Optical 3D endoscope, imaging system and optical assembly

Abstract

The embodiment of the utility model discloses an optical 3D endoscope, an imaging system and an optical assembly, relates to the technical field of medical instruments, and aims to solve the problem that a 3D endoscope is complex in structure. The endoscope comprises an objective lens used for collecting light reflected by a target object; the relay optical system is used for transmitting the light collected by the objective lens to the image side of the relay optical system; first and second imaging units disposed on an image side of the relay optical system; the first camera unit is used for receiving light collected by the objective lens and transmitted by the relay optical system to generate a first image; the first image comprises an image of at least partial surface area of the target object; the second camera unit is used for receiving light collected by the objective lens and transmitted by the relay optical system to generate a second image; the second image includes an image of at least a portion of the surface area. The embodiment of the utility model is suitable for the scene of examining the parts such as the abdominal cavity, the bladder and the nasal cavity.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to an optical 3D endoscope, an imaging system and an optical component. Background Art

[0002] Medical diagnostic instruments are devices or instruments that identify various medical conditions of patients and can assist doctors in making accurate and timely diagnoses so that doctors can effectively treat and manage diseases. Endoscopes are a type of medical diagnostic instrument commonly used during minimally invasive surgery.

[0003] In order to realize 3D (Three Dimensional) imaging of the lesion area, the existing 3D endoscope includes two optical paths, each of which includes an objective lens and a relay optical system. The structure of this endoscope that can realize 3D imaging is relatively complex. Utility Model Content

[0004] In view of this, embodiments of the present invention provide an optical 3D endoscope, an imaging system and an optical component, which facilitate 3D imaging through a simple structure.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] In a first aspect, an embodiment of the utility model provides an optical 3D endoscope, comprising:

[0007] an objective lens, disposed at the distal end of the endoscope, for collecting light reflected by an object to be observed outside the distal end of the endoscope;

[0008] a relay optical system disposed on the image side of the objective lens and used to transmit the light collected by the objective lens to the image side of the relay optical system; and

[0009] A first imaging unit and a second imaging unit are arranged on the image side of the relay optical system;

[0010] Wherein, the first camera unit is used to receive the light collected by the objective lens transmitted by the relay optical system to generate a first image; the first image includes an image of at least a partial surface area of ​​the target object;

[0011] The second camera unit is used to receive the light collected by the objective lens transmitted by the relay optical system to generate a second image; the second image includes an image of at least a portion of the surface area of ​​the target object.

[0012] According to a specific implementation of the utility model, the light aperture of the first camera unit is at least partially located within the light spot range of the output light of the relay optical system;

[0013] The light aperture of the second camera unit is at least partially located within the light spot range of the output light of the relay optical system.

[0014] According to a specific implementation of the utility model, the light aperture of the first camera unit is entirely located within the light spot range of the output light of the relay optical system;

[0015] The light apertures of the second camera unit are all located within the light spot range of the output light of the relay optical system.

[0016] According to a specific implementation of the utility model, the ratio of the sum of the diameter of the light aperture of the first camera unit and the diameter of the light aperture of the second camera unit to the diameter of the light spot of the output light of the relay optical system is 0.6-1.

[0017] According to a specific implementation of the utility model, the spot diameter of the output light of the relay optical system is 5mm-12mm.

[0018] According to a specific implementation of the utility model, the spot diameter of the output light of the relay optical system is 6 mm, 8 mm or 10 mm.

[0019] According to a specific implementation of the present invention, the light apertures of the first camera unit and the second camera unit are 2mm-5mm respectively.

[0020] According to a specific implementation of the utility model, the light apertures of the first camera unit and the second camera unit are respectively 2.5 mm, 2.8 mm, 3 mm, 3.2 mm or 3.5 mm.

[0021] According to a specific implementation of the present invention, the optical axes of the first camera unit and the second camera unit are respectively parallel to the optical axis of the relay optical system.

[0022] According to a specific implementation of the present invention, the object distance of the lens in the first camera unit and the second camera unit is greater than 1 times the focal length and less than 2 times the focal length.

[0023] According to a specific implementation of the present invention, the optical axis of the first camera unit and the optical axis of the second camera unit can rotate together around the optical axis of the relay optical system.

[0024] According to a specific implementation of the utility model, the 3D endoscope further includes:

[0025] an insertion tube, the relay optical system being disposed in the insertion tube, and the objective lens being disposed at a distal end of the insertion tube;

[0026] The camera unit support is connected to the image side end of the relay optical system; the first camera unit and the second camera unit are arranged side by side on the camera unit support.

[0027] According to a specific implementation of the present invention, the camera unit support can rotate around the optical axis of the relay optical system.

[0028] According to a specific implementation of the utility model, the camera unit support is detachably connected to the relay optical system.

[0029] In a second aspect, the present invention also provides an imaging system, including:

[0030] An endoscope, for acquiring light reflected by an object to be observed and generating a first image and a second image; the first image includes an image of at least a portion of a surface area of ​​the object, and the second image includes an image of at least a portion of the surface area;

[0031] an image processing unit electrically connected to the endoscope and configured to generate a 3D image of at least a portion of a surface area of ​​the target object based on the first image and the second image;

[0032] A display device, electrically connected to the image processing unit, for displaying 3D images;

[0033] The endoscope is a 3D endoscope according to any of the aforementioned implementations or examples.

[0034] In a third aspect, an embodiment of the utility model further provides an optical component, comprising:

[0035] A camera unit support member, used to connect to the image side end of the relay optical system of the 2D endoscope;

[0036] a first camera unit, disposed on the camera unit support, for receiving light transmitted by the relay optical system of the 2D endoscope to generate a first image; the first image includes an image of at least a partial surface area of ​​the target object;

[0037] The second camera unit is disposed on the camera unit support and is used to receive light transmitted by the relay optical system of the 2D endoscope to generate a second image; the second image includes an image of at least a partial surface area of ​​the target object.

[0038] According to a specific implementation of the utility model, the camera unit support includes a lens set and a sensor support; wherein the camera lens of the first camera unit and the camera lens of the second camera unit are arranged side by side on the lens set, and the imaging sensor of the first camera unit and the imaging sensor of the second camera unit are arranged side by side on the sensor support.

[0039] According to a specific implementation of the present invention, the light apertures of the first camera unit and the second camera unit are respectively 2mm-5mm.

[0040] According to a specific implementation of the present invention, the light apertures of the first camera unit and the second camera unit are respectively 2.5 mm, 2.8 mm, 3 mm, 3.2 mm or 3.5 mm.

[0041] According to a specific implementation of the present invention, the distance between the optical axes of the first camera unit and the second camera unit is 2.4 mm-5.5 mm.

[0042] Compared with the existing optical 3D endoscope that realizes 3D imaging through two optical paths, each optical path includes an objective lens and a relay optical system, the above-mentioned optical 3D endoscope, imaging system and optical components provided by the embodiments of the utility model only use one optical path formed by an objective lens and a relay optical system. The first camera unit and the second camera unit located on the image side of the relay optical system can receive the light collected by the objective lens transmitted by the relay optical system to generate the first image and the second image respectively. The first image and the second image include images of the same surface area of ​​the target object, so as to realize 3D imaging of the surface area of ​​the target object based on this, and the structure is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the utility model 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 some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 This is a schematic diagram of the structure of an embodiment of the optical 3D endoscope of the utility model (only the optical path part is shown);

[0045] Figure 2 This is a structural schematic diagram of another embodiment of the optical 3D endoscope of the utility model (only the optical path part is shown);

[0046] Figure 3 for Figure 1 or Figure 2 A schematic structural diagram of a first camera unit in the illustrated embodiment;

[0047] Figure 4 for Figure 1 or Figure 2 A schematic structural diagram of a second camera unit in the illustrated embodiment;

[0048] Figure 5 This is a schematic diagram of the three-dimensional structure of an embodiment of the optical 3D endoscope of the utility model;

[0049] Figure 6 It is a partial cross-sectional structural schematic diagram of an embodiment of the optical 3D endoscope of the utility model;

[0050] Figure 7 for Figure 5 or Figure 6 A schematic diagram of the three-dimensional structure of the middle mirror set;

[0051] Figure 8 This is a schematic structural diagram of an embodiment of an optical component of the utility model;

[0052] Fig. 9 It is a module schematic diagram of an embodiment of the imaging system of the utility model;

[0053] Fig.10 It is a schematic diagram of the flow of an implementation method of an endoscope 3D imaging method of the present invention. DETAILED DESCRIPTION

[0054] The following is a detailed description of the embodiments of the utility model in conjunction with the accompanying drawings. It should be clear that the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0055] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0056] The optical 3D endoscope includes two optical paths, each of which includes an objective lens and a relay optical system. Thus, in an optical 3D endoscope capable of realizing 3D imaging, two objective lenses and two relay optical systems need to be configured, making the structure of the optical 3D imaging endoscope relatively complex and the cost relatively high.

[0057] In a first aspect, an embodiment of the utility model provides an optical 3D endoscope, comprising: an objective lens, arranged at the distal end of the endoscope, for collecting light reflected by an object to be observed outside the distal end of the endoscope; a relay optical system, arranged on the image side of the objective lens, for transmitting the light collected by the objective lens to the image side of the relay optical system; and a first camera unit and a second camera unit arranged on the image side of the relay optical system; the first camera unit is used to receive the light collected by the objective lens transmitted by the relay optical system to generate a first image; the first image includes an image of at least a partial surface area of ​​the target object; the second camera unit is used to receive the light collected by the objective lens transmitted by the relay optical system to generate a second image; the second image includes an image of at least a partial surface area.

[0058] Compared with the existing optical 3D endoscopes that realize 3D imaging through two optical paths, each of which includes an objective lens and a relay optical system, the above-mentioned optical 3D endoscope provided by the embodiment of the utility model can transmit the light reflected by the target object collected by the objective lens to the image side of the relay optical system through only one optical path formed by an objective lens and a relay optical system. The first camera unit and the second camera unit located on the image side of the relay optical system can receive the light collected by the objective lens transmitted by the relay optical system to generate a first image and a second image respectively. The first image and the second image may include images of the same surface area of ​​the target object, so as to realize 3D imaging of the surface area of ​​the target object based on this. The structure is simpler and the cost is lower.

[0059] The following is a detailed description of the embodiments of the present invention and examples thereof in conjunction with the accompanying drawings. Unless otherwise specified, the same reference numerals in the accompanying drawings represent the same components, parts or elements.

[0060] Figure 1 The following is a schematic diagram of the structure of an embodiment of the optical system 3D endoscope of the utility model. For the sake of clarity, Figure 1 Only the optical path is shown. Figure 1 As shown, the 3D endoscope 10 of this embodiment may include an objective lens 11 , a relay optical system 12 , a first imaging unit 13 and a second imaging unit 14 .

[0061] The objective lens 11 is disposed at the distal end of the endoscope 10 and is used to collect light reflected by the target object 20 to be observed outside the distal end of the endoscope 10. The distal end of the endoscope 10 is the end of the endoscope 10 close to the target object 20 to be observed. The target object 20 to be observed may be an observation area in a part such as the bladder, nasal cavity, and stomach.

[0062] In some examples, the objective lens 11 may include an objective lens (not shown in the figure) and a conversion prism (not shown in the figure), and a specific field angle of the objective lens 11 is obtained by the objective lens and the conversion prism, such as 0°, 12°, 30°, 70° or 90°, etc. The field of view of the objective lens can be changed by rotating the objective lens.

[0063] The relay optical system 12 is provided on the image side of the objective lens 11, and is used to transmit the light collected by the objective lens 11 at the distal end of the endoscope 10 to the image side of the relay optical system 12. In other words, the objective lens 11 is provided on the object side of the relay optical system 12, and can converge the light reflected by the target object 20 to be observed into the relay optical system 12. The object side of the relay optical system 12 is the side of the relay optical system 12 close to the target object 20 to be observed.

[0064] The relay optical system 12 can be composed of multiple or multiple groups of rod mirrors, such as three groups or five groups of odd-numbered groups of rod mirrors. The number of rod mirror groups depends on the length of the transmission distance (the working length of the endoscope). The longer the transmission distance, the more rod mirror groups are required, and vice versa. Figure 1 The relay optical system 12 shown includes three groups of rod mirrors, namely, rod mirror 121 , rod mirror 122 , and rod mirror 123 .

[0065] The first camera unit 13 and the second camera unit 14 are arranged on the image side of the relay optical system 12. The first camera unit 13 is used to receive the light collected by the objective lens transmitted by the relay optical system 12 to generate a first image, and the second camera unit 14 is used to receive the light collected by the objective lens transmitted by the relay optical system 12 to generate a second image; the first image includes an image of at least a portion of the surface area of ​​the target object; and the second image includes an image of at least a portion of the surface area.

[0066] In this embodiment, the first camera unit 13 and the second camera unit 14 can simultaneously capture the light spot of the outgoing light of the relay optical system 12, and can simultaneously image the same surface area of ​​the same target object from different directions (or viewing angles).

[0067] In this embodiment, the objective lens, the relay optical system and the two camera units cooperate to form an integrated optical 3D endoscope.

[0068] The endoscope provided by the embodiment of the utility model forms an optical path through an objective lens and a relay optical system, through which the light reflected by the target object collected by the objective lens is transmitted to the image side of the relay optical system; the first camera unit and the second camera unit arranged on the image side of the relay optical system can receive the light collected by the objective lens transmitted by the relay optical system to generate the first image and the second image; the first image and the second image include images of the same surface area of ​​the target object, so that it is convenient to generate a 3D image of at least part of the surface area of ​​the target object according to the first image and the second image. Specifically, the parallax of the same surface area of ​​the same target object observed from different viewing angles can be obtained according to the first image and the second image, so as to obtain the depth information of the target object through the parallax calculation, achieve better depth perception, and thus generate a 3D image of the same surface area of ​​the target object. 3D images can also be called three-dimensional images or stereo images.

[0069] Compared with the existing endoscopes that realize 3D imaging through two optical paths, each of which includes an objective lens and a relay optical system, the 3D endoscope provided by the embodiment of the utility model forms an optical path through an objective lens and a relay optical system, and transmits the light reflected by the target object collected by the objective lens to the image side of the relay optical system through the optical path. The first camera unit and the second camera unit located on the image side of the relay optical system can receive the light collected by the objective lens transmitted by the relay optical system, and generate a first image and a second image respectively. The first image and the second image may include images of the same surface area of ​​the target object, so as to realize 3D imaging of the surface area of ​​the target object based on this. The structure is simpler and the cost is lower.

[0070] In addition, compared with setting two optical systems side by side at the front end of the endoscope, the embodiment of the utility model only needs to set one optical system at the front end of the endoscope (also called the insertion end), which can greatly reduce the outer diameter of the front end of the endoscope, which is conducive to reducing the size of the surgical incision.

[0071] In some embodiments, the outer diameter of the front end of the endoscope may be 6 mm-12 mm. In one example, the outer diameter of the front end of the endoscope may be 8 mm; in another example, the outer diameter of the front end of the endoscope may be 10 mm; in another example, the outer diameter of the front end of the endoscope may be 12 mm.

[0072] In some embodiments, after the objective lens 11 collects light reflected by the target object to be observed outside the distal end of the endoscope, a first intermediate image (inverted real image) can be formed on the image side of the objective lens 11, and the relay optical system 12 transmits (or transfers) the first intermediate image to the image side of the relay optical system 12 in a 1:1 manner to form a second intermediate image.

[0073] The first intermediate image will be inverted after being transmitted through a group of rod mirrors. When the number of rod mirror groups in the relay optical system 12 is an odd number, the second intermediate image formed is a real upright image. In the process of the relay optical system 12 transmitting (or transferring) the first intermediate image to the image side of the relay optical system 12 in a 1:1 manner to form the second intermediate image, a plurality of intermediate images may be formed in the relay optical system 12.

[0074] The first camera unit 13 and the second camera unit 14 can capture the second intermediate image at the same time. Based on the principle of rectilinear propagation of light, what is actually captured by the first camera unit 13 and the second camera unit 14 is the object surface of the target object, thereby generating the first image and the second image respectively based on the object surface of the target object.

[0075] Figure 1 In the illustrated embodiment, the first camera unit 13 and the second camera unit 14 can simultaneously capture the entire second intermediate image. Figure 2In the illustrated embodiment, the first camera unit 13 and the second camera unit 14 can simultaneously capture partial images of the second intermediate image.

[0076] See also Figure 3 In some implementations, the first camera unit 13 includes a first camera lens 131 and a first imaging sensor 132 ; a first image is formed on the first imaging sensor 132 .

[0077] See also Figure 4 The second camera unit 14 includes a second camera lens 141 and a second imaging sensor 142 ; a second image is formed on the second imaging sensor 142 .

[0078] In some examples, the first camera unit 13 and the second camera unit 14 may be camera units with an imaging resolution of 1080P. In other examples, the first camera unit 13 and the second camera unit 14 may be camera units with an imaging resolution of 4K. In still other examples, the first camera unit 13 and the second camera unit 14 may be camera units with an imaging resolution of 8K.

[0079] In some examples, the first imaging sensor 132 and the second imaging sensor 142 may be CCD (Charge-coupled Device) respectively. In other examples, the first imaging sensor 132 and the second imaging sensor 142 may be CMOS (Complementary Metal Oxide Semiconductor) respectively.

[0080] In some embodiments, the imaging resolution of the first camera unit 13 and the second camera unit 14 may be 4K, and the sizes of the first imaging sensor 132 and the second imaging sensor 142 may be 1″ / 1.8, 1″ / 3, 1″ / 2.5 or 1″ / 2 respectively.

[0081] In other embodiments, the imaging resolution of the first camera unit 13 and the second camera unit 14 may be 720P, and the size of the first imaging sensor 132 and the second imaging sensor 142 may be 1″ / 18 or 1″ / 12.

[0082] In some embodiments, the outer diameters of the first camera unit 13 and the second camera unit 14 are 2.5 mm, 3 mm, 3.5 mm or 4 mm respectively.

[0083] In some embodiments, the light apertures of the first camera unit 13 and the second camera unit 14 are all (or as a whole) located within the light spot range of the output light of the relay optical system, so that the first camera unit 13 and the second camera unit 14 can simultaneously collect the light spot of the output light of the relay optical system in its entirety, so as to simultaneously image a larger surface area of ​​the target object from different directions. The light aperture is the diameter of the maximum light hole of the lens in a camera unit at a certain focal length.

[0084] In some examples, the spot diameter of the output light of the relay optical system 12 is 5 mm-12 mm. For example, the spot diameter of the output light of the relay optical system is 6 mm, 8 mm or 10 mm.

[0085] In some examples, the light-transmitting apertures of the first camera unit 13 and the second camera unit 14 are 2 mm-5 mm respectively, for example, the light-transmitting apertures of the first camera unit 13 and the second camera unit 14 are 2.5 mm, 2.8 mm, 3 mm, 3.2 mm or 3.5 mm respectively.

[0086] When the light apertures of the first camera unit 13 and the second camera unit 14 are all located within the spot range of the output light of the relay optical system, in some embodiments, the ratio of the sum of the diameter of the light aperture of the first camera unit 13 and the diameter of the light aperture of the second camera unit 14 to the diameter of the spot of the output light of the relay optical system is 0.6-1, such as 0.8, so as to achieve a better balance between making each camera unit have a larger light transmittance and obtaining an image of a larger surface area of ​​the target object.

[0087] In some other embodiments, the light aperture of the first camera unit 13 may be partially located within the spot range of the output light of the relay optical system 12; the light aperture of the second camera unit 14 may also be partially located within the spot range of the output light of the relay optical system 12, so as to generate a 3D image of at least a partial surface area of ​​the target object.

[0088] In some examples, the optical axes of the first camera unit 13 and the second camera unit 14 are respectively parallel to the optical axis of the relay optical system, so that after the first camera unit 13 and the second camera unit 14 are arranged adjacent to each other, the radial space (in a direction perpendicular to the optical axis of the camera unit) occupied by the two is smaller.

[0089] In some examples, the object distance of the lens in the first camera unit 13 and the second camera unit 14 is greater than 1 times the focal length and less than 2 times the focal length, so that the first camera unit 13 and the second camera unit 14 can amplify the light spot of the relay optical system to generate an enlarged first image and a second image.

[0090] When the objective lens 11 has a field angle (such as a field angle of 30 degrees, 45 degrees, 50 degrees or 70 degrees) that allows the target object to be obliquely viewed, the field of view of the objective lens 11 can be changed by rotating the objective lens 11 .

[0091] In some embodiments, the optical axis of the first camera unit 13 and the optical axis of the second camera unit 14 can be rotated together around the optical axis of the relay optical system. In other words, the objective lens 11 and the relay optical system 12 can be rotated together around the optical axis of the relay optical system 12 by an angle while keeping the camera positions of the first camera unit 13 and the second camera unit 14 unchanged. In this case, since the camera positions of the first camera unit 13 and the second camera unit 14 are kept unchanged, such as keeping the plane where the optical axis of the first camera unit 13 and the optical axis of the second camera unit 14 are located always in the horizontal direction, the orientation of the target object image obtained by the first camera unit 13 and the second camera unit 14 can be kept unchanged (such as always in the upright direction), so that the observer can observe the image that is always in the upright direction.

[0092] refer to Figure 5 In some embodiments, the rotatable 3D endoscope 10 may further include: an insertion tube 16 , a camera unit support 18 , and a handle 19 .

[0093] Figure 1 The relay optical system 12 in the illustrated embodiment is disposed in an insertion tube 16, wherein the objective lens 11 is disposed at the distal end of the insertion tube 16. The objective lens 11 and the relay optical system 12 can be rotated by rotating the insertion tube 16.

[0094] The camera unit support 18 is connected to the image side end of the relay optical system 12; Figure 1 In the illustrated embodiment, the first camera unit 13 and the second camera unit 14 are arranged side by side in the camera unit support 18 .

[0095] The handle 19 is connected to the camera unit support 18 .

[0096] In some embodiments, the camera unit support 18 can rotate about the optical axis of the relay optical system 12. In other words, while the camera unit support 18 is kept stationary, the insertion tube 16 can be rotated about the optical axis of the relay optical system by an angle, so that the field of view of the objective lens 11 can be changed. In this case, since the camera unit support 18 is kept stationary, that is, the first camera unit 13 and the second camera unit 14 are kept stationary, such as keeping the plane where the optical axis of the first camera unit 13 and the optical axis of the second camera unit 14 are located always in the horizontal direction, the orientation of the target object image obtained by the first camera unit 13 and the second camera unit 14 can be kept unchanged (such as always in the upright direction), so that the observer can observe the image that is always in the upright direction.

[0097] In some embodiments, the camera unit support 18 is detachably connected to the relay optical system 12 to increase interchangeability. The camera unit support 18 can be used as a separate component and applied to an existing 2D endoscope assembly (an optical system consisting of an objective lens and a relay optical system). In other words, without changing the structure of the existing 2D endoscope assembly, the camera unit support 18 in the embodiment of the utility model can also be used to achieve 3D imaging, which can improve the use efficiency of the existing 2D endoscope assembly.

[0098] The detachable connection between the camera unit support 18 and the relay optical system 12 can be achieved by snapping. In one example, the end of the relay optical system 12 has a snap-in protrusion for snapping into the camera unit support 18; the camera unit support 18 has a snap-in slot for accommodating the snap-in protrusion, and an elastic snap-in member (not shown in the figure) is provided at the edge of the snap-in slot. When the camera unit support 18 is connected to the relay optical system 12, the snap-in protrusion is inserted into the snap-in slot, and the elastic snap-in member snaps the snap-in protrusion into the snap-in slot.

[0099] See also Figure 6 and Figure 7 In one embodiment, the camera unit support 18 may include a lens set 181 and a sensor support 182. The lens set 181 is used to support the first camera lens 131 and the second camera lens 141. The sensor support is provided at one end of the lens set, and is used to support the first imaging sensor and the second imaging sensor (not shown in the figure).

[0100] See also Figure 7 In one example, the lens set 181 includes a first fixing hole 1811 and a second fixing hole 1812 , the first camera lens 131 is disposed in the first fixing hole 1811 , and the second camera lens 141 is disposed in the second fixing hole 1812 .

[0101] The cables connected to the first imaging sensor and the second imaging sensor may pass through the handle 19 and then be led outwards to be connected to the display device.

[0102] In order to provide illumination for the objective lens 11 at the distal end of the endoscope insertion tube 16, in some embodiments, an optical fiber for illumination is provided in the insertion tube 16. Figure 5 and Figure 6 In one example, a fiber holder 20 may be provided on the insertion tube 16, and a through hole may be provided on the fiber holder 20. A fiber hole connected to the through hole on the fiber holder 20 may be provided in the insertion tube 16, and an optical fiber for lighting may be passed through the through hole and the fiber hole. The fiber holder 20 may be provided at a position where the insertion tube 16 is connected to the amplification unit 15.

[0103] See also Figure 8The embodiment of the utility model also provides an optical component 40, including: a camera unit support 18, which is used to be connected to the image side end of the relay optical system of the 2D endoscope; a first camera unit, which is arranged on the camera unit support, and is used to receive the light transmitted by the relay optical system of the 2D endoscope to generate a first image; the first image includes an image of at least a partial surface area of ​​the target object; a second camera unit, which is arranged on the camera unit support, and is used to receive the light transmitted by the relay optical system of the 2D endoscope to generate a second image; the second image includes an image of at least a partial surface area of ​​the target object.

[0104] In some embodiments, the camera unit support 18 includes a lens set 181 and a sensor support 182; wherein, the camera lens 131 of the first camera unit and the camera lens 132 of the second camera unit are arranged side by side on the lens set 181, and the imaging sensor of the first camera unit (not shown in the figure) and the imaging sensor of the second camera unit (not shown in the figure) are arranged side by side on the sensor support 182.

[0105] In some embodiments, the light apertures of the first camera unit and the second camera unit are 2mm-5mm respectively.

[0106] In some embodiments, the light apertures of the first camera unit and the second camera unit are 2.5 mm, 2.8 mm, 3 mm, 3.2 mm or 3.5 mm respectively.

[0107] In some embodiments, the distance between the optical axes of the first camera unit and the second camera unit is 2.4 mm-5.5 mm.

[0108] The optical component 40 can be used as a separate component and can be applied to an existing 2D endoscope component (an optical system consisting of an objective lens and a relay optical system). Specifically, it can be connected to the image side end of the relay optical system of the 2D endoscope through the camera unit support 18. In this way, without changing the structure of the existing 2D endoscope component, the optical component 40 in the embodiment of the utility model can also be used to achieve 3D imaging, which can improve the use efficiency of the existing 2D endoscope component. Among them, the specific structure of the camera unit support 18 can be basically the same as the structure of the camera unit support in the aforementioned 3D endoscope, and will not be repeated here.

[0109] See also Fig. 9 An embodiment of the utility model provides an imaging system, including: an endoscope 10, an image processing unit 22 and a display device 23.

[0110] The endoscope 10 is an optical 3D endoscope as described in any of the above embodiments or examples, and is used to obtain light reflected by an object to be observed and generate a first image and a second image. The first image includes an image of at least a portion of the surface area of ​​the object, and the second image includes an image of at least a portion of the surface area.

[0111] The image processing unit 22 is electrically connected to the endoscope 10 and is used to generate a 3D image of at least a partial surface area of ​​the target object based on the first image and the second image.

[0112] The display device 23 is electrically connected to the image processing unit 22 and is used to display 3D images.

[0113] The imaging system provided in this embodiment has substantially the same implementation principle and technical effect as any of the aforementioned optical 3D endoscope implementations or examples, and will not be described in detail here.

[0114] See also Fig.10 The present utility model also provides an endoscope 3D imaging method, comprising:

[0115] S301, collecting light reflected by a target object to be observed through an objective lens.

[0116] S302, transmitting the light collected by the objective lens to the first camera unit and the second camera unit through a relay optical system.

[0117] S303, the first camera unit receives the light collected by the objective lens transmitted by the relay optical system to generate a first image, and the second camera unit receives the light collected by the objective lens transmitted by the relay optical system to generate a second image; the first image includes an image of at least a partial surface area of ​​the target object, and the second image includes an image of at least a partial surface area.

[0118] S304: Generate a first 3D image based on the first image and the second image. The first 3D image is a 3D image of at least a portion of the surface area of ​​the target object.

[0119] The endoscope 3D imaging method provided in this embodiment is substantially the same as the 3D imaging process and technical effect in any of the aforementioned 3D endoscope embodiments, and will not be described in detail here.

[0120] In some implementations, after generating a first 3D image based on the first image and the second image (step S304 ), the method further includes: displaying the first 3D image on a display.

[0121] When the first 3D image is displayed on the display, it is possible that the first 3D image occupies a small display area in the display area of ​​the display, resulting in inconvenience in observation. In this case, the first 3D image may be enlarged and the enlarged image may be displayed on the display, so that the enlarged image occupies a larger (e.g., full screen) display area in the display area of ​​the display, which is convenient for observation.

[0122] In some embodiments, after generating the first 3D image of the target object (step S304), the imaging method further comprises the steps of: keeping the imaging positions of the first camera unit and the second camera unit fixed, and rotating the objective lens by an angle; the first camera unit receives the light collected by the objective lens transmitted by the relay optical system to generate a third image; the second camera unit receives the light collected by the objective lens transmitted by the relay optical system to generate a fourth image; at least a portion of the third image is an image of another at least partial surface area of ​​the target object; at least a portion of the fourth image is an image of the another at least partial surface area;

[0123] A second 3D image is generated based on the third image and the fourth image; the second 3D image is a 3D image of at least a portion of another surface area of ​​the target object, wherein the image content of the second 3D image has the same spatial orientation as the image content of the first 3D image.

[0124] In the present embodiment, when the objective lens is rotated by an angle to change the field of view, since the camera orientations of the first camera unit and the second camera unit are kept unchanged, such as keeping the planes where the optical axes of the first camera unit and the second camera unit are located in a horizontal direction, the orientation of the target object image acquired by the first camera unit and the second camera unit can be kept unchanged (such as always in an upright direction), so that the observer can observe the image that is always in an upright direction, and avoid the problem that when the objective lens is rotated to obtain a different field of view, the image obtained is also rotated, or even the image cannot be formed.

[0125] One or more embodiments of the utility model can be applied to endoscopy-related departments, and can also replace existing surgical microscopes. Compared with existing surgical microscopes, one or more embodiments of the utility model can have a field of view angle of the objective lens greater than 50 degrees, and can see a wider range of space during surgery than existing surgical microscopes, thereby obtaining more information about the observed part.

[0126] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0127] The above are only specific implementations of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. An optical 3D endoscope, characterized in that: include: an objective lens, disposed at the distal end of the endoscope, for collecting light reflected by an object to be observed outside the distal end of the endoscope; a relay optical system disposed on the image side of the objective lens, for transmitting the light collected by the objective lens to the image side of the relay optical system; and A first imaging unit and a second imaging unit are arranged on the image side of the relay optical system; Wherein, the first camera unit is used to receive the light collected by the objective lens transmitted by the relay optical system to generate a first image; the first image includes an image of at least a partial surface area of ​​the target object; The second camera unit is used to receive the light collected by the objective lens transmitted by the relay optical system to generate a second image; the second image includes an image of at least a portion of the surface area of ​​the target object.

2. The 3D endoscope according to claim 1, characterized in that: The light aperture of the first camera unit is at least partially located within the light spot range of the output light of the relay optical system; The light aperture of the second camera unit is at least partially located within the light spot range of the output light of the relay optical system.

3. The 3D endoscope according to claim 2, characterized in that: The light aperture of the first camera unit is all located within the light spot range of the output light of the relay optical system; The light apertures of the second camera unit are all located within the light spot range of the output light of the relay optical system.

4. The 3D endoscope according to claim 3, characterized in that: The ratio of the sum of the diameter of the light aperture of the first camera unit and the diameter of the light aperture of the second camera unit to the diameter of the light spot of the output light of the relay optical system is 0.6-1.

5. The 3D endoscope according to claim 1, characterized in that: The spot diameter of the output light of the relay optical system is 5mm-12mm.

6. The 3D endoscope according to claim 5, characterized in that: The spot diameter of the output light from the relay optical system is 6mm, 8mm or 10mm.

7. The 3D endoscope according to claim 1, characterized in that: The light apertures of the first camera unit and the second camera unit are 2mm-5mm respectively.

8. The 3D endoscope according to claim 7, characterized in that: The light apertures of the first camera unit and the second camera unit are 2.5 mm, 2.8 mm, 3 mm, 3.2 mm or 3.5 mm respectively.

9. The 3D endoscope according to claim 1, characterized in that: The optical axes of the first imaging unit and the second imaging unit are respectively parallel to the optical axis of the relay optical system.

10. The 3D endoscope according to claim 1, characterized in that: The object distance of the lenses in the first camera unit and the second camera unit is greater than 1 times the focal length and less than 2 times the focal length.

11. The 3D endoscope according to claim 1, characterized in that: The optical axis of the first imaging unit and the optical axis of the second imaging unit can rotate together around the optical axis of the relay optical system.

12. The 3D endoscope according to claim 1, characterized in that: Also includes: an insertion tube, the relay optical system being disposed in the insertion tube, and the objective lens being disposed at a distal end of the insertion tube; The camera unit support is connected to the image side end of the relay optical system; the first camera unit and the second camera unit are arranged side by side on the camera unit support.

13. The 3D endoscope according to claim 12, characterized in that: The image pickup unit support is rotatable around the optical axis of the relay optical system.

14. The 3D endoscope according to claim 12, characterized in that: The camera unit support is detachably connected to the relay optical system.

15. An imaging system, characterized in that: include: An endoscope, for acquiring light reflected by an object to be observed and generating a first image and a second image; the first image includes an image of at least a portion of a surface area of ​​the object, and the second image includes an image of at least a portion of the surface area; an image processing unit electrically connected to the endoscope and configured to generate a 3D image of at least a portion of a surface area of ​​the target object based on the first image and the second image; A display device, electrically connected to the image processing unit, for displaying 3D images; Wherein, the endoscope is a 3D endoscope according to any one of claims 1-14.

16. An optical component, characterized in that: include: A camera unit support member, used to connect to the image side end of the relay optical system of the 2D endoscope; a first camera unit, disposed on the camera unit support, for receiving light transmitted by the relay optical system of the 2D endoscope to generate a first image; the first image includes an image of at least a partial surface area of ​​the target object; The second camera unit is disposed on the camera unit support and is used to receive light transmitted by the relay optical system of the 2D endoscope to generate a second image; the second image includes an image of at least a partial surface area of ​​the target object.

17. The optical component according to claim 16, characterized in that The camera unit support includes a lens set and a sensor support; wherein the camera lens of the first camera unit and the camera lens of the second camera unit are arranged side by side on the lens set, and the imaging sensor of the first camera unit and the imaging sensor of the second camera unit are arranged side by side on the sensor support.

18. The optical component according to claim 16, characterized in that The light apertures of the first camera unit and the second camera unit are 2mm-5mm respectively.

19. The optical component according to claim 18, characterized in that The light apertures of the first camera unit and the second camera unit are 2.5 mm, 2.8 mm, 3 mm, 3.2 mm or 3.5 mm respectively.

20. The optical assembly according to claim 16, wherein: The distance between the optical axes of the first camera unit and the second camera unit is 2.4 mm-5.5 mm.

Images