Endoscope system and camera device for endoscope system

Abstract

The utility model discloses an endoscope system and a camera device for the endoscope system in the technical field of medical instruments. According to the endoscope system, the driving motor can drive the image sensor to rotate in the direction opposite to the rotation direction of the endoscope body through the transmission device and the rotor of the sliding ring, so that the angle of the image sensor is adjusted, and the relative angle of a measured object irradiated by the image sensor and the endoscope body is kept unchanged; therefore, it is ensured that the image rotation angle does not change. Since the image does not need to be corrected by means of a software algorithm, the influence on the real-time performance of image transmission is small, the driving motor is arranged outside the camera device, the influence on the internal circuit structure of the camera device can be reduced, the size of the camera device is reduced, and the service life, the use feeling and the image acquisition effect of the endoscope system are ensured.

Description

Technical Field

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

[0002] At present, a gravity sensor is generally installed in the endoscope to sense the rotation of the endoscope, and then the angle of the image collected by the endoscope is corrected by the software algorithm on the host side, so that the image follows the rotation of the endoscope. In this solution, the software algorithm will consume the computer resources of the host, and the algorithm calculation takes a long time, which will increase the image transmission delay. Endoscopes are usually used in occasions such as minimally invasive surgical observation. They are a kind of equipment with high real-time requirements. Therefore, large delays are not conducive to the use of endoscopes. Utility Model Content

[0003] In view of this, the purpose of this application is to provide an endoscope system and a camera device for an endoscope system, which can make the image rotate along with the rotation of the endoscope and have a small system delay. The specific scheme is as follows:

[0004] To achieve the above-mentioned purpose, the present application provides an endoscope system, including a control host 1, a light source device 14, a camera device 4 and a mirror body 5, wherein the camera device 4 or the mirror body 5 includes an angle sensor 6;

[0005] The camera device 4 includes an image sensor 3 and a slip ring 7, wherein the image sensor 3 receives light from the mirror body 5 and is fixedly connected to a rotor 7-b of the slip ring 7;

[0006] The endoscope system further includes a driving motor 9, which is disposed on the control host 1 or the light source device 14 and drives the rotor 7-b of the slip ring 7 to rotate through the transmission device 12;

[0007] An image signal receiving terminal 8 is provided on one side of the stator 7 - a of the slip ring 7 and is communicatively connected to the image sensor 3 ;

[0008] The image signal receiving terminal 8 and the angle sensor 6 are in communication connection with the control host 1 .

[0009] Optionally, the transmission device 12 includes: a flexible transmission shaft 12-a and a transmission structure 12-b; the transmission structure 12-b is connected to the rotor 7-b of the slip ring 7; one end of the flexible transmission shaft 12-a is connected to the transmission structure 12-b, and the other end is connected to the drive motor 9.

[0010] Optionally, the image signal receiving terminal 8 and the angle sensor 6 are connected to the control host 1 via a communication line 15, and the communication line 15 and the flexible transmission shaft 12-a are arranged in the same cable.

[0011] The present application also provides a camera device 4 for an endoscope system, comprising an image sensor 3 and a slip ring 7, wherein the image sensor 3 is fixedly connected to the rotor 7-b of the slip ring 7; an image signal receiving terminal 8 communicatively connected to the image sensor 3 is provided on one side of the stator 7-a of the slip ring 7.

[0012] Optionally, the camera device 4 further includes an angle sensor 6 .

[0013] Optionally, the rotor 7 - b of the slip ring 7 is connected to a transmission structure 12 - b , and the transmission structure 12 - b can be driven by an external force to rotate the rotor 7 - b of the slip ring 7 .

[0014] The endoscope system provided in the present application enables the driving motor 9 to drive the image sensor 3 to rotate in the opposite direction of the rotation direction of the mirror body 5 by utilizing the transmission device 12 and the rotor 7-b of the slip ring 7, thereby adjusting the angle of the image sensor 3, so that the relative angle of the image sensor 3 and the mirror body 5 illuminated by the measured object remains unchanged, thereby ensuring that the image rotation angle does not change; since there is no need to use software algorithms to correct the image, the real-time performance of the image transmission is not greatly affected. The driving motor 9 is placed outside the camera device 4, which can reduce the impact on the internal circuit structure of the camera device 4, reduce the volume of the camera device 4, and ensure the service life, usage experience and image acquisition effect of the endoscope system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of an endoscope system provided for this application;

[0017] Figure 2 A schematic diagram of another endoscope system provided for this application;

[0018] Figure 3 A schematic diagram of image display and rotation provided for this application;

[0019] Figure 4 A schematic diagram of a camera device for an endoscope system provided in the present application;

[0020] Figure 5 A controller structure diagram provided for this application;

[0021] Figure 6 Another controller structure diagram provided for this application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In addition, in the embodiments of the present application, "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0023] At present, a gravity sensor is generally installed in the endoscope to sense the rotation of the endoscope, and then the angle of the image collected by the endoscope is corrected by the software algorithm on the host side, so that the image follows the rotation of the endoscope. In this solution, the software algorithm will consume the computer resources of the host, and the algorithm calculation takes a long time, which will increase the image transmission delay. Endoscopes are usually used in occasions such as minimally invasive surgical observation. They are a kind of equipment with high real-time requirements. Therefore, large delays are not conducive to the use of endoscopes.

[0024] In view of the above-mentioned problems currently existing, the present application proposes an endoscope system, which can make the image rotate along with the rotation of the endoscope and has a small system delay.

[0025] Figure 1 A schematic diagram of an endoscope system provided in an embodiment of the present application. Figure 1 As shown, in the endoscope system, the image sensor 3 inside the camera device (i.e., the endoscope camera) 4 is fixed to the rotor 7-b part of the photoelectric slip ring 7; the current rotation angle of the endoscope is obtained by the angle sensor 6 inside the endoscope camera 4, and fed back to the image processor 10 (i.e., the controller built into the control host 1), and the image processor 10 controls the motor 9 (including the drive circuit) in the host 1 according to the fed-back rotation angle, through the flexible transmission shaft 12-a and the transmission structure 12-b, to drive the rotor 7-b part of the photoelectric slip ring 7 to rotate in the opposite direction of the rotation direction of the endoscope, then the rotor 7-b part of the photoelectric slip ring 7 drives the image sensor 3 fixed thereon to rotate in the opposite direction, thereby ensuring that the relative position of the image sensor 3 and the object to be measured remains unchanged, and the image sensor 3 collects the image signal through the light guide structure. After the image signal is transmitted to the image processor 10, the image processor 10 displays the image on the display 2 according to the viewing angle commonly used by the observer.

[0026] exist Figure 1 In the figure, the motor 9 is connected to the stator 7 - a of the optoelectronic slip ring 7 and the angle sensor 6 via a communication line 13 , the motor 9 is connected to the transmission device 12 via a flexible transmission shaft 12 - a , and the communication line 13 and the flexible transmission shaft 12 - a are wrapped in the same cable 11 .

[0027] In this embodiment, after the scope body 5 rotates, the motor drives the image sensor 3 to rotate in the opposite direction, thereby adjusting the angle of the image sensor 3 so that the relative angle between the image sensor 3 and the object being measured remains unchanged, thereby ensuring that the image rotation angle does not change; since there is no need to use software algorithms to correct the image, the real-time performance of image transmission is not greatly affected. The motor is placed in the host 1, which can reduce the impact on the internal circuit structure of the endoscope device, reduce the size of the endoscope device, and ensure the service life, user experience and image acquisition effect of the endoscope device.

[0028] In this embodiment, the endoscope system also includes: a display 2 connected to the controller; accordingly, the controller is also used to: obtain the image signal collected by the image sensor 3 through the light-guiding structure, generate a target image using the image signal, and send the target image to the display 2; accordingly, the display 2 is used to: display the target image.

[0029] Figure 2 Schematic diagram of another endoscope system provided in an embodiment of the present application. Figure 2 As shown, the endoscope system includes a control host 1 (including a controller), a light source device 14, a camera device 4 and a mirror body 5, the camera device 4 or the mirror body 5 includes an angle sensor 6; the camera device 4 includes an image sensor 3 and a slip ring 7, the image sensor 3 receives light obtained from the mirror body 5, and is fixedly connected to the rotor 7-b of the slip ring 7; the endoscope system also includes a drive motor 9, the drive motor 9 is arranged on the control host 1 or the light source device 14, and drives the rotor 7-b of the slip ring 7 to rotate through the transmission device 12; an image signal receiving end 8 is provided on one side of the stator 7-a of the slip ring 7, which is communicatively connected to the image sensor 3; the image signal receiving end 8 and the angle sensor 6 are communicatively connected to the control host 1.

[0030] Figure 2 The components in the dashed box indicate that they are not set but can be set. For example, the drive motor 9 in the dashed box in the control host 1 indicates that the drive motor 9 can be set in the control host 1, but it is not so set in the current figure, and the drive motor 9 is set in the light source device 14. Correspondingly, the dashed box in the mirror body 5 indicates that the angle sensor 6 can be set in the mirror body 5, but it is not so set in the current figure, and the angle sensor 6 is set in the camera device 4.

[0031] Among them, the drive motor 9 uses the transmission device 12 and the rotor 7-b of the slip ring 7 to drive the image sensor 3 to rotate in the opposite direction of the mirror body 5, thereby adjusting the angle of the image sensor 3, so that the relative angle of the image sensor 3 and the mirror body 5 irradiating the measured object remains unchanged, thereby ensuring that the image rotation angle does not change; since there is no need to use software algorithms to correct the image, the real-time performance of image transmission is not greatly affected. The drive motor 9 is arranged inside the controller or inside the light source device 14. Placing the drive motor 9 inside the camera device 4 will lead to a complex internal circuit structure of the camera device 4, increase the volume of the camera device 4, and be unfavorable for the use of the endoscope. Endoscopes are usually used in occasions such as minimally invasive surgical observations, and their volume needs to be as small as possible. The vibration and heat of the internal motor will also affect the use of the endoscope. Placing the drive motor 9 outside the camera device 4 can reduce the impact on the internal circuit structure of the camera device 4, reduce the volume of the camera device 4, and ensure the service life, user experience and image acquisition effect of the endoscope system.

[0032] The slip ring 7 in this embodiment is a photoelectric slip ring, a smooth ring supporting wireless communication, a capacitive coupling slip ring or a magnetic coupling slip ring, which is responsible for transmitting electrical signals to the image sensor 3 and driving the image sensor 3 to rotate.

[0033] It should be noted that, because the camera device 4 and the mirror body 5 will rotate when the doctor operates, the angle sensor 6 is provided on the camera device 4 or the mirror body 5, so as to truly measure the rotation angle caused by the doctor's operation. In addition, the mirror body 5 is detachably mounted on the camera device 4, which is convenient for maintenance and management.

[0034] The image signal receiving end 8 is a receiving terminal of the stator 7-a of the slip ring 7. If the slip ring 7 supports optical signals, the stator 7-a side needs to have an optical receiving terminal, and the image signal receiving end 8 is an optical receiving terminal; if the slip ring 7 supports electrical signals, the stator 7-a side needs to have an electrical receiving terminal such as a coil, and the image signal receiving end 8 is an electrical receiving terminal; the same is true for other types of signals supported by the slip ring 7, which will not be described here. It can be seen that the specific type of the image signal receiving end 8 depends on the type of signal supported and transmitted by the slip ring.

[0035] In one example, the transmission device 12 includes: a flexible transmission shaft 12-a and a transmission structure 12-b; the transmission structure 12-b is connected to the rotor 7-b of the slip ring 7; one end of the flexible transmission shaft 12-a is connected to the transmission structure 12-b, and the other end is connected to the drive motor 9.

[0036] In one example, the image signal receiving terminal 8 and the angle sensor 6 are connected to the control host 1 via a communication line 15. The communication line 15 and the flexible transmission shaft 12-a are arranged in the same cable, which can simplify the connecting cables in the endoscope system and reduce the complexity of the cable connection.

[0037] In this embodiment, the endoscope system further includes: an input component connected to the controller, such as a keyboard, a terminal and other devices; accordingly, the input component is used to: obtain the rotation zero position input by the user, and transmit the rotation zero position to the controller, and the rotation zero position is manually input or manually selected by the operator; accordingly, the controller is used to: control the drive motor 9 to drive the image sensor 3 to rotate using the transmission device 12 and the rotor 7-b of the slip ring 7, so that the angle sensor 6 detects the rotation zero position. Afterwards, if the mirror body 5 rotates, the angle sensor 6 detects the rotation angle, and accordingly rotates the image sensor 3 in the opposite direction by the same angle, so that the relative angle between the image sensor 3 and the object under test remains unchanged, and there is no need to correct the angle of the image.

[0038] If the mirror body 5 does not rotate, the image formed by the image signal collected by the image sensor 3 and the image displayed on the display have the same angle, and the displayed angle conforms to the viewing habits of the operator. Figure 3 If the mirror body 5 rotates a certain angle, and the image sensor 3 does not perform reverse rotation compensation, and the angle is not corrected by the software algorithm, then the image will also rotate due to the rotation of the mirror body 5, so the displayed angle does not conform to the viewing habits of the operator. Figure 3 If the mirror body 5 rotates a certain angle and the image sensor 3 rotates in the opposite direction to compensate for the corresponding angle, the image formed by the image signal collected by the image sensor 3 and the image displayed on the display will have different angles. The image display angle is rotated and compensated, so the displayed angle meets the viewing habits of the operator. Specifically, Figure 3 It can be seen that after the mirror body 5 rotates a certain angle, the image sensor 3 is rotated in the opposite direction to perform angle compensation, so that the relative angle between the image sensor 3 and the object being measured remains unchanged, thereby ensuring that the image display angle does not change, which is in line with the viewing habits of the operator.

[0039] It can be seen that in this embodiment, after the mirror body 5 rotates, the driving motor 9 uses the transmission device 12 and the rotor 7-b of the slip ring 7 to drive the image sensor 3 to rotate in the opposite direction, thereby adjusting the angle of the image sensor 3, so that the relative angle between the image sensor 3 and the object to be measured remains unchanged, thereby ensuring that the image rotation angle does not change.

[0040] The following is an introduction to a camera device 4 for an endoscope system provided in an embodiment of the present application. The contents described below can be cross-referenced with other embodiments described in this document.

[0041] See also Figure 4The present application also provides a camera device 4 for an endoscope system, comprising an image sensor 3 and a slip ring 7, wherein the image sensor 3 is fixedly connected to the rotor 7-b of the slip ring 7; and an image signal receiving terminal 8 is provided on one side of the stator 7-a of the slip ring 7 to communicate with the image sensor 3. The image sensor 3 in the camera device 4 can rotate in the reverse direction to compensate for the rotation angle caused by the doctor's operation, so that the relative angle between the image sensor and the object under test remains unchanged, thereby ensuring that the image rotation angle does not change.

[0042] In one example, the camera device 4 further includes an angle sensor 6 .

[0043] In one example, the rotor 7 - b of the slip ring 7 is connected to a transmission structure 12 - b , and the transmission structure 12 - b can be driven by an external force to rotate the rotor 7 - b of the slip ring 7 .

[0044] Among them, for more specific working processes and structures of each device in this embodiment, reference can be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0045] The endoscope device described in the present application is a rigid endoscope. In one example, the use process of the endoscope system includes:

[0046] 1. Before using the endoscope device, the user sets a display direction as the rotation zero position so that subsequent images are displayed in this direction.

[0047] 2. The host 1 controls the motor 9 to drive the image sensor 3 to rotate, so that the image sensor 3 rotates to the zero rotation position.

[0048] 3. The user controls the endoscope to rotate to find a suitable observation position. During this process, the angle sensor 6 detects the rotation angle of the endoscope and transmits the rotation angle value to the image processor 10 in the host 1.

[0049] 4. After receiving the rotation angle value, the image processor 10 generates a corresponding control signal, and uses this control signal to control the motor 9 to drive the image sensor 3 to rotate in the opposite direction by the same angle, so that the relative position of the image sensor 3 and the tissue to be measured does not change, and the image displayed on the display 2 does not rotate.

[0050] When the doctor operates the endoscope according to this embodiment, the endoscope can be rotated freely to find a suitable observation angle, and the image on the display 2 will not rotate with the rotation of the endoscope, but will maintain a fixed direction. Specifically, in this embodiment, the motor 9 inside the endoscope host 1 adjusts the angle of the image sensor 3 in time according to the rotation angle of the endoscope, so that the relative angle between the image sensor 3 and the tissue to be measured remains unchanged, thereby ensuring that the rotation angle of the image on the display 2 will not change, so that there will be no impact on the real-time performance of image transmission. Placing the driving part inside the host 1 will also reduce the impact on the internal structure circuit of the camera, ensuring the user experience and image effect. Of course, the motor 9 does not have to be placed in the host 1. Placing the motor 9 outside the endoscope can avoid the circuit complexity of the internal structure of the camera, such as placing the motor 9 in the light source component, and the light source component is connected to the image processor 10 in the host 1. In addition, the smooth ring 7 can also be used in conjunction with wireless charging to replace the photoelectric slip ring 7.

[0051] It can be seen that using a power output component such as a motor 9 outside the endoscope and driving the image sensor 3 inside the endoscope to rotate in the opposite direction following the rotation of the endoscope through the transmission device 12 can ensure that the image rotation angle observed by the image sensor 3 does not change.

[0052] An electronic device provided by an embodiment of the present application is introduced below, and the electronic device described below can be referenced with the above embodiment. The electronic device described below can be the aforementioned control host.

[0053] The electronic device provided in the embodiment of the present application can be used as Figure 5 As shown, it can also be Figure 6 shown. Figure 5 and Figure 6 All of them are structural diagrams of electronic devices according to an exemplary embodiment, and the contents in the diagrams cannot be regarded as any limitation on the scope of use of the present application.

[0054] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may specifically include: at least one processor 51, at least one memory 52, a power supply 53, a communication interface 54, an input / output interface 55, and a communication bus 56. The memory 52 is used to store a computer program, which is loaded and executed by the processor 51 to implement the relevant steps in the endoscope control disclosed in any of the aforementioned embodiments.

[0055] In this embodiment, the power supply 53 is used to provide working voltage for each hardware device on the electronic device; the communication interface 54 can create a data transmission channel between the electronic device and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 55 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0056] In addition, the memory 52, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon include an operating system 521, a computer program 522 and data 523, etc. The storage method can be temporary storage or permanent storage.

[0057] The operating system 521 is used to manage and control the hardware devices and computer programs 522 on the electronic device to realize the operation and processing of the data 523 in the memory 52 by the processor 51, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the method for endoscope control disclosed in any of the aforementioned embodiments, the computer program 522 can further include a computer program that can be used to complete other specific tasks. In addition to including data such as application update information, the data 523 can also include data such as application developer information.

[0058] Figure 6 This is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application. The electronic device may specifically include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0059] Generally, the electronic device in this embodiment includes: a processor 61 and a memory 62 .

[0060] Among them, the processor 61 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 61 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 61 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 61 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 61 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0061] The memory 62 may include one or more computer-readable storage media, which may be non-transitory. The memory 62 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 62 is at least used to store the following computer program 621, wherein, after the computer program is loaded and executed by the processor 61, it can implement the relevant steps in the method for endoscope control disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 62 may also include an operating system 622 and data 623, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 622 may include Windows, Unix, Linux, etc. The data 623 may include, but is not limited to, update information of the application.

[0062] In some embodiments, the electronic device may further include a display screen 63 , an input / output interface 64 , a communication interface 65 , a sensor 66 , a power source 67 , and a communication bus 68 .

[0063] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0064] A storage medium provided in an embodiment of the present application is introduced below. The storage medium described below and the related implementation steps of the above embodiment can be referenced to each other.

[0065] Furthermore, the present application also discloses a storage medium, in which a computer executable instruction is stored. When the computer executable instruction is loaded and executed by a processor, the method for controlling an endoscope disclosed in any of the above embodiments is implemented. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the above embodiments, and no further description will be given here.

[0066] It should be pointed out that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0067] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0068] Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An endoscope system, comprising a control host (1), a light source device (14), a camera device (4) and a scope (5), characterized in that: The camera device (4) or the mirror body (5) comprises an angle sensor (6); The camera device (4) comprises an image sensor (3) and a slip ring (7); the image sensor (3) receives light obtained from the mirror body (5) and is fixedly connected to a rotor (7-b) of the slip ring (7); The endoscope system further comprises a driving motor (9), wherein the driving motor (9) is arranged on the control host (1) or the light source device (14), and drives the rotor (7-b) of the slip ring (7) to rotate via a transmission device (12); An image signal receiving end (8) is provided on one side of the stator (7-a) of the slip ring (7) and is communicatively connected to the image sensor (3); The image signal receiving terminal (8) and the angle sensor (6) are communicatively connected to the control host (1).

2. The endoscope system according to claim 1, characterized in that: The transmission device (12) comprises: a flexible transmission shaft (12-a) and a transmission structure (12-b); the transmission structure (12-b) is connected to the rotor (7-b) of the slip ring (7); one end of the flexible transmission shaft (12-a) is connected to the transmission structure (12-b), and the other end is connected to the drive motor (9).

3. The endoscope system according to claim 2, characterized in that: The image signal receiving end (8) and the angle sensor (6) are connected to the control host (1) via a communication line (15); the communication line (15) and the flexible transmission shaft (12-a) are arranged in the same cable.

4. A camera device (4) for an endoscope system, characterized in that: It comprises an image sensor (3) and a slip ring (7), wherein the image sensor (3) is fixedly connected to a rotor (7-b) of the slip ring (7); and an image signal receiving end (8) is provided on one side of a stator (7-a) of the slip ring (7) and is communicatively connected to the image sensor (3).

5. The camera device (4) according to claim 4, characterized in that: The camera device (4) also includes an angle sensor (6).

6. The camera device (4) according to claim 4, characterized in that: The rotor (7-b) of the slip ring (7) is connected to a transmission structure (12-b), and the transmission structure (12-b) can be driven by an external force to rotate the rotor (7-b) of the slip ring (7).

Images