Endoscope device and endoscope having the same

Abstract

The invention relates to an endoscopic device (10) comprising: a shaft (12) comprising a proximal section (14) and a distal section (16); an image acquisition unit (20), which is arranged in the distal section (16) of the shaft (12) and is designed to acquire an image and to generate image data. The image acquisition unit (20) comprises a first image acquisition means (21), which is directed towards a first line-of-sight direction (21a), and a second image acquisition means (22), which is directed towards a second line-of-sight direction (22a), which is different from the first line-of-sight direction (21a), and the first image acquisition means (21) and the second image acquisition means (22) at least partially overlap each other both when viewed parallel to the first line-of-sight direction (21a) and when viewed perpendicular to the first line-of-sight direction (21a).

Description

Technical Field

[0001] This invention relates to endoscopic devices and endoscopes having endoscopic devices. Background Technology

[0002] Endoscopes with a rod are known in the prior art, utilizing digital technology for image generation and transmission. This type of endoscope (also known as a video endoscope) has an image acquisition unit in the distal section of its rod, which acquires images of the object being examined. The image acquisition unit is powered via the endoscope's rod. Furthermore, image signals can be transmitted from the image acquisition unit to the proximal section of the rod via lines. This eliminates the need for optical elements, such as lenses, especially cylindrical lenses, or optical fibers, used for image transmission via the rod. The image acquisition unit can be understood as one or more cameras, which includes, for example, incident optics and an image sensor.

[0003] Traditional endoscopes have a fixed line of sight (defined by the viewing angle relative to the longitudinal axis of the rod) and a fixed field of view (defined by the optics used). Therefore, the viewing angle and field of view define the imaging area that can be observed by the endoscope user in a suitable display unit. In practice, users use different endoscopes with different line of sight for different imaging situations, requiring endoscope switching during treatment or diagnostic procedures. Typical used viewing angles between the longitudinal axis of the rod and the corresponding line of sight are, for example, 30 degrees, 45 degrees, 75 degrees, 90 degrees, and even 120 degrees for some applications. Users are familiar with these viewing angles and can therefore intuitively perform endoscopic rod movements while observing the resulting images.

[0004] The size of the corresponding imaging area also depends on the field of view. The field of view can also be called the image angle. The field of view depends on the focal length of the objective lens used. Furthermore, it can depend on the size or specifications of the image sensor used. In the case of a rectangular image, two different field of view may occur, such as a vertical field of view and a horizontal field of view. In principle, increasing the field of view in this case will reduce image quality.

[0005] Different imaging areas can be provided by using objectives or image acquisition mechanisms with different fields of view. This can be done, for example, by switching endoscopes with a first field of view to other endoscopes with other second fields of view, which is not optimal for manipulation, especially in the field of human medicine.

[0006] Furthermore, endoscopes with forward-facing incident optics that can pivot relative to a rod are known, for example, from US 2001 018 553 A1. In this case, for example, the distal prism is pivoted, thereby covering an angular range of over 100 degrees despite using an objective lens with a field of view of 55 degrees. The pivoting here changes the current viewing angle, i.e., the current line of sight, meaning that the angular range mentioned is not observed simultaneously.

[0007] In such cases, movement of components within the endoscope is necessary. Maintaining alignment (zentrierung) can be particularly challenging, especially in optical solutions. Furthermore, due to space constraints, the support and movement of these moving components rely on very delicate parts that are prone to damage and failure. In these situations, the sealing of the entire endoscope for autoclaving resistance relies on a curved, elongated cover glass, which is very expensive to manufacture and difficult to manipulate during autoclaving sealing. There are also drawbacks to pivoting the camera module along with the image sensor, requiring protection from bending of the input lines to the image sensor for power and image signals, or designing specifically for this purpose. This is associated with significant costs, especially given the limited installation space at the distal section of the boom.

[0008] Furthermore, the mounting space at the far end of the rod is utilized to a very limited extent. The camera module or prism may always be oriented in only one completely defined line-of-sight direction. Empty space must be reserved for all other line-of-sight positions or prism positions; that is, the remaining space for pivoting cannot be used for other functional components, such as lighting units. This imposes extensive limitations on the overall structure, as the central rod area, due to its size, is precisely the "most valuable" mounting space.

[0009] This constraint can be problematic, especially for lighting. The total amount of glass fiber that can be in the rod is limited and must be distributed over a wide angular range to provide sufficient illumination for all orientations of the camera module or prism. This is particularly problematic at large pivot angles, as a large area must be reliably illuminated, or alternatively, the lighting unit must pivot laboriously along with the camera module or prism. This results in rather weak illumination in most applications.

[0010] An endoscope device is known from WO 2015 128 801 A3, which has multiple camera modules pointing in different directions of vision. The multiple camera modules are arranged in a distributed manner on a hemispherical distal section of the arm of the endoscope device. This endoscope device provides a large imaging area, but has a relatively large distal section, making it unsuitable for certain applications.

[0011] An endoscope device is known from US 2007 / 0197875 A1, which has three objectives arranged in a manner around the longitudinal axis of a rod in the distal section of the rod of the endoscope device and pointing in different directions of vision. This endoscope device is also inefficient in utilizing the installation space in the distal section. Summary of the Invention

[0012] The object of this invention is to achieve a large imaging area in a simple and / or inexpensive and / or user-friendly and / or reliable manner, particularly in a manner that efficiently utilizes mounting space and / or is easy to manipulate during manufacturing, use, or processing. In other words, mounting space is cleverly utilized.

[0013] According to the invention, this objective is achieved by an endoscopic device and an endoscope as described herein and defined in the claims.

[0014] The endoscopic device includes a lever and an image acquisition unit. The lever includes a proximal section and a distal section. The image acquisition unit is disposed in the distal section of the lever and configured to acquire images and generate image data. The image acquisition unit includes a first image acquisition mechanism pointing in a first line of sight. The image acquisition unit also includes a second image acquisition mechanism pointing in a second line of sight, different from the first line of sight. The first and second image acquisition mechanisms at least partially overlap each other, both when viewed parallel to and perpendicular to the first line of sight.

[0015] Furthermore, the endoscope may be equipped with an endoscope device according to the present invention.

[0016] The features of the invention allow for the realization of a large imaging area in a simple and / or inexpensive and / or user-friendly and / or reliable manner. In particular, a high degree of efficient use of installation space and / or ease of manipulation can be achieved, for example, during manufacturing, use, or cleaning. While eliminating movable parts, a large imaging area, optimized illumination, and a simple structure can still be achieved. This can be achieved in some cases using standard components or without the need for specialized machining, such as curved cover glass or the like.

[0017] Multiple image acquisition mechanisms pointing in different directions provide a large imaging area for the endoscope without having to provide movable parts or sacrifice illumination of the imaging area due to lack of installation space.

[0018] Endoscopic devices can be implemented as rigid endoscopes. Endoscopic devices can be implemented as flexible endoscopes. Endoscopic devices can be implemented as video endoscopes.

[0019] "Endoscopic device" should be understood in particular as a preferred functional component, especially a sub-part and / or structural component and / or functional component of an endoscope. Preferably, the endoscopic device can be constructed at least partially, preferably at least largely, and particularly preferably completely of an endoscope. For example, the endoscopic device can be configured to be introduced at least partially and preferably at least largely into, especially artificial and / or natural cavities, especially body cavities, more precisely, especially for examination therein. The endoscopic device can be a medical and / or industrial endoscopy device. Within the scope of this disclosure, "configured" can be understood in particular as specifically programmed, constructed, designed, and / or equipped. Within the scope of this disclosure, a component configured for a particular function should be understood in particular as the component realizing and / or performing that particular function in at least one application and / or operating state.

[0020] "Rod" should be understood in particular as an elongated component of an endoscope and / or endoscopic device, which is, for example, configured to be inserted into a cavity, especially an artificial and / or natural cavity, particularly a body cavity. "Elongated component" should be understood in particular as a member whose main extension is at least five times, preferably at least ten times, and particularly preferably at least twenty times, greater than the maximum extension of the member perpendicular to its main extension, i.e., in particular the diameter of the member. The "main extension" of the member should be understood in particular as its longest extension along its main extension direction. The "main extension direction" of the member should be understood in particular as a direction parallel to the longest edge of the smallest imaginary cuboid that just completely encloses the member and preferably extends through the geometric center and / or centroid of the member. The rod may have a longitudinal axis. The longitudinal axis may extend parallel to the main extension direction of the rod. The rod may have a diameter of at least 2 mm, at least 3 mm, or at least 4 mm and / or at most 30 mm, at most 20 mm, or at most 15 mm. For example, the rod diameter may be 5 mm or 10 mm.

[0021] The distal segment may form a distal end segment. The distal end segment may include a distal end. Furthermore, the proximal segment may form a proximal end segment. Furthermore, the proximal end segment may include a proximal end. The term "end segment" of a component should be particularly understood as a segment extending at most 10 cm, preferably at most 5 cm, and particularly preferably at most 3 cm from the end of the component toward the middle of the component. The term "distal end segment" of a component should be particularly understood as an end segment extending proximally from the distal end of the component. The term "proximal end segment" of a component should be particularly understood as an end segment extending distally from the proximal end of the component. "Distal" should be particularly understood as being closer to the patient and / or farther from the operator and / or user during operation. "Proximal" is particularly the opposite of "distal." "Proximal" should be particularly understood as being farther from the patient and / or closer to the operator and / or user during operation.

[0022] Furthermore, the endoscopic device may have at least one handle. The handle may be located generally at the proximal end section of the rod. The handle is particularly configured for manual operation of the endoscopic device. The handle includes, for example, at least one grip and / or at least one operating element, such as a switch, button, or the like, preferably located at the grip.

[0023] The rod can be implemented as a single piece. Even in a single-piece embodiment of the rod, the distal section may differ structurally and / or functionally from the proximal section. In some embodiments, at least one housing and / or casing of the distal section is constructed as a single piece with the outer housing of the rod. The distal section may also be configured to be separately constructed from and connected to the rod, particularly configured to be securely and / or immovably and / or permanently connected.

[0024] An image acquisition unit can define the imaging area of ​​an endoscope. The image acquisition unit may include two, three, or more image acquisition mechanisms. Multiple image acquisition mechanisms pointing in different directions particularly provide a large imaging area for the endoscope without having to provide movable parts or sacrifice illumination of the imaging area due to lack of installation space. In particular, each of the first and second image acquisition mechanisms, and preferably the image acquisition mechanisms, has a constant line-of-sight orientation. The image acquisition unit may be configured to transmit image data to a control unit. The image data may be digital data. The image data may be a raster image composed of pixels.

[0025] Especially for a specific orientation, such as for vertical and / or horizontal orientation, and preferably for the image diagonal, the image acquisition mechanism particularly has exactly one line-of-sight direction and exactly one single field of view. The line-of-sight direction can be the main line-of-sight direction of the corresponding image acquisition mechanism. Exemplarily, the line-of-sight direction can be the central axis of the incident optics of the relevant image acquisition mechanism. The single field of view can be the angle opened relative to the line-of-sight direction. In particular, the central axis can be the angle bisector of the single field of view. The description of a single field of view can also be understood as the maximum field of view of the relevant image acquisition mechanism and / or as the field of view corresponding to the field of view of the relevant image sensor. The image acquisition mechanism can also be described by a horizontal field of view, a vertical field of view, and a diagonal field of view. Descriptions involving the field of view can refer to any of these three parameters and preferably to the diagonal field of view.

[0026] Similarly, the total field of view can be defined. The total field of view can be one of the following: the diagonal of the largest image that can be captured simultaneously and / or jointly by multiple image acquisition devices. Likewise, the description of the total field of view can refer to the horizontal total field of view and / or the vertical total field of view, especially with reference to images that can be captured simultaneously and / or jointly by multiple image acquisition devices.

[0027] The image acquisition mechanism may include incident optics and an image sensor. The image acquisition mechanism may be formed from a camera module, particularly a camera module with a short objective lens, or a camera module with wafer-level optics, and / or an image sensor for image generation, particularly a CCD chip or a CMOS chip. Typically, within the scope of this disclosure, the image acquisition mechanism may include the optical, electronic, and mechanical components required for sensing image acquisition, in addition to power supply lines and / or signal transmission lines. Furthermore, the image acquisition mechanism described herein can generally be constructed as modular. This can particularly mean that the image acquisition mechanism under the meaning of this disclosure can operate as a standalone component, provided it is attached to suitable power supply lines and / or signal transmission lines. This operability is possible due to its nature as a complete component, especially even when detached from the lever and / or endoscope assembly. Multiple image acquisition units pointing in different directions can have a single field of view of, for example, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, or 110 degrees. In particular, the image acquisition units can jointly acquire images of a common imaging area. The total field of view can be, for example, at least 110 degrees, 115 degrees, 120 degrees, 125 degrees, 130 degrees, 135 degrees, 140 degrees, 145 degrees, 150 degrees, 155 degrees, 160 degrees, 165 degrees, 170 degrees, 175 degrees, 180 degrees, 185 degrees, 190 degrees, 195 degrees, 200 degrees, 205 degrees, 210 degrees, 215 degrees, 220 degrees, 225 degrees, 230 degrees, 235 degrees, 240 degrees, 245 degrees, 250 degrees, 255 degrees, 260 degrees, 265 degrees, or 270 degrees.

[0028] A first image acquisition mechanism may occupy a first mounting space, and a second image acquisition mechanism may occupy a second mounting space, wherein the second mounting space is connected to the projection of the first mounting space parallel to the first line of sight. In this case, the image acquisition mechanisms are preferably arranged with small gaps, thereby efficiently utilizing the available mounting space in the distal section. The corresponding mounting space may be the space required to house the respective image acquisition mechanism. Alternatively or additionally, the mounting space may be the volume occupied by the relevant image acquisition mechanism in the fully assembled state of the endoscope device. The first mounting space of the first image acquisition mechanism and / or the second mounting space of the second image acquisition mechanism may have at least a substantially cylindrical shape, especially a cylindrical shape. The first mounting space of the first image acquisition mechanism and / or the second mounting space of the second image acquisition mechanism may have at least a substantially cuboid shape. The first mounting space of the first image acquisition mechanism and / or the second mounting space of the second image acquisition mechanism may have a cylindrical shape at least substantially standing on a cuboid. The first mounting space of the first image acquisition mechanism and / or the second mounting space of the second image acquisition mechanism may have a substantially cylindrical mounting space section standing on a substantially cuboid-shaped mounting space section. The base area of ​​the cuboid mounting space segment can be larger than the base area of ​​the cylindrical mounting space segment standing on the cuboid mounting space segment. The projection of the first mounting space parallel to the first line of sight can be the projection of the cuboid mounting space segment and / or the projection of the cylindrical mounting space segment. The cuboid mounting space segment can be used accordingly to arrange the image sensor. In this case, it can be assumed in principle that a higher image quality can be achieved with a larger image sensor. The description of the shape of the object, which at least substantially corresponds to the shape of an object of a specific geometry, should be understood in particular to mean that the volume of the object of the type mentioned, which exactly also surrounds the relevant object, differs from the volume of the relevant object by at most 20%, preferably at most 15%, preferably at most 10%, and particularly preferably at most 5%.

[0029] The image acquisition unit may also include a third image acquisition mechanism, pointing in a third line of sight different from the first and second lines of sight. Having three image acquisition mechanisms allows for the provision of three different viewing angles to the user, eliminating the need to switch endoscopes even when a large imaging area is required. Specifically, the image acquisition unit may include three image acquisition mechanisms, where the three lines of sight correspond to the three standard lines of sight along the longitudinal axis of the reference rod, such as a 0-degree first viewing angle, a 30-degree second viewing angle, and a 90-degree third viewing angle; or, for example, a 0-degree first viewing angle, a 25-degree second viewing angle, and a 45-degree third viewing angle; or, for example, a 0-degree first viewing angle, a 25-degree second viewing angle, and a 90-degree third viewing angle. In principle, the image acquisition unit may include two or three image acquisition mechanisms whose lines of sight have any combination of the standard lines of sight along the longitudinal axis of the reference rod with viewing angles of 0 degrees, 25 degrees, 30 degrees, 45 degrees, and 90 degrees.

[0030] When viewed parallel to the first line of sight, the third image acquisition mechanism can at least partially overlap with either the first or the second image acquisition mechanism. This arrangement allows for efficient use of the available installation space in the case of three image acquisition mechanisms.

[0031] The second and third image acquisition mechanisms can overlap at least partially with each other, whether viewed parallel to or perpendicular to the second line of sight. This arrangement also allows for more efficient use of the available installation space in the case of three image acquisition mechanisms.

[0032] The first image acquisition mechanism can occupy a first mounting space, and the third image acquisition mechanism can occupy a third mounting space, with the third mounting space aligned with the projection of the first mounting space parallel to the longitudinal axis of the rod. The second image acquisition mechanism can occupy a second mounting space, and the third image acquisition mechanism can occupy a third mounting space, with the third mounting space aligned with the projection of the second mounting space parallel to the longitudinal axis of the rod. This arrangement efficiently utilizes the available mounting space. The image acquisition mechanisms can be arranged at an angle relative to each other. The third mounting space of the third image acquisition mechanism can have a cylindrical shape. The third mounting space of the third image acquisition mechanism can have a cylindrical shape standing on a cuboid. The third mounting space can have a cylindrical mounting space section standing on a cuboid-shaped mounting space section. The base area of ​​the cuboid-shaped mounting space section can be larger than the base area of ​​the cylindrical mounting space section standing on the cuboid-shaped mounting space section. The cuboid-shaped mounting space section of the third image acquisition mechanism can also be used to accommodate an image sensor of the largest possible size.

[0033] Preferably, the image acquisition mechanisms are arranged sequentially along the longitudinal axis of the rod. This sequential arrangement allows for particularly narrow rods without sacrificing a large imaging area, and / or provides lateral mounting space for other units, such as illumination units, within the sequentially arranged acquisition mechanisms. Sequential arrangement may mean that the image acquisition mechanisms at least partially overlap during at least one observation. In particular, sequential arrangement may mean that the image acquisition mechanisms at least partially overlap during at least one observation along the longitudinal axis of the rod.

[0034] The image acquisition mechanism can be aligned in such a way that its optical axes lie in a single plane. This alignment arrangement of the image acquisition mechanism makes it easier for the user of the endoscope to orient the device, especially when selectively switching between different viewing directions. Alignment can mean that the extensions of the optical axes intersect. The optical axis of the image acquisition mechanism can lie in a plane including the longitudinal axis of the rod. The optical axis can correspond to the corresponding longitudinal axis of the associated image acquisition mechanism. The longitudinal axis of the image acquisition mechanism can correspond to the direction of extension of the image acquisition mechanism.

[0035] Image acquisition units can each define their own field of view. As mentioned, this field of view can also be called the image angle, therefore each image acquisition unit can define its own image angle. The image acquisition units can be arranged such that they are located outside the field of view of each other. This arrangement improves the quality of the image data from the image acquisition units because the image acquisition units do not interfere with each other.

[0036] The image acquisition mechanism can be defined with a field of view of at least 90 degrees, preferably 100 degrees, and particularly preferably at least 110 degrees. The image acquisition mechanism can occupy an installation space having a length-to-diameter or width ratio of up to 4:1, up to 3:1, up to 2:1, or up to 1:1. This embodiment of the image acquisition mechanism is a common configuration for camera modules and can therefore be adopted by other technological applications.

[0037] The distal section of the rod can have a partially beveled cylindrical shape. This shape of the distal section can be manufactured efficiently. The partially beveled cylindrical shape can form the main body of the rod. The partially beveled cylindrical shape can be, in particular, a hollow cylindrical shape. The partially beveled cylindrical shape can accommodate an image acquisition unit. The cross-section of the partially beveled cylindrical shape can be circular. The partially beveled cylindrical shape can have at least two different beveled portions, which are defined by planes with different inclination angles along the longitudinal axis of the reference rod.

[0038] The rod may include multiple flat exterior windows, each positioned in front of one of the image acquisition mechanisms and extending perpendicular to the associated line-of-sight direction. The flat exterior windows are easy to manufacture and can be covered with or formed from flat cover glass at low cost. The flat exterior windows may be individually configured to receive flat cover glass and / or be formed from such cover glass.

[0039] The image acquisition mechanism can be cast into the distal section of the rod. During the casting of the image acquisition mechanism, the distal section of the rod can be manufactured at low cost in a manner independent of its shape. This is particularly advantageous in the case of endoscope devices that are part of a disposable endoscope.

[0040] The distal section can be constructed to be resistant to autoclaving. This autoclaving-resistant construction particularly provides a sealed, isolated distal section suitable for sterilization in an autoclave. The distal section can have a cover glass, especially a flat cover glass, that covers, and particularly seals, the multiple image acquisition units and / or illumination units relative to the outside of the distal section. The cover glass can be welded into the outer window of the distal section. Alternatively or additionally, the distal section can be cast in such a way that the image acquisition units and / or illumination units are covered, and particularly sealed, relative to the outside of the distal section.

[0041] The distal end of the distal segment may have a first inclined surface at the distal side, which is inclined relative to the longitudinal direction of the rod. At least one of the plurality of image acquisition mechanisms may point in a direction parallel to the surface normal of the first inclined surface. The distal end may also have a second inclined surface at the distal side, which is inclined relative to the longitudinal axis of the rod. The inclination of the second surface may differ from that of the first inclined surface. At least one of the plurality of image acquisition mechanisms may point in a direction parallel to the surface normal of the second inclined surface. This type of inclined surface can simplify the introduction and / or extraction of endoscopic devices in human medical applications. The first and second inclined surfaces may be formed by at least two different beveled portions of a partially beveled column, which are defined by planes with different inclination angles relative to the longitudinal axis of the reference rod.

[0042] The image acquisition mechanism can be at least substantially identical in construction. This use of identical components enables the low-cost manufacture of endoscopic devices.

[0043] The image acquisition unit may include a cutoff filter for at least one of the image acquisition mechanisms, which blocks light below the cutoff wavelength and allows light above the cutoff wavelength to pass through. The image acquisition unit may particularly include a cutoff filter for at least one of the image acquisition mechanisms for use in fluorescence endoscopy. During fluorescence endoscopy, fluorescent dyes may be used to mark specific tissue types and / or specific anatomical regions. Alternatively or additionally, the autofluorescence of natural structures may be used. The cutoff filter may have a transmission edge at a wavelength that is matched, in particular, to the fluorescence of the associated dye, such that the cutoff filter blocks the excitation light and allows the fluorescence light to pass through. In this case, the excitation light may be provided by a suitable light source, for example by an external illumination device or preferably by an illumination mechanism integrated into the rod, which includes, for example, various light-emitting elements, such as LEDs and / or laser diodes. It may include, for example, in a manner known in principle, at least one white light-emitting element for illumination for white light imaging and / or at least one colored light-emitting element for illumination for fluorescence imaging, such as a blue, green, yellow, red, or dark red LED or laser diode, by means of which a suitable dye can be excited. This allows the operation of an image acquisition unit that functions as a fluorescence camera. If the image regions of multiple image acquisition units overlap, with at least one configured for fluorescence imaging and at least one configured for white light imaging, an overlay view can be generated for the user over the overlapping region, in which the fluorescence image is superimposed on the white light image. For this purpose, for example, sequential and / or alternating capture of fluorescence and white light images can be achieved using corresponding sequential and / or alternating illumination.

[0044] In the first operating state of the image acquisition unit, images can be acquired using the first image acquisition mechanism, thereby acquiring images for a first line of sight. In the second operating state of the image acquisition unit, images can be acquired using the second image acquisition mechanism, thereby acquiring images for a second line of sight. By setting the first and second operating modes, the user can easily switch between different line of sight. Furthermore, by continuously switching between the first and second operating modes, fluorescein endoscopy can be combined with white light endoscopy. In this regard, reference is also made in particular to the preceding paragraphs.

[0045] The imaging areas of the first and second image acquisition mechanisms can be partially superimposed, wherein, in the stereoscopic operation of the image acquisition unit, at least a pseudo-stereoscopic image can be acquired using the first and second image acquisition mechanisms. The pseudo-stereoscopic image, and especially the stereoscopic image, provides the user with particularly good imaging of the object being inspected. The image can be pseudo-stereoscopic because it is based on image data from two different image acquisition mechanisms whose optical axes do not point to a common point, but rather whose image regions overlap, allowing for two images from different viewpoints to exist for the overlapping area.

[0046] Multiple image acquisition mechanisms can be arranged staggered along the longitudinal axis of the rod. In other words, multiple image acquisition mechanisms can be arranged sequentially with reference to the longitudinal direction and / or the longitudinal axis of the rod. The staggered arrangement in the longitudinal direction of the rod enables narrow distal end pieces. Complete panoramic and / or pseudo-panoramic images can be generated from the overlapping imaging areas using image stitching methods. A coherent image can be generated within the overlapping area of ​​a single image cone using an interpolation algorithm. In panoramic images, pseudo-panoramic images may occur because, despite interpolation, the overlapping areas may not be accurately identified geometrically. This could be because the multiple image acquisition mechanisms are not located on a common axis of rotation or where the axes do not all intersect at a single point. Therefore, in some embodiments, the synthesized image is preferably suited for orientation.

[0047] Within a (pseudo)panoramic image, the various imaging areas of the image acquisition mechanism can be marked, for example, in different ways, such as with different colors, so that the user can see which image acquisition mechanism is best and / or most suitable for acquiring the object. The endoscopic device can have a control unit configured to calculate the corresponding image diagram and, for example, transmit it to a display unit for display to the user. Similarly, the (pseudo)panoramic image allows for observation of the instrument from insertion to the working area, which provides a time advantage in application and simultaneously improves patient safety, such as preventing injury due to the instrument not being monitored during insertion.

[0048] The endoscopic device may also include an illumination unit disposed in the distal section of the rod and configured to generate illumination light for illuminating the object area to be imaged. Sufficient illumination of the object area is necessary for high image quality. The illumination unit may include one or more light-emitting diodes and / or one or more laser diodes and / or one or more light conductors, or be formed from them. In particular, in embodiments where the illumination unit includes light conductors, the endoscopic device may have an optical interface in and / or near the proximal section, configured for connection to an illumination device including the illumination unit. The rod may also include a heat-conducting section designed to transfer heat from the distal section of the rod to the proximal section. The heat-conducting section may be formed of a heat pipe, which can transfer heat via evaporation and condensation cycles. The heat-conducting section can reduce the heat input to the object being examined caused by the image acquisition unit and / or the illumination unit.

[0049] The apparatus according to the invention should not be limited to the applications and embodiments described above. In particular, to achieve the working method described herein, it may have a different number of various elements, components, and units than those mentioned herein. Furthermore, the numerical ranges given in this disclosure, as well as values ​​within the mentioned limits, should be considered as public and freely usable.

[0050] In particular, all features and characteristics described regarding the apparatus, but also including methods, are adaptably transferable to the method and are available in the sense of this invention and are considered to be disclosed simultaneously.

[0051] The invention is described exemplarily below with reference to the accompanying drawings. The drawings, description, and claims contain a large number of features in combination. Those skilled in the art can also suitably observe these features individually and combine them reasonably within the scope of the claims.

[0052] If there are more than one instance of a particular object, then only one instance may be given a reference numeral in the figures and description, if necessary. The description of that instance can be correspondingly applied to the other instances of the object. If the object is named, in particular, by ordinal numbers (e.g., first, second, third object, etc.), then these are used for naming and / or associating the objects. Thus, for example, first and third objects may be included, but second objects may not be included. However, additionally, the number and / or order of objects can also be inferred from the ordinal numbers. Attached Figure Description

[0053] The diagram illustrates the following:

[0054] Figure 1 This is a perspective view of an endoscope device according to an embodiment;

[0055] Figure 2 This is a perspective view of an endoscope device according to an embodiment, wherein the rod of the endoscope device is indicated by a dashed line;

[0056] Figure 3 This is a cross-sectional view of the endoscope device according to the embodiment along the longitudinal axis of the rod of the endoscope device;

[0057] Figure 4 This is a front view of an endoscope device according to an embodiment, wherein the illumination unit is indicated by a dashed line;

[0058] Figure 5 This is a perspective view of the first image acquisition mechanism of the endoscope device according to an embodiment;

[0059] Figure 6 This is a front view of the first image acquisition mechanism of the endoscope device according to an embodiment; and

[0060] Figure 7 It is a perspective view of an endoscope having an endoscope device according to an embodiment. Detailed Implementation

[0061] Figure 1 A perspective view of an endoscope device 10 according to an embodiment is shown. Figure 2 A perspective view of an endoscope device 10 according to an embodiment is shown, wherein the rod 12 of the endoscope device 10 is indicated by a dashed line. Figure 3 A cross-sectional view of an endoscope device 10 according to an embodiment is shown along the longitudinal axis 13 of the rod of the endoscope device 10. Figure 4 A front view of an endoscope device 10 according to an embodiment is shown, wherein the illumination unit 26 is indicated by a dashed line.

[0062] The endoscopic device 10 includes a lever 12 and an image acquisition unit 20. The lever 12 includes a proximal section 14 and a distal section 16. The image acquisition unit 20 is disposed in the distal section 16 of the lever 12 and configured to acquire images and generate image data. The image acquisition unit 20 also includes a first image acquisition mechanism 21 pointing in a first line of sight 21a. The image acquisition unit 20 also includes a second image acquisition mechanism 22 pointing in a second line of sight 22a different from the first line of sight 21a. The first image acquisition mechanism 21 and the second image acquisition mechanism 22 partially overlap each other, both when observing parallel to the first line of sight 21a and when observing perpendicular to the first line of sight 21a.

[0063] When viewed parallel to the first line of sight 21a, the overlap between the first image acquisition mechanism 21 and the second image acquisition mechanism 22 is... Figure 3 The first overlapping region B1 is shown in the middle, and corresponds to, as shown in the middle. Figure 4The observation shown. When observed perpendicular to the first line of sight 21a, the overlap of the first image acquisition mechanism 21 and the second image acquisition mechanism 22 is... Figure 3 The second overlapping region B2 is shown in the diagram. The first overlapping region B1 and the second overlapping region B2 are... Figure 3 The two are marked by dashed lines.

[0064] The image acquisition unit 20 also includes an optional third image acquisition mechanism 23, which points to a third line of sight 23a. The first line of sight 21a, the second line of sight 22a, and the third line of sight 23a are the standard line of sight directions of the reference rod longitudinal axis 13, wherein the first line of sight 21a corresponds to a 0-degree viewing angle, the second line of sight 22a corresponds to a 30-degree viewing angle, and the third line of sight 23a corresponds to a 90-degree viewing angle.

[0065] When viewed parallel to the first line of sight 21a, the third image acquisition mechanism 23 partially overlaps with both the first image acquisition mechanism 21 and the second image acquisition mechanism 22. Additionally, the second image acquisition mechanism 22 and the third image acquisition mechanism 23 partially overlap both when viewed parallel to the second line of sight 22a and when viewed perpendicular to the second line of sight 22a.

[0066] Image acquisition mechanisms 21, 22, and 23 are arranged sequentially along the longitudinal axis 13 of the current reference rod. Image acquisition mechanisms 21, 22, and 23 overlap along the longitudinal axis 13, and the longitudinal axis 13 is tilted relative to each other. Here, image acquisition mechanisms 21, 22, and 23 are arranged such that they are located outside the field of view of the other image acquisition mechanisms. Furthermore, image acquisition mechanisms 21, 22, and 23 are arranged in such a way that their line-of-sight directions 21a, 22a, and 23a lie in a plane that also includes the longitudinal axis 13.

[0067] Endoscopic device 10 is implemented as part of a rigid endoscope. Endoscopic device 10 is implemented as part of a video endoscope. The distal section 16 currently forms the distal end of the lever 12 and may also be referred to as the distal end section. The lever 12 is also implemented as a single piece and receives the image acquisition unit 20.

[0068] The rod 12 has a distal section 16 in the shape of a partially beveled column 15. The beveled column 15 is currently a hollow column with a circular cross-section. The beveled column 15 has two different beveled portions defined by a plane with different inclination angles relative to the longitudinal axis 13 of the rod. At the rod 12, a flat outer window is provided for each image acquisition mechanism 21, 22, 23, extending perpendicular to the associated line-of-sight directions 21a, 22a, 23a.

[0069] Figures 1 to 4 An endoscope device 10 is shown in a state in which the image acquisition mechanisms 21, 22, and 23 have not yet been cast into the distal section 16. This casting can be performed in a known manner. Here, the gap between the image acquisition mechanisms 21, 22, and 23 and the distal section 16 of the rod 12 or the associated outer window is filled with material, thereby sealing and isolating the rod 12 from the outside.

[0070] The endoscope device 10 also includes an illumination unit 26, which in Figure 4 As shown in the figure. For a simplified representation of the endoscope device 10, in Figures 1 to 3 Illumination unit 26 is not shown. Illumination unit 26 is formed by multiple light conductors, which are arranged offset on both sides of the image acquisition mechanisms 21, 22, and 23 with reference rod longitudinal axes 13. For this purpose, the endoscope device 10 has an optical interface (not shown) in the proximal section, which is configured to connect to the illumination device (not shown).

[0071] A first image acquisition mechanism 21 occupies a first mounting space, and a second image acquisition mechanism 22 occupies a second mounting space, wherein the second mounting space is connected to a projection 21b of the first mounting space parallel to the first line of sight 21a. A third image acquisition mechanism 23 occupies a third mounting space, and the third mounting space is connected to a projection 21b of the first mounting space parallel to the longitudinal axis 13 of the rod. Furthermore, the third mounting space is connected to a projection of the second mounting space parallel to the longitudinal axis 13 of the rod. According to... Figure 6 The projection 21b of the first installation space parallel to the first line of sight is explained in more detail.

[0072] Figure 5 A perspective view of the first image acquisition mechanism 21 of the endoscope device 10 according to an embodiment is shown, and Figure 6 A front view of the first image acquisition mechanism 21 of the endoscope device 10 according to an embodiment is shown.

[0073] Image acquisition unit 20 defines the imaging area of ​​endoscope device 10. Currently, image acquisition unit 20 is exemplarily formed using three image acquisition mechanisms 21, 22, and 23, each including a cover glass 28, an incident optics 30, and an image sensor 32. The central axis of the incident optics 30 coincides with the corresponding line-of-sight directions 21a, 22a, and 23a of the respective image acquisition mechanisms 21, 22, and 23. Image acquisition mechanisms 21, 22, and 23 are also configured as camera modules. Image acquisition mechanisms 21, 22, and 23 each have a field of view of 90 degrees.

[0074] The first image acquisition mechanism 21, the second image acquisition mechanism 22, and the third image acquisition mechanism 23 are basically identical in construction. Therefore, Figure 5and Figure 6 The explanation of the first image acquisition mechanism 21 shown can be correspondingly applied to the second image acquisition mechanism 22 and the third image acquisition mechanism 23.

[0075] like Figure 5 As shown, the first mounting space of the image acquisition mechanism 21 has the shape of a cylinder standing on a cuboid, wherein the first mounting space has a cuboid mounting space section and a cylindrical mounting space section. The section covering the glass 28 and the incident optics 30 is located within the cylindrical mounting space section, and the other sections of the incident optics 30 and the image sensor 32 are located within the cuboid mounting space section. The first mounting space is the space required to accommodate the respective image acquisition mechanisms 21, 22, 23, and does not currently correspond to the exact space occupied by the first image acquisition mechanism 21. The current first mounting space of the first image acquisition mechanism 21 is defined only by example, and it can also be defined in different ways depending on the application. For example, the first mounting space of the image acquisition mechanism 21 can also be defined as a cuboid mounting space that can fully accommodate the first image acquisition mechanism 21.

[0076] As in Figure 6 As can be seen, the base area of ​​the cuboid mounting space segment is larger than that of the cylindrical mounting space segment. Currently, the projection 21b of the first mounting space parallel to the first viewing direction 21a is a combination of the projections of the cuboid and cylindrical mounting space segments, since no projection completely overlaps with the other. In another embodiment, the illustrated arrangement of the image acquisition unit 20 can be further improved for fluorescence endoscopy. In this case, at least one of the image acquisition mechanisms 21, 22, and 23 must be provided with a cutoff filter that blocks light below the cutoff wavelength and allows light above the cutoff wavelength to pass through. During fluorescence endoscopy, substances labeled with fluorescent dyes can be used. These substances accumulate in altered tissues due to their special properties, making them visually visible.

[0077] In another embodiment, the endoscope device 10 includes a control device (not shown) configured to determine a panoramic image based on multiple images captured by multiple image acquisition mechanisms 21, 22, 23 at different rotational positions of the reference rod longitudinal axis 13 in the distal segment 16, so as to provide the user with a good overview of the object being examined as the user rotates the endoscope device 10 about the rod longitudinal axis 13 during the examination. The control device is also configured to mark different image regions of the panoramic image for the user in different ways, based on images captured by different image acquisition mechanisms 21, 22, 23. These different markings allow the user to identify which image acquisition mechanism 21, 22, 23 can most accurately capture the object being examined.

[0078] Figure 7 A perspective view of an endoscope system 100 having an endoscope 50 having an endoscope device 10 is shown.

[0079] An exemplary endoscope system 100 includes an endoscope 50 having an endoscope device 10 and a grip 102, a connecting cable 104, and a supply unit 106 connected to the endoscope device 10 via the cable 104. The endoscope system 100 and / or the endoscope device 10 and the supply unit 106 may be part of a medical system. The supply unit 106 may be used with a display (not shown). Furthermore, the supply unit 106 may be configured to forward and / or process image data obtained from the endoscope device 10.

[0080] Explanation of reference numerals in the attached figures

[0081] 10 Endoscopic devices

[0082] 12 strokes

[0083] 13 longitudinal axis

[0084] 14 Proximal Section

[0085] 15. Beveled prism

[0086] 16 distal section

[0087] 20 image acquisition units

[0088] 21 First Image Acquisition Agency

[0089] 21a First line of sight direction

[0090] 21b projection

[0091] 22 Second Image Acquisition Mechanism

[0092] 22a Second line of sight

[0093] 23 Third Image Acquisition Agency

[0094] 23a Third line of sight direction

[0095] 26 lighting units

[0096] 28 Covering Glass

[0097] 30 Incident Optical Components

[0098] 32 camera module

[0099] 50 endoscopes

[0100] 100 Endoscopic System

[0101] 102 grip section

[0102] 104 cable

[0103] 106 supply units

[0104] B1 First Overlapping Region

[0105] B2 Second Overlapping Region

Claims

1. An endoscope device (10), comprising: The rod (12) includes a proximal section (14) and a distal section (16). An image acquisition unit (20), arranged in the distal section (16) of the rod (12) and configured to acquire images and generate image data, The image acquisition unit (20) includes a first image acquisition mechanism (21) which points in a first line of sight (21a). The image acquisition unit (20) includes a second image acquisition mechanism (22), which points to a second line of sight (22a) different from the first line of sight (21a), and The first image acquisition mechanism (21) and the second image acquisition mechanism (22) overlap at least partially with each other both when viewed parallel to the first line of sight (21a) and when viewed perpendicular to the first line of sight (21a).

2. The endoscope device (10) according to claim 1. The first image acquisition mechanism (21) occupies the first installation space. The second image acquisition mechanism (22) occupies the second installation space, and The second installation space is connected to the projection (21b) of the first installation space that is parallel to the first line of sight (21a).

3. The endoscope device (10) according to claim 1 or 2. The image acquisition unit (20) includes a third image acquisition mechanism (23), which points to a third line of sight (23a) that is different from the first line of sight (21a) and the second line of sight (22a).

4. The endoscope device (10) according to claim 3. When viewed parallel to the first line of sight (21a), the third image acquisition mechanism (23) overlaps at least partially with both the first image acquisition mechanism (21) and the second image acquisition mechanism (22).

5. The endoscope device (10) according to claim 3 or 4. The second image acquisition mechanism (22) and the third image acquisition mechanism (23) overlap at least partially with each other both when viewed parallel to the second line of sight (22a) and when viewed perpendicular to the second line of sight (22a).

6. The endoscope device (10) according to any one of claims 3 to 5. The first image acquisition mechanism (21) occupies the first installation space. The third image acquisition mechanism (23) occupies a third installation space, and The third mounting space is connected to the projection (21b) of the longitudinal axis (13) of the rod (12) of the first mounting space, which is parallel to the rod (12).

7. The endoscope device (10) according to any one of claims 3 to 6. The second image acquisition mechanism (22) occupies the second installation space. The third image acquisition mechanism (23) occupies a third installation space, and The third mounting space is connected to the projection of the second mounting space parallel to the longitudinal axis (13) of the rod.

8. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) are arranged sequentially with reference to the longitudinal axis (13) of the rod.

9. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) are arranged in such a way that they each define an optical axis, wherein the optical axes of the image acquisition mechanisms (21, 22, 23) lie in a plane.

10. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) each define a field of view, and the image acquisition mechanisms (21, 22, 23) are arranged such that they are located outside the field of view of the other image acquisition mechanisms.

11. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) are respectively defined with a field of view of at least 90 degrees, preferably 100 degrees and particularly preferably at least 110 degrees.

12. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) occupy installation spaces with length-to-diameter ratios of up to 4:1, up to 3:1, up to 2:1, or up to 1:1, respectively.

13. The endoscope device (10) according to any one of the preceding claims. The distal section (16) of the rod (12) has the shape of a partially obliquely cut column (15).

14. The endoscope device (10) according to claim 13. The partially obliquely cut column (15) has at least two different oblique cuts (17), which are defined by planes with different inclination angles relative to the longitudinal axis (13) of the rod (12).

15. The endoscope device (10) according to any one of the preceding claims. The rod (12) includes a plurality of flat exterior windows (18) arranged in front of one of the image acquisition mechanisms (21, 22, 23) and extending perpendicular to the associated line of sight (21a, 22a, 23a).

16. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) are cast into the distal section (16) of the rod (12).

17. The endoscope device (10) according to any one of the preceding claims. The image acquisition mechanisms (21, 22, 23) are at least substantially identical in construction.

18. The endoscope device (10) according to any one of the preceding claims. The image acquisition unit (20) includes a cutoff filter for at least one of the image acquisition mechanisms (21, 22, 23), the cutoff filter blocking light below the cutoff wavelength and allowing light above the cutoff wavelength to pass through.

19. The endoscope device (10) according to any one of the preceding claims. In the first operating state of the image acquisition unit (20), images are acquired by means of the first image acquisition mechanism (21), thereby enabling the acquisition of images in the first line of sight (21a), and In the second operating state of the image acquisition unit (20), images are acquired by means of the second image acquisition mechanism (22), thereby enabling the acquisition of images for the second line of sight (22a).

20. The endoscope device (10) according to any one of the preceding claims. The imaging areas of the first image acquisition mechanism (21) and the second image acquisition mechanism (22) are at least partially superimposed, and In the stereoscopic operation state of the image acquisition unit (20), at least a pseudo-stereoscopic image can be acquired by means of the first image acquisition mechanism (21) and the second image acquisition mechanism (22).

21. The endoscope device (10) according to any one of the preceding claims. It also includes an illumination unit (26) arranged in the distal section (16) of the rod (12) and configured to generate illumination light for illuminating the object area to be imaged.

22. An endoscope (50) having an endoscope device (10) according to any one of the preceding claims.

Images