Image acquisition device, endoscope and medical instrument

Abstract

The utility model provides an image acquisition device, an endoscope and a medical instrument, and the image acquisition device comprises a first image sensor; a second image sensor; the beam splitter prism is located on the light propagation path and is provided with a first incident plane and a first plane, and the first plane is opposite to the first incident plane; the first plane is provided with a semi-reflecting and semi-transmitting film, and the semi-reflecting and semi-transmitting film is configured to selectively divide the composite light incident to the beam splitter prism into reflected light and transmitted light according to the wavelength; the beam splitter prism is configured to guide the reflected light to the first image sensor; wherein the reflected light is visible light, and the first image sensor is a white light sensor; the transmission light is near-infrared light, and the second image sensor is a fluorescence sensor; and a reflecting prism configured to receive the transmitted light and guide the transmitted light to the second image sensor. The composite light can be split according to the wavelengths of different light beams in the composite light, the structure of the image acquisition device is simplified, and the production cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an image acquisition device, an endoscope and a medical device. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been widely used for its advantages of small surgical trauma, short recovery time and less pain for patients. Among them, the minimally invasive surgical robot can avoid operational limitations with its high dexterity, high control accuracy, intuitive surgical images and other characteristics, such as hand tremors during filtering operations, and is therefore widely used in surgical areas such as the abdominal cavity, pelvic cavity and thoracic cavity. The minimally invasive surgical robot includes a master control arm and a slave manipulator arm. The master control arm collects the doctor's operation signal and generates a control signal of the slave manipulator arm after processing by the control system, and the slave manipulator arm performs the surgical operation. The slave manipulator arm clamps the surgical instrument and the endoscope (such as a 3D endoscope or a 3D fluorescent endoscope). The surgical instrument enters the patient's body through a stamp inserted into the incision on the patient's body surface. The 3D endoscope provides monitoring images inside the patient's body, wherein the slave manipulator arm includes a mirror holding arm, on which an endoscope adapter is installed, which is used to clamp and move the 3D endoscope, thereby providing a suitable viewing angle for the doctor during surgery. Due to the diversity of clinical needs, high-end endoscopes with integrated 3D, 4K, and fluorescence functions are becoming a hot research topic in the field of medical devices. In addition to the imaging platform, the lens at the front end of the imaging is the key and most challenging link in the entire link. How to design 4K dual-channel imaging on a smaller lens to simulate the stereoscopic vision of the human eye and integrate fluorescence function has always been an industry problem that restricts the industrialization of high-end endoscopes.

[0003] In the related art, for example, Chinese invention patent CN103889353B discloses an image capture unit in a surgical instrument, including a lens assembly, light passes through the lens assembly to the prism assembly, the prism assembly reflects part of the light to the sensor below, and the other part is projected through, and the projected light is transmitted to the reflection assembly after passing through the lens, and the reflection assembly reflects this part of the light to another sensor below that is parallel to the front sensor. This method can ensure that four sensors are arranged in a small space, thereby realizing 3D and fluorescence functions.

[0004] However, in the related art, after the prism assembly divides the light into two parts, since each part of the light contains visible light and near-infrared light, it is also necessary to set a specific filter on the image sensor, which has a complex structure and high assembly process requirements, resulting in high production costs. Utility Model Content

[0005] The embodiments of the present application provide an image acquisition device, an endoscope and a medical instrument, which can split the composite light according to the wavelengths of different light beams in the composite light. In this way, the light irradiated onto the image sensor is a specific component in the composite light. There is no need to set a specific filter on the image sensor, which simplifies the structure of the image acquisition device and reduces the production cost.

[0006] According to a first aspect of an embodiment of the present application, there is provided an image acquisition device, comprising:

[0007] a first image sensor;

[0008] a second image sensor;

[0009] A beam splitter prism, the beam splitter prism is located on the light propagation path, the beam splitter prism has a first incident surface and a first plane, the first plane is facing away from the first incident surface; a semi-reflective semi-transparent membrane is provided on the first plane, the semi-reflective semi-transparent membrane is configured to selectively split the composite light incident on the beam splitter prism into reflected light and transmitted light according to the wavelength; the beam splitter prism is configured to guide the reflected light to the first image sensor; wherein the reflected light is visible light, the first image sensor is a white light sensor; the transmitted light is near-infrared light, and the second image sensor is a fluorescence sensor;

[0010] A reflective prism is configured to receive the transmitted light and direct the transmitted light to the second image sensor.

[0011] In an optional implementation, the beam splitter prism further has a first exit surface and a first reflection surface, the first exit surface is parallel to the first photosensitive surface of the first image sensor, the first reflection surface is located on a side of the beam splitter prism facing away from the first exit surface, and the angle between the first plane and the first exit surface is an obtuse angle;

[0012] The reflected light is reflected to the first reflecting surface via the semi-reflective and semi-transmissive film, and after being reflected by the first reflecting surface, is transmitted to the first image sensor along a direction perpendicular to the first emitting surface.

[0013] In an optional implementation, the first reflection surface is provided with a first total reflection film.

[0014] In an optional implementation, the beam splitter prism also has a first output surface, which is parallel to the photosensitive surface of the first image sensor, and the angle between the first plane and the first output surface is an acute angle; after the reflected light is reflected by the semi-reflective and semi-transparent membrane, it is transmitted to the first image sensor in a direction perpendicular to the first output surface.

[0015] In an optional implementation, the reflecting prism has a second output surface and a second reflecting surface, the second output surface is parallel to the second photosensitive surface of the second image sensor, and the second reflecting surface is located on the side of the reflecting prism facing away from the first plane. After the transmitted light is reflected by the second reflecting surface, it is transmitted to the second image sensor in a direction perpendicular to the second output surface.

[0016] In an optional implementation, the second reflection surface is provided with a second total reflection film.

[0017] In an optional implementation, the beam splitter prism further has a first exit surface, the first exit surface is parallel to the photosensitive surface of the first image sensor, and the angle between the first plane and the first exit surface is an acute angle; after the reflected light is reflected by the semi-reflective and semi-transparent film, it is transmitted to the first image sensor in a direction perpendicular to the first exit surface;

[0018] The reflecting prism has a second emitting surface and a second reflecting surface, the second emitting surface is parallel to the second photosensitive surface of the second image sensor, and the second reflecting surface is located on a side of the reflecting prism facing away from the first plane;

[0019] The second reflection surface is parallel to the first plane, and the angle between the second reflection surface and the second exit surface is 45°, and the incident direction of the composite light is parallel to the first exit surface and the second exit surface;

[0020] After being reflected by the second reflection surface, the transmitted light is transmitted to the second image sensor along a direction perpendicular to the second emission surface.

[0021] In an optional implementation, the image acquisition device further includes a transparent adhesive layer, which is located between the semi-reflective and semi-transparent film and the reflective prism; the transparent adhesive layer is configured to bond the beam splitter prism and the reflective prism; and the second incident surface of the reflective prism is parallel to the first plane.

[0022] In an optional implementation, the image acquisition device further includes a lens, the lens is located on one side of the first incident surface of the beam splitter prism, and the optical path axis of the lens is perpendicular to the first incident surface;

[0023] The lens is configured to shape the composite light so that the composite light is incident on the beam splitter prism from the first incident surface as parallel light.

[0024] In an optional implementation, the image acquisition device further includes a circuit board;

[0025] The first image sensors include two, and the two first image sensors are symmetrically arranged on two opposite sides of the circuit board; the beam splitter prisms include two, and the two beam splitter prisms are symmetrically arranged on two opposite sides of the circuit board, and the two first image sensors are located between the two beam splitter prisms; each beam splitter prism corresponds to a lens;

[0026] The second image sensors include two, which are symmetrically arranged on two opposite sides of the circuit board; the reflection prisms include two, which are symmetrically arranged on two opposite sides of the circuit board, and the two second image sensors are located between the two reflection prisms.

[0027] In an optional implementation, the image acquisition device further includes a fixing member and a sleeve, the fixing member is fixed in the sleeve, and the circuit board is fixed on the fixing member.

[0028] In an optional implementation, the first image sensor and the second image sensor located on the same side of the circuit board are arranged along the axial direction of the sleeve;

[0029] Furthermore, the first photosensitive surface of the first image sensor and the second photosensitive surface of the second image sensor are located in the same plane.

[0030] According to a second aspect of an embodiment of the present application, there is provided an endoscope, comprising:

[0031] An image acquisition device as provided in any optional implementation of the first aspect of the embodiments of the present application;

[0032] A handle connected to the proximal end of the image acquisition device;

[0033] An optical fiber connecting line and a data interface, one end of the optical fiber connecting line is connected to the proximal end of the handle, and the other end of the optical fiber connecting line is connected to the data interface, and the data interface is configured to be connected to a data processing device.

[0034] According to the third aspect of the embodiment of the present application, a medical device is provided, including the endoscope, data processing equipment and display provided in the second aspect of the embodiment of the present application, the endoscope is communicatively connected to the data processing equipment, and the data processing equipment is communicatively connected to the display.

[0035] The image acquisition device, endoscope and medical instrument provided by the embodiments of the present application are provided with a beam splitter prism on the optical propagation path of the image acquisition device, wherein the beam splitter prism has a first incident surface and a first plane, wherein the first plane is facing away from the first incident surface; and a semi-reflective and semi-transparent membrane is provided on the first plane; thus, after the composite light reflected by the patient's tissue and the fluorescent marker enters the beam splitter prism through the optical propagation path, the semi-reflective and semi-transparent membrane divides the composite light into reflected light (for example, visible light reflected by the patient's tissue) and transmitted light (for example, near-infrared light reflected by the fluorescent marker), and the reflected light is transmitted to the first image sensor under the guidance of the beam splitter prism, and the first image sensor is a white light sensor, and is received by the first image sensor, so that the light incident on the first image sensor is the reflected light (visible light) after the beam splitting. There is no influence of transmitted light (near infrared light), that is, there is no need to set a filter of a specific wavelength (for example, near infrared light, with a wavelength of 650nm-940nm) on the first image sensor, which simplifies the structure of the first image sensor, reduces the assembly process requirements, and reduces the production cost; in addition, the transmitted light passing through the semi-reflective and semi-transparent membrane is reflected by the reflecting prism and then incident on the second image sensor, and the second image sensor is a fluorescence sensor. In this way, the light transmitted to the second image sensor is the transmitted light (near infrared light) after spectral separation, and is not affected by reflected light (for example, visible light); in this way, there is no need to set a filter of a specific wavelength (for example, visible light, with a wavelength of 390nm-650nm) on the second image sensor, which simplifies the structure of the second image sensor, reduces the assembly process requirements, and reduces the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 is a schematic diagram of the overall structure of the image acquisition device provided in an embodiment of the present application;

[0038] Figure 2 is along Figure 1 Sectional view along line AA;

[0039] Figure 3 yes Figure 2 A partial enlarged view of point B in the middle;

[0040] Figure 4 is a structural schematic diagram of a beam splitter prism in an image acquisition device provided in an embodiment of the present application;

[0041] Figure 5It is a light path diagram after the composite light in the image acquisition device provided in the embodiment of the present application is irradiated to the beam splitter prism;

[0042] Figure 6 This is another optical path diagram after the composite light is irradiated to the beam splitter prism in the image acquisition device provided in an embodiment of the present application;

[0043] Figure 7 It is a schematic diagram of the structure of the endoscope provided in an embodiment of the present application.

[0044] Description of reference numerals:

[0045] 10-Endoscope;

[0046] 100-image acquisition device; 200-handle; 300-optical fiber connecting line; 400-data interface;

[0047] 110-tube; 120-lens; 130-first image sensor; 140-second image sensor; 150-beam splitter prism; 160-reflection prism; 170-circuit board; 180-fixing member;

[0048] 131-first photosensitive surface; 141-second photosensitive surface; 151-first incident surface; 152-first plane; 153-semi-reflective and semi-transmissive membrane; 154-first exit surface; 155-first reflection surface; 156-first total reflection membrane; 161-second exit surface; 162-second reflection surface; 163-second incident surface;

[0049] a-composite light; b-reflected light; c-transmitted light. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0051] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0052] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0053] The following terms used herein are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatially relative descriptors used here are interpreted accordingly.

[0054] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0055] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0056] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, including an end effector. An end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool, so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or knives that translate along a path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by a surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components. The embodiments of the present application are illustrated as specific examples using the medical device as an imaging device.

[0057] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the objects to be matched to operate in conjunction with each other. It should be noted that matching does not require direct connection (e.g., direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched by using object C (e.g., in an embodiment of the present application, a beam splitter and a reflecting prism can be matched by a glue layer). In addition, the term "detachably connected" or "detachably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are detachably connected can be unconnected and separated so that they no longer operate in conjunction.

[0058] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0059] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0060] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0061] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0062] The image platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the image platform (e.g., a data processing device or an image processing device) through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by the assistant.

[0063] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0064] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0065] In an embodiment of the present application, an image capture unit of a surgical instrument (such as an endoscope) with a video capture function in an image platform needs to be provided with a specific filter on the image sensor, which leads to a complex structure and high production cost. An image acquisition device, an endoscope and a medical device are provided, which can split the composite light according to the wavelengths of different light beams in the composite light. In this way, the light irradiated onto the image sensor is a specific component in the composite light, and there is no need to provide a specific filter on the image sensor, thereby simplifying the structure of the image acquisition device and reducing the production cost.

[0066] Figure 1 is a schematic diagram of the overall structure of the image acquisition device provided in an embodiment of the present application, Figure 2 is along Figure 1 The cross-sectional view along the AA line. Figure 3 yes Figure 2 A magnified partial view of point B in the middle.

[0067] Reference Figure 1-Figure 3 As shown, in order to solve the technical problems existing in the related art, an embodiment of the present application provides an image acquisition device 100, including: a first image sensor 130, a second image sensor 140, a beam splitter prism 150 and a reflective prism 160.

[0068] In the embodiment of the present application, the first image sensor 130 may be a visible light image sensor (may also be referred to as a white light sensor in some examples), that is, when visible light (usually with a wavelength of 390nm-650nm) is irradiated on the first image sensor 130, the first image sensor 130 may convert the received light signal into an electrical signal, and transmit the electrical signal to an image processing device (e.g., a host of an image platform) that is communicatively connected to the first image sensor 130 for processing. The visible light may be light emitted by the light source of the image acquisition device 100 that is irradiated on the patient's tissue, and after being reflected by the patient's tissue (e.g., diffusely reflected), enters the lens 120 (in some examples, may be an optical lens 120) of the image acquisition device 100, and may shape the diffusely reflected divergent light of the tissue, and shape the divergent light into parallel light, and then irradiate the first image sensor 130.

[0069] In order to accurately identify the diseased tissue in the patient's body, it is usually necessary to inject fluorescent markers into the patient's body or let the patient take them. The fluorescent markers flow in the patient's body and gather at the lesions. The fluorescent markers reflect the light emitted by the light source of the image acquisition device 100 to form fluorescence (usually near-infrared light with a wavelength of 650nm-940nm), which is shaped by the lens 120 and returned to the image acquisition device 100. The second image sensor 140 (in some examples, it can also be called a fluorescence sensor) generates a corresponding electrical signal after receiving the fluorescence, and transmits the electrical signal to an image processing device (such as a host of an image platform) that is communicatively connected to the second image sensor 140 for processing, thereby clearly marking the location of the patient's lesions and facilitating the doctor to perform surgery.

[0070] Generally, the image acquisition device 100 of the endoscope 10 is relatively small in size. Taking a laparoscope as an example, the diameter of the laparoscope sleeve 110 is usually less than or equal to 10.4 mm. In order to facilitate the arrangement of the first image sensor 130 and the second image sensor 140, refer to Figure 2 As shown, the first image sensor 130 and the second image sensor 140 are usually arranged laterally along the axis of the laparoscope sleeve 110, and then the light captured by the lens 120 is refracted or reflected by a prism, that is, the propagation path of the light captured by the lens 120 and transmitted to the sleeve 110 is turned, so that the light is irradiated onto the first image sensor 130 and the second image sensor 140.

[0071] In some examples, in order to facilitate the doctor's observation, the image captured by the image acquisition device 100 can be imaged as a 3D image. In this case, two first image sensors 130 and two second image sensors 140 can be used; in order to save space and facilitate the arrangement of the first image sensor 130 and the second image sensor 140, in the embodiment of the present application, the first image sensor 130 can be symmetrically arranged inside the sleeve 110 along the axis of the sleeve 110, and accordingly, the two second image sensors 140 can also be symmetrically arranged inside the outer appearance along the axis of the sleeve 110.

[0072] To facilitate the redirection of the optical path, refer to Figure 2 As shown, in the embodiment of the present application, a beam splitter prism 150 is provided on the side of each first image sensor 130 facing away from the axis of the sleeve 110, and a reflective prism 160 is provided on the side of each second image sensor 140 facing away from the axis of the sleeve 110. For ease of description, in the embodiment of the present application, only one of the first image sensor 130 and the second image sensor 140 is used as a specific example for detailed description, and it can be understood that the other symmetrical first image sensor 130 and the second image sensor 140 are arranged in the same manner.

[0073] In the embodiment of the present application, the beam splitter prism 150 is located on the light propagation path. As a specific example, refer to Figure 2 As shown, the lens 120 shapes the captured divergent light (usually a composite light formed by visible light diffusely reflected by tissue and near-infrared light reflected by fluorescent markers). The shaped composite light a propagates in a direction parallel to the axis of the cannula 110 and is incident into the beam splitter prism 150 through the first incident surface 151 of the beam splitter prism 150.

[0074] That is to say, referring to Figure 3 As shown, in some examples, the beam splitter 150 has a first incident surface 151 and a first plane 152. As an optional example of an embodiment of the present application, the first incident surface 151 can be perpendicular to the propagation direction of the shaped composite light a (parallel light). In other words, the first incident surface 151 is perpendicular to the axial direction of the sleeve 110, or, in some examples, it can also be understood that the first incident surface 151 is parallel to the radial section of the sleeve 110; in this way, the shaped composite light a can be vertically incident to the beam splitter prism 150, reducing the refraction and reflection of the composite light a at the first incident surface 151, making it easier for more light to enter the first image sensor 130 and the second image sensor 140, and improving the clarity of imaging.

[0075] Figure 4 It is a structural schematic diagram of a beam splitter prism in an image acquisition device provided in an embodiment of the present application.

[0076] Reference Figure 2 and Figure 3 As shown, in some examples of the embodiments of the present application, the first plane 152 is a side of the beam splitter prism 150 facing away from the first incident surface 151, referring to Figure 4 As shown, a semi-reflective and semi-transmissive film 153 is provided on the first plane 152; wherein the semi-reflective and semi-transmissive film 153 can selectively separate the composite light a incident to the beam splitter prism 150 into reflected light b and transmitted light c according to the wavelength.

[0077] In some optional examples, the reflected light b can be the visible light (wavelength of 390nm-650nm) in the composite light a, which is the light diffusely reflected by the patient's tissue and enters the dichroic prism 150, and the transmitted light c can be the near-infrared light (wavelength of 650nm-940nm) in the composite light a, which is the light reflected by the fluorescent marker to the dichroic prism 150. In the embodiment of the present application, the semi-reflective and semi-transparent membrane 153 arranged on the first plane 152 allows the near-infrared light with a wavelength of 650nm-940nm to pass through, while the visible light with a wavelength of 390nm-650nm is reflected by the semi-reflective and semi-transparent membrane 153.

[0078] That is to say, the semi-reflective and semi-transparent membrane 153 acts as a filter, and near-infrared light can pass through the semi-reflective and semi-transparent membrane 153, while visible light is reflected by the semi-reflective and semi-transparent membrane 153, thereby splitting the components of the composite light a into visible light and near-infrared light.

[0079] In some examples, the semi-reflective and semi-permeable membrane 153 may be a coating layer on the first plane 152; in other examples, the semi-reflective and semi-permeable membrane 153 may also be a spray layer or a coating layer on the first plane 152; or, in other examples, the semi-reflective and semi-permeable membrane 153 may also be an adhesive layer on the first plane 152. The embodiment of the present application does not limit how the semi-reflective and semi-permeable membrane 153 is formed on the first plane 152, and it is only necessary to ensure that the semi-reflective and semi-permeable membrane 153 is closely attached to the first plane 152.

[0080] Reference Figure 2 and Figure 3 As shown, in some examples of the embodiments of the present application, after the semi-reflective and semi-transparent film 153 splits the composite light a into reflected light b and transmitted light c, the reflected light b continues to propagate in the beam splitting prism 150 and propagates to the first image sensor 130 under the guidance of the beam splitting prism 150.

[0081] After the transmitted light c is transmitted through the semi-reflective and semi-transmissive film 153, it is received by the reflective prism 160. That is, in the embodiment of the present application, the reflective prism 160 can be arranged on the propagation path of the transmitted light c. Figure 2As shown, the reflecting prism 160 can be arranged on one side of the first plane 152 of the beam splitter prism 150 along the axial direction of the sleeve 110; in other words, the reflecting prism 160 is located at the proximal end of the image acquisition device 100 (usually the end of the image acquisition device 100 facing the patient's tissue is called the distal end), so that the reflecting prism 160 can deflect the propagation path of the transmitted light c, thereby guiding the transmitted light c (near-infrared light, which can also be called fluorescence in some examples) to the second image sensor 140, so that the second image sensor 140 can image the lesion tissue.

[0082] In some examples, the material of the beam splitter prism 150 and the reflecting prism 160 can be the same, that is, the refractive index of the beam splitter prism 150 and the reflecting prism 160 for light can be the same, so that the propagation paths of the transmitted light c in the beam splitter prism 150 and the reflecting prism 160 can be parallel, thereby facilitating the reflecting prism 160 to turn the propagation path of the transmitted light c.

[0083] The image acquisition device 100 provided in the embodiment of the present application is provided with a beam splitter prism 150 on the optical propagation path of the image acquisition device 100, wherein the beam splitter prism 150 has a first incident surface 151 and a first plane 152, wherein the first plane 152 faces away from the first incident surface 151; and a semi-reflective semi-transparent membrane 153 is provided on the first plane 152; thus, after the composite light a reflected by the patient's tissue and the fluorescent marker enters the beam splitter prism 150 through the optical propagation path, the semi-reflective semi-transparent membrane 153 divides the composite light a into reflected light b (for example, visible light reflected by the patient's tissue) and transmitted light c (for example, near-infrared light reflected by the fluorescent marker), and the reflected light b is transmitted to the first image sensor 130 under the guidance of the beam splitter prism 150 and is received by the first image sensor 130, thus, the composite light a incident on the first image sensor 130 is transmitted to the first image sensor 130. The light from the image sensor 130 is the reflected light b (visible light) after spectral splitting, and is not affected by the transmitted light c (near infrared light), that is, there is no need to set a filter of a specific wavelength (for example, near infrared light, with a wavelength of 650nm-940nm) on the first image sensor 130, which simplifies the structure of the first image sensor 130 and reduces the production cost; in addition, the transmitted light c passing through the semi-reflective and semi-transparent membrane 153 is reflected by the reflecting prism 160 and then incident on the second image sensor 140, so that the light from the second image sensor 140 is the transmitted light c after spectral splitting, and is not affected by the reflected light b (for example, visible light); in this way, there is no need to set a filter of a specific wavelength (for example, visible light, with a wavelength of 390nm-650nm) on the second image sensor 140, which simplifies the structure of the second image sensor 140 and reduces the production cost.

[0084] In some optional examples of the embodiments of the present application, refer to Figure 2 and Figure 3As shown, the beam splitter prism 150 also has a first output surface 154 and a first reflection surface 155. The first output surface 154 is parallel to the first photosensitive surface 131 of the first image sensor 130. The first reflection surface 155 is located on the side of the beam splitter prism 150 that is opposite to the first output surface 154. The angle between the first plane 152 and the first output surface 154 is an obtuse angle.

[0085] For some examples, refer to Figure 2 As shown, the first photosensitive surface 131 of the first image sensor 130 may be parallel to the axial direction of the sleeve 110, that is, the first exit surface 154 is parallel to the axial direction of the sleeve 110, or the first exit surface 154 and the first incident surface 151 may be perpendicular to each other. In some examples, the first exit surface 154 and the first incident surface 151 may be adjacent; of course, in other examples, the first exit surface 154 and the first incident surface 151 may also be connected by chamfering or rounding transition.

[0086] In the present application, refer to Figure 2 and Figure 3 As shown, the first reflective surface 155 may be disposed on the side of the beam splitter prism 150 facing away from the first exit surface 154. It can be understood that in some examples, to facilitate the arrangement of the first image sensor 130 and the second image sensor 140, the first image sensor 130 and the second image sensor 140 may be arranged at a position close to the axis of the sleeve 110. For example, a circuit board 170 may be arranged on the axis of the sleeve 110, and the first image sensor 130 and the second image sensor 140 are arranged on the circuit board 170; in this case, the first reflective surface 155 may be located at a position close to the inner wall of the sleeve 110.

[0087] Reference Figure 2 and Figure 3As shown, in the embodiment of the present application, the angle between the first plane 152 and the first exit surface 154 is set to an obtuse angle. In some examples, the first plane 152 may be adjacent to the first exit surface 154; or, in other examples, the first plane 152 and the first exit surface 154 may also be transitioned by chamfering or rounding; in this way, after the reflected light b is reflected by the semi-reflective and semi-transmissive film 153, it propagates in the direction away from the first image sensor 130 and is projected onto the first reflecting surface 155. After the first reflecting surface 155 reflects the reflected light b, the reflected light b is transmitted to the first image sensor 130 in a direction perpendicular to the first exit surface 154. In other words, the reflected light b in the composite light a incident on the beam splitter prism 150 through the first incident surface 151 is turned 270° in the beam splitter prism 150, and then is emitted from the first exit surface 154 along the radial direction of the sleeve 110, and irradiated onto the first photosensitive surface 131 of the first image sensor 130. In this way, the propagation path of the reflected light b after the composite light a is split in the splitting prism 150 is similar to or the same as the propagation path of the transmitted light c in the reflecting prism 160, which can shorten the time difference between the first image sensor 130 and the second image sensor 140 receiving the light, thereby improving the imaging quality.

[0088] It can be understood that in the embodiment of the present application, the obtuse angle formed between the first plane 152 and the first exit surface 154 can be specifically set according to the inclination of the first reflection surface 155; of course, in some examples, it can also be understood that the inclination angle of the first reflection surface 155 can be specifically set according to the inclination angle of the first plane 152, that is, after the reflected light b is reflected from the semi-reflective and semi-transparent membrane 153 on the first plane 152, the reflected light b propagates to the first reflection surface 155, and after being reflected from the first reflection surface 155, it propagates radially along the sleeve 110 (or it can also be understood that the reflected light b propagates in a direction perpendicular to the propagation direction of the composite light a).

[0089] In the embodiment of the present application, the first output surface 154 of the dichroic prism 150 is set to be parallel to the first photosensitive surface 131 of the first image sensor 130, and the reflected light b after being reflected by the first reflecting surface 155 is set to propagate in a direction perpendicular to the first output surface 154; in this way, when the reflected light b after being reflected by the first reflecting surface 155 exits the dichroic prism 150 from the first output surface 154, there is no refraction and reflection phenomenon at the first output surface 154, which can increase the amount of light collected by the first image sensor 130 and improve the imaging quality.

[0090] In an optional example of the embodiment of the present application, the first reflective surface 155 is provided with a first total reflection film 156. In some examples, the first total reflection film 156 may be a mirror reflection film; when specifically set, the first total reflection film 156 may be a coating layer, a coating layer, a spray layer, or an adhesive layer, etc., set on the first reflective surface 155. In the embodiment of the present application, the specific setting method of the first total reflection film 156 on the first reflective surface 155 is not limited, and it is only necessary to ensure that the first total reflection film 156 is in close contact with the first reflective surface 155.

[0091] As an optional example, the first total reflection film 156 may be a silver-plated layer disposed on the first reflection surface 155 .

[0092] Figure 5 This is a light path diagram after the composite light in the image acquisition device provided in an embodiment of the present application is irradiated to the beam splitter prism.

[0093] Reference Figure 5 As shown, in the embodiment of the present application, the composite light a is incident on the beam splitter prism 150 from the first incident surface 151 of the beam splitter prism 150. In the embodiment of the present application, the first incident surface 151 is perpendicular to the propagation path of the composite light a. Therefore, the composite light a will not be refracted or reflected at the first incident surface 151. The composite light a propagates in the beam splitter prism 150. When the composite light a propagates and irradiates the semi-reflective and semi-transmissive membrane 153 disposed on the first plane 152, the visible light of the reflected light b (with a wavelength of 390nm-650nm) in the composite light a is reflected. Since the first plane 152 and the first exit surface 154 are at an obtuse angle, refer to Figure 5 As shown, the reflected light b propagates back to the first exit surface 154 and is irradiated on the first reflection surface 155 arranged opposite to the first exit surface 154 . The first total reflection film 156 on the first reflection surface 155 reflects the reflected light b again, so that the reflected light b propagates toward the first exit surface 154 .

[0094] In some other examples of the embodiments of the present application, refer to Figure 3 and Figure 5 As shown, the reflecting prism 160 has a second emitting surface 161 and a second reflecting surface 162. The second emitting surface 161 is parallel to the second photosensitive surface 141 of the second image sensor 140. The second reflecting surface 162 is located on the side of the reflecting prism 160 facing away from the first plane 152. After being reflected by the second reflecting surface 162, the transmitted light c is transmitted to the second image sensor 140 in a direction perpendicular to the second emitting surface 161.

[0095] In some examples, the second exit surface 161 and the first exit surface 154 may be arranged in parallel. In order to reduce the space required for the reflection prism 160 and the beam splitter prism 150 to occupy in the sleeve 110, in some examples, the second exit surface 161 and the first exit surface 154 may be coplanar, that is, the second exit surface 161 and the first exit surface 154 are in the same plane. It can be understood that the second photosensitive surface 141 of the second image sensor 140 and the first photosensitive surface 131 of the first image sensor 130 may also be in the same plane.

[0096] Reference Figure 5 As shown, the composite light a is incident on the beam splitter prism 150 from the first incident surface 151 of the beam splitter prism 150, and is irradiated onto the semi-reflective and semi-transparent membrane 153 on the first plane 152. The transmitted light c (near-infrared light reflected by the fluorescent marker, with a wavelength of 650nm-940nm) in the composite light a passes through the semi-reflective and semi-transparent membrane 153 and is incident on the reflecting prism 160. The transmitted light c propagates in the reflecting prism 160 and propagates to the second reflecting surface 162 on the side facing away from the first plane 152. The second reflecting surface 162 reflects the transmitted light c to the second image sensor 140. In other words, the propagation path of the transmitted light c undergoes a 90° turn in the reflecting prism 160.

[0097] In this way, it is convenient to arrange the first image sensor 130 and the second image sensor 140 in the sleeve 110, which can effectively reduce the space occupied by the first image sensor 130 and the second image sensor 140, and is convenient to arrange in a small space; and, after the composite light a is split into the reflected light b and the transmitted light c, the transmitted light c needs to propagate a certain path in the reflecting prism 160 and be irradiated on the second reflecting surface 162 before it can be reflected; therefore, in the embodiment of the present application, after the semi-reflective and semi-transparent membrane 153 reflects the reflected light b to the first reflecting surface 155 facing away from the first exit surface 154, it is reflected to the first image sensor 130 under the reflection action of the first reflecting surface 155; in this way, the propagation optical paths of the reflected light b and the transmitted light c are the same or similar, which reduces the time difference in receiving light by the first image sensor 130 and the second image sensor 140, and can effectively improve the imaging quality of the image.

[0098] It can be understood that in some examples, the configuration of the reflective prism 160 can also be the same as the configuration of the beam splitter prism 150, that is, the transmitted light c can also be turned 270° in the reflective prism 160 and then irradiated to the second image sensor 140. For details, please refer to the detailed description of the beam splitter prism 150 in the aforementioned embodiment of the present application. The difference is that the second reflective surface 162 can reflect the transmitted light c.

[0099] In some examples, the second reflective surface 162 is provided with a second total reflection film. It can be understood that in the embodiment of the present application, the second total reflection film can be arranged in the same or similar manner as the first total reflection film 156 in the previous embodiment of the present application. For details, reference can be made to the detailed description of the first total reflection film 156 in the previous embodiment of the present application, which will not be repeated in the embodiment of the present application.

[0100] Figure 6 This is another light path diagram after the composite light in the image acquisition device provided in an embodiment of the present application is irradiated to the beam splitter prism.

[0101] Reference Figure 6 As shown, in some other examples of the embodiments of the present application, the angle between the first plane 152 of the beam splitter prism 150 and the first exit surface 154 may also be an acute angle; after the reflected light b is reflected by the semi-reflective and semi-transparent membrane 153, it is transmitted to the first image sensor 130 in a direction perpendicular to the first exit surface 154.

[0102] That is to say, referring to Figure 6 As shown, in some examples of the embodiments of the present application, after the composite light a is incident on the beam splitter prism 150 from the first incident surface 151, it propagates in the beam splitter prism 150, and when it is irradiated on the semi-reflective semi-transparent film 153 on the first plane 152, the visible light (wavelength of 390nm-650nm) in the composite light a is reflected on the first plane 152, and after being turned 90° in the beam splitter prism 150, it is irradiated from the first exit surface 154 to the first image sensor 130. In this way, the beam splitter prism 150 only needs to be provided with a semi-reflective semi-transparent film 153 on the first plane 152, which simplifies the processing and production process of the beam splitter prism 150 and reduces the processing and production cost of the image collector.

[0103] Reference Figure 6 As shown, in some examples of the embodiments of the present application, the second reflection surface 162 is parallel to the first plane 152, and the angle α between the second reflection surface 162 and the second exit surface 161 is 45°, and the incident direction of the composite light a is parallel to the first exit surface 154 and the second exit surface 161. In this way, it is convenient to redirect the reflected light b and the transmitted light c, and it is convenient to arrange the first image sensor 130 and the second image sensor 140 in the sleeve 110.

[0104] In some optional examples, the image acquisition device 100 also includes a transparent adhesive layer (not shown in the figure), which is located between the semi-reflective and semi-transparent membrane 153 and the reflective prism 160; the transparent adhesive layer is configured to bond the beam splitter prism 150 and the reflective prism 160; the second incident surface 163 of the reflective prism 160 is parallel to the first plane 152.

[0105] In some examples, the transparent adhesive layer can be made of a material having a refractive index similar to that of the beam splitter prism 150 or the reflective prism 160. In the embodiment of the present application, the transparent adhesive layer can be evenly distributed between the first plane 152 and the second incident surface 163 of the reflective prism 160. In a specific configuration, the transparent adhesive layer can cover the side of the semi-reflective and semi-transparent film 153 facing away from the beam splitter prism 150. In some examples, in order to ensure the uniformity of the transparent adhesive layer, the transparent adhesive layer can be sprayed on the first surface or the second incident surface 163 of the reflective prism 160 by spraying.

[0106] In the embodiment of the present application, a transparent adhesive layer is provided between the semi-reflective and semi-transparent membrane 153 and the reflecting prism 160. Thus, in the sleeve 110, only one of the beam splitter prism 150 and the reflecting prism 160 needs to be fixed and supported, and the other of the beam splitter prism 150 and the reflecting prism 160 can be fixed and supported, which facilitates the fixing and supporting of the beam splitter prism 150 and the reflecting prism 160, reduces the setting of the supporting structure on the inner wall of the sleeve 110, simplifies the structure of the sleeve 110, and reduces the difficulty of production and processing.

[0107] In addition, the second incident surface 163 is set to be parallel to the first plane 152, so that after the transmitted light c is transmitted through the dichroic prism 150 from the first plane 152, it is incident on the reflecting prism from the second incident surface 163. The transmitted light c is refracted once at the first plane 152 and reversely refracted at the second incident surface 163. The reflecting prism 160 and the dichroic prism 150 are made of the same material and have the same refractive index for the transmitted light c, so that the propagation path of the transmitted light c in the reflecting prism 160 can be the same as the propagation path in the dichroic prism 150, thereby improving the imaging clarity of the second image sensor 140.

[0108] In addition, the beam splitter prism 150 and the reflecting prism 160 are bonded together by a transparent adhesive layer, so that the gap between the beam splitter prism 150 and the reflecting prism 160 is reduced, and the reflection and refraction of the transmitted light c between the beam splitter prism 150 and the reflecting prism 160 can be reduced, which can improve the clarity of the imaging of the second image sensor 140.

[0109] In some optional examples of the embodiments of the present application, refer to Figure 2 As shown, the image acquisition device 100 further includes a circuit board 170. In the embodiment of the present application, the circuit board 170 may be an integrated circuit board 170. In some examples, the circuit board 170 may also be a printed circuit board 170 (Printed Circuit Board, PCB for short). The first image sensor 130 and the second image sensor 140 may be disposed on the circuit board 170.

[0110] In some examples, referring to the detailed description of the above embodiments of the present application, there may be two first image sensors 130. In a specific configuration, the two first image sensors 130 are symmetrically arranged on opposite sides of the circuit board 170.

[0111] As a specific example of the embodiment of the present application, refer to Figure 2 As shown, the circuit board 170 can be arranged along the axial direction of the sleeve 110, that is, the two first image sensors 130 are symmetrically arranged on both sides of the circuit board 170 along the axial direction of the sleeve 110. It can be understood that each first image sensor 130 corresponds to a beam splitter prism 150, so the two beam splitter prisms 150 are also symmetrical with respect to the circuit board 170, and the beam splitter prism 150 is located on the side of the first image sensor 130 that is away from the circuit board 170.

[0112] It can also be understood that the second image sensor 140 is arranged in the same or similar manner as the first image sensor 130, that is, there are two second image sensors 140, and the two second image sensors 140 are symmetrically arranged on two opposite sides of the circuit board 170. In addition, there are two reflective prisms 160, and the two reflective prisms 160 are symmetrically arranged on the opposite sides of the two second image sensors 140.

[0113] In this way, two first image sensors 130 and two second image sensors 140 can be arranged in the narrow space of the sleeve 110, so as to realize 4K fluorescent 3D imaging of the image acquisition device 100, which is convenient for doctors to observe and operate on the patient's lesion tissue.

[0114] In some optional examples of the embodiments of the present application, refer to Figure 2 As shown, a fixing member 180 is further provided in the sleeve 110, and the circuit board 170 is provided on the fixing member 180. This facilitates fixing the circuit board 170, the first image sensor 130, and the second image sensor 140, thereby ensuring that the relative positions of the first image sensor 130 and the beam splitter prism 150 remain unchanged, and the relative positions of the second image sensor 140 and the reflective prism 160 remain unchanged, which can improve the imaging quality and accuracy, and facilitate the doctor to perform the surgical operation.

[0115] In some other optional examples of the embodiments of the present application, refer to Figure 1 and Figure 2 As shown, the image acquisition device 100 also includes two lenses 120 , each lens 120 corresponds to a beam splitter prism 150 , and the lens 120 is located on one side of a first incident surface 151 of the beam splitter prism 150 , and the optical path axis of the lens 120 is perpendicular to the first incident surface 151 .

[0116] Reference Figure 2As shown, the lens 120 can capture the divergent light reflected by the tissue and the divergent light reflected by the fluorescent marker. The divergent light is shaped in the lens 120 to form a parallel composite light a. In this way, the composite light a can be incident on the beam splitter prism 150 as parallel light perpendicular to the first incident surface 151, which can reduce or lower the reflection and refraction of the composite light a by the first incident surface 151, thereby ensuring that more light can be received by the first image sensor 130 and the second image sensor 140, thereby improving the imaging quality of the image.

[0117] Figure 7 It is a schematic diagram of the structure of the endoscope provided in an embodiment of the present application.

[0118] Reference Figure 7 As shown, the embodiment of the present application also provides an endoscope 10, including:

[0119] The image acquisition device 100, handle 200, optical fiber connecting line 300 and data interface 400 provided in any optional example of the aforementioned embodiments of the present application.

[0120] In the embodiment of the present application, the handle 200 is connected to the proximal end of the image acquisition device 100; wherein, the end of the image acquisition device 100 facing / toward the patient's tissue is generally referred to as the distal end, that is, the proximal end of the image acquisition device 100 is the end of the image acquisition device 100 facing away from the patient's tissue. Exemplarily, the first image sensor 130 and the second image sensor 140 convert the optical signal into an electrical signal, which is transmitted on the circuit board 170 and transmitted to the electrical signal processor on the handle 200, and the electrical signal processor on the handle 200 converts the electrical signal into an optical signal again.

[0121] In the embodiment of the present application, after the electrical signal processor on the handle 200 processes the electrical signal into an optical signal, the optical signal can be transmitted through the optical fiber connection line 300 connected to the proximal end of the handle 200, and the optical signal is transmitted to the data interface 400. The data interface 400 can be connected to a computer device to process the optical signal.

[0122] In some examples, the data interface 400 may be a Universal Serial Bus (USB). Of course, in other examples, the data interface 400 may also be other types of interfaces, such as a Type-C interface. In the embodiments of the present application, the specific type of the data interface 400 is not limited.

[0123] An embodiment of the present application also provides a medical device, including the endoscope 10, a data processing device and a display provided in the aforementioned embodiment of the present application, the endoscope 10 is communicatively connected to the data processing device, and the data processing device is communicatively connected to the display.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An image acquisition device, It is characterized in that include: a first image sensor (130); a second image sensor (140); A beam splitter prism (150), the beam splitter prism (150) being located on a light propagation path, the beam splitter prism (150) having a first incident surface (151) and a first plane (152), the first plane (152) being facing away from the first incident surface (151); a semi-reflective semi-transparent film (153) being provided on the first plane (152), the semi-reflective semi-transparent film (153) being configured to selectively split composite light incident on the beam splitter prism (150) into reflected light and transmitted light according to wavelength; the beam splitter prism (150) being configured to guide the reflected light to the first image sensor (130); wherein the reflected light is visible light, and the first image sensor (130) is a white light sensor; the transmitted light is near-infrared light, and the second image sensor (140) is a fluorescence sensor; A reflective prism (160) is configured to receive the transmitted light and direct the transmitted light to the second image sensor (140).

2. The image acquisition device according to claim 1, It is characterized in that The beam splitter prism (150) further comprises a first emitting surface (154) and a first reflecting surface (155); the first emitting surface (154) is parallel to the first photosensitive surface (131) of the first image sensor (130); the first reflecting surface (155) is located on a side of the beam splitter prism (150) that is opposite to the first emitting surface (154); and the angle between the first plane (152) and the first emitting surface (154) is an obtuse angle; The reflected light is reflected to the first reflecting surface (155) via the semi-reflective and semi-transmissive film (153), and after being reflected by the first reflecting surface (155), is transmitted to the first image sensor (130) along a direction perpendicular to the first emitting surface (154).

3. The image acquisition device according to claim 2, It is characterized in that The first reflection surface (155) is provided with a first total reflection film (156).

4. The image acquisition device according to claim 1, It is characterized in that The beam splitter prism (150) further comprises a first exit surface (154), the first exit surface (154) is parallel to the photosensitive surface of the first image sensor (130), and the angle between the first plane (152) and the first exit surface (154) is an acute angle; After being reflected by the semi-reflective and semi-transmissive film (153), the reflected light is transmitted to the first image sensor (130) along a direction perpendicular to the first emission surface (154).

5. The image acquisition device according to any one of claims 2 to 4, It is characterized in that The reflecting prism (160) has a second emitting surface (161) and a second reflecting surface (162); the second emitting surface (161) is parallel to the second photosensitive surface of the second image sensor (140); the second reflecting surface (162) is located on the side of the reflecting prism (160) facing away from the first plane (152); after being reflected by the second reflecting surface (162), the transmitted light is transmitted to the second image sensor (140) in a direction perpendicular to the second emitting surface (161).

6. The image acquisition device according to claim 5, It is characterized in that The second reflection surface (162) is provided with a second total reflection film.

7. The image acquisition device according to claim 1, It is characterized in that The beam splitter prism (150) further comprises a first exit surface (154), the first exit surface (154) is parallel to the photosensitive surface of the first image sensor (130), and the angle between the first plane (152) and the first exit surface (154) is an acute angle; After being reflected by the semi-reflective and semi-transmissive film (153), the reflected light is transmitted to the first image sensor (130) along a direction perpendicular to the first emission surface (154); The reflecting prism (160) has a second emitting surface (161) and a second reflecting surface (162), the second emitting surface (161) is parallel to the second photosensitive surface of the second image sensor (140), and the second reflecting surface (162) is located on a side of the reflecting prism (160) that is opposite to the first plane (152); The second reflection surface (162) is parallel to the first plane (152), and the angle between the second reflection surface (162) and the second exit surface (161) is 45°, and the incident direction of the composite light is parallel to the first exit surface (154) and the second exit surface (161); After being reflected by the second reflection surface (162), the transmitted light is transmitted to the second image sensor (140) along a direction perpendicular to the second emission surface (161).

8. The image acquisition device according to any one of claims 1 to 4, It is characterized in that The image acquisition device further comprises a transparent adhesive layer, wherein the transparent adhesive layer is located between the semi-reflective and semi-transparent film (153) and the reflecting prism (160); the transparent adhesive layer is configured to bond the beam splitting prism (150) and the reflecting prism (160); and the second incident surface (163) of the reflecting prism (160) is parallel to the first plane (152).

9. The image acquisition device according to any one of claims 1 to 4, It is characterized in that The image acquisition device further comprises a lens (120), wherein the lens (120) is located on one side of the first incident surface (151) of the beam splitter prism (150), and the optical path axis of the lens (120) is perpendicular to the first incident surface (151); The lens (120) is configured to shape the composite light so that the composite light is incident on the beam splitter prism (150) from the first incident surface (151) as parallel light.

10. The image acquisition device according to claim 9, It is characterized in that The image acquisition device also includes a circuit board (170); The first image sensors (130) include two, and the two first image sensors (130) are symmetrically arranged on two opposite sides of the circuit board (170); the beam splitter prisms (150) include two, and the two beam splitter prisms (150) are symmetrically arranged on two opposite sides of the circuit board (170), and the two first image sensors (130) are located between the two beam splitter prisms (150); each beam splitter prism (150) corresponds to one lens (120); The second image sensors (140) include two, and the two second image sensors (140) are symmetrically arranged on two opposite sides of the circuit board (170); the reflection prisms (160) include two, and the two reflection prisms (160) are symmetrically arranged on two opposite sides of the circuit board (170), and the two second image sensors (140) are located between the two reflection prisms (160).

11. The image acquisition device according to claim 10, It is characterized in that The image acquisition device also includes a fixing member (180) and a sleeve (110), wherein the fixing member (180) is fixed in the sleeve (110), and the circuit board (170) is fixed on the fixing member (180).

12. The image acquisition device according to claim 11, It is characterized in that The first image sensor (130) and the second image sensor (140) located on the same side of the circuit board (170) are arranged along the axial direction of the sleeve (110); Furthermore, the first photosensitive surface (131) of the first image sensor (130) and the second photosensitive surface (141) of the second image sensor (140) are located on the same plane.

13. An endoscope, It is characterized in that include: The image acquisition device (100) as claimed in any one of claims 1 to 12; A handle (200), the handle (200) being connected to the proximal end of the image acquisition device; An optical fiber connecting line (300) and a data interface (400), wherein one end of the optical fiber connecting line (300) is connected to the proximal end of the handle (200), and the other end of the optical fiber connecting line (300) is connected to the data interface (400), and the data interface (400) is configured to be connected to a data processing device.

14. A medical device, It is characterized in that It comprises the endoscope (10) as claimed in claim 13, a data processing device and a display, wherein the endoscope (10) is communicatively connected to the data processing device, and the data processing device is communicatively connected to the display.

Images