3D endoscope and 3D endoscope system

Abstract

The utility model discloses a three-dimensional (3D) endoscope and a 3D endoscope system. The 3D endoscope comprises an inserting part, a connecting part and a connecting part, the two objective lens assemblies are arranged at the far end of the insertion part side by side in the radial direction of the insertion part, and at least one of the two objective lens assemblies is movable; and the driving device is at least connected with one of the two objective lens assemblies and is used for driving at least one of the two objective lens assemblies to move so as to adjust the angle of the at least one objective lens assembly and further adjust the convergence distance of the two objective lens assemblies. According to the 3D endoscope, the driving device drives the at least one objective lens assembly to move relative to the insertion part, so that the viewing direction angle of the at least one objective lens assembly is adjustable, the 3D endoscope has the following and / or watching function similar to that of human eyes, and therefore when a user observes a far or near object, the visual deviation and the vertigo sense can be greatly reduced, and the user experience is improved; moreover, by adjusting the viewing angle of at least one objective lens assembly, the convergence distance of the two objective lens assemblies is appropriate, and the image quality can be improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and more specifically, to a 3D endoscope. Furthermore, this utility model also relates to a 3D endoscope system including the aforementioned 3D endoscope. Background Technology

[0002] With the development of endoscopic technology, 3D endoscopes have gradually been widely used. 3D endoscopes can not only obtain planar image information of the target object, but also obtain the depth information of the target object. Therefore, they can provide doctors with three-dimensional images, which can improve the accuracy of surgical operations and shorten the operation time.

[0003] In related technologies, 3D endoscopes include binocular stereo vision devices, that is, two sets of lenses are arranged at the front end of the endoscope body 23. The images acquired by the two sets of lenses are processed by an image processor and can output 3D images.

[0004] However, the binocular stereo vision devices in the related technologies are head-up binocular devices, that is, the two sets of lenses are set in parallel. When observing objects that are far away or close, they will produce more serious deviations and dizziness, resulting in a poor user experience. Moreover, when observing objects that are close, the image quality at the edge of the lens is used or presented, resulting in low image quality.

[0005] Therefore, how to provide a 3D endoscope to improve user experience and image quality is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a 3D endoscope with high image quality and a good user experience.

[0007] Another objective of this invention is to provide a 3D endoscope system including the aforementioned 3D endoscope, which offers high image quality and a good user experience.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A 3D endoscope, comprising:

[0010] Insertion section;

[0011] Two objective lens assemblies are arranged side by side along the radial direction of the insertion portion at the distal end of the insertion portion, and at least one of the two objective lens assemblies is movable;

[0012] A drive device, connected to at least one of the two objective lens assemblies, is used to drive at least one of the two objective lens assemblies to move in order to adjust the angle of at least one of the objective lens assemblies, thereby adjusting the convergence distance of the two objective lens assemblies.

[0013] Optionally, the objective lens assembly is rotatably connected to the insertion part via a rotating shaft, and the driving device is used to drive the objective lens assembly to swing around the rotating shaft.

[0014] Optionally, the insertion part is provided with a first guide limiting part, and the objective lens assembly is provided with a second guide limiting part. The first guide limiting part and the second guide limiting part are slidably engaged and limit the swing angle of the objective lens assembly.

[0015] Optionally, one of the first guide limiting part and the second guide limiting part is an arc-shaped groove, and the other is a limiting pin that can be slidably inserted into the arc-shaped groove.

[0016] Optionally, the insertion part includes an insertion tube and a head end seat disposed at one end of the insertion tube. The head end seat is provided with a shaft hole that is rotatably connected to the rotating shaft, and the first guide and limiting part is disposed at one end of the insertion tube near the head end seat.

[0017] Optionally, the driving device includes:

[0018] A pull rod is provided along the length direction of the insertion part;

[0019] The connecting rod is hinged at one end to the pull rod and at the other end to the objective lens assembly.

[0020] Optionally, the connecting rod includes a first connecting rod and a second connecting rod respectively connected to the two objective lens assemblies, the first connecting rod and the second connecting rod being hinged to a hinge shaft, and the hinge shaft being connected to the pull rod.

[0021] Optionally, the driving device further includes:

[0022] Electric motor;

[0023] A turbine, which is connected to the output shaft of the motor;

[0024] The worm gear is located at one end of the pull rod near the motor and meshes with the worm gear for transmission.

[0025] Optionally, the end of the insertion part away from the objective lens assembly is connected to the handheld part, the motor is located inside the handheld part, and the pull rod passes through the insertion part.

[0026] Optionally, it also includes:

[0027] The operation keys, located on the handheld part of the 3D endoscope, are for user operation and are communicatively connected to the motor to control its rotation; or,

[0028] The control module is communicatively connected to the motor to control the rotation of the motor.

[0029] A 3D endoscope system, comprising any one of the above-mentioned 3D endoscopes.

[0030] The 3D endoscope provided by this utility model has the following beneficial effects:

[0031] By setting two objective lens assemblies to form a binocular stereoscopic vision device, a three-dimensional stereoscopic image of the target can be acquired using the two objective lens assemblies. Furthermore, by driving at least one objective lens assembly relative to the insertion part through a driving device, the viewing angle of at least one objective lens assembly is adjustable, thereby adjusting the convergence distance of the two objective lens assemblies. This allows the 3D endoscope to possess a tracking and / or fixation function similar to the human eye, significantly reducing visual deviation and dizziness when the user observes objects that are far or near, thus improving the user experience. Moreover, by adjusting the viewing angle of at least one objective lens assembly to ensure a suitable convergence distance between the two objective lens assemblies, image quality can be improved.

[0032] The 3D endoscope system provided by this utility model includes the above-mentioned 3D endoscope and has at least the beneficial effects of the above-mentioned 3D endoscope. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of a 3D endoscope provided in a specific embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the objective lens assembly.

[0036] Figure 3 This is a schematic diagram of the headstock structure;

[0037] Figure 4 This is a schematic diagram of the objective lens assembly and head mount after assembly.

[0038] Figure 5 This is a schematic diagram of the insertion tube;

[0039] Figure 6 This is a schematic diagram of the structure after the drive unit and objective lens assembly are connected.

[0040] Figure 7 for Figure 6 A magnified view of part A in the image;

[0041] Figure 8 A schematic diagram illustrating the movement of the actuator lens assembly via a lever;

[0042] Figure 9 This is a cross-sectional view of the objective lens assembly.

[0043] Figure label:

[0044] 1-Insertion part; 11-Insertion tube; 111-Arc groove; 12-Head end seat; 121-Shaft hole; 2-Objective lens assembly; 21-Rotating shaft; 22-Limiting pin; 23-Lens body; 24-Lens group; 25-Image sensor; 3-Drive device; 31-Motor; 32-Transmission mechanism; 321-Worm gear; 322-Turbine; 33-Pull rod; 34-Connecting rod; 341-First connecting rod; 342-Second connecting rod; 35-Hinge shaft. Detailed Implementation

[0045] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0046] The core of this invention is to provide a 3D endoscope with high image quality and a good user experience. Another core aspect of this invention is to provide a 3D endoscope system including the aforementioned 3D endoscope, which also offers high image quality and a good user experience.

[0047] Please refer to Figure 1 This utility model provides a 3D endoscope, including an insertion part 1, two objective lens assemblies 2, and a driving device 3. The two objective lens assemblies 2 are arranged side by side along the radial direction of the insertion part 1 at the distal end of the insertion part 1, and at least one of the two objective lens assemblies 2 is movable. The driving device 3 is connected to at least one of the two objective lens assemblies 2 and is used to drive at least one of the two objective lens assemblies 2 to move, so as to adjust the angle of at least one objective lens assembly 2, thereby adjusting the convergence distance of the two objective lens assemblies 2.

[0048] It should be noted that, in the embodiments of this utility model, the distal end of the insertion part 1 refers to the end of the insertion part 1 that is first inserted into the human body, that is, the end of the insertion part 1 that is far away from the handheld part of the 3D endoscope.

[0049] It is understood that this embodiment of the invention forms a binocular stereoscopic vision device by setting two objective lens assemblies 2, so as to acquire a three-dimensional stereoscopic image of the target using the two objective lens assemblies 2. Furthermore, this embodiment of the invention uses a driving device 3 to drive at least one objective lens assembly 2 to move relative to the insertion part 1, so that the viewing angle of at least one objective lens assembly 2 is adjustable, thereby making the convergence distance of the two objective lens assemblies 2 adjustable. This allows the 3D endoscope to have a tracking and / or fixation function similar to the human eye, thereby significantly reducing visual deviation and dizziness when the user observes objects that are far or near, and improving the user experience. Moreover, by adjusting the viewing angle of at least one objective lens assembly 2, the convergence distance of the two objective lens assemblies 2 is made appropriate, which is beneficial to improving image quality.

[0050] It is understandable that driving at least one objective lens assembly 2 to move relative to the insertion part 1 via the driving device 3, thereby making the viewing angle of at least one objective lens assembly 2 adjustable, includes the following three implementation methods: First, one of the two objective lens assemblies 2 is movably disposed in the insertion part 1. The movement of the objective lens assembly 2 achieves the purpose of adjusting its angle, thus making the convergence distance between the movable objective lens assembly 2 and the fixed objective lens assembly 2 adjustable. Second, the other objective lens assembly 2 is movably disposed in the insertion part 1, with the same working principle as the first method. Third, both objective lens assemblies 2 are movably disposed in the insertion part 1. The convergence distance between the two objective lens assemblies 2 is adjusted by simultaneously or individually adjusting their positions relative to the insertion part 1. It should be noted that this embodiment does not limit the specific movement method of the objective lens assembly 2, as long as at least one objective lens assembly 2 is movable to change the viewing angle of the objective lens assembly 2.

[0051] Please combine Figure 1 , Figure 2 and Figure 3 Considering the simplicity of the movement of the objective lens assembly 2, in some embodiments, the objective lens assembly 2 is rotatably connected to the insertion part 1 via a rotating shaft 21, and the driving device 3 is used to drive the objective lens assembly 2 to swing around the rotating shaft 21. That is to say, in this embodiment, the driving device 3 drives the objective lens assembly 2 to swing around the rotating shaft 21, thereby changing the included angle between the two objective lens assemblies 2. This movement mode of the objective lens assembly 2 is simple and easy to implement.

[0052] Of course, in other embodiments, as needed, the objective lens assembly 2 may be disposed in the insertion part 1 in a planar motion manner, and the objective lens assembly 2 may be driven to perform planar motion by the driving device 3 to realize the adjustment of the viewing angle of the objective lens assembly 2.

[0053] In addition, in some embodiments, the insertion part 1 is provided with a first guide limiting part, and the objective lens assembly 2 is provided with a second guide limiting part. The first guide limiting part and the second guide limiting part slide together and limit the swing angle of the objective lens assembly 2.

[0054] In other words, in this embodiment, when the angle of the objective lens assembly 2 is adjusted, the first guide limiting part and the second guide limiting part slide relative to each other. Through the sliding cooperation of the first guide limiting part and the second guide limiting part, the movement direction of the objective lens assembly 2 is guided and limited, which helps to ensure the smoothness of the movement and the correctness of the movement direction when the position of the objective lens assembly 2 is adjusted. At the same time, the relative sliding stroke of the first guide limiting part and the second guide limiting part can be used to limit the extreme position of the movement of the objective lens assembly 2, that is, to limit the swing angle of the objective lens assembly 2. When the first guide limiting part and the second guide limiting part slide relative to each other to the maximum stroke, that is, when the objective lens assembly 2 moves to the extreme position, the mutual limiting of the first guide limiting part and the second guide limiting part prevents the objective lens assembly 2 from continuing to rotate.

[0055] It should be noted that the specific structure of the first guide limiting part and the second guide limiting part is not limited in this embodiment, as long as the two can slide together and limit the swing angle of the objective lens assembly 2.

[0056] Please combine Figure 2 and Figure 5 In some embodiments, one of the first guide limiting part and the second guide limiting part is an arc-shaped groove 111, and the other is a limiting pin 22 that is slidably inserted into the arc-shaped groove 111.

[0057] In other words, when the objective lens assembly 2 is adjusted, the limiting pin 22 slides relative to the arc groove 111 within the arc groove 111. The trajectory of the arc groove 111 limits the movement trajectory of the objective lens assembly 2. When the limiting pin 22 is located at the end of the arc groove 111, the stopping limit at the end of the arc groove 111 prevents the limiting pin 22 from continuing to slide relative to the arc groove 111, indicating that the objective lens assembly 2 has been adjusted to the maximum angle.

[0058] In addition, in order to reduce the structural size of the head end seat 12 of the insertion part 1, in some embodiments, the insertion part 1 includes an insertion tube 11 and a head end seat 12 provided at one end of the insertion tube 11. The head end seat 12 is provided with a shaft hole 121 that is rotatably connected to the rotating shaft 21 (e.g., Figure 3 As shown, the first guide and limiting part is located at one end of the insertion tube 11 near the head end seat 12.

[0059] In other words, the objective lens assembly 2 is rotated and positioned on the headstock 12 via the pivot 21, allowing the objective lens assembly 2 to rotate around the pivot 21. At the same time, the second guide limiting part of the objective lens assembly 2 cooperates with the first guide limiting part on the insertion tube 11 to limit the movement, ensuring the stability of the angle adjustment of the objective lens assembly 2 and the correctness of the direction of movement. This achieves the installation of the objective lens assembly 2 and ensures the smooth adjustment of the angle of the objective lens assembly 2. This structure guides and limits the objective lens assembly 2 by setting the first guide limiting part at one end of the insertion tube 11 near the headstock 12, and achieves the installation and positioning of the objective lens assembly 2 by setting the pivot 21 on the headstock 12. The structure is compact and helps to reduce the structural size of the headstock 12.

[0060] It should be noted that in some embodiments, when the angles of both objective lens assemblies 2 are adjustable, the mounting structure and movement mode of the two objective lens assemblies 2 are identical, which allows the optical axis intersection point (convergence point) of the two objective lens assemblies 2 to be positioned at the center of the lens. Since the image quality at the center of the lens is superior to that at the edges, the image quality observed by the user can be improved. Furthermore, the aforementioned first guide limiting part and second guide limiting part can be configured to limit the swing angle of the two objective lens assemblies 2 within a preset range. This preset range ensures that the convergence distance meets the needs of actual use and that the image quality meets the requirements.

[0061] In addition, the above embodiments do not limit the specific structure of the driving device 3, as long as the driving device 3 can drive the objective lens assembly 2 to move to adjust the angle of the objective lens assembly 2.

[0062] Please refer to Figure 6 In some embodiments, the drive device 3 includes a pull rod 33 and a connecting rod 34. The pull rod 33 is arranged along the length direction of the insertion part 1; one end of the connecting rod 34 is hinged to the pull rod 33, and the other end is hinged to the objective lens assembly 2.

[0063] In other words, in this embodiment, the action of the pull rod 33 drives the action of the connecting rod 34, which in turn drives the objective lens assembly 2 to move. That is, the drive device 3 transmits the movement of the pull rod 33 and the connecting rod 34 to ultimately achieve the movement of the objective lens assembly 2. This facilitates the movement of the objective lens assembly 2 through a reasonable structural layout within a limited space. It can be understood that the pull rod 33 is arranged along the length direction of the insertion part 1, and the direction of action of the pull rod 33 can be along its length direction. That is, pushing or pulling the pull rod 33 along its length direction causes the pull rod 33 to drive the connecting rod 34 to perform planar movement, thereby causing the connecting rod 34 to move the objective lens assembly 2 and achieving angle adjustment of the objective lens assembly 2.

[0064] It should be noted that this embodiment does not limit the specific connection structure between the connecting rod 34 and the objective lens assembly 2, as long as the connection between the connecting rod 34 and the objective lens assembly 2 can be achieved.

[0065] like Figure 7 As shown, in some embodiments, the connecting rod 34 includes a first connecting rod 341 and a second connecting rod 342 respectively connected to the two objective lens assemblies 2. The first connecting rod 341 and the second connecting rod 342 are respectively hinged to the hinge shaft 35, which is connected to the pull rod 33. That is, when the pull rod 33 moves, it drives the first connecting rod 341 and the second connecting rod 342 to move synchronously through the hinge shaft 35, and then drives the two objective lens assemblies 2 to move synchronously through the first connecting rod 341 and the second connecting rod 342. This enables synchronous adjustment of the angles of the two objective lens assemblies 2, keeping the convergence point in the center, so that the target is presented in the center of the lens, resulting in high image quality. In other words, in this embodiment, the two objective lens assemblies 2 share the same set of driving devices 3, thereby achieving synchronous angle adjustment of the two objective lens assemblies 2, saving power source, saving cost, facilitating structural layout, saving space, and ensuring high efficiency and high image quality through synchronous adjustment of the two objective lens assemblies 2.

[0066] Furthermore, such as Figure 7 As shown, in some embodiments, the first link 341 and the second link 342 are symmetrically arranged, and there are two of each first link 341 and second link 342. Each first link 341 and each second link 342 forms a group. The first links 341 and second links 342 in the same group are symmetrically arranged, while the first links 341 and second links 342 in different groups are respectively located at both ends of the hinge shaft 35. The pull rod 33 is connected to the middle position of the hinge shaft 35. That is, in this embodiment, two groups of first links 341 and second links 342 are used to drive the movement of the two objective lens assemblies 2 simultaneously, which helps to make the movement of the objective lens assembly 2 more stable. Figure 6 and 7 As shown, when the lever 33 moves toward the direction of the connecting rod 34, the angle between the first connecting rod 341 and the second connecting rod 342 increases, making the included angle between the two objective lens assemblies 2 larger, which is suitable for observing close-up scenes; when the lever 33 moves away from the direction of the connecting rod 34, the included angle between the first connecting rod 341 and the second connecting rod 342 decreases, making the included angle between the two objective lens assemblies 2 smaller, making the two objective lens assemblies 2 tend to be parallel, which is suitable for observing distant scenes.

[0067] Additionally, it should be noted that the above embodiments do not limit the specific driving method of the lever 33. For example, the lever 33 can be manually pulled to adjust the angle of the objective lens assembly 2. Of course, in other embodiments, the lever 33 can also be driven by a power source to save manpower.

[0068] In some embodiments, the drive device 3 further includes a motor 31 and a transmission mechanism 32. The transmission mechanism 32 is connected to the motor 31, and the pull rod 33 is connected to the transmission mechanism 32. The transmission mechanism 32 is used to convert the rotational motion output by the motor 31 into the linear motion of the pull rod 33.

[0069] In other words, this embodiment uses the motor 31 as a power source to provide power for the movement of the pull rod 33, which in turn provides power for the angle adjustment of the objective lens assembly 2. The transmission mechanism 32 reverses the movement, transmitting the power from the motor 31 to the pull rod 33, which in turn moves the objective lens assembly 2 via the connecting rod 34, thus achieving angle adjustment. Using the motor 31 to drive the pull rod 33 automatically saves manpower, simplifies operation, facilitates automatic control, and makes the angle adjustment of the objective lens assembly 2 more precise.

[0070] It should be noted that this embodiment does not limit the specific structure of the transmission mechanism 32, as long as it can realize motion reversal and power transmission.

[0071] like Figure 4 and Figure 6 As shown, in some embodiments, the transmission mechanism 32 includes a worm gear portion 321 located at one end of the pull rod 33 near the handgrip and a turbine 322 meshing with the worm gear portion 321. The turbine 322 is connected to the output shaft of the motor 31. It can be understood that when the motor 31 rotates, it drives the turbine 322 to rotate. Through the meshing transmission between the turbine 322 and the worm gear portion 321, the worm gear portion 321 drives the pull rod 33 to move along the length of the pull rod 33, thereby causing the pull rod 33 to drive the connecting rod 34 to rotate, causing the connecting rod 34 to swing the objective lens assembly 2. In other words, the turbine 322 and the worm gear portion 321 form a worm gear mechanism. In this embodiment, motion reversal and transmission are performed through the worm gear mechanism, resulting in smooth movement and a compact structure.

[0072] Of course, in other embodiments, the transmission mechanism 32 can also be in other structural forms, such as a gear transmission mechanism, a pulley transmission mechanism, or a wire rope transmission mechanism.

[0073] Furthermore, in some embodiments, the end of the insertion part 1 furthest from its distal end is connected to the handheld part, the motor 31 is disposed within the handheld part, and the pull rod 33 passes through the insertion part 1. It is understood that the motor 31 is disposed within the handheld part, utilizing the handheld part to provide space and support for the motor 31, which is beneficial for structural layout; simultaneously, the pull rod 33 passes through the insertion part 1 along its length to achieve motion transmission, and the pull rod 33 performs reciprocating linear motion along the length of the insertion part 1, conforming to the structural characteristics of the insertion part 1 and facilitating structural layout.

[0074] It should be noted that in some other embodiments, when both objective lens assemblies 2 are angle-adjustable, two completely independent drive devices 3 can be used to drive the two objective lens assemblies 2 to move respectively, which facilitates independent control of the angle adjustment of the two objective lens assemblies 2. Of course, the two objective lens assemblies 2 can also share the same motor 31, and two sets of transmission mechanisms 32 and two pull rods 33 can be used to drive the corresponding connecting rods 34 to move, so as to realize the angle adjustment of the two objective lens assemblies 2.

[0075] Additionally, it should be noted that the above embodiments do not limit the control method of the motor 31. For example, in some embodiments, the 3D endoscope also includes operation keys located on the handheld part of the 3D endoscope and communicatively connected to the motor 31. The operation keys are used by the user to operate and control the rotation of the motor 31. That is, in this embodiment, the user controls the rotation of the motor 31 by operating external operation keys, such as controlling the forward and reverse rotation of the motor 31 and controlling the rotation angle, which is simple to operate and convenient for the user to adjust in real time according to actual needs.

[0076] Of course, in other embodiments, the 3D endoscope may also include a control module that is communicatively connected to the motor 31 to control the rotation of the motor 31.

[0077] In other words, this embodiment can achieve automatic control of the motor 31 by setting up a control module and using an automatic objective lens alignment algorithm, thereby achieving automatic adjustment of the angle of the objective lens assembly 2.

[0078] In addition, the above embodiments do not limit the specific type of motor 31. For example, motor 31 is a stepper motor 31 with high control precision.

[0079] Furthermore, the above embodiments do not limit the specific structure of the objective lens assembly 2, such as... Figure 9 As shown, in some embodiments, the objective lens assembly 2 includes a lens body 23, a lens group 24 disposed within the lens body 23, and an image sensor 25 disposed at one end of the lens body 23.

[0080] In addition to the 3D endoscope described above, this utility model also provides a 3D endoscope system including the 3D endoscope disclosed in the above embodiments. For the structure of other parts of the 3D endoscope system, please refer to the prior art, which will not be described in detail here.

[0081] The key point of this embodiment is that the 3D endoscope system includes the 3D endoscope disclosed in any of the above embodiments, so that the 3D endoscope system at least includes the beneficial effects of the above-mentioned 3D endoscope, which will not be repeated here.

[0082] It should also be noted that, in this specification, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0083] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0084] The 3D endoscope and 3D endoscope system provided by this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. A 3D endoscope, characterized by, include: Insertion part (1); Two objective lens assemblies (2) are arranged side by side along the radial direction of the insertion part (1) at the distal end of the insertion part (1), and at least one of the two objective lens assemblies (2) is movable; A drive device (3) is connected to at least one of the two objective lens assemblies (2) for driving at least one of the two objective lens assemblies (2) to move in order to adjust the angle of at least one of the objective lens assemblies (2), thereby adjusting the convergence distance of the two objective lens assemblies (2).

2. The 3D endoscope of claim 1, wherein, The objective lens assembly (2) is rotatably connected to the insertion part (1) via a rotating shaft (21), and the driving device (3) is used to drive the objective lens assembly (2) to swing around the rotating shaft (21).

3. The 3D endoscope of claim 2, wherein, The insertion part (1) is provided with a first guide limiting part, and the objective lens assembly (2) is provided with a second guide limiting part. The first guide limiting part and the second guide limiting part slide together and limit the swing angle of the objective lens assembly (2).

4. The 3D endoscope of claim 3, wherein, One of the first guide limiting part and the second guide limiting part is an arc-shaped groove (111), and the other is a limiting pin (22) that can be slidably inserted into the arc-shaped groove (111).

5. The 3D endoscope of claim 3, wherein, The insertion part (1) includes an insertion tube (11) and a head end seat (12) provided at one end of the insertion tube (11). The head end seat (12) is provided with a shaft hole (121) that is rotatably connected to the rotating shaft (21). The first guide and limiting part is provided at one end of the insertion tube (11) near the head end seat (12).

6. The 3D endoscope according to any one of claims 1 to 5, characterized in that, The driving device (3) includes: A pull rod (33) is provided along the length direction of the insertion part (1); The connecting rod (34) is hinged at one end to the pull rod (33) and at the other end to the objective lens assembly (2).

7. The 3D endoscope of claim 6, wherein, The connecting rod (34) includes a first connecting rod (341) and a second connecting rod (342) respectively connected to the two objective lens assemblies (2). The first connecting rod (341) and the second connecting rod (342) are respectively hinged to the hinge shaft (35), and the hinge shaft (35) is connected to the pull rod (33).

8. The 3D endoscope of claim 6, wherein, The drive device (3) further includes: Motor (31); A turbine (322) is connected to the output shaft of the motor (31); The worm gear (321) is located at one end of the pull rod (33) near the motor (31) and meshes with the turbine (322) for transmission.

9. The 3D endoscope of claim 8, wherein, The insertion part (1) is connected to the handheld part at one end away from the objective lens assembly (2), the motor (31) is located inside the handheld part, and the pull rod (33) passes through the insertion part (1).

10. The 3D endoscope of claim 9, wherein, Also includes: The operation key is located on the handheld part of the 3D endoscope for user operation and is communicatively connected to the motor (31) to control the rotation of the motor (31); or, The control module is communicatively connected to the motor (31) to control the rotation of the motor (31).

11. A 3D endoscope system, characterized by, Includes the 3D endoscope as described in any one of claims 1-10.

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