Actuator system for an optical system of an endoscope and optical system for an endoscope

Abstract

Actuator system (7) for an optical system (5) of an endoscope (2), comprising at least one actuator (52) and a holder (9) for receiving at least one optical element (70) of the optical system (5), wherein the holder (9) is flat and extends in a holder plane (80), wherein the holder (9) has an outer frame (10), a leaf spring element (20), and an inner platform (30), wherein the outer frame (10) at least partially surrounds the leaf spring element (20) and the leaf spring element (20) at least partially surrounds the inner platform (30), and wherein the outer frame (10) is elastically coupled to the inner platform (30) via the leaf spring element (20), wherein the inner platform (30) is designed to receive the optical element (70), and wherein the at least one actuator (52) interacts with the inner platform (30),wherein the at least one actuator (52) is formed as at least one wire (50) made of a shape memory alloy, wherein the at least one wire (50) is coupled to a rear side (32) of the inner platform (30), wherein the at least one wire (50) is coupled to the inner platform (30) in such a way that the inner platform (30) is both linearly deflectable and tiltable by means of the at least one wire (50).

Description

[0001] The invention relates to an actuator system for an optical system of an endoscope and an optical system for an endoscope.

[0002] In medical endoscopy, in addition to endoscopes with rigid optical systems, there are also endoscopes that allow switching between two working areas, for example, a near field and a far field. This is usually achieved by translating or tilting an optical element using an actuator system.

[0003] In endoscopy, for example, electromagnetic actuators are used as actuator systems in which a rotor arranged in a tube of an endoscope is moved axially by a magnetic field.

[0004] In actuator systems, the moving element is often guided in a fit. For this to work, the fit must have a certain amount of mechanical play. Especially when tilting of the moving element is required in addition to linear movement, this mechanical play must be relatively large, resulting in inaccurate guidance. This has a detrimental effect on the image quality of the endoscope's optical system.

[0005] DE 10 2017 128 668 A1 shows an optical assembly with an optical functional unit whose position can be adjusted by means of an adjustment device. The adjustment device comprises groups of magnets with which the optical functional unit can be deflected in a plane perpendicular to the optical axis.

[0006] US 2003 / 0043289 A1 discloses an optical component and an associated image capture device. The optical component is arranged on a frame designed as a leaf spring element, which is deflected along the optical axis by means of two electrodes.

[0007] US 2015 / 0351879 A1 shows a lens positioning system by means of which a lens can be moved along a longitudinal axis. The lens arrangement, which is mounted on a spring element, is deflected along the optical axis using ring-shaped permanent magnets.

[0008] DE 10 2004 018 110 A1 describes a device and method for position adjustment in optical instruments. An XY scanning mechanism is moved back and forth in the direction of the optical axis by means of a wire.

[0009] US 2009 / 0303619 A1 discloses an actuator device and an image capture unit. A lens group is moved along the optical axis by means of an actuator, the actuator comprising a wire made of a shape memory alloy.

[0010] The object of the invention is to provide an actuator system for an optical system of an endoscope and an optical system for an endoscope, by means of which an optical element can be moved precisely and with as little play as possible within an optical system.

[0011] This object is achieved by an actuator system for an optical system of an endoscope, comprising at least one actuator and a holder for receiving at least one optical element of the optical system, wherein the holder is flat and extends in a holder plane, wherein the holder has an outer frame, a leaf spring element and an inner platform, wherein the outer frame at least partially surrounds the leaf spring element and the leaf spring element at least partially surrounds the inner platform, wherein the outer frame is elastically coupled to the inner platform via the leaf spring element, wherein the inner platform is designed to receive the optical element and wherein the at least one actuator interacts with the inner platform, wherein the at least one actuator is designed as at least one wire made of a shape memory alloy,wherein the at least one wire is coupled to a rear side of the inner platform, wherein the at least one wire is coupled to the inner platform in such a way that the inner platform is both linearly deflectable and tiltable by means of the at least one wire.

[0012] In the context of this description, the term “connect” refers to a direct connection between two components.

[0013] The term "coupling," on the other hand, refers to either a direct or an indirect connection between two components. An indirect connection between two components is therefore a connection via other, interconnected components.

[0014] Because the outer frame is elastically coupled to the inner platform via the leaf spring element, the inner platform can be deflected and / or pivoted relative to the outer frame by means of the at least one actuator. In other words, the mount according to the invention allows both linear deflection and tilting of the inner platform and thus of the optical element. By suspending the inner platform via the leaf spring element, extremely precise guidance of the optical element is advantageously achieved.

[0015] The actuator interacts with the inner platform in such a way that it acts on the inner platform to deflect and / or tilt it. In particular, the at least one actuator is configured to exert an adjusting force on the inner platform. The holder is configured, in particular, to exert a restoring force on the inner platform that opposes the adjusting force. In particular, the at least one actuator holds the inner platform under prestress. This ensures that the deflection is largely free of play. The at least one actuator acts, in particular, along a linear direction of action on the inner platform that is perpendicular to the holder plane.

[0016] The outer frame surrounds the leaf spring element, viewed in the mounting plane, at least in sections radially circumferentially. It is also intended that the outer frame completely surround the leaf spring element. The leaf spring element surrounds the inner platform, also viewed in the mounting plane, at least in sections and radially circumferentially. Here, too, it is particularly intended that the leaf spring element completely surrounds the inner platform.

[0017] According to one embodiment in which the outer frame only partially surrounds the leaf spring element, recesses are provided between the outer frame and the leaf spring element, which extend in a bar-like manner on opposite sides between the outer frame and the leaf spring element. According to such an embodiment, the outer frame comprises a first part and an opposite second part. According to a further embodiment in which the leaf spring element only partially surrounds the inner platform, further recesses are provided between the leaf spring element and the inner platform, which also extend in a bar-like manner on opposite sides between the leaf spring element and the inner platform. These further recesses are arranged, for example, rotated by 90° relative to the recesses.According to such an embodiment, the leaf spring element comprises a first and an opposite second leaf spring part.

[0018] In particular, the outer frame, the leaf spring element, and the inner platform are arranged concentrically with each other in the mounting plane. Concentric means that the geometric centers of the outer frame, the leaf spring element, and the inner platform coincide. The outer frame is designed to be fixed to the optical system. When the actuator system is installed, the outer frame is fixed to a static part of the optical system without play.

[0019] According to one embodiment, the outer enclosure has an annular shape. Such a shape is advantageous if the holder is to be inserted into a cylindrical component, for example. However, the invention also encompasses embodiments of the outer enclosure that have a different shape, for example, elliptical or rectangular.

[0020] According to an exemplary embodiment, the inner platform has the shape of a rectangle. The leaf spring element, in particular, has a rectangular shape with rounded corners. However, according to further embodiments, leaf spring elements and inner platforms are also provided that have other shapes, for example, elliptical or circular.

[0021] The optical element can be, for example, a lens, a prism, a mask, or an image sensor. The optical element is not part of the actuator system; the inner platform is designed solely to accommodate the optical element.

[0022] Preferably, the outer enclosure is connected to the leaf spring element exclusively by at least one first solid joint and the leaf spring element is connected to the inner platform exclusively by at least one second solid joint.

[0023] The flexure joints ensure a completely backlash-free suspension of the inner platform. This advantageously prevents the occurrence of backlash or a slip-stick effect. In particular, the flexure joints are designed as surface elements extending in the radial plane of the mount.

[0024] Preferably, the at least one first solid-state joint and the at least one second solid-state joint are arranged offset from one another in the mounting plane, wherein in particular the at least one first solid-state joint is arranged offset from the at least one second solid-state joint by at least 90° along a mounting circumferential direction lying in the mounting plane.

[0025] The offset arrangement of the flexure joints in the mount plane advantageously increases the length of the mount's leaf spring structure. The leaf spring structure comprises the leaf spring element and the flexure joints and represents the part of the mount that couples the outer enclosure to the inner platform. The mount circumferential direction is a direction running along the circumference of the mount in the mount plane.

[0026] Preferably, the holder has two first solid-state joints and two second solid-state joints, wherein in particular the first solid-state joints are arranged on opposite sides of the leaf spring element and / or the second solid-state joints are arranged on opposite sides of the leaf spring element.

[0027] By providing two first flexural joints and two second flexural joints, the stability of the bracket is increased and a high restoring force is achieved.

[0028] Preferably, the bracket is a one-piece component.

[0029] In other words, the outer frame, the leaf spring element, the inner platform, and especially the flexure joints are manufactured from a single blank. Designing them as a one-piece component ensures that the mount is completely free of play when deflected by the at least one actuator.

[0030] Preferably, a linear direction of action of the at least one actuator extends perpendicular to the support plane.

[0031] The linear direction of action is a direction in which the at least one actuator exerts an adjusting force on the inner platform. In particular, the linear direction of action is parallel to an optical axis of the optical system. Furthermore, in particular, at least one tilt axis of the at least one actuator lies in the mounting plane.

[0032] Preferably, the mount is made of a cold-rolled stainless steel sheet, an amorphous metal, or a nickel-titanium alloy, particularly Nitinol. It is also contemplated that the mount be made of several of these materials, whereby different functional units or sections, such as the outer casing, the leaf spring element, and the inner platform, can be made of different materials. The use of Nitinol is particularly advantageous because this material exhibits pseudoelasticity or superelasticity.

[0033] Cold-rolled stainless steel sheets exhibit a high modulus of elasticity. Amorphous metals, due to their non-crystalline structure, exhibit a very high modulus of elasticity. Due to their high moduli of elasticity, the mounts made from these materials possess a strong restoring force. Strong restoring forces are advantageous for the mount in order to achieve the adjustment ranges of approximately 400 µm typical for actuator systems in endoscopes. However, significantly longer and shorter adjustment ranges can also be achieved using the actuator system. Work hardening of stainless steel increases the elastic range of the steel. A high elastic range of the mount material is advantageous because all deformations of the mount must lie entirely within the elastic range of the material to avoid material fatigue.

[0034] In particular, the mount has a material thickness of 50 µm to 15 µm, especially approximately 100 µm. This material thickness prevents stresses in the mount from becoming excessive when the material deforms. At the same time, it provides the necessary stability for the mount.

[0035] Preferably, the leaf spring element has mirror symmetry, wherein a first mirror plane of the leaf spring element runs through a center of the holder and is orthogonal to the holder plane, wherein in particular a second mirror plane of the leaf spring element runs through the center of the holder and is orthogonal to the holder plane and to the first mirror plane.

[0036] The symmetrical design facilitates linear translation of the inner platform. In particular, the entire mount exhibits mirror symmetry.

[0037] The at least one actuator is preferably attached to the inner platform or to a component fixed to the inner platform.

[0038] The component fixed to the inner platform can be attached directly or indirectly to the inner platform by means of a fastening. In particular, the actuator acts on the inner platform by transmitting the actuator's adjusting force to the inner platform via the fastening.

[0039] The at least one actuator is formed as at least one wire, in particular three or four wires, made of a shape memory alloy, wherein the at least one wire is coupled to a rear side of the inner platform.

[0040] A shape memory alloy (SMA) wire advantageously requires a small installation space and is low in complexity, yet achieves high forces and long travel ranges. The provision of three SMA wires enables deflection along the linear direction of action and tilting around two tilt axes. Four wires are advantageous for a rectangular inner platform if each corner of the inner platform is coupled to a wire. When using four wires, a control system for the wires is configured to compensate for the theoretical overdetermination of the movement resulting from the four wires.

[0041] Preferably, an insulator component is fixed to the rear side of the inner platform, wherein the at least one wire is fastened to the insulator component, wherein the insulator component is in particular made at least partially from a plastic, wherein the insulator component is in particular soldered or screwed to the rear side of the inner platform.

[0042] Since SMA wires develop their actuator effect when an electric current is passed through them, it is advantageous if the at least one wire is insulated from the holder by means of the insulator component. The insulator component consists in particular of one or more components. Manufacturing the insulator component from a plastic advantageously achieves the desired insulation. To join a plastic insulator component to the holder, a 3D MID plastic is used for the insulator. In this case, a metal layer is applied to the plastic using a laser and electroplating, which is then soldered to the holder. According to an alternative embodiment, a threaded metal component is soldered, glued, or welded to the holder, and the insulator component is fastened by means of the thread or a crimp connection.

[0043] Preferably, both ends of the at least one wire are fixed to a holding device arranged proximal to the inner platform, wherein the at least one wire is deflected on the insulator component.

[0044] The at least one wire is therefore not fixed to the holder or the insulator component, but only fastened there in such a way that it is deflected by approximately 180°. In this way, the force of the at least one wire acting as an actuator is advantageously doubled. Furthermore, no electrical contact of the at least one wire to the holder or the insulator component is necessary. The wire is in particular hooked into a suitable contour of the holder or the insulator component or pulled through the contour. The term "proximal" in this case refers to the orientation of the holder. In other words, the holding device is arranged rearward of the inner platform. In particular, the at least one wire is electrically contacted by means of the holding device.

[0045] According to one embodiment, the holder is fixed to a first end of a housing, in particular a hollow cylindrical housing, wherein the at least one wire is guided through the housing and fixed to a second end of the housing, in particular a cover plate of the housing.

[0046] The housing advantageously provides a stable suspension for the at least one wire. A hollow-cylindrical shape of the housing is advantageous for inserting the housing into a cylindrical component inside the endoscope shaft. The cover plate, in particular, closes off the second end of the housing. In particular, the at least one wire is electrically contacted by means of the cover plate.

[0047] Preferably, the holding device, to which both ends of the at least one wire are fixed, is arranged at the second end of the housing, wherein the holding device is in particular the cover plate of the housing.

[0048] In this way, the holding device, in particular the cover plate, electrically contacts at least one wire at both ends.

[0049] Preferably, a central region of the inner platform has a recess.

[0050] A recess in the central area of ​​the inner platform is advantageous when, for example, a lens, prism, or mask is provided as the optical element. The recess is particularly large enough not to block the beam path of light beams passing through the optical element.

[0051] According to one embodiment, the mount itself is designed as a mask for the optical element. In this case, the mount is blackened or made of a black material. According to an alternative embodiment, the inner platform is solid and has no recesses. This is useful, for example, if the inner platform is designed to accommodate an image sensor.

[0052] The object is further achieved by an optical system for an endoscope, comprising an actuator system according to one of the previously presented embodiments and an optical element, wherein the outer frame of the holder is fixed to a static part of the optical system and the optical element is fixed to the inner platform of the holder.

[0053] The same or similar advantages apply to the optical system as previously mentioned with regard to the actuator system. The static part of the optical system is a component of the optical system that is not moved by the deflection of the actuator system. The outer frame is fixed to the static part of the optical system without play.

[0054] The optical element is, in particular, soldered or glued to the mount. In particular, the optical element has a flat surface perpendicular to the linear direction of action of the actuator. This facilitates the attachment of the optical element to the mount.

[0055] Preferably, the inner platform has a recess in which the optical element is arranged, so that an optically active surface of the optical element lies in the mounting plane.

[0056] The optically active surface is, for example, the active surface of an image sensor or the principal plane of a lens. The recess aligns the active surface parallel to the mounting plane. This advantageously reduces or completely eliminates parallax errors that would otherwise occur if the optical element were tilted.

[0057] The recess is typically produced by deep drawing. Alternatively, the recess is formed as a complete opening through the inner platform, in which a separate component is housed that holds the optical element. The separate component creates a guide, for example, a hollow cylindrical shape, that holds the optical element or a frame of the optical element precisely and securely.

[0058] Further features of the invention will become apparent from the description of embodiments of the invention together with the claims and the accompanying drawings. Embodiments of the invention may incorporate individual features or a combination of several features.

[0059] Within the scope of the invention, features marked with “in particular” or “preferably” are to be understood as optional features.

[0060] The invention is described below, without limiting the general inventive concept, using exemplary embodiments with reference to the drawings, whereby express reference is made to the drawings for all details of the invention not explained in more detail in the text. They show: Fig. 1 a simplified schematic representation of an endoscope, Fig. 2 a schematically simplified representation of a holder for an optical element, Fig. 3 a schematically simplified perspective view of a holder for an optical element with an insulator component and four SMA wires, Fig. 4 a schematically simplified perspective view of a fastening of an insulator component to a holder by means of a screw, Fig. 5 a schematically simplified representation of a hollow cylindrical housing of an actuator system, Fig. 6 a schematically simplified perspective view of a hollow cylindrical housing of an actuator system on the back of the housing, Fig. 7 a schematically simplified perspective view of an image sensor and a holder for the image sensor with a recess for receiving the image sensor and Fig. 8 a schematically simplified perspective view of a holder with a recess in a central area of ​​the inner platform.

[0061] In the drawings, identical or similar elements and / or parts are provided with the same reference numbers, so that a repeated presentation is omitted.

[0062] Fig. Figure 1 shows a simplified schematic perspective view of an endoscope 2. The endoscope 2 comprises a handle 8 and a shaft 4 that can be inserted into the body of a patient. An optical system 5 of the endoscope 2 is arranged inside the shaft 4, by means of which a space located in front of a distal end 6 of the endoscope 2 can be observed. This is achieved via a series of optical elements of the optical system 5, such as lenses, prisms, and image sensors, which capture image information and transmit it in the proximal direction.

[0063] For some medical procedures using the endoscope 2, it is advantageous if a user can switch the endoscope 2 between two different working areas, for example, a near range and a far range, so that both areas of the body's interior located directly in front of the distal end 6 and areas further away can be observed with high image quality. To enable switching between two working areas, some endoscopes 2 comprise an actuator system by means of which one or more of the optical elements of the optical system 5 can be moved.

[0064] Fig. Figure 2 shows a simplified schematic of an exemplary embodiment of a mount 9 of an actuator system. The mount 9 comprises an outer frame 10, a leaf spring element 20, and an inner platform 30. The inner platform 30 is designed to accommodate the optical element to be moved. The outer frame 10 is fixed to a static part of the optical system 5.

[0065] In the illustrated embodiment, the outer enclosure 10 is annular and completely encloses the leaf spring element 20 in a support plane 80. The support plane 80 lies in Fig. 2 in the image plane, as indicated by the two arrows arranged orthogonally to one another. The outer frame 10 is connected to the leaf spring element 20 via two first flexural joints 15, which are arranged on opposite sides of the leaf spring element 20. The leaf spring element 20 is in turn connected to the inner platform 30 by means of two second flexural joints 25. The two second flexural joints 25 are also arranged on opposite sides of the leaf spring element 20 and are offset by 90° to the first flexural joints 15 in the mounting plane 80. This results in a mirror symmetry of the leaf spring element 20 and the entire mounting 9, with a first mirror plane 84 and a second mirror plane 86, each represented by dashed lines, which are orthogonal to one another and to the mounting plane 80.

[0066] The inner platform 30 interacts with at least one actuator which is in Fig. 2 is not shown. This at least one actuator exerts an adjusting force on the inner platform 30 in order to change the position and orientation of the inner platform 30 or the optical element relative to the outer frame 10 or the optical system 5. The leaf spring element 20 and the solid-state joints 15, 25, which together form a leaf spring structure, exert a restoring force opposite to the adjusting force. This restoring force returns the inner platform 30, and thus also the optical element, to its original position after no further adjusting force is exerted on the inner platform 30.

[0067] The illustrated bracket 9 is completely free of play. For this purpose, the bracket 9 is preferably manufactured from a single component. Cold-rolled stainless steel sheet or amorphous metals are particularly suitable as materials for the bracket 9, as these have a high modulus of elasticity and develop high restoring forces, while also offering a large elastic range.

[0068] In Fig. Figure 3 shows a simplified schematic of an exemplary embodiment of a coupling that connects the holder 9 to the at least one actuator 52. In this embodiment, an insulator component 40 is fixed to a rear side 32 of the inner platform 30. The insulator component 40 has a series of recesses or contours 42 in which wires 50 made of a shape memory alloy (SMA) are guided. The SMA wires 50 are the actuators 52 of the actuator system. They are not firmly fixed to the insulator component 40, but are merely deflected by being guided by the contours 42. Fig. 3 shows a total of four wires 50 deflected in this way, each with two wire ends. To deflect the inner platform 30, an electric current is passed through the wires 50. This leads to heating of the wires 50, which then contract, exerting an adjusting force on the insulator component 40 and thus the inner platform 30. By appropriately controlling the wires 50 serving as actuators 52, the inner platform 30 can be deflected both in a linear direction of action 82 perpendicular to the mounting plane 80 and tilted relative to the mounting plane 80. The insulator component 40 is made of an insulating material in order to electrically shield the wires 50 from each other and from the mounting 9.

[0069] In Fig. 4 shows a schematically simplified cross-sectional view of another embodiment of an insulator component 40. The Fig. The insulator component 40 shown in Figure 4 comprises an insulated wire suspension 44, a threaded adapter 46, and a screw 48. The adapter 46 is made, for example, of a metal and soldered to the back 32 of the inner platform 30. The insulated wire suspension 44, which is made, for example, of a plastic, is placed onto the adapter 46 and then secured by means of the screw 48.

[0070] In Fig. 5 is a schematically simplified representation of an actuator system 7 which comprises the holder 9 of Fig. 2. The holder 9 is fixed to a first end 64 of a hollow cylindrical housing 60. The SMA wires 50 serving as actuators 52, which are suspended, for example, by means of a suspension according to Fig. 3 or Fig. 4 are fixed to the rear side 9 of the holder, are guided through the interior of the housing 60 and fixed at both ends to a holding device 61 arranged at the second end 66 of the housing. In the illustrated embodiment, the holding device 61 is a cover plate 62 of the housing 60.

[0071] In Fig. 6, the housing 60 is made of Fig. 5 is shown schematically in a simplified perspective view, in which the cover plate 62 is clearly visible. The cover plate 62 includes an electrical contact 68, by means of which the wires 50 are supplied with electrical current.

[0072] Fig. Figure 7 shows a simplified schematic of an embodiment of a holder 9, which comprises an inner platform 30 with a recess 36 on its front side 34. The recess 36 is produced, for example, by deep drawing. An optical element 70 is inserted into the recess 36, for example the optical element shown in Fig. 7. This ensures that an active surface 74 of the optical element 70 lies in the mounting plane 80. In this way, a parallax error that could occur if the optical element 70 is tilted is reduced or completely avoided.

[0073] In Fig.Figure 8 shows a further embodiment of a holder 9, which has a recess 38 in a central region of the inner platform 30. Such a recess 38 is useful, for example, when a lens is fixed to the inner platform 30 in order not to impair the beam path of light beams passing through the lens. Another component (not shown) can also be inserted into the recess 38, which holds the optical element 70. In this way, a secure hold of the optical element 70 is achieved. According to a further embodiment, the holder 9 is blackened or made of a black material. In this case, the inner platform 30 with the recess 38 forms a deflectable mask for the optical system 5.

[0074] All mentioned features, including those revealed solely in the drawings as well as individual features disclosed in combination with other features, are considered essential to the invention, both individually and in combination. Embodiments according to the invention may be fulfilled by individual features or a combination of several features. List of reference symbols 2 endoscope 4 shaft 5 optical system 6 distal end 7 Actuator system 8 Handle 9 Bracket 10 outer border 15 first flexure joint 20 leaf spring element 25 second flexure joint 30 inner platform 32 Back 34 Front 36 Deepening 38 recess 40 Insulator component 42 Contour 44 Insulated wire suspension 46 adapters 48 screw 50 wire 52 Actuator 60 housings 61 Holding device 62 cover lens 64 first end 66 second end 68 electrical contact 70 optical element 72 image sensor 74 active area 80 mounting level 82 linear direction of action 84 first mirror plane 86 second mirror plane

Claims

[1] Actuator system (7) for an optical system (5) of an endoscope (2), comprising at least one actuator (52) and a holder (9) for receiving at least one optical element (70) of the optical system (5), wherein the holder (9) is flat and extends in a holder plane (80), wherein the holder (9) has an outer frame (10), a leaf spring element (20), and an inner platform (30), wherein the outer frame (10) at least partially surrounds the leaf spring element (20) and the leaf spring element (20) at least partially surrounds the inner platform (30), and wherein the outer frame (10) is elastically coupled to the inner platform (30) via the leaf spring element (20), wherein the inner platform (30) is designed to receive the optical element (70), and wherein the at least one actuator (52) interacts with the inner platform (30),wherein the at least one actuator (52) is formed as at least one wire (50) made of a shape memory alloy, wherein the at least one wire (50) is coupled to a rear side (32) of the inner platform (30), wherein the at least one wire (50) is coupled to the inner platform (30) in such a way that the inner platform (30) is both linearly deflectable and tiltable by means of the at least one wire (50). [2] Actuator system (7) according to claim 1, characterized by that the outer enclosure (10) is connected to the leaf spring element (20) exclusively by at least one first solid-state joint (15) and the leaf spring element (20) is connected to the inner platform (30) exclusively by at least one second solid-state joint (25). [3] Actuator system (7) according to claim 2, characterized byin that the at least one first solid-state joint (15) and the at least one second solid-state joint (25) are arranged offset from one another in the mounting plane (80), wherein in particular the at least one first solid-state joint (15) is arranged offset from the at least one second solid-state joint (25) by at least 90° along a mounting circumferential direction lying in the mounting plane (80). [4] Actuator system (7) according to claim 2 or 3, characterized by that the holder (9) has two first solid-state joints (15) and two second solid-state joints (25), wherein in particular the first solid-state joints (15) are arranged on opposite sides of the leaf spring element (20) and / or the second solid-state joints (25) are arranged on opposite sides of the leaf spring element (20). [5] Actuator system (7) according to one of claims 1 to 4, characterized by that the holder (9) is a one-piece component. [6] Actuator system (7) according to one of claims 1 to 5, characterized by that a linear direction of action (82) of the at least one actuator (52) extends perpendicular to the support plane (80). [7] Actuator system (7) according to one of claims 1 to 6, characterized by that the holder (9) is made of a cold-rolled stainless steel sheet, an amorphous metal or a nickel-titanium alloy, in particular nitinol. [8] Actuator system (7) according to one of claims 1 to 7, characterized by in that the leaf spring element (20) has mirror symmetry, wherein a first mirror plane (84) of the leaf spring element (20) runs through a center of the holder (9) and is orthogonal to the holder plane (80), wherein in particular a second mirror plane (86) of the leaf spring element (20) runs through the center of the holder (9) and is orthogonal to the holder plane (80) and to the first mirror plane (84). [9] Actuator system (7) according to one of claims 1 to 8, characterized by that the at least one actuator (52) is attached to the inner platform (30) or to a component fixed to the inner platform (30). [10] Actuator system (7) according to one of claims 1 to 9, characterized by that the at least one actuator (52) is formed as three or four wires (50) made of a shape memory alloy. [11] Actuator system (7) according to one of claims 1 to 10, characterized by that an insulator component (40) is fixed to the rear side (32) of the inner platform (30), wherein the at least one wire (50) is fastened to the insulator component (40), wherein the insulator component (40) is in particular made at least partially from a plastic, wherein the insulator component (40) is in particular soldered or screwed to the rear side (32) of the inner platform (30). [12] Actuator system (7) according to claim 11, characterized bythat both ends of the at least one wire (50) are fixed to a holding device (61) which is arranged proximal to the inner platform (30), wherein the at least one wire (50) is deflected on the insulator component (40). [13] Actuator system (7) according to one of claims 1 to 12, characterized by that the holder (9) is fixed to a first end (64) of a, in particular hollow-cylindrical, housing (60), wherein the at least one wire (50) is guided through the housing (60) and is fixed to a second end (66) of the housing (60), in particular a cover plate (62) of the housing (60). [14] Actuator system (7) according to claims 12 and 13, characterized by that the holding device (61), to which both ends of the at least one wire (50) are fixed, is arranged at the second end (66) of the housing (60), wherein the holding device (61) is in particular the cover plate (62) of the housing (60). [15] Actuator system (7) according to one of claims 1 to 14, characterized by that a central region of the inner platform (30) has a recess (38). [16] Optical system (5) for an endoscope (2), comprising an actuator system (7) according to one of claims 1 to 15 and an optical element (70), wherein the outer frame (10) of the holder (9) is fixed to a static part of the optical system (5) and the optical element (70) is fixed to the inner platform (30) of the holder (9). [17] Optical system (5) according to claim 16, characterized by that the inner platform (30) has a recess (36) in which the optical element (70) is arranged, so that an optically active surface (74) of the optical element (70) lies in the mounting plane (80).

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