materials to achieve precise displacement control. Specifically, a piezoelectric linear actuator can be a piezoelectric ceramic actuator, a piezoelectric stepper motor, a piezoelectric ultrasonic motor, or a piezoelectric inertial actuator, etc.

[0067] For example, an electrostrictive linear actuator is a device that achieves linear displacement by utilizing the electrostrictive effect (deformation of a material under the action of an electric field) or an electro-actuation mechanism (such as electrostatic drive, electrothermal drive, etc.). It is similar to a piezoelectric linear actuator. Specifically, the electrostrictive linear actuator is an electrostrictive actuator that utilizes the deformation of an electrostrictive material (such as PMN-PT, lead magnesium niobate-lead titanate) under the action of an electric field to achieve linear displacement. Alternatively, the electrostrictive linear actuator is an electrostatic actuator that utilizes electrostatic force (Coulomb force) to drive the relative motion between electrodes 220 to achieve linear displacement. Or, the electrostrictive linear actuator is an electrostrictive polymer actuator that utilizes the deformation of an electrostrictive polymer material (such as a dielectric elastomer, ionomer metal composite material) under the action of an electric field to achieve linear displacement.

[0068] The vibration linear drive 200 is coupled to the transmission component 190. By driving the transmission component 190 to vibrate in its extension direction, the drive force is applied to the moving component 170. When the vibration linear drive 200 is working, the vibration of the transmission component 190 is transmitted to the moving component 170, causing the moving component 170 to move under the action of inertia.

[0069] When the driving force exceeds the preset friction force, the moving part 170 moves along the optical axis, thereby moving the movable lens 120 to achieve precise focal length adjustment. The driving force is related to the vibration frequency and amplitude S. Simply put, in each vibration cycle, the moving part 170 moves only a small distance when the driving force is greater than the preset friction force, forming a step-like movement. Through the accumulation of multiple vibration cycles, precise displacement control can be achieved. The accuracy of the step-like movement depends on the step size of each movement. Obviously, as... Figure 6 As shown, when the driving force generated by each vibration remains constant, the step size of the moving part 170 during each vibration is also fixed. For example, the voltage applied to the vibrating body 210 is a sawtooth pulse wave voltage, and a schematic diagram of the waveform of the sawtooth pulse wave voltage is shown below. Figure 7 As shown, this is a unidirectional movement.

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

[0071] Optionally, to achieve more precise focus adjustment, a control system can be introduced. This control system monitors the position of the movable lens 120 in real time using a position sensor and adjusts the vibration frequency and amplitude of the linear vibrating actuator 200 based on feedback signals. Clearly, the introduction of a control system can further improve the accuracy and stability of focus adjustment.

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

[0073] When the vibration linear drive 200 operates, the transmission component 190 generates minute vibrations in its extension direction. Due to the preset friction between the moving component 170 and the transmission component 190, the vibration of the transmission component 190 is transmitted to the moving component 170. When the driving force exceeds the preset friction, the moving component 170 moves along the optical axis, 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 component 170 can be precisely controlled. To obtain better motion effects, the moving distance can also be controlled by fixing the vibration frequency and amplitude and controlling the number of vibrations. By adjusting the speed adjustment duty cycle to generate different high-frequency intermittent movements, the macroscopic motion speed can be controlled, thereby achieving precise position adjustment of the movable lens 120.

[0074] The movement of the movable lens 120 changes the focal length of the 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. In other words, this application, through the cooperation of the vibration linear drive 200 and the transmission component 190, can precisely control the position of the movable lens 120, significantly improving the precision of focal length adjustment and the accuracy of positioning. Furthermore, this application replaces the traditional manual focusing method, achieving automatic focusing through the vibration linear drive 200, simplifying the operation process and improving the convenience and efficiency of operation. Moreover, the design of the vibration linear drive 200 and the transmission component 190 makes the entire system more stable and reliable, reducing errors and instability caused by manual operation.

[0075] For ease of understanding, such as Figure 6As shown, the movement principle is as follows: Based on the inertia theorem, when the driving force is less than or equal to the preset friction force, the moving part follows the transmission part and moves along the optical axis; when the driving force is greater than the preset friction force, the moving part moves relative to the transmission part along the optical axis; 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 part can be precisely controlled, thereby realizing the precise position adjustment of the movable lens.

[0076] When the vibrating body is subjected to a positive excitation voltage, it undergoes bending strain in the driving direction, which drives the transmission component to move S1 along the driving direction (optical axis direction). The driving force generated by the bending strain is controlled by voltage to be less than or equal to the preset friction force (maximum static friction force) between the transmission component and the moving component. The moving component and the transmission component are relatively stationary, and the moving component follows the transmission component to move S1 along the driving direction (optical axis direction).

[0077] When the vibrating body is subjected to a negative excitation voltage, it undergoes bending strain in the opposite direction of the driving direction, driving the transmission component to move S2 along the driving direction (optical axis direction). The driving force generated by the bending strain controlled by the voltage is greater than the preset friction force (maximum static friction force) between the transmission component and the moving component, causing sliding between the moving component and the transmission component. The moving component remains stationary due to inertial force or moves less than S2 (but under the same control parameters, the moving distance of the moving component is the same for each vibration).

[0078] When the vibrator is subjected to a positive excitation voltage again, it undergoes bending strain in the driving direction, which drives the transmission component to move along the driving direction (optical axis direction) for S2. The driving force generated by the bending strain is controlled by voltage to be less than or equal to the preset friction force (maximum static friction force) between the transmission component and the moving component. The moving component and the transmission component are relatively stationary, and the moving component follows the transmission component to move along the driving direction (optical axis direction) for S2.

[0079] By repeating this process, the moving part can be controlled to reach the target position along the driving direction (optical axis). Clearly, by controlling the driving force in the opposite direction, the moving part can be controlled to move in the opposite direction. For forward movement, the opposite operation is performed. Several sets of positive and negative excitation cycles are combined into a motion time slot, with a stationary time slot set between two motion time slots. By adjusting the duty cycle of the motion and stationary time slots, the macroscopic motion speed can be adjusted.

[0080] like Figure 3 and Figure 4As shown, in some embodiments, the vibration linear drive 200 includes a carrier 230 and a vibrator 210. The carrier 230 is elastic and has a load connection portion and a fixed connection portion. The vibrator 210 has a first surface and a second surface opposite to each other. The first surface and the second surface each have an electrode 220. The first surface is attached to the load connection portion. The vibrator 210 is electrically active. The transmission member 190 is connected to the vibrator 210. Based on the voltage applied to the vibrator 210, the vibrator 210 can generate electrostriction or piezoelectric stretching in the optical axis direction 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 actuator 200 are further described. This design utilizes electrostriction or piezoelectric effect to achieve high-precision linear motion control.

[0082] The carrier 230 is elastic and can deform and return to its original shape under the action of force. The load connection is used to connect with the vibrator 210, while the fixed connection is used to fix the entire drive component in the appropriate position of the image module 100.

[0083] For example, the carrier 230 is made of an elastic material, such as rubber, phosphor bronze, etc. The carrier 230 has a certain thickness, which makes the carrier 230 form a plate-like structure, and the shape of the carrier 230 is circular, square, triangular, etc.

[0084] The vibrator 210 has opposing first and second surfaces, each with an electrode 220. The first surface is attached to the load connection portion of the carrier 230, and the vibrator 210 can be excited to produce an electrostrictive or piezoelectric effect by applying a voltage. The vibrator 210 material is electroactive, meaning it can deform according to the applied voltage. The vibrator 210 material includes piezoelectric ceramics (such as PZT), electrostrictive materials (such as PMN-PT), etc. Similarly, the vibrator 210 can be configured as a piezoelectric substrate or an electrostrictive substrate.

[0085] For example, the vibrator 210 is a piezoelectric ceramic sheet. Metal electrodes 220 (such as silver electrodes 220) are plated on two opposite surfaces of the piezoelectric ceramic sheet. One electrode 220 is connected to the positive terminal of a high-voltage AC power supply, and the other electrode 220 is connected to the negative terminal. An AC voltage signal of a specific frequency and amplitude is generated using a signal generator, amplified by a drive circuit, and then applied to the electrode 220. When voltage is applied to the electrode 220, the piezoelectric ceramic sheet undergoes a slight deformation along the optical axis. This deformation is transmitted to the transmission component 190 via the carrier 230, causing the transmission component 190 to vibrate along the optical axis. The vibration of the transmission component 190 acts as a driving force on the moving component 170. When the driving force is greater than the preset frictional force between the moving component 170 and the transmission component 190, the moving component 170 moves along the optical axis, causing the movable lens 120 to move together, thus achieving precise adjustment of the focal length.

[0086] To facilitate understanding, the working principle is provided below:

[0087] When a voltage is applied to the electrode 220 of the vibrator 210, the vibrator 210 undergoes a slight deformation along the optical axis due to its material properties (electrostriction or piezoelectric effect). Since the vibrator 210 is attached to the load connection of the carrier 230, this deformation is transmitted to the transmission member 190 through the carrier 230, causing the transmission member 190 to vibrate along the optical axis. The vibration of the transmission member 190 generates a driving force, which 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 along the optical axis, causing the movable lens 120 to move as well. Furthermore, by precisely controlling the frequency and amplitude of the voltage applied to the vibrator 210, the deformation of the vibrator 210 can be adjusted, thereby precisely controlling the displacement and speed of the moving member 170.

[0088] like Figure 1 and Figure 2 As shown, in some embodiments, the image module 100 further includes a lens mount 140, the fixed lenses include 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 mount 140 has a lens cavity 141, 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 mount 140, the vibration linear drive 200 is located outside the lens cavity 141, the transmission member 190 has one end opposite to the vibration linear drive 200 passing through the lens cavity 141 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 110 is sealed in one of the second openings, the rear fixed lens 130 is sealed in the other second opening, and the inner wall of the transmission member 190 and the first opening is elastically sealed, so that the lens cavity 141 forms a sealed cavity.

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

[0090] The lens mount 140 has a lens cavity 141 extending along the optical axis for accommodating a fixed lens and a movable lens 120, and allows the movable lens to move along the optical axis.

[0091] The first opening is located on one side of the mirror cavity 141, allowing the transmission component 190 to pass through and elastically seal with the inner wall of the mirror cavity 141, forming a sealed cavity. It should be noted that the elastic sealing structure between the transmission component 190 and the first opening can slow down or block the transmission of vibration from the transmission component 190 and the vibration linear drive component 200 to the mirror mount 140, reducing the impact on image quality. Furthermore, the elastic sealing structure not only achieves sealing but also allows the transmission component 190 to reciprocate in the vibration direction (i.e., the optical axis direction).

[0092] A pair of second openings are arranged opposite each other along the optical axis, for mounting the front fixed lens 110 and the rear fixed lens 130, respectively. The front fixed lens 110 is sealed within one second opening, located before the movable lens 120. The rear fixed lens 130 is sealed within the other second opening, located after the movable lens 120. This also serves to form a sealed cavity in the lens cavity 141. For example, the front fixed lens 110 and the rear fixed lens 130 are bonded to their respective second openings using sealant.

[0093] By making the mirror cavity 141 a sealed cavity, it is possible to prevent dust, moisture and other impurities from the external environment from entering the mirror cavity 141, thus 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. Its movement changes the focal length, achieving clear imaging. The vibration linear drive 200 is located outside the mirror cavity 141 and is connected to the moving component 170 inside the mirror cavity 141 via a transmission component 190, driving the movable lens 120 to move along the optical axis. One end of the transmission component 190 is connected to the vibration linear drive 200, and the other end passes through the first opening into the mirror cavity 141 and is connected to the moving component 170, transmitting vibrational energy.

[0095] It should be noted that the movable lens 120 is mounted on the movable component 170 and can move along the optical axis. 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, the relative distance between the movable lens 120 and the front fixed lens 110 and the rear fixed lens 130 changes, thereby changing the focal length of the optical system. This change allows the system to obtain a clear image at different distances. For example, the movable lens 120 can be a single movable lens 120, a compound movable lens group 120, or a MEMS lens (Micro-Electro-Mechanical Systems), etc.

[0096] The front fixed lens 110 is sealed and mounted in a second opening, remaining in a fixed 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 typically designed with a specific curvature and refractive index 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. For example, the front fixed lens 110 can be a monolithic spherical lens, a cemented spherical doublet 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 sealed and installed in another second opening, its position fixed. Its main function is to finally focus the light after passing through the movable lens 120, forming a clear image. The rear fixed lens 130 determines the resolution and sharpness of the final image. It typically has high optical performance, effectively correcting chromatic aberration and aberrations, and improving image quality. The rear fixed lens 130 is responsible for further focusing the light after it has been focused by the movable lens 120, forming a clear image for doctors to observe and diagnose. For example, the rear fixed lens 130 can be a single spherical lens, a cemented spherical doublet lens, an aspherical lens, an achromatic lens, a plano-convex lens, or a plano-concave lens, etc.

[0098] During operation, light first enters the mirror cavity 141 through the front fixed lens 110. The front fixed lens 110 performs preliminary correction on the light, ensuring that it enters the movable lens 120 at the optimal angle. The movable lens 120 moves along the optical axis as needed, changing its relative distance to the front fixed lens 110 and the rear fixed lens 130, thereby adjusting the focal length of the optical system. The light, 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] like Figure 1 and Figure 2 As shown, in some embodiments, the mirror cavity 141 forms a pair of opposing first openings on the outer wall of the mirror base 140, and the two ends of the transmission member 190 respectively pass through the corresponding first openings.

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

[0101] The two 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 vibration linear drive member 200 outside the mirror cavity 141, while transmitting vibration to the moving member 170 inside the mirror cavity 141. Furthermore, the pair of first openings structure allows the two ends of the transmission member 190 to be supported, ensuring the stability of the transmission member 190 and preventing interference between the movement of the moving member 170 and the inner wall of the mirror cavity 141.

[0102] Furthermore, the above-mentioned structural design can reduce the swaying of the transmission component 190 and ensure the accuracy of the moving position of the moving component 170.

[0103] like Figure 1 and Figure 2 As shown, in some embodiments, the transmission member 190 is a transmission shaft, and the transmission shaft is fitted with an elastic sealing ring 180. The elastic sealing ring 180 is disposed in the first opening, and the inner sidewall of the elastic sealing ring 180 abuts against the outer wall of the transmission shaft, and the outer sidewall 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 component 190 adopts a transmission shaft structure made of rigid material, and an elastic sealing ring 180 is used to achieve an elastic seal between the transmission shaft and the first opening. This design not only ensures that the transmission component 190 can smoothly transmit vibration energy, but also effectively prevents external contaminants from entering the mirror cavity 141, keeping the optical system clean and stable in operation.

[0105] The first opening is located on the outer wall of the mirror housing 140, and is arranged in pairs to allow the drive shaft to pass through. It provides a channel for the drive shaft to connect from the outside of the mirror cavity 141 to the internal moving part 170, while ensuring a tight seal to prevent external contaminants from entering the mirror cavity 141. An elastic sealing ring 180 is disposed within the first opening and fitted onto the drive shaft. The inner wall of the elastic sealing ring 180 tightly adheres to the outer wall of the drive shaft, forming a dynamic seal to prevent dust, moisture, and other contaminants from entering the mirror cavity 141 along the drive shaft. The outer wall of the elastic sealing ring 180 tightly adheres to the inner wall of the first opening, forming a seal and further enhancing the overall sealing effect.

[0106] Elastic sealing rings 180 are typically made of rubber or other elastic materials, which have good elasticity and resilience, and can deform and return to their original shape when compressed, thereby maintaining the sealing effect.

[0107] In some embodiments, the elastic sealing ring 180 is bonded to the outer wall of the drive 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 drive shaft, and fixed by adhesive bonding. Specifically, the inner wall of the elastic sealing ring 180 is firmly bonded to the outer wall of the drive shaft using adhesive, forming a seal. Similarly, the outer wall of the elastic sealing ring 180 is firmly bonded to the inner wall of the first opening using adhesive, also forming a seal.

[0109] Choose a high-strength, durable adhesive suitable for both metal and rubber materials. Common adhesives include silicone sealants and polyurethane sealants.

[0110] Obviously, by bonding the elastic sealing ring 180 to the inner wall of the drive shaft and the first opening respectively, the elastic sealing ring 180, together with the carrier 230, is used to drive the drive shaft to reset, which helps to improve the service life of the carrier 230 and the positional accuracy of the moving part 170.

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

[0112] Obviously, by bonding the elastic sealing ring 180 to the inner wall of the drive shaft and the first opening respectively, the sealing performance can be improved, and the elastic sealing ring 180 can be used in conjunction with the carrier 230 to drive the reset of the drive shaft, which is beneficial to improving the service life of the carrier 230 and the positional accuracy of the moving part 170.

[0113] like Figure 3 and Figure 4 As shown, in some embodiments, the moving member 170 includes a driving spring 172, the transmission member 190 is a transmission shaft, the driving spring 172 has an elastic clamping portion 173, the elastic clamping portion 173 defines a clamping space 174, the transmission shaft passes through the clamping space 174, so that the transmission shaft and the elastic clamping portion 173 form a clamping engagement, 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 movable member 170 includes a drive spring 172 with an elastic clamping portion 173, and a drive shaft passes through the clamping space 174 formed by the elastic clamping portion 173. This design achieves a preset frictional force through the clamping engagement between the elastic clamping portion 173 and the drive shaft, thereby ensuring that the movable member 170 can move accurately along the optical axis.

[0115] The movable member 170 carries the movable lens 120 and can move along the optical axis direction under the drive of the drive shaft to adjust the focal length. In this embodiment, the movable member 170 includes a drive spring 172, which has an elastic clamping portion 173.

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

[0117] The elastic clamping part 173 has a certain degree of elasticity and can form a clamping space 174. The space defined by the elastic clamping part 173 allows the drive shaft to pass through it and provides clamping force through the elastic clamping part 173. For example, the elastic clamping part 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 drive shaft passes through the clamping space 174 formed by the elastic clamping part 173, and a clamping engagement is formed between the two. The contact portion between the elastic clamping part 173 and the drive shaft generates a preset friction force, which can be adjusted according to the design parameters of the elastic clamping part 173 (such as material, thickness, shape, etc.) to meet different application requirements.

[0119] When voltage is applied to the vibration linear drive 200, it generates a slight deformation, which is transmitted to the moving member 170 via the drive shaft. While transmitting vibration, the drive shaft maintains close contact with the moving member 170 via the elastic clamping part 173. When the drive shaft vibrates, due to the preset frictional force between the elastic clamping part 173 and the drive shaft, the moving member 170 moves along the optical axis under the action of the driving force. The moving member 170 will only move when the driving force is greater than the preset frictional force, thereby driving the movable lens 120 to adjust its focal length.

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

[0121] In these embodiments, the resilient clamping portion 173 defines a clamping space 174 with a semi-enclosed structure. This design allows the drive shaft to pass through the clamping space 174, and enables precise control of the moving part 170 through a preset frictional force provided by the resilient clamping portion 173. The clamping space 174 defined by the resilient clamping portion 173 has a semi-enclosed structure, which means that the clamping space 174 is not completely closed, 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 better accommodates minor deformations and displacements of the drive shaft, ensuring system stability and reliability. The semi-enclosed clamping space 174, formed by the elastic clamping part 173, allows the drive shaft to pass through it and provides clamping force through the elastic clamping part 173.

[0123] The contact portion between the elastic clamping part 173 and the drive shaft forms a preset friction 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 period of time can be compensated by the contraction of the clamping space, thus maintaining the preset friction force basically constant. Of course, after the elastic clamping part 173 wears, the step size of a single movement of the moving part can be obtained by a position sensor or displacement sensor, which makes it easier to adjust the voltage parameters, and then adjust the amplitude and frequency to precisely control the moving position of the movable lens.

[0125] For example, the inner wall of the clamping space 174 forms multiple points of contact with the drive shaft, and the multiple points of contact are at least distributed in the circumferential direction of the drive shaft. Optionally, the elastic clamping part 173 is formed by bending an elastic metal sheet.

[0126] like Figure 4 As shown, in some embodiments, the movable member 170 further includes a lens frame 171, the lens frame 171 and the drive spring 172 are detachably connected, the lens cavity 141 defines a guide channel 142, the guide channel 142 extends along the optical axis, the lens frame 171 is at least partially located in the guide channel 142, the guide channel 142 and the lens frame 171 are slidably engaged, and the movable lens 120 is disposed on the lens frame 171.

[0127] In these embodiments, the movable element 170 includes not only the drive spring 172 but also a lens frame 171. The lens frame 171 and the drive spring 172 are detachably connected, and a guide channel 142 extending along the optical axis is provided within the lens cavity 141. The lens frame 171 is at least partially located within the guide channel 142, achieving precise linear movement through a sliding fit.

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

[0129] The lens frame 171 and the drive spring 172 are connected by a detachable method, such as fastening or bonding, which can effectively reduce the number of parts used, reduce weight, and facilitate assembly.

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

[0131] The lens frame 171 is at least partially located within the guide channel 142, forming a sliding fit between them. This fit ensures that the lens frame 171 will not shift or tilt during movement, thereby guaranteeing the stability of the optical system and the imaging quality.

[0132] like Figure 1 and Figure 2 As shown, in some embodiments, the image module 100 further includes a photosensitive element 160 and a mounting base 150. The lens mount 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 arranged sequentially from the front end to the rear end of the lens mount 140 and are all located in the optical axis direction. The photosensitive element 160 is disposed on the mounting base 150. The mounting base 150 and the rear end of the lens mount 140 are connected. The vibration linear drive 200 is located at the rear end of the lens mount 140.

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

[0134] The endoscope mount 140 has a clearly defined front and rear end. The front end of the endoscope mount 140 is the end closest to the tip 10 of the endoscope 1, and the rear end is the end furthest from the tip 10 of the endoscope 1. The optical elements are arranged sequentially from front to back. The endoscope mount 140 provides a stable structure to house and protect the individual optical elements and ensures that they are aligned along the optical axis.

[0135] The front fixed lens 110 is located at the front end of the lens mount 140, and initially focuses and corrects 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 under the drive of the drive shaft to adjust the focal length.

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

[0138] The photosensitive element 160 is located at the rear end of the lens mount 140, receives light after it has been focused by the optical system, and converts it into an electrical signal.

[0139] The photosensitive element 160 converts the light focused by the optical system into electrical signals for subsequent processing and display. For example, the photosensitive element 160 includes CMOS (Complementary Metal-Oxide-Semiconductor) and CCD (Charge-Coupled Device) sensors.

[0140] Mount 150 is used to fix the photosensitive element 160 and ensure that it is tightly connected to the rear end of the lens mount 140 to maintain the alignment accuracy of the optical system. Mount 150 is typically securely connected to the rear end of the lens mount 140 by snap-fit, adhesive 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 mount 140, close to the photosensitive element 160. Vibration energy is transmitted via a drive shaft, driving the movable lens 120 to move along the optical axis, achieving precise focusing. Clearly, the operating characteristics of the vibration linear drive 200 do not cause electromagnetic interference to the photosensitive element 160. For example, the fixed connection portion of the carrier 230 is connected to the mounting base 150; the fixed connection portion is the edge of the carrier 230, and by fixing the periphery of the fixed connection portion, the vibration direction can be defined.

[0142] Of course, in other embodiments, the fixed connection can also be bonded and fixed to the outer wall of the first opening, which can further improve the sealing performance. Alternatively, the elastic sealing ring 180 can be replaced.

[0143] It should be noted that the mirror mount 140 is designed as a split structure, which facilitates subsequent assembly.

[0144] like Figure 1and Figure 2 As shown, in some embodiments, the axis of the drive shaft and the optical axis have an angle, so that the image module 100 is thick at the front end and thin at the rear end, that is, the head end 10 of the endoscope 1 is also thick at the front end and thin at the rear end, which is conducive to moving the head end 10 in the human body cavity.

[0145] like Figure 8 As shown, in some embodiments, this application also provides an endoscope 1, which includes an image module 100 of any of the endoscopes described in the above embodiments.

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

[0147] In some embodiments, this application also provides a control method for an endoscope, applied to an endoscope as described in the above embodiments, wherein the actuator can be disposed in the endoscope or inside an image processor. The control method includes the following steps:

[0148] Step S100: Obtain control commands, which are 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;

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

[0150] In this process, control commands are input to the main processor of the image processor via manual control buttons. The main processor then sends operation commands to the driver, which in turn applies the corresponding voltage to the vibration linear actuator to initiate operation. Simply put...

[0151] Manual control buttons:

[0152] Users input control commands to the system by pressing specific buttons. These buttons can be physical buttons, virtual buttons on a touchscreen, or other forms of human-computer interaction interfaces.

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

[0154] The main processor receives control commands:

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

[0156] The main processor decodes the instruction corresponding to the key press and generates the corresponding execution instruction.

[0157] The main processor sends the run command to the driver:

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

[0159] A driver is an intermediate device that is responsible for translating the instructions of the main processor into specific electrical signals for output.

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

[0161] After receiving the instruction from the main processor, the driver will apply the corresponding voltage to the vibration linear actuator.

[0162] The voltage magnitude, frequency, and waveform parameters are determined by the instructions of the main processor and are used to control the specific operating state of the vibration linear actuator.

[0163] Operation of the vibration linear drive:

[0164] Vibration linear actuators (such as piezoelectric linear actuators or electro-linear actuators) start working after receiving voltage from the driver.

[0165] Depending on the characteristics of the input voltage (e.g., amplitude, frequency, etc.), the vibration linear actuator will produce vibrations in a specific direction, amplitude, and frequency.

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

[0167] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

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

[0169] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. An image module for an endoscope, characterized in that, The image module has an optical axis direction, and the image module includes: A mirror mount having a mirror cavity extending at least along the optical axis, wherein the mirror cavity forms a pair of opposing first openings on the outer wall of the mirror mount; A fixed lens and a movable lens are arranged sequentially along the optical axis. A transmission component extends along an extension direction parallel to the optical axis; the transmission component is a transmission shaft, and its two ends are respectively inserted into the corresponding first opening; the transmission component and the inner wall of the first opening are elastically sealed, so that the mirror cavity forms a sealed cavity; A movable component is slidably disposed on the transmission component, and a movable lens is disposed on the movable component. A preset frictional force is defined between the movable component and the transmission component, and the preset frictional force enables the movable component to remain stationary relative to the transmission component. The moving component includes a driving spring, the driving spring having an elastic clamping portion, the elastic clamping portion defining a clamping space, the transmission shaft passing through the clamping space, such that the transmission shaft and the elastic clamping portion form a clamping engagement; the portion in contact between the transmission shaft and the elastic clamping portion forms the preset friction force; A vibration linear actuator, which is a piezoelectric linear actuator or an electro-linear actuator, is connected to the transmission component. The vibration linear actuator drives the transmission component to vibrate in its extension direction. When the driving force applied by the vibration linear actuator to the transmission component is greater than the preset frictional force, the moving component moves relative to the transmission component along the optical axis. When the driving force applied by the vibration linear actuator to the transmission component is less than or equal to the preset frictional force, the moving component follows the transmission component and moves along the optical axis.

2. The image module of the endoscope according to claim 1, characterized in that, The vibration linear drive component includes: The carrier is elastic and has a load-bearing connection part and a fixed connection part; A vibrating body having opposing first and second surfaces, each having an electrode, the first surface being attached to the load connection portion, the vibrating body being electrically active, the transmission member being connected to the vibrating body, and the vibrating body being able to generate electrostriction or piezoelectric stretching in the optical axis direction based on the voltage applied to the vibrating body, thereby generating vibration of the transmission member in the optical axis direction.

3. The image module of the endoscope according to claim 1, characterized in that, 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 cavity has a first opening and a pair of second openings formed on the outer wall of the mirror mount. The vibration linear drive is located outside the mirror cavity. The end of the transmission member opposite to the vibration linear drive passes through the mirror cavity and the first opening. The pair of second openings are arranged opposite to each other in the optical axis direction. The front fixed lens is sealed in one of the second openings, and the rear fixed lens is sealed in the other second opening.

4. The image module of the endoscope according to claim 3, characterized in that, The transmission component is a transmission shaft, and the transmission shaft is fitted with an elastic sealing ring. The elastic sealing ring is disposed inside the first opening, and the inner sidewall of the elastic sealing ring abuts against the outer wall of the transmission shaft, and the outer sidewall of the elastic sealing ring abuts against the inner wall of the first opening, so that an elastic seal is formed between the transmission component and the first opening.

5. The image module of the endoscope according to claim 4, characterized in that, The elastic sealing rings are respectively bonded to the outer wall of the drive shaft and the inner wall of the first opening; Alternatively, the elastic sealing ring may be bonded and sealed to the outer wall of the drive shaft and the inner wall of the first opening, respectively.

6. The image module of the endoscope according to claim 5, characterized in that, The elastic clamping portion defines a clamping space with a semi-enclosed structure; And / or, the movable component further includes a lens frame, the lens frame and the drive spring are detachably connected, the lens cavity defines a guide channel, the guide channel extends along the optical axis, the lens frame is at least partially located in the guide channel, the guide channel and the lens frame are slidably engaged, and the movable lens is disposed on the lens frame.

7. The image module of the endoscope according to claim 3, characterized in that, The image module further includes a photosensitive element and a mounting base. The mounting base 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 sequentially from the front end to the rear end of the mounting base and are all located in the optical axis direction. The photosensitive element is used to perform photoelectric conversion on the image of the subject. The photosensitive element is disposed on the mounting base, and the mounting base is connected to the rear end of the mounting base. The vibration linear drive is located at the rear end of the mounting base.

8. An endoscope, characterized in that, The endoscope includes the image module of the endoscope as described in any one of claims 1 to 7.

9. A method for controlling an endoscope, characterized in that, The control method, applied to the endoscope as described in claim 8, comprises: A control command is acquired, the control command being 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; The vibration linear drive is controlled according to the control command, so that the movable lens moves to the target position.

Images