Endoscope device for image acquisition

Abstract

The invention relates to an endoscope device for image acquisition, in particular for stereoscopic image acquisition, comprising: a shaft extending from a proximal end to a distal end and having a shaft longitudinal axis; and an image acquisition assembly, wherein the image acquisition assembly comprises: a base body having a base body longitudinal axis and rotatably and / or pivotably mounted on the shaft in a region of the distal end; a first image acquisition device attached to the base body; and a second image acquisition device attached to the base body; wherein the first image acquisition device and the second image acquisition device are jointly configured for image acquisition, in particular for stereoscopic image acquisition, and define a principal viewing direction oriented perpendicular to the base body longitudinal axis;and wherein the first image acquisition device and the second image acquisition device are spaced apart from each other by a distance with respect to the longitudinal axis of the base body; wherein in an insertion configuration the base body can be brought into a first orientation relative to the longitudinal axis of the shaft; and wherein in an image acquisition configuration the base body can be brought into a second orientation relative to the longitudinal axis of the shaft in which an angle between the longitudinal axis of the base body and the longitudinal axis of the shaft is reduced compared to the first insertion configuration, wherein in the image acquisition configuration an image area can be acquired by means of the first image acquisition device and the second image acquisition device which is located along the longitudinal axis of the shaft in front of the distal end of the shaft.;

Description

The invention relates to an endoscope apparatus, in particular a medical endoscope apparatus, and an endoscope, in particular a medical endoscope, having an image acquisition assembly for image acquisition, in particular for stereoscopic image acquisition.Endoscopes are used to perform diagnostic and / or therapeutic action, such as a minimally invasive surgical procedure, on a poorly accessible part of the patient's body. Examples of poorly accessible parts of the body are in particular cavities such as a body cavity and / or a hollow organ. In order to be able to perform the diagnostic and / or therapeutic action with the endoscope, the endoscope is designed such that it can be partially supplied to the cavity of the patient. While some endoscopes include optical elements and / or light guides that guide imaging light and / or illumination light through an endoscope shaft, other endoscopes have cameras and / or light elements at the distal end. Only electrical energy and data must then be transmitted through the shaft by corresponding lines. Proximally arranged light sources are also combined with distal cameras. Then, a light guide passes through the shaft to guide the illumination light to the distal end. Cameras can be provided in or on the endoscope in order to record the cavity of the patient in 3-D during the diagnostic and / or therapeutic action in order to be able to visualize anatomical structures in the cavity of the patient to an operator. Lighting elements used can comprise LEDs, for example.The cameras and the light elements of the endoscopes are usually arranged at an end of the endoscope which is inserted into the cavity of the patient. In order to be able to visualize a 3-D image of the anatomical structures in the cavity of the patient, at least two cameras must be arranged next to one another. Images can thereby be recorded from different viewing angles, from which a 3-D image can then be generated.Such 3-D endoscopes regularly have a pair of cameras which are installed directly next to one another at the distal end. A maximum spacing of the cameras is limited by a shaft diameter of the endoscope.Document EP 3 613 331 A1 shows an endoscope having a shaft, at the end of which a moving component is arranged, which can be pivoted by 180° with respect to the shaft. At the end of the shaft an optical device is arranged. At each of the two ends of the moving component, a further optical device is arranged. By pivoting the moved component by 180° with respect to the shaft, the optical device at the end of the shaft and an optical device at an end of the moved component are exposed, so that these two optical devices are oriented in the same direction. A distance between the two optical devices can thereby correspond to the shaft diameter.Document US 2012 / 0 289 781 A1 discloses a surgical camera assembly having a proximal member defining a longitudinal axis and a distal member defining a tip configured to pierce tissue to enable insertion of the surgical camera assembly therethrough. The distal member is pivotally connected to the proximal member and is movable relative thereto between a first position in which the distal member is aligned with the longitudinal axis and a second position in which the distal member is angled from the longitudinal axis. First and second surgical cameras are disposed within the distal member in fixed position and longitudinally spaced apart from one another. Each of the cameras is oriented to define a viewing area in a direction extending from an outer lateral periphery of the distal member. The cameras are configured to generate video images that are used in conjunction with one another to provide a three-dimensional video image of the internal surgical site.Documents JP 2015-119 827 A and JP S60-232 524 A disclose further endoscope systems and document US 2010 / 0 274 089 A1 discloses a further laparoscope.Endoscopes regularly have a round cross section with a small diameter. Small diameters allow less traumatic introduction into the patient. For example, endoscopes have a diameter of 5 mm or 10 mm.For this reason, the installation space for the cameras and the light-emitting elements available in the endoscope is very limited. This has the result that in endoscopes, for example, only very small stereo base distances can be realized between the cameras. Depending on the distance from the object to be imaged, this can entail only a slight disparity between the images of a stereo image pair.Furthermore, the camera systems of these endoscopes can often only have a low resolution, since camera systems with a higher resolution, in particular for realizing a sufficiently large image diagonal, would require too large a construction space. Such a construction space is not available in the conventional installation of two cameras next to one another in the distal end.Starting from the prior art, the object of the invention is to make use of a skillful use of installation space.The object is achieved according to the invention by an endoscope apparatus and an endoscope as described herein and defined in the claims.The present invention provides an endoscope apparatus for image acquisition, in particular for stereoscopic image acquisition, in particular a medical endoscope apparatus. The endoscope apparatus for image acquisition, which is particularly suitable for stereoscopic image acquisition, comprises a shaft which extends from a proximal end to a distal end and which has a shaft longitudinal axis. Further, the endoscope apparatus includes an image capturing assembly. The image capturing assembly comprises a base body which has a base body longitudinal axis and which is mounted rotatably and / or pivotably on the shaft in a region of the distal end. Furthermore, the image acquisition assembly comprises a first image acquisition device attached to the base body and a second image acquisition device attached to the base body, wherein the first image acquisition device and the second image acquisition device are jointly configured for image acquisition, in particular for stereoscopic image acquisition, and define a main viewing direction which is oriented at an angle to the base body longitudinal axis. The first image capturing device and the second image capturing device are spaced apart from one another by a distance, in particular by a stereo base distance, with respect to the main body longitudinal axis. In an insertion configuration, the base body can be brought into a first orientation relative to the shank longitudinal axis. In addition, in an image recording configuration, the base body can be brought into a second orientation relative to the shank longitudinal axis, in which an angle between the base body longitudinal axis and the shank longitudinal axis is reduced in comparison with the first orientation. In the image recording configuration, an image region is detectable, in particular stereoscopically detectable, by means of the first image detection device and the second image detection device, which image region is located along the shank longitudinal axis in front of the distal end of the shank.Due to the features according to the invention, installation space can be used in a skillful manner. In particular, an endoscope apparatus for image acquisition, in particular for stereoscopic image acquisition, can be provided, which, with a compact configuration, has an increased installation space for elements which are used for image acquisition. As a result, high-resolution camera systems and / or a multiplicity of camera systems can be used. In addition, a large stereobase distance can be realized even with small shaft diameters or it is possible to adapt the stereobase distance to the respective application. Furthermore, due to the arrangement of the image capturing devices according to the invention in the image capturing assembly, a diameter or a cross section of the main body is available multiple times, as a result of which higher resolution systems can be used for the image capturing devices. For example, it is possible to realize a 4k resolution in a 10 mm shaft with the image capturing devices.An endoscope apparatus is to be understood in particular as a preferably functional component, in particular a subassembly and / or a structural and / or a functional component of an endoscope, in particular a video endoscope. In particular, the endoscope apparatus can completely encompass the endoscope. The endoscope is preferably part of an endoscopy system which, in addition to the endoscope, comprises at least one control unit which is designed to carry out a method for operating the endoscope apparatus of the endoscope. Furthermore, the endoscope device itself could comprise a control unit which could be integrated in particular into the endoscope base, preferably into the handle and particularly preferably into a housing provided by the handle.Depending on the embodiment, the shaft can be flexible, semi-flexible and / or rigid. This depends in particular on the application for which the endoscope device or the endoscope is provided. Depending on the application, the shaft can also comprise further lines, channels and / or assemblies. For example, a working channel, a light guide and / or electrical lines can be provided. The lines, in particular the electrical lines, can be configured, for example, to supply the at least one power device. The shaft can have a round or angular cross section, for example. Preferably, the shaft has a round cross section.The distal end is in particular the end of the shaft which is facing away from a user during operation, for example. In particular, the distal end is introduced into the cavity and / or into a hollow organ of the patient.The proximal end is in particular the end of the shaft which faces a user during operation, for example. In particular, the proximal end is inserted into the cavity and / or into a hollow organ of the patient, i.e. the proximal end and the distal end represent opposite ends of the shaft.The shaft longitudinal axis is in particular the axis along which the shaft extends between the proximal end and the distal end. In particular, the shaft longitudinal axis is thus aligned substantially perpendicular to the proximal end and the distal end. The shaft longitudinal axis can be a central axis or central axis of the shaft.The base body defines in particular the installation space of the image capturing assembly. In particular, the base body defines the outer dimensions and / or outer surfaces of the image acquisition assembly. Preferably, the base body has a similar or identical cross section to the shaft. Depending on the embodiment, the base body can be flexible, semi-flexible and / or rigid. The main body longitudinal axis of the main body is perpendicular to the cross section of the main body. For example, the cross section of the base body is at least substantially point-symmetrical to the base body longitudinal axis.In some embodiments, a part of a joint is attached to the base body and / or in the base body, and a further part of the joint can be attached to and / or in the shaft. By means of the joint, the base body can be rotatable or pivotable with respect to the shaft. In other words, the base body can be articulated on the shaft by the articulation.The first image capturing device and the second image capturing device can form an HD system, in particular a full HD system and / or a 4K system. The resolution of the first image capturing device and the second image capturing device may be different. For example, the second image capturing device may have a lower resolution than the first image capturing device. For example, the first image capturing device is a full HD image capturing device, for example in the 16:19 format. Furthermore, for example, the second image acquisition device has a square sensor with a resolution of at least 1000 pixels, at least 1200 pixels or at least 1500 pixels and allows in particular the rotation (electronic image setup) of an HD image (1280 x 720p60). This allows the image of the second image capturing device in a scaled-up form to be combined with the image of the first image capturing device to form a stereo image without any appreciable loss of resolution. Furthermore, for the 2-D image-enhanced view, the correspondingly rotated and scaled image of the quadratic sensor of the second image capturing device can be used.For example, the second image capturing device is arranged closer to the shaft than the first image capturing device, at least in the insertion configuration.The first image capturing device and the second image capturing device each define an image capturing region which records a region at an angle to the extension direction of the main body longitudinal axis. For example, the first image capturing device and the second image capturing device record a region which is oriented perpendicularly to the extension direction of the main body longitudinal axis, i.e. the first image capturing device and the second image capturing device are arranged in such a way that they point from one side of the main body (90° side view).The first image capturing device may have a first input lens and the second image capturing device may have a second input lens. The input lenses can each define an optical axis. The distance, in particular the stereo base distance, can be a distance between the optical axes, in particular measured between points which are respectively located on the relevant optical axis and in the center of the relevant input objective. In particular, the stereo base distance between the first image capturing device and the second image capturing device has an effect on the disparity profile, that is to say on the change in the disparity between images of the first image capturing device and images of the second image capturing device as a function of the working distance. A larger stereo base distance between the first image capturing device and the second image capturing device increases the disparity compared to a smaller stereo base distance with otherwise the same imaging parameters as focal length and zero disparity. By arranging the first image capturing device and the second image capturing device along the main body longitudinal axis, different stereo base distances can be realized. The stereo base distances can be adapted to the spatial effect to be achieved in the 3-D images. Large stereo base distances can be used in particular in combination with image capturing devices that have a large focal length.The first orientation of the base body in the insertion configuration can be in particular parallel, preferably coaxial, relative to the shaft longitudinal axis. In particular, the base body can represent an extension of the shaft in the insertion configuration, wherein the cross section of the base body does not project beyond the cross section of the shaft and / or wherein the cross section of the base body completely overlaps with the cross section of the shaft. In general terms, in the first orientation, the main body longitudinal axis can be oriented at least substantially parallel to the shank longitudinal axis and in particular coincide with the latter. By "at least substantially parallel" is herein in particular an alignment of a direction relative to a reference direction, in particular in a plane, to be understood, wherein the direction and the reference direction enclose an angle of 0°, in particular taking into account a maximum deviation of less than 8°, advantageously of less than 5° and particularly advantageously of less than 2°.The second orientation of the base body in the image recording configuration is adjusted in particular as soon as the endoscope device has been introduced into the body cavity or into the hollow organ of the patient or has arrived at a location of use of the endoscope device. For example, the angle in the second orientation between the base body longitudinal axis and the shank longitudinal axis is 30°, 45°, 75° or 90°, preferably 90°. A plurality of different image recording configurations can be adjustable, for example in order to be able to operate with different viewing directions. In this case, a plurality of discrete angular positions can be adjustable and / or arbitrary positions can be continuously adjustable. The base body longitudinal axis can be oriented in the second orientation at least substantially perpendicular to the shank longitudinal axis. By "at least substantially perpendicular" is herein in particular an alignment of a direction relative to a reference direction, in particular in a plane, to be understood, wherein the direction and the reference direction enclose an angle of 90°, in particular taking into account a maximum deviation of less than 8°, advantageously of less than 5° and particularly advantageously of less than 2°. The angle between the base body longitudinal axis and the shank longitudinal axis can be continuously adjustable, for example, i.e. the base body can have a plurality of different angles in the range from 0 to almost 180° in the image recording configuration and the angle can be variable in the range from 0 to almost 180° in the image recording configuration. The angle can be realized or set by Bowden cables and / or an actuator such as an electric motor.The image area refers in particular to the area in which an image plane of the first image capturing device and the second image capturing device sufficiently intersects such that structures to be imaged located in the image area, for example anatomical structures in the cavity of the patient, are detectable, in particular stereoscopically detectable, and thus sufficient depth information is present in the image that the structures can be visualized in 3-D.In particular, the endoscope apparatus according to the invention realizes a sufficiently large installation space for different image capturing devices in the main body of the image capturing assembly. Furthermore, by means of the endoscope apparatus according to the invention, a virtually arbitrary distance, in particular stereo base distance, can be realized.For example, the distance, in particular the stereo base distance, is greater than a shaft inner radius and in particular greater than a shaft inner diameter of the shaft. This makes it possible to achieve disparity profiles which can be realized in conventional arrangements only for very large shank diameters. In some embodiments, the distance, in particular the stereo base distance, can be at least 1.1 times, at least 1.2 times, at least 1.5 times, at least 2 times, at least 3 times or even at least 5 times as large as the shaft inner radius and / or as the shaft inner diameter.In some embodiments, the first image capturing device includes a first image sensor having a first detection surface and the second image capturing device includes a second image sensor having a second detection surface. A diagonal which extends over the first detection surface and the second detection surface can be greater than the shaft inner radius and in particular greater than the shaft inner diameter of the shaft. In this way, large image sensors can be installed even when small shaft diameters are used. Limitations with respect to maximally achievable resolutions can be canceled as a result. In some embodiments, said diagonal may be at least 1.1 times, at least 1.2 times, at least 1.5 times, at least 2 times, at least 3 times, or even at least 5 times as large as the shaft inner radius and / or the shaft inner diameter.Furthermore, a diagonal of the first detection surface and / or a diagonal of the second detection surface can be greater than a shaft inner radius and in particular greater than a shaft inner diameter of the shaft. In this way, large image sensors can be installed even when small shaft diameters are used. Limitations with respect to maximally achievable resolutions can be canceled as a result. Diagonals which are larger than the shaft inner diameter can be used for non-square detection surfaces by installing a shorter side of the respective detection surface, for example parallel to a transverse direction of the base body. A longer side of the relevant detection surface can then extend parallel to the longitudinal axis of the base body. In some embodiments, said diagonal of the first detection surface and / or the diagonal of the second detection surface may be at least 1.1 times, at least 1.2 times, at least 1.3 times, at least 1.5 times, at least 2 times, or even at least 3 times as large as the shaft inner radius and / or the shaft inner diameter.Furthermore, in particular for square detection surfaces, for example, a diagonal of the first detection surface and / or a diagonal of the second detection surface can be greater than 0.8 times or 0.9 times the shaft inner radius and in particular greater than 0.8 times or 0.9 times the shaft inner diameter of the shaft.A high imaging quality due to a high light yield can be achieved in particular when the size of an input optics of the first image capturing device and / or an input optics of the second image capturing device is greater than the shaft inner radius and in particular greater than the shaft inner diameter of the shaft. The size of the input optics can indicate the diameter of a circular input optics. In the case of a rectangular input optic, such as a prism having a rectangular input side, the size may indicate a diagonal. In general terms, the size may denote a largest distance that is writable to a cross section of the input optics. In some embodiments, the size of the first input optics and / or the size of the second input optics may be at least 1.1 times, at least 1.2 times, at least 1.3 times, at least 1.5 times, or even at least 1.9 times as large as the shaft inner radius and / or as a shaft outer radius.The size can also be larger in the case of circular input optics than the shaft inner diameter and / or than the main body inner diameter by providing a recess in the shaft housing and / or in the main body housing, in which recess the relevant input optics is arranged in such a way that it partially overlaps a wall of the housing, i.e. the circular input optics can project beyond the edge of the shaft inner diameter and / or the main body inner diameter or beyond the shaft housing and / or the main body inner housing.Furthermore, in some embodiments, the base body can define an overall installation space, wherein the first image capturing device is arranged in a first longitudinal section of the overall installation space, and takes up a first installation space, wherein the first installation space is greater than half of the first longitudinal section. As a result of the arrangement of the image capturing devices according to the invention, a larger overall structural space can be provided than in conventional arrangements. The overall structural space of the base body can be divided into different longitudinal sections along the longitudinal axis of the base body. In this case, a "longitudinal section" is to be understood to mean, in particular, a section of the overall structural space which extends over a part of the axial length thereof. The cross section of the longitudinal sections can correspond, for example, to the cross section of the overall construction space. For example, the overall construction space has the first longitudinal section in which the first image capturing device is arranged. The length of the first longitudinal section along the main body longitudinal axis can correspond to the length of the image capturing device. The image capturing device requires a smaller installation space than the installation space available in the first longitudinal section. The same can apply to every further longitudinal section in which an image capturing device is arranged.Furthermore, the image acquisition module can further comprise a third image acquisition device, which is spaced apart in the main body longitudinal axis of the first image acquisition device and the second image acquisition device. This can achieve a high degree of variability in different image acquisition modes. Different image capturing devices can be used largely freely because of the large available installation space. By means of the additional image capturing device, for example, an additional image can be made available to the user. However, it is also possible for all three image capturing devices to be used to generate an image.Preferably, optionally, two of the three image acquisition devices can be operated jointly for imaging, in particular for stereo imaging, in order to be able to make an additional image available to the user by the further or remaining image acquisition device. This additional image can, for example, point in a different direction than the imaging, in particular stereo imaging, in order to be able to record different images in different directions starting from the base body.Furthermore, the third image capturing device can be directed in the main viewing direction of the first image capturing device and / or of the second image capturing device. This can be understood in particular to mean that the relevant main directions of view are oriented at least substantially parallel to one another.Different image acquisition modes and a plurality of possibilities for combining a plurality of images during imaging can be achieved in particular if the first image acquisition device defines a first angle of view, the second image acquisition device defines a second angle of view, and the third image acquisition device defines a third angle of view, wherein the second angle of view is greater than the first angle of view, and wherein the third angle of view is greater than the second angle of view. The image angles can differ considerably from one another. For example, the image angles can each differ by at least 5 degrees, in each case by at least 10 degrees, in each case by at least 15 degrees or even in each case by at least 20 degrees. One of the image capturing devices may be a wide-angle image capturing device and / or one of the image capturing devices may be a normal-view image capturing device and / or one of the image capturing devices may be a teleimage capturing device. This makes it possible to generate an image with sufficient resolution, in particular of the anatomical structures in the cavity and / or in the hollow organ of one of the patient at different distances from the base body.In particular, the third image capturing device can comprise a wide-angle lens. By taking a picture with the wide-angle lens, the user can in particular first be provided with a rough overview of the anatomical structures.According to some embodiments, the third image capturing device may be disposed between the first image capturing device and the second image capturing device. As a result, a sufficiently large distance, in particular a stereo base distance, can be realized between the first image capturing device and the second image capturing device, while a compact overall arrangement is obtained.Furthermore, in the insertion configuration, the main body longitudinal axis and the shaft longitudinal axis can be oriented parallel to one another and / or in the image recording configuration, the main body longitudinal axis and the shaft longitudinal axis can be oriented perpendicular to one another. The endoscope device can thus be introduced into the body in a space-saving manner in the introduction configuration and generate an image in the image recording configuration which points in the direction of the shaft longitudinal axis and is therefore intuitively processable by the user, for example for coordinating further operative actions.The first image capturing device can comprise a first image sensor having a detection surface oriented parallel to the main viewing direction. Alternatively or additionally, the second image capturing device can comprise a second image sensor which has a detection surface which is oriented in the main direction of view. Furthermore, alternatively or additionally, the third image capturing device can comprise a third image sensor which has a detection surface which is oriented in the main direction of view. This can achieve a high degree of compactness. In other words, the first image capturing device and / or the second image capturing device and / or the third image capturing device can be installed in a stationary manner in the main body. This can lead in particular to a very efficient utilization of the available installation space and to a simple fabrication if the image capturing devices are each designed as so-called camera cubes. These can then be easily inserted into mounting sites in the base body.Furthermore, the first image capturing device can comprise a first input optical unit having an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented inclined relative to the input side. Alternatively or additionally, the second image capturing device can comprise a second input optical unit having an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented inclined relative to the input side. Furthermore, alternatively or additionally, the third image capturing device can comprise a third input optical unit having an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented inclined relative to the input side. This can achieve a high degree of variability and flexibility in usable optical elements. The total length of the optical path from the relevant input optics to the relevant image sensor, which can be arranged behind the relevant output side, can thereby be greater than the shaft inner diameter. This can be advantageous in particular for optics with a long focal length. Generally, this does not require exclusively ultra-short-circuit optical systems to be used. The respective output side can be oriented at least substantially perpendicular to the input side. As a result, imaging light can be guided at least in sections parallel to the main body longitudinal axis.In some embodiments, a light beam is redirected from the input side to the output side by a mirror and / or prism. For example, one or more lenses can be arranged between the mirror / prism and the output side of the first, second and / or third input optics, in particular in order to be able to change the angle of view of the image capturing device. As a result, a different zoom can be realized in the image capturing devices using identical hardware. Furthermore, the lens can also be displaceable between the mirror / prism and the output side in order to be able to realize different image angles and thus a different zoom with one of the image capturing devices.Furthermore, the output side of the first, second and / or third input optics can be oriented in a direction at least substantially parallel to the main body longitudinal axis. This makes it possible to realize an image recording configuration in which the main body longitudinal axis and the optical axis of the input optical unit are oriented at least substantially perpendicular to one another, while the associated image sensor is oriented at least substantially perpendicular to the main body longitudinal axis. As a result, the shaft diameter can be used as the available dimension for the input optics, while the optical path length from the input optics to the image sensor can be chosen to be arbitrarily large, because imaging light can be guided at least substantially parallel to the main body longitudinal axis, so that the image sensor can be arranged at an arbitrary distance from the input optics. Preferably, the output side is inclined by 90° relative to the input side, i.e. the input side is oriented parallel to the main body longitudinal axis and the output side is oriented perpendicular to the main body longitudinal axis, so that the largest possible installation space can be made available to the lenses along the main body longitudinal axis.Furthermore, the first, second and / or third input optics can comprise a prism. In particular, each of these is a reflection prism. According to the invention, an illumination device which is configured to emit illumination light in the direction of an image region in the image recording configuration is located along the shank longitudinal axis in front of the distal end of the shank. This allows illumination light required for imaging to be provided by means of the endoscope apparatus. The illumination device can be configured to couple out light of an external illumination device at the distal end of the shaft and / or at the base body. The external illumination device may be a stand-alone device different from the endoscope device. The illumination device can be connectable to the endoscope device and / or separable therefrom, for example, via a light guide plug. In some embodiments, the endoscope apparatus may alternatively or additionally include integrated light emitting elements. These can be arranged, for example, at the distal end.Furthermore, the illumination device can comprise at least one optical fiber and at least one decoupling optics. As a result, light can be guided from the proximal end to the distal end of the shaft or to the base body.Preferably, this variant is used with an external illumination device.In addition, the lighting device can comprise at least one luminous element, in particular at least one light-emitting diode. The luminous element can also comprise at least one laser diode. In some embodiments, the lighting device comprises a plurality of lighting elements, in particular emitting in different spectral ranges. In this case, the endoscope device can in some cases be free of a light guide by means of which light can be guided through the shaft, for example from the proximal end to the distal end. In other words, the endoscope apparatus can have only integrated light-emitting elements.In general terms, the illumination device can be integrated into the shaft. In some cases, the light decoupling to the image area can take place from the distal end of the shaft. In other words, the light decoupling can take place proximally of the base body but towards a position distally of the base body.According to the invention, the illumination device and in particular a light decoupling unit of the illumination device is covered by the base body in the insertion configuration and released from the base body in the image recording configuration. The light-decoupling unit comprises, for example, at least one decoupling optics, for example one or more decoupling optics of light elements used and / or for example one or more decoupling optics, which are optically connected to an end of the optical fiber and / or formed integrally therewith. This protects the illumination device in the insertion configuration by the image capturing assembly. However, it can be automatically freeable when the base body is brought into the image recording configuration, so that no further steps are required for releasing. In addition, this arrangement does not require the illumination device to compete with the image acquisition module for installation space.Generally, in the image acquisition configuration, the illumination device can ensure that the anatomical structures in the cavity of the patient are sufficiently illuminated so that an image of sufficient quality can be recorded by the image acquisition assembly.It is further proposed that the endoscope apparatus can comprise a distal camera which, at least in the insertion configuration, is configured to capture an image region which is located along the shaft longitudinal axis in front of the distal end of the shaft. This allows the user to guide the endoscope device in the insertion configuration to the desired location in the cavity and / or hollow organ, for example the patient, where the endoscope device is to switch to the imaging configuration to record images.Furthermore, the distal camera can be attached to the base body and / or integrated into the base body in order to protect the distal camera and, for example, the distal camera therefore does not require any additional installation space outside the base body.Furthermore, the endoscope apparatus can comprise a distal illumination device which, at least in the insertion configuration, is configured to emit illumination light in the direction of an image region which is located along the shaft longitudinal axis in front of the distal end of the shaft. This can be advantageous in order to provide the distal camera with sufficient light so that it can provide the user with a sufficiently good image for orientation during the insertion.In addition, the distal lighting device can be attached to the base body and / or integrated into the base body in order to protect the distal lighting device and thus the distal lighting device does not require any additional installation space outside the base body.It can also be provided that the distal lighting device comprises at least one light element, in particular at least one light emitting diode. By using the luminous element as a component of the distal lighting device, the distal lighting device can be integrated into the main body in a very space-saving manner.A high degree of flexibility with regard to adapting the endoscope apparatus to different requirements can be achieved in particular if the image acquisition assembly has different image acquisition devices which differ structurally. For different image capture application cases, a suitable image capture device can thus be present in each case.In particular, the different image capture devices can differ with regard to an image angle and / or an image resolution. This allows sharp images to be recorded simultaneously at different distances from the image capture assembly. In addition, according to the available installation space and desired distances, in particular stereo base distances, an arrangement can be provided by means of which both a large image area for orientation and selectively selected image areas can be imaged in high quality and spatially.In some embodiments, the endoscope device may include a joint coupling the base body to the shaft, wherein at least one electrical connection is integrated into the joint. In particular, the joint can comprise a rotatable coaxial connection. However, it can also be provided according to the invention that a cable and / or a flexible cable channel is provided, which extends next to and / or through the joint between the shaft and the base body. The joint can be purely mechanical in this respect. By means of the joint, the base body can be rotated or pivoted precisely and easily with respect to the shaft.Further, the endoscope apparatus may include an actuator coupled to the image capturing assembly and the shaft and configured to move the main body relative to the shaft. The image recording configuration can be easily set by the actuating device for the user.Furthermore, the actuating device can comprise a motor drive so that the image recording configuration can be set almost forceless and / or automated, for example by a user and / or a controller. In addition, a high degree of precision can be achieved as a result, because the image recording configuration can be approached precisely. In particular in the case that a plurality of imaging configurations can be adjusted by different angles between the base body longitudinal axis and the shank longitudinal axis and, as a result, different imaging configurations can be started up in an automated manner.The shaft diameter can be at least 5 mm and / or at least 10 mm, whereby in particular standard sizes can be used for producing the shaft. However, the invention is not limited to particular shank diameters and smaller or larger shank diameters may also be used.Further, the endoscope apparatus according to any one of the above embodiments may be integrated into an endoscope.The present invention is described below by way of example with reference to the attached figures. The drawings, specification and claims contain numerous features in combination. The person skilled in the art will also expediently consider the features individually and use them in combination within the scope of the claims.If more than one instance is present from a particular object, only one of them may be provided with a reference sign in the figures and in the description. The description of this instance can be transferred to the other instances from the object accordingly. If objects are designated in particular by means of numerical words, such as first, second, third objects, etc., these are used for designating and / or assigning objects. Accordingly, for example, a first object and a third object, but no second object, can be included. However, a number and / or an order of objects could also be derived additionally on the basis of numerical words.The following are shown: FIG. 1 shows a schematic illustration of an endoscope having an endoscope apparatus and an surgical robot; FIG. 2 shows a schematic illustration of an endoscope apparatus with an image acquisition assembly; FIG. 3 shows a schematic illustration of a further embodiment of an image capture assembly; FIG. 4 shows a schematic illustration of a further embodiment of an image capture assembly; FIG. 5 is a cross-sectional view of the embodiment shown in FIG. 4; FIG. 6 shows a schematic illustration of a further embodiment of an endoscope apparatus having an image acquisition assembly; FIG. 7 is a sectional view of the embodiment shown in FIG. 6; FIG. 8 shows a schematic illustration of a further embodiment of an endoscope apparatus with an image acquisition assembly; FIG. 9 shows a schematic illustration of a further embodiment of an endoscope apparatus having an image acquisition assembly; FIG. 10 is a sectional view of the embodiment shown in FIG. 9; FIG. 11 shows a schematic illustration of a further embodiment of an endoscope apparatus having an image acquisition assembly; FIG. 12 is a sectional view of the embodiment shown in FIG. 11;FIG. 1 shows a schematic illustration of an endoscope 85 having an endoscope apparatus 10 which is held by an surgical robot 90 by way of example, and a table 100. However, the endoscope 85 can also be held manually and / or can be handled manually. The endoscope apparatus 10 comprises a proximal end 14 and a distal end 16. The surgical robot 90 can comprise, for example, a robot arm, as shown, for example, the distal end 16 can be introduced into a cavity and / or into a hollow organ of a patient. The surgical robot 90 can move the endoscope in 3 or 6 degrees of freedom, preferably in 6 degrees of freedom. The table 100 may be an operating table. The surgical robot 90 may be mounted on the table or placed next to the table.FIG. 2 shows a schematic representation of the endoscope apparatus 10 with an image capturing device 20 which is attached to a distal end 16 of a shaft 12 via a joint 75. The shaft 12 and the image capturing device 20 have, for example, a round cross section or can each have the shape of a tube. The cross section of the shaft 12 and the image capturing device 20 is preferably of the same size. The cross section of the shaft 12 and of the image capturing device 20 can be, for example, 5 mm or 10 mm.The image acquisition assembly 20 comprises a base body 22. The first image capturing device 26 and the second image capturing device 36 are arranged at a 90° angle (90° side view) to a main body longitudinal axis 24 of the main body 22.As a result, a virtually arbitrary distance, in particular stereo base distance, between the first image capturing device 26 and the second image capturing device 36 can be realized, i.e. it is possible, for example, to provide a distance of 6 mm or 8 mm between the first image capturing device 26 and the second image capturing device 36 and to use a full HD system, even if the diameter of the main body 22 is only 10 mm or even only 5 mm or less.The first image capturing device 26 may be disposed closer to the distal end 16 of the shaft 12 than the second image capturing device 36. The first image capture device 26 can be square, for example with a resolution of approximately 1500 pixels. This makes it possible to rotate an image, for example, an HD image (1280 x 720p60) of the second image capturing device 36 (electronic image setup). The image of the first image acquisition device 26 can be combined in a scaled-up form with the image of the second image acquisition device 36 to form an image, in particular stereo image, without a loss of resolution arising.When the endoscope apparatus 10 is introduced into the cavity and / or the hollow organ of the patient, therefore in an introduction configuration of the endoscope apparatus 10, the shaft longitudinal axis 18 and the base body longitudinal axis 24 are preferably aligned parallel to one another, in particular coaxially. If the endoscope apparatus 10 has arrived at the location at which the image capturing device 20 is intended to record an image, in particular stereoscopic image, for example of organs in the cavity of the patient, therefore in an image recording configuration of the endoscope apparatus 10, the main body longitudinal axis 24 of the image capturing device 20 can be rotated with respect to the shaft longitudinal axis 18 of the shaft 12. For example, in the image recording configuration, the main body longitudinal axis 24 can have an angle of 30°, 45° or 90° with respect to the shank longitudinal axis 18. Preferably, the angle between the base body longitudinal axis 24 and the shank longitudinal axis 18 is 90°. For example, the angle between the base body longitudinal axis 24 and the shank longitudinal axis 18 can also have any angle between 0° and almost 180°. The angle between the longitudinal axis 24 of the base body and the longitudinal axis 18 of the shaft can be continuously adjustable and, during this, images, in particular stereoscopic images, can be recorded with the image capturing device 20.At the front or distal end of the base body 22, a distal illumination device 65 and a distal camera 66 are arranged. This makes it possible to transmit images of the cavity and / or the hollow organ of the patient in the insertion configuration by the distal camera 66, for example a user, so that the patient can guide the endoscope apparatus 10 to a desired location in the cavity and / or the hollow organ of the patient. In order for the distal camera 66 to produce images of sufficient quality, the cavity of the patient can be illuminated by distal illumination device 65. The distal camera 66 may have a lower resolution than the first image capturing device 26 and the second image capturing device 36. For example, the distal illumination device 65 and the distal camera 66 can be arranged at an equally large distance from the main body longitudinal axis 24 of the main body 22 on opposite sides of the main body longitudinal axis 24 of the main body 22.FIG. 3 shows a schematic illustration of a further embodiment of an image capture assembly 220. The image capture assembly 220 may be mounted on a shaft 12 similar to the image capture assembly 20 or as well as the image capture assembly 20.The image capturing assembly 220 comprises a base body 222.A first image capturing device 232, a second image capturing device 242 and a distal camera 266 are introduced into the main body 222. The first image capturing device 232 and the second image capturing device 242 are introduced into the main body 222 of the image capturing assembly 220 in a comparable manner to the manner in which the first image capturing device 32 and the second image capturing assembly 42 are introduced into the main body 22 of the image capturing assembly 20.The distal camera 266 is attached to a distal end and a front end of the main body 222, respectively. The distal camera 266 can be oriented in an axis-symmetrical manner with respect to a main body longitudinal axis 224 or can be arranged slightly displaced with respect to the main body longitudinal axis 224. A light, for example an LED, can furthermore be integrated into the distal camera 266.The first image capturing device 234 and the second image capturing device 244 have a first angle of view 234 and a second angle of view 244, respectively. The first angle of view 234 and the second angle of view 244 may be the same. Furthermore, the first image capturing device 234 has a first input optical unit 232, a first detection surface 230 and a first image sensor 228. The second image capturing device 244 has a second input optical unit 242, a second detection surface 240 and a second image sensor 238.The distal camera 266 has an angle of view 270. The angle of view 270 may be smaller than the first angle of view 234 and / or the second angle of view 244, for example. The distal camera 266 can further have an input optics 269, in particular with at least one lens 271, a detection surface 268 and an image sensor 267. The lens 271 may be disposed between an input side and an output side of the input optics 269.The distal camera 266, the first image capture device 226, and the second image capture device 236 may be disposed on the same board.It is possible that the distal camera 266 does not require the entire cross section of the base body 222. The remaining cross section for the base body 222 can be used, for example, for the integration of an optical fiber which can be connected to a distal illumination device.FIG. 4 shows another embodiment of an image capture assembly 320. The image acquisition assembly 320 includes a base 322. A first image capturing device 326 and a second image capturing device 336 are accommodated in the base body 322. The first image capturing device 326 is disposed closer to the shaft of the endoscope apparatus than the second image capturing device 336.The first image capturing device 326 has an angle of view 334 and the second image capturing device 336 has an angle of view 344. The angle of view 334 and the angle of view 344 may be the same, for example. However, it is also possible for one of the angle of view 334 or the angle of view 344 to be greater than the other angle of view.The first image capturing device 326 includes a first input optics 332 including at least a first lens 335 and a mirror, a first detection surface 330, and a first image sensor 328. The first detection surface 330 and the first image sensor 328 are arranged at a 90° angle to an input side of the first input optical unit 332. Therefore, a light beam which is guided through the input side of the first input optical unit 332 is first deflected by 90° by the mirror and subsequently guided through the at least one first lens 335 in the direction of the shaft of the endoscope apparatus before the light beam exits from the input objective from the output side of the first input objective 332. Subsequently, the light beam impinges on the detection surface 330 of the first image sensor 328.The second image capturing device 336 comprises a second input optical unit 342 comprising at least a second lens 345 and a mirror, a second detection surface 340 and a second image sensor 338. The second detection surface 340 and the second image sensor 338 are arranged at a 90° angle to an input side of the second input optical unit 342. Thus, a light beam directed through the input side of the second input optics 342 is first redirected by 90° by the mirror and subsequently directed through the at least one second lens 345 in the opposite direction as in the first image acquisition assembly 326. Subsequently, after being guided out of the second input optics 342 from an output side of the second input optics 342, the light beam impinges on the detection surface 340 of the second image sensor 338.FIG. 5 shows a cross-sectional representation of the base body 322 of the image capturing assembly 320 in a region of the first image capturing assembly.As illustrated in FIG. 5, the base body 322 has a cross section which is configured in sections to be substantially rectangular or rounded rectangular. In this way, lateral recesses can be provided which allow the use of planar input optics. However, the base body 322 can also have a round or square cross section.A printed circuit board 372 can be installed next to the image sensor 328 in a space-efficient manner.FIG. 6 shows another embodiment of an endoscope apparatus 410 having a shaft 412 and an image acquisition assembly 420. At a distal end of the shaft 412, the image capture assembly 420 is attached by a pivot 475 in a similar manner as described in the previous embodiment.The image capture assembly 420 includes a first image capture device 426 and a second image capture device 436.The first image capture device 426 has an angle of view 434 and the second image capture assembly 436 has an angle of view 444. The first angle of view 434 may be greater than the second angle of view 444, for example.The first image capturing device 426 comprises a first input optical unit 432, which comprises at least a first lens 435 and a mirror, a first detection surface 430 and a first image sensor 438. The first detection surface 430 and the first image sensor 428 are arranged at a 90° angle to an input side of the first input optical unit 432. Therefore, a light beam that is guided through the input side of the first input optics 432 is first deflected by 90° by the mirror and subsequently guided by the at least one first lens 435, for example in a direction pointing away from the shaft 422. After the light beam has been coupled out of the first input optics 432 at an output side of the first input optics 432, the light beam impinges on the detection surface 430 of the first image sensor 428.The second image capturing device 436 comprises a second input optical unit 442 comprising at least a second lens 445 and a mirror, a second detection surface 440 and a second image sensor 438. The second detection surface 440 and the second image sensor 438 are arranged parallel to the input side of the second input optics 442.As shown in FIG. 6, a supply cable 480 can be inserted into the base body 422 below the first image capturing device 426 without a center point of the supply cable 480 at a connection point of the supply cable 480 on the base body 422 protruding beyond the dimensions of the second image capturing device 436. In other words, by using a first image capturing device 426 with small dimensions, i.e. dimensions that do not require the entire cross section of the base body 422, it is possible to insert the supply cable 480 below the first image capturing device 426 and use the inner bend for bending the cable, whereby the supply cable can be integrated into the endoscope apparatus 410 in a space-saving manner.The supply cable 480 can be further guided in the insertion configuration of the endoscope apparatus 410 completely within the shaft 412. Thereby, the supply cable 480 is protected by the shaft 412 in the insertion configuration. In the imaging configuration, the supply cable 480 may protrude from the shaft 412. For this purpose, the shaft 412 can have a slot on its side. Preferably, the supply cable is connected to the base body 422 below the first image capturing device 436 on a side of the image capturing device 436 which is directed away from the image region. As a result, the supply cable 480 is integrated in the image recording configuration in a very space-saving manner into the endoscope apparatus 410 and at least to the greatest extent does not project beyond the dimensions of the further parts of the endoscope apparatus 410. The supply cable 480 is thus bent in an inner arc in the image recording configuration.The first image capturing device 426 and the second image capturing device 436 may be disposed on the same board to which the power cable 480 is connected.The second image capture device 436 can be, for example, a high CRA sensor, for example an OHO2A1O (1920 x 1080p). Furthermore, the second image capturing device 436 can comprise an ultra-short-circuit objective (UCOS objective), preferably without a prism. The UCOS objective can be mounted on the vertical axis. Further, the second image capture device 436 may be a wide-angle camera (WLC camera), for example based on an OHO2B10 sensor.Further, the image capturing assembly 420 may include a distal camera 466 and a distal illuminator 465 at the front and distal ends of the main body 422, respectively. The distal camera 466 has an angle of view 470. The angle of view 470 may be smaller than the first angle of view 434 and / or the second angle of view 444, for example. Furthermore, the distal camera 466 can comprise an input optical unit 469, in particular having at least one lens 471, a detection surface 468 and an image sensor 467. The detection surface 468 and the image sensor 467 are preferably aligned parallel to an input side of the input optical unit 469.The distal camera 466 may be disposed on the same board on which the first image capturing device 426 and the second image capturing device 436 are disposed and to which the supply cable 480 is connected.A lighting device is attached to the distal end 416 of the shaft 412. By folding the image capturing assembly or by rotating the main body longitudinal axis 422 with respect to the shaft longitudinal axis 418, the illumination device integrated into the shaft at the distal end 416 of the shaft 412 is exposed. The illumination device can be supplied with light through the optical fiber 419, as shown in FIG. 7.FIG. 7 is a sectional view through the axis of rotation of the hinge 475 of the embodiment shown in FIG. 6. As shown in FIG. 7, the optical fiber 419 can furthermore be guided inside the shank 412.FIG. 8 shows another embodiment of an endoscope apparatus 510 having an image acquisition assembly 520. The image capturing assembly 520 is rotatably supported at a distal end 516 of a shaft 512 of the endoscope device 510 via the joint 575 in a similar manner as described in the previous embodiments.The image capturing assembly 520 includes a base 522. The base body 522 accommodates a first image processing device 526, a second image processing device 536 and a third image processing device 546. The third image processing device 546 is arranged between the first image processing device 526 and the second image processing device 536. As shown, the first image processing device 526 may be disposed closer to the shaft 512 than the second image processing device 536 and the third image processing device 546.Due to the arrangement of the image processing devices according to the invention in the image acquisition module 520, more than three image processing devices can also be integrated into the base body 522 with a sufficient distance, in particular stereo base distance.The first image processing device 526 has a first angle of view 534, the second image processing device 536 has a second angle of view 544 and the third image processing device has a third angle of view 552.The first angle of view 534, the second angle of view 544, and the third angle of view 552 may be different as shown. It is also possible for the first angle of view 534 and the second angle of view 544 to be configured to be of equal size. The third angle of view 552 is preferably greater than the first angle of view 534 and the second angle of view 544. Further, as shown, the first angle of view 534 may be greater than the second angle of view 544.The third image processing device 546 is preferably a wide-angle camera, i.e. the third image angle 552 of the third image processing device 546 has a wide image angle, the third image angle 552 is in particular more than 40 to 50°, preferably between 60° and 75°.The first angle of view 534 of the first image processing device 526 is preferably 80°. The second angle 544 of view of the second image processing device 536 is preferably 50°. Preferably, the distance, in particular the stereo base distance, between the first image processing device 526 and the second image processing device 536 is 6 mm or 8 mm. Furthermore, the first image processing device 526 together with the second image processing device 536 can form a single-stage zoom system.FIG. 9 shows a schematic representation of a further embodiment of the endoscope apparatus 610 with an image acquisition assembly 620. The image capturing assembly 620 comprises a base body 622 and may be configured in a similar manner as described in the above embodiments. The image capturing assembly 620 is rotatably supported on the shaft 612 of the endoscope apparatus 610 through a joint 675. A shaft longitudinal axis 618 of the shaft 612 may, for example, pass through the pivot point of the joint 675.The image capture assembly 620 is powered via a power cord 680. As illustrated, in the image acquisition configuration, an angle between a base body longitudinal axis 618 of the base body 622 and the shaft longitudinal axis 620 may be 90°. In the image recording configuration, the angle between the main body longitudinal axis 618 and the shank longitudinal axis 620 can, however, also have any further angle between zero and almost 180°, for example 30° or 45°. In the insertion configuration, the body longitudinal axis 618 may be parallel, for example coaxial, to the shaft longitudinal axis 620.In the imaging configuration, as shown, the supply cable 680 may be bent at a side of the shaft 612 that faces away from the imaging assembly 620. This allows the supply cable 680 to be bent at a large radius. By bending the umbilical 680 at the large radius, the umbilical 680 may have a larger diameter or the umbilical 680 may have a longer life for the same diameter.In the insertion configuration, the umbilical 680 may be routed within the shaft 612, or above and below the shaft 612, respectively. In order that the supply cable can optionally be led out of the side of the shaft 612, the shaft 612 can have a slot on the side.A lighting device is attached to a distal end 616 of the shaft 612. By folding the image capturing assembly 620 or by rotating the main body longitudinal axis 622 with respect to the shaft longitudinal axis 618, the illumination device integrated into the shaft at the distal end 616 of the shaft 612 is exposed. The illumination device may be supplied with light through an optical fiber 619 as shown in FIG. 10.FIG. 10 shows an exemplary sectional view of the embodiment shown in FIG. 9 in the insertion configuration. In the exemplary sectional view, the umbilical 680 passes through the axis of rotation of the hinge 675. Further, in the exemplary sectional view, the body 622 of the image capture assembly 620 is disposed above the shaft 612. Further shown in the cross-sectional view is the optical fiber 619 within the shaft 612.FIG. 11 shows a schematic illustration of another embodiment of an endoscope apparatus 710 having an image acquisition assembly 720 and a shaft 712. The image capturing assembly 720 comprises a base 722 and may be configured according to any of the above described embodiments. Further, the image capturing assembly 720 is attached to the shaft 712 via the hinge 775. The shaft 712 may also be configured according to any of the above-described embodiments. In the embodiment shown in FIG. 11, a supply cable that powers the image capture assembly 720 is not visible. The supply cable is guided within the shaft 712. However, the supply cable can also be guided above or below the shank 712.Further, power and information in the umbilical cable is transmitted via the hinge 775 from the shaft 712 to the image capturing assembly 720, and from the image capturing assembly 720 to the shaft 712. For this purpose, an electrical interface can be integrated into the joint 775. As a result, the endoscope apparatus 710 requires very little installation space. Further, a data serializer may be incorporated into the image acquisition assembly 720.A lighting device is attached to a distal end 716 of the shaft 712. By folding the image capturing assembly 720 or by rotating the main body longitudinal axis 722 with respect to the shaft longitudinal axis 718, the illumination device, which is integrated into the shaft 712 at the distal end 716 of the shaft 712, is exposed. The illumination device may be supplied with light through an optical fiber 719 as shown in Fig. 12.FIG. 12 is an exemplary sectional view of the embodiment shown in FIG. 11 in the image capturing configuration. In the exemplary cross-sectional view, the information and energy for and from the image processing assembly 720 is transmitted via the hinge 775. Further, in the exemplary sectional view, the optical fiber 719, particularly for the lighting device at the distal end 716 of the shaft 712, is shown within the shaft 712.List of reference characters10, 410, 510, 610, 710 Endoscope apparatus 12, 412, 512, 612, 712 shaft 14 proximal end 16, 416, 516, 616, 716 distal end 18, 418, 518, 618, 718 shaft longitudinal axis 419, 619, 719 optical fiber 20, 220, 320, 420, 520, 620, 720 image capture assembly 22, 222, 322, 422, 522, 622, 722 main body 24, 224, 324, 424, 524, 624, 724 main body longitudinal axis 26, 226, 326, 426, 526 first image capture device 228, 328, 428 first image sensor 230, 330, 430 first detection surface 232, 332, 432 first input optics 234, 334, 434, 534 first angle of view 335, 435 first lens 36, 236, 336, 436, 536 second image capture device 238, 338, 438, 538 second image sensor 240, 340, 440, 540 second detection surface 242, 342, 442, 542 second input optics 244, 344, 444, 534, 544 Second angle of view 345, 445, 545 Second lens 546 Third image capturing device 548 Third image sensor 550 Third detection surface 552 Third angle of view 65, 465, 565 Distal illumination device 66, 266, 466, 566 Distal camera 267, 467 Image sensor of distal camera 268, 468 Detection surface of distal camera 269, 469 Input optics of distal camera 270, 470 Angle of view of distal camera 271, 471 Lens of distal camera 372 Circuit board 75, 475, 575, 675, 775 Joint 480, 680 Supply cable 85 Endoscope 90 OP robot 100 Table

Claims

An endoscope apparatus (10, 410, 510, 610, 710) for image acquisition, comprising: a shaft (12, 412, 512, 612, 712) extending from a proximal end (14) to a distal end (16, 416, 516, 616, 716) and having a shaft longitudinal axis (18, 418, 518, 618, 718); and an image acquisition assembly (20, 220, 320, 420, 520, 620, 720), wherein the image acquisition assembly (20, 220, 320, 420, 520, 620, 720) comprises: a base body (22, 222, 322, 422, 522, 622, 722) having a base body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and being rotatably and / or pivotably supported on the shaft (12, 412, 512, 612, 712) in a region of the distal end (16, 416, 516, 616, 716); a first image capturing device (26, 226, 326, 426, 526) mounted on the main body (22, 222, 322, 422, 522, 622, 722); and a second image capturing device (36, 236, 336, 436, 536) mounted on the main body (22, 222, 322, 422, 522, 622, 722); wherein the first image capturing device (26, 226, 326, 426, 526) and the second image capturing device (36, 236, 336, 436, 536) are jointly configured for image capturing and define a main viewing direction which is oriented at an angle to the main body longitudinal axis (24, 224, 324, 424, 524, 624, 724); and wherein the first image capturing device (26, 226, 326, 426, 526) and the second image capturing device (36, 236, 336, 436, 536) are spaced apart from one another by a distance with respect to the main body longitudinal axis (24, 224, 324, 424, 524, 624, 724); wherein, in an insertion configuration, the base body (22, 222, 322, 422, 522, 622, 722) can be brought into a first orientation relative to the shank longitudinal axis (18, 418, 518, 618, 718); and wherein, in an image recording configuration, the base body (22, 222, 322, 422, 522, 622, 722) can be brought into a second orientation relative to the shank longitudinal axis (18, 418, 518, 618, 718), in which an angle between the base body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and the shank longitudinal axis (18, 418, 518, 618, 718) is reduced in comparison with the first orientation, wherein, in the image recording configuration, an image region which extends along the shank longitudinal axis (18, 418, 518, 618, 718) can be detected by means of the first image detection device (26, 226, 326, 426, 526) and the second image detection device (36, 236, 336, 436, 536) can be detected, 618, 718) located in front of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712), further comprising an illumination device which is configured to emit illumination light in the direction of an image region in the image recording configuration which is located along the shaft longitudinal axis (18, 418, 518, 618, 718) in front of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712), wherein the illumination device is concealed by the main body (22, 222, 322, 422, 522, 622, 722) in the insertion configuration and is released from the main body (22, 222, 322, 422, 522, 622, 722) in the image recording configuration.The endoscope device (10, 410, 510, 610, 710) according to claim 1, wherein the distance is larger than a shaft inner radius and in particular than a shaft inner diameter of the shaft (12, 412, 512, 612, 712).The endoscope apparatus (10, 410, 510, 610, 710) according to claim 1 or 2, wherein the first image capturing device (26, 226, 326, 426, 526) comprises a first image sensor (228, 328, 428) having a first detection surface (230, 330, 430), and wherein the second image capturing device (36, 236, 336, 436, 536) comprises a second image sensor (238, 338, 438, 538) having a second detection surface (240, 340, 440, 540), and wherein a diagonal extending over the first detection surface (230, 330, 430) and the second detection surface (240, 340, 440, 540) is greater than the shaft inner radius and in particular greater than the shaft inner diameter of the shaft (12, 412, 512, 612, 712).The endoscope apparatus (10, 410, 510, 610, 710) according to any one of the preceding claims, wherein the first image capturing device (26, 226, 326, 426, 526) comprises a first image sensor (228, 328, 428) having a first detection surface (230, 330, 430), and / or wherein the second image capturing device (36, 236, 336, 436, 536) comprises a second image sensor (238, 338, 438, 538) having a second detection surface (240, 340, 440, 540), wherein a diagonal of the first detection surface (230, 330, 430) and / or a diagonal of the second detection surface (240, 340, 440, 540) is greater than a shaft inner radius and in particular greater than a shaft inner diameter of the shaft (12, 412, 512, 612, 712).Endoscope apparatus (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the size of an input optical unit of the first image capturing device (26, 226, 326, 426, 526) and / or an input optical unit of the second image capturing device (36, 236, 336, 436, 536) is greater than the shaft inner radius and in particular greater than the shaft inner diameter of the shaft (12, 412, 512, 612, 712).Endoscope apparatus (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the base body (22, 222, 322, 422, 522, 622, 722) defines an overall installation space, wherein the first image capturing device (26, 226, 326, 426, 526) is arranged in a first longitudinal section of the overall installation space and takes up a first installation space, wherein the first installation space is greater than half of the first longitudinal section.The endoscope apparatus (510) according to any of the preceding claims, wherein the image capturing assembly (520) further comprises a third image capturing device (546) which is spaced apart from the first image capturing device (526) and the second image capturing device (536) in the main body longitudinal axis (524).The endoscope apparatus (510) of claim 7, wherein optionally two of the three image capturing devices (526, 536, 546) are collectively operable for imaging.The endoscope apparatus (510) according to claim 7 or 8, wherein the third image capturing means (546) is directed in the main viewing direction of the first image capturing means (526) and / or the second image capturing means (536).The endoscope apparatus (510) of any of claims 7 to 9, wherein the first image capture device (526) defines a first angle of view (534), wherein the second image capture device (536) defines a second angle of view (544), and wherein the third image capture device (546) defines a third angle of view (552), wherein the second angle of view (544) is greater than the first angle of view (534), and wherein the third angle of view (552) is greater than the second angle of view (544).The endoscope apparatus (510) according to any one of claims 7 to 10, wherein the third image capturing means (546) comprises a wide-angle lens.The endoscope apparatus (510) according to any one of claims 7 to 11, wherein the third image capturing means (546) is disposed between the first image capturing means (526) and the second image capturing means (536).The endoscope apparatus (10, 410, 510, 610, 710) according to any of the preceding claims, wherein in the insertion configuration the base body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and the shaft longitudinal axis (18, 418, 518, 618, 718) are oriented parallel to one another and / or wherein in the image recording configuration the base body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and the shaft longitudinal axis (18, 418, 518, 618, 718) are oriented perpendicular to one another.The endoscope apparatus (10, 410, 510, 610, 710) of any preceding claim, wherein the first image capture device (26, 226, 326, 426, 526) comprises a first image sensor (228, 328, 428) having a first detection surface (230, 330, 430) oriented parallel to the main viewing direction; and / or wherein the second image capture device (36, 236, 336, 436, 536) comprises a second image sensor (238, 338, 438, 538) having a second detection surface (240, 340, 440, 540) oriented in the main viewing direction; and / or wherein the third image capture unit (546) comprises a third image sensor (548) having a third detection surface (550) oriented in the main viewing direction.The endoscope apparatus (10, 410, 510, 610, 710) according to any one of the preceding claims, wherein the first image capturing device (326, 426) comprises a first input optical unit (332, 432) having an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented inclined relative to the input side; and / or wherein the second image capturing device (336, 536) comprises a second input optical unit (342, 542) having an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented inclined relative to the input side; and / or wherein the third image capturing device (546) comprises a third input optical unit having an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented inclined relative to the input side.The endoscope apparatus (10, 410, 510, 610, 710) according to claim 15, wherein the output side of the first, second and / or third input optics (332, 432, 342, 442) is oriented in a direction parallel to the main body longitudinal axis (211).The endoscope apparatus (10, 410, 510, 610, 710) of claim 15 or 16, wherein the first, second and / or third input optics (332, 432, 342, 442) comprises a prism.Endoscope apparatus (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the illumination device comprises at least one optical fibre (419, 619, 719) and at least one decoupling optical unit.Endoscope apparatus (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the illumination device comprises at least one luminous element, in particular at least one light-emitting diode.The endoscope apparatus (10, 410, 510, 610, 710) according to any one of the preceding claims, wherein the illumination device is integrated into the shaft (12, 412, 512, 612, 712).The endoscope apparatus (10, 410, 510, 610, 710) of any preceding claim, further comprising a distal camera (66, 366, 466, 566) configured, at least in the insertion configuration, to capture an image area located along the shaft longitudinal axis (18, 418, 518, 618, 718) forward of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712).The endoscope apparatus (10, 410, 510, 610, 710) of claim 21, wherein the distal camera (66, 366, 466, 566) is attached to the base body (22, 222, 322, 422, 522, 622, 722).The endoscope apparatus (10, 410, 510, 610, 710) of any preceding claim, further comprising a distal lighting device (65, 465, 565) configured, at least in the insertion configuration, to emit illumination light toward an image area located along the shaft longitudinal axis (18, 418, 518, 618, 718) forward of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712).The endoscope apparatus (10, 410, 510, 610, 710) of claim 23, wherein the distal lighting device (65, 465, 565) is integrated with the base body (22, 222, 322, 422, 522, 622, 722).Endoscope apparatus (10, 410, 510, 610, 710) according to claim 24, wherein the distal lighting device (65, 465, 565) comprises at least one luminous element, in particular at least one light emitting diode.The endoscope apparatus (10, 410, 510, 610, 710) of any preceding claim, wherein the image capture assembly (420, 520, 620, 720) includes different image capture devices (426, 526, 436, 536, 546) that are structurally different.The endoscope apparatus (410, 510, 610, 710) according to claim 26, wherein the different image capturing devices (420, 520, 620, 720) differ in an angle of view (434, 444, 534, 544, 552) and / or an image resolution.The endoscope apparatus (710) of any preceding claim, further comprising a joint (775) coupling the base body (722) to the shaft (712), wherein at least one electrical connection is integrated with the joint (775).The endoscope apparatus (710) of claim 28, wherein the joint (775) comprises a rotatable coaxial connection.The endoscope apparatus (10) of any preceding claim, further comprising an actuator (90) coupled to the image capturing assembly (20) and the shaft (12) and configured to move the base body (22) relative to the shaft (12).Endoscope apparatus (10) according to Claim 30, wherein the actuating device (90) comprises a motorized drive.The endoscope apparatus (10, 410, 510, 610, 710) according to any one of the preceding claims, wherein the shaft diameter is at least 5 mm and / or at least 10 mm.Endoscope (85) comprising an endoscope device (10, 410, 510, 610, 710) according to any one of the preceding claims.

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