Endoscope device and method for operating an endoscope device

Description

State of the art

[0001] The invention relates to an endoscope device according to claim 1 and a method for operating an endoscope device according to claim 13.

[0002] An adapter is already known from DE 10 2014 222 880 A1, with which an endoscope camera can be coupled to a proximal end of an endoscope base. Such an adapter has some play, particularly with regard to its orientation relative to other components of an endoscope, in order to achieve easy assembly. Therefore, while such an adapter is suitable for mounting an endoscope camera, it is not suitable for the play-free mounting of a tracker module in order to enable precise motion capturing, especially without continuous recalibration of the position and / or orientation.

[0003] Since the position and / or orientation of a tracker module cannot be reproduced precisely with other known adapters either, a hand-eye calibration procedure is required before each use, which is disclosed, for example, in US 6,511,418 B2.

[0004] Furthermore, DE 2013 222 230 A1 discloses a surgical instrument with an instrument shaft connected to an instrument handle and a detachably arranged instrument tip, as well as a locator arrangement for determining the position of the instrument tip. It is disclosed that a first locator is fixedly arranged on the instrument shaft to locate a working point at the instrument tip of the surgical instrument with the aid of a second locator in the vicinity of the working point.

[0005] US 2002 / 010384 A1 discloses a device for calibrating the lens position and field of view in an endoscope. The device comprises tracking elements attached at fixed positions on the shaft of the endoscope, a holder that provides an object or pattern to be viewed with the endoscope when the endoscope is inserted into the holder, and positioning elements attached at known positions on the holder. A processor in the device determines the positions of the tracking and positioning elements, with the endoscope shaft held in the holder guide, and calculates the coordinates of the endoscope lens with respect to the tracking elements and the lens's field of view from the determined positions. A calibration method used by the device is also disclosed.

[0006] The object of the invention is, in particular, to provide a generic endoscope device and a method for operating such a device with improved motion capture accuracy, especially with regard to improved user-friendliness. This object is achieved according to the invention by the features of claims 1 and 13, while advantageous embodiments and further developments of the invention can be found in the dependent claims. Advantages of the invention

[0007] In one aspect of the invention, which can be considered in particular individually or in combination with other aspects, an endoscope device is proposed, comprising at least one endoscope base which includes at least one shaft and at least one handle connected to the shaft, at least one endoscope camera which is at least partially integrated into the endoscope base, and at least one quick-connect interface which is designed to provide a detachable connection between at least one tracker module and the endoscope base and which defines at least one position and / or orientation of the tracker module relative to the endoscope camera, wherein at least one factory-determined position and / or orientation parameter of this defined position and / or orientation is stored on at least one associated storage medium and can be retrieved.

[0008] This can advantageously improve the accuracy of an endoscope device with regard to motion capture. Preferably, it can be achieved that the endoscope device can be used with a consistent calibration, and in particular, calibration before use by a user can be simplified or even eliminated. This allows, in particular, reproducible accuracy in the application of the endoscope device. Furthermore, user-friendliness can be advantageously improved. Most advantageously, deviations of the endoscope device from a defined position and / or orientation can be detected, thus identifying damage to the endoscope device and / or the use of unforeseen components of the endoscope device.This can particularly increase patient safety, as it protects the patient from mistreatment due to potentially incorrectly calibrated, damaged and / or unsuitable components of the endoscope device.

[0009] Furthermore, patient safety can be increased, preferably by improving user comfort for the operator of the endoscope device, as this reduces fatigue. Additionally, a detachable connection via the quick-connect interface allows for autoclavability of the individual components of the endoscope device, thus improving hygiene and meeting the hygiene requirements of multi-use devices.

[0010] The term "endoscope device" is understood to mean, in particular, a preferably functional component, especially a subassembly and / or a structural and / or functional component of an endoscope, particularly a video endoscope. In particular, the endoscope device may completely comprise the endoscope. The endoscope is preferably part of an endoscopy system which, in addition to the endoscope, includes at least one control unit configured to carry out a method for operating the endoscope device. Furthermore, the endoscope device itself could include a control unit, which could be integrated, in particular, into the endoscope base, preferably into the handle, and most preferably into a housing provided by the handle. The term "control unit" is understood to mean, in particular, an electrical and / or electronic unit with at least one control electronics module.The term "control electronics" shall be understood to mean, in particular, a unit comprising at least one computing unit, such as a processor, a logic module, or the like, and / or at least one preferably non-volatile storage unit, such as a storage medium, preferably a hard drive, a memory card, or the like. In particular, at least one operating, control, and / or regulation program is stored on the storage unit, which preferably comprises the method for operating the endoscope device and which is specifically designed to be executed by the computing unit. "Designed" shall be understood to mean, in particular, specially designed, equipped, and / or programmed. The fact that a component is designed for a specific function shall be understood to mean, in particular, that the component fulfills and / or executes this specific function in at least one application and / or operating state.

[0011] In the present case, the endoscope device comprises one, and in particular a single, endoscope base. Alternatively, the endoscope device could have at least two, preferably three, and particularly preferably several endoscope bases. It is conceivable that the endoscope bases could be at least partially integrated into one another, as is the case, for example, with a mother-baby endoscope. In particular, the multiple endoscope bases could be designed to provide different surgical instruments. Preferably, the endoscope base is formed in multiple parts. Alternatively, it is conceivable that the endoscope base could be formed in one piece.The term "one-piece" shall be understood to mean, in particular, at least materially bonded, for example by a welding process, an adhesive bonding process, an injection molding process and / or another process that appears sensible to the person skilled in the art, and / or advantageously formed in one piece, such as by production from a single casting and / or by production in a single or multi-component injection molding process and advantageously from a single blank.

[0012] In the present case, the endoscope base has a handle, in particular a single handle. The handle has, in particular, a grip. Preferably, the handle comprises at least one housing in which further components of the endoscope device can be arranged. In particular, the handle can be made at least partially, preferably at least partially, and especially preferably entirely of metal. Preferably, the grip and the housing are formed at least partially as a single piece. For example, it is conceivable that the grip can be injection-molded onto the housing. The handle consists at least partially, preferably at least predominantly, and especially preferably entirely of a plastic, and preferably of an autoclavable plastic such as ETFE, PFA, PTFE, FEP, E-CTFE, PMP / TPX, PP, SI, and / or PVDF.The term "at least to a large extent" shall be understood to mean, in particular, at least 55%, advantageously at least 65%, preferably at least 75%, particularly preferably at least 85%, and particularly advantageously at least 95%, and especially also completely, particularly with regard to a mass and / or volume of the component. The phrase "a component and another component are at least partially integrally connected / formed" shall be understood to mean, in particular, that at least one element and / or part of the first component is integrally connected / formed with at least one element and / or part of the second component.

[0013] In the present case, the endoscope base comprises a shaft, in particular a single shaft. A "shaft" is understood to be, in particular, an elongated part of the endoscope. An "elongated component" is understood to be, in particular, a component whose principal extent is greater by at least a factor of five, preferably at least a factor of ten, and most preferably at least a factor of twenty than an extent of the component perpendicular to the principal extent direction, i.e., in particular, a diameter of the component. A "principal extent direction" of a component is understood to be, in particular, a direction that runs parallel to the longest edge of the smallest imaginary cuboid that just completely encloses the component. The shaft has, in particular, a diameter of at least 2 mm, preferably at least 4 mm, and most preferably at least 8 mm.Furthermore, the shaft has a diameter of at most 18 mm, preferably at most 16 mm, and particularly preferably at most 12 mm. Most preferably, the shaft has a diameter of at least substantially 10 mm. "At least substantially" is understood to mean, in particular, a maximum deviation of a value of at most 10%, preferably at most 5%, and particularly preferably at most 2%. The shaft is configured, in particular, for at least one illumination module and / or at least one image acquisition module of the endoscope device. Preferably, the shaft is configured exclusively for the arrangement of the illumination module and / or the image acquisition module. Alternatively or additionally, the shaft could also be configured for the arrangement of tools. The shaft is particularly preferably configured as an outer shaft. The shaft is, in particular, firmly connected to the handle.Preferably, the shaft can be formed at least partially in one piece with the handle. Particularly preferably, the shaft and handle are overmolded. The shaft is preferably rigid. The shaft is made, in particular, at least partially, preferably at least predominantly, and particularly preferably entirely of metal, especially steel, preferably stainless steel, and / or titanium. It is conceivable that the endoscope base could also have at least two, preferably three, and particularly preferably more shafts. In this case, the shafts would be arranged, in particular, at least partially, within one another, as is the case, for example, with a mother-baby endoscope and / or with a further shaft surrounding a shaft, which is designed as an irrigation shaft. Furthermore, the multiple shafts could be configured to accommodate various tools.

[0014] The endoscope camera is preferably integrated at least to a large extent, and particularly preferably completely, into the endoscope base, especially into the shaft of the endoscope base. Preferably, the handle is free of the endoscope camera. In this case, the endoscope is designed as a rigid video endoscope. Otherwise, the endoscope could also be designed, for example, as a fiberscope, flexoscope, or the like. The endoscope camera particularly comprises at least one image acquisition module. The image acquisition module particularly comprises at least one image acquisition optic. The image acquisition optic particularly comprises at least one optical component, such as a lens. Furthermore, the image acquisition optic may comprise other optical elements, such as lenses, prisms, optical fibers, or the like. In particular, the image acquisition module comprises at least one image acquisition sensor.The image acquisition sensor system comprises, in particular, at least one image sensor, which is preferably designed as a CCD or CMOS sensor. The endoscope camera is particularly preferably designed as a stereo camera and, in particular, has at least one further image acquisition module. The further image acquisition module is, in particular, at least substantially identical to the image acquisition module. "At least substantially identical" is understood to mean, in particular, identical except for manufacturing and / or assembly tolerances. The further image acquisition module is arranged at least substantially parallel to the image acquisition module.The term "at least substantially parallel" is to be understood in particular as an alignment of a direction relative to a reference direction, especially in a plane, wherein the direction and the reference direction include an angle of 0°, particularly taking into account a maximum deviation of less than 8°, advantageously less than 5°, and most advantageously less than 2°. The further image acquisition module is arranged laterally offset from the image acquisition module, and in particular at least substantially perpendicular to an optical axis of the image acquisition module, preferably a principal extent of the shaft.The term "at least substantially perpendicular" here refers in particular to an orientation of a direction relative to a reference direction, especially in a plane, wherein the direction and the reference direction include an angle of 90°, particularly taking into account a maximum deviation of less than 8°, advantageously less than 5° and most advantageously less than 2°.

[0015] The endoscope device includes, in particular, at least one quick connector. A "quick connector" is understood to be, in particular, a connector designed for tool-free connection and non-destructive disconnection of components, such as a bayonet fitting, a magnetic closure, a hook-and-loop fastener, or the like. The quick connector is particularly preferably operable with one hand, ideally with a single hand movement. A "quick connector interface" is understood to be, in particular, an interface of a quick connector, which is designed to interact with a corresponding quick connector interface to connect other components of the endoscope device. The quick connector interface is, in particular, permanently connected to the endoscope base, especially the shaft.The term "permanently connected" shall be understood to mean, in particular, that it cannot be separated without tools and / or without destruction. The quick-connect interface shall, in particular, have at least one collar element. The collar element shall, in particular, extend at least substantially perpendicular to a principal direction of extension of the endoscope base. The collar element shall, in particular, encircle the endoscope base, preferably the shaft, at least partially, preferably at least to a large extent, and most preferably completely. "At least partially encircled" shall, in particular, be understood to mean encircled by at least 180°. "At least to a large extent encircled" shall, in particular, be understood to mean encircled by at least 270°. "Completely encircled" shall, in particular, be understood to mean encircled by at least 360°.The phrase "one component encompasses another component" is understood to mean, in particular, that in an encompassed arrangement, a straight line exists which originates in the component and extends first through the component, then through the other component, and then again through the other component, with the straight line preferably passing through a geometric center of the other component. Preferably, the quick-connect interface is formed at least partially integrally with the endoscope base, and in particular with the shaft. It is especially preferred that the quick-connect interface is formed integrally with the shaft. For example, the quick-connect is welded to the shaft. The quick-connect interface consists, in particular, at least partially, preferably at least predominantly, and especially preferably entirely of metal, in particular steel, preferably stainless steel, and / or titanium.

[0016] A "tracker module" is understood to be, in particular, a component designed for motion detection during motion capture. The tracker module comprises at least one marker, preferably at least two markers, more preferably at least three markers, and most preferably several markers, which are detected for motion capture and are preferably arranged at different positions within the tracker module. The markers are preferably designed as passive markers, such as reflective spheres, especially glass spheres. Alternatively, the markers could be designed as active markers, such as light-emitting diodes. The markers are particularly preferably autoclavable. The tracker module comprises, in particular, at least one tracker plane. A "tracker plane" is understood to be, in particular, a plane spanned by at least three markers of the tracker module.In a connected state, a principal extension direction of the tracker module, in particular the tracker plane, extends at least substantially parallel to a principal extension direction of the endoscope base, in particular the shaft. In a connected state, the tracker module at least partially, preferably at least to a large extent, and particularly preferably completely surrounds the endoscope base, in particular the shaft. The tracker module consists in particular at least partially, preferably at least to a large extent, and particularly preferably completely of metal, in particular steel, preferably stainless steel, and / or titanium.

[0017] The term "position" shall be understood to mean, in particular, the position of a component with respect to at least one, preferably at least two, and particularly preferably at least three coordinate axes. The term "orientation" shall be understood to mean, in particular, a rotation of a component about at least one, preferably at least two, and particularly preferably at least three coordinate axes. The term "position parameter" shall be understood to mean, in particular, a parameter from which at least one position can be deduced and / or calculated. In particular, the position parameter may be identical to a Cartesian coordinate. The position parameter is, in particular, a distance between the endoscope camera and the tracker module. The term "orientation parameter" shall be understood to mean, in particular, a parameter from which at least one orientation can be deduced and / or calculated.In particular, the position parameter can be identical to a polar coordinate. The orientation parameter is, in particular, an azimuth angle and / or a polar angle between the endoscope camera and the tracker module.

[0018] The term "factory-set" is understood to mean specifically configured, designed, equipped, and / or programmed at the factory, whereby the relevant processes and / or procedures preferably take place at the factory and are preferably not performed by an operator. Preferably, the position and / or orientation parameter stored in the associated storage medium cannot be overwritten by an operator. It is conceivable that an operator can store additional position and / or orientation parameters, which, however, do not overwrite the original position and / or orientation parameters, so that the endoscope device and / or the endoscopy system can be reset to these.

[0019] The term "assigned" is understood to mean, in particular, uniquely linked. The storage medium may, in particular, be designed separately from the endoscope device. Preferably, the storage medium is part of the endoscopy system. The storage medium is assigned to the endoscope device, in particular via at least one identifier, a key, especially a serial number, of the storage medium and / or the endoscope device. Preferably, the storage medium is encrypted, in particular based on the identifier, the key, especially the serial number, so that access to it preferably only occurs when the storage medium is correctly assigned to a specific endoscope device.The storage medium can be, in particular, a mass data storage device, a hard drive, a removable storage device such as a USB flash drive, a memory card, especially flash memory, a read-only storage device such as EEPROM, a CD and / or DVD. Furthermore, the storage medium could be a storage section provided by a server, especially a cloud server.

[0020] In particular, the endoscope device comprises at least one electrical and / or electronic interface module. This electrical and / or electronic interface module is configured to provide an electrical and / or electronic connection between the endoscope device and other components, preferably other components of the endoscopy system, such as the control unit and / or the storage medium. The electrical and / or electronic interface module preferably has a wired connection, such as a USB, BUS, and / or LAN connection. Alternatively or additionally, the electrical and / or electronic interface module may include at least one wireless connection, such as Wi-Fi, Bluetooth, RFID, or the like.The electrical and / or electronic interface module is in particular at least partially, preferably at least to a large extent and especially preferably completely integrated into the endoscope base, in particular the handle and preferably into the housing provided by the handle.

[0021] The electrical and / or electronic interface module includes, in particular, at least one power interface. The power interface is specifically designed to supply electrical power to other components of the endoscope device. The power interface may, for example, be a mains connection, a power supply unit, and / or a battery compartment. Preferably, the power interface is wired, approximately in the same way as the wired connection of the electrical and / or electronic interface module.

[0022] The electrical and / or electronic interface module includes, in particular, at least one data interface. The data interface is designed for the exchange of data, especially position and / or orientation parameters, with other components of the endoscope device and / or the endoscopy system, particularly the control unit and / or the storage medium. The data interface can be wired, approximately via the wired connection of the electrical and / or electronic interface module. Preferably, the data interface is wireless, approximately via the wireless connection of the electrical and / or electronic interface module.

[0023] It is further proposed that at least one camera parameter of the endoscope camera be stored on the storage medium. This can advantageously improve the accuracy of hand-eye calibration. Furthermore, it can improve the identification of installed components. In particular, at least two, preferably at least three, and especially preferably more camera parameters of the endoscope camera can be stored on the storage medium. A "camera parameter" is understood to be, in particular, a parameter that is characteristic of a specific endoscope camera and that preferably contributes to determining the orientation and / or position of the endoscope camera relative to the tracker module during a calibration process and / or a re-evaluation process of hand-eye calibration and / or must be taken into account.Preferably, the camera parameter is a focus length, a distortion, an image center, a viewing direction, a viewing angle of the endoscope camera.

[0024] It is conceivable that the storage medium is at least part of the endoscopy system, and preferably part of the endoscope, the endoscope device, and / or the control unit. However, particularly to further improve user-friendliness and simplify allocation, one embodiment of the invention proposes that the endoscope device comprise the storage medium, which is at least partially, preferably at least largely, and most preferably completely integrated into the endoscope base. Preferably, the storage medium is at least partially, preferably at least largely, and most preferably completely integrated into the handle and most preferably into the housing provided by the handle.

[0025] Furthermore, it is proposed that the endoscope camera be arranged at least partially, preferably at least to a large extent, and particularly preferably completely, on a distal end section of the shaft. Due to the fixed arrangement of the endoscope camera relative to the quick-connect interface, the accuracy of the position and / or orientation parameters can be further improved. A compact arrangement can also be advantageously achieved. Furthermore, additional components required for image generation, such as additional optics and / or optical fibers, can be omitted. A "distal end section" of a component is understood to mean, in particular, an end section that extends proximal from a distal end of the component.A "proximal end section" of a component is understood to mean, in particular, an end section that extends distally from a proximal end of the component. Specifically, an "end section" of a component is understood to mean a section that extends from an end of the component towards the center of the component by a maximum of 10 cm, preferably a maximum of 5 cm, and particularly preferably a maximum of 3 cm. "Proximal" is understood to mean, in particular, when operating the component, that the component is facing away from a patient and / or towards an operator. Similarly, "distal" is understood to mean, in particular, when operating the component, that the component is facing towards a patient and / or away from an operator. The distal end section is located opposite a proximal end section of the shaft.The endoscope camera is arranged, in particular, at least partially, preferably at least to a large extent, and especially preferably completely, at the distal end of the shaft. In this way, the endoscope can be designed approximately as a video endoscope.

[0026] Furthermore, it is proposed that the quick-connect interface include at least one end-face stop designed to define the position of the tracker module relative to the endoscope camera. This can further improve positioning accuracy. In particular, user-friendliness can be increased, as the operator does not need to pay attention to the correct positioning of the components during connection and cannot arrange them incorrectly. The stop is formed at least partially by the collar element of the quick-connect interface, specifically by an end face of the collar element.

[0027] Furthermore, it is proposed that the quick-connect interface includes at least one poka-yoke element designed to define the orientation of the tracker module relative to the endoscope camera. This can further improve the accuracy of the orientation. In particular, user convenience can be increased, as the operator does not need to pay attention to the correct positioning of the components during connection and cannot incorrectly arrange them. The poka-yoke element is specifically designed as a groove and / or a pin. The poka-yoke element is specifically formed, at least partially, by the collar element, and in particular by a groove and / or pin arranged in / on a surface of the collar element.

[0028] Furthermore, it is proposed that the quick-connect interface be arranged at least partially, preferably at least to a large extent, and particularly preferably completely, on a proximal end section of the shaft. Due to the fixed arrangement of the quick-connect interface relative to the endoscope camera, the accuracy of the position and / or orientation parameters can be further improved. A compact arrangement can also be advantageously achieved.

[0029] The tracker module could be part of the endoscopy system. However, to further improve user-friendliness and simplify assignment, an embodiment of the invention proposes that the endoscope device comprises the tracker module, which includes at least one tracker holder and at least one tracker arranged on the tracker holder. The tracker holder has the form of a hollow cylinder. In a connected state, the tracker module at least partially, preferably at least to a large extent, and particularly preferably completely surrounds the endoscope base, especially the shaft. The tracker includes, in particular, the markers of the tracker module. Furthermore, the tracker preferably has at least one marker holder on which the markers are arranged.The marker holder has, in particular, a main extension which extends at least partially, and at least substantially, parallel to the shaft. Furthermore, the main extension extends at least partially, and at least substantially, parallel to the main extension of the handle. A projection of the marker holder perpendicular to the proximal and / or distal direction covers at most 20% of the shaft's main extension. The marker holder is connected to the tracker holder. Preferably, the tracker holder and the marker holder are formed integrally. For example, the marker holder and / or the tracker holder may be welded together. The tracker holder and / or the tracker, in particular the marker holder, consist, in particular, at least partially, preferably at least predominantly, and most preferably entirely of metal, especially steel, preferably stainless steel, and / or titanium.Preferably, at least one marker holder and at least three markers arranged on the marker holder form a tracker.

[0030] Furthermore, it is proposed that the tracker module have at least two different tracker levels. This can advantageously improve accuracy further, as, for example, different tracker levels can be simultaneously recorded and / or calibrated. Ease of use can also be advantageously improved by allowing tracking even if one of the tracker levels is obscured behind the endoscope base and / or an operator's hand. "Different tracker levels" are understood to mean, in particular, tracker levels that are arranged at an angle to each other and are preferably supported by different markers. Preferably, the tracker module includes a separate marker holder for each tracker level. However, the marker holders can advantageously be connected to each other. Furthermore, each marker holder can also be connected separately to the tracker holder.The tracker planes are arranged around the endoscope base, offset from each other by an angle. Furthermore, it is conceivable that the tracker module comprises several different trackers, each with its own tracker plane.

[0031] It is further proposed that the tracker module include at least one additional quick-connect interface, which is designed to correspond to the existing quick-connect interface and interacts with it when the tracker module is connected to the endoscope base. Accuracy can be advantageously improved, as the connection of the tracker module to the endoscope base via the quick-connect interfaces is predetermined. Furthermore, user-friendliness can be further enhanced. The phrase "one component is designed to correspond to another component" means, in particular, that the components have corresponding shapes, as is the case, for example, with a key and keyhole fitting together. Specifically, the quick-connect interfaces have corresponding connection shapes on their end faces. The connection shape exhibits, in particular, at least twofold rotational symmetry.However, the connection design does not exhibit rotational symmetry. In a top view, the connection design has a quadrilateral shape with at least two preferably opposite rounded sides.

[0032] Furthermore, it is proposed that in at least one arrangement of the quick-connect interfaces, the quick-connect interface and the other quick-connect interface can be inserted into one another end-to-end, and in at least one further arrangement, they abut each other end-to-end. Ease of use can be advantageously improved by simplifying assembly. In the first arrangement, the connection forms of the quick-connect interfaces are congruent with each other. In the second arrangement, the connection forms are interlocked. Preferably, in the first arrangement, the quick-connect interfaces are aligned in the same direction relative to each other, and in the further arrangement, they are rotated relative to each other by an angle which is at least substantially an angle that preferably corresponds to a circular angle of 180° divided by the rotational symmetry of the connection form.The term "at least substantially" here means taking into account a maximum deviation of a value from a reference value of no more than 15%, preferably no more than 10% and particularly preferably no more than 5%.

[0033] Furthermore, it is proposed that the endoscope device includes at least one quick-release clamp which clamps the quick-connect interfaces together by applying force when the tracker module is connected to the endoscope base. This advantageously allows for a particularly secure and precise connection of the components. A "quick-release clamp" is understood to mean, in particular, a clamp designed for tool-free clamping and / or jamming and non-destructive release of components. The quick-release clamp has at least a first position in which it releases the quick-connect interfaces and a second position in which it connects the quick-connect interfaces. The quick-release clamp includes at least one clamping ring. The clamping ring is rotatably mounted, specifically around the shaft.Preferably, the clamping ring can be moved from the first position of the quick-release fastener to the second position and vice versa by a rotary movement. The quick-release fastener has, in particular, at least one actuating element designed to actuate the quick-release fastener, specifically the clamping ring, and which is preferably fixedly arranged on the clamping ring. The actuating element is preferably pin-shaped. The quick-release fastener has, in particular, at least one clamping and / or clamping element by means of which the quick-release fastener clamps and / or clamps the quick-connect interfaces together in the second position.The clamping and / or clamping element is preferably designed as a thread comprising at least one-sixteenth, preferably at least one-eighth, and particularly preferably at least one-quarter of a thread turn and / or at most one, preferably at most three-quarters, and particularly preferably at most one-half a thread turn. Alternatively or additionally, the quick-release fastener can have a clamping and / or clamping element, which is designed, for example, as an elastic element such as a spring or an elastic rubber. The quick-release fastener further comprises, in particular, a further clamping and / or clamping element, which is designed corresponding to the clamping and / or clamping element. The further clamping and / or clamping element is preferably guided by the clamping and / or clamping element. Preferably, the further clamping and / or clamping element is designed as a pin, bolt, or the like.The additional clamping and / or clamping element is preferably fixedly arranged on the clamping ring. Particularly preferably, the additional clamping and / or clamping element is formed integrally with the actuating element of the quick-release fastener.

[0034] It is further proposed that the quick-release fastener be at least partially integrally formed with the tracker module. This improves user-friendliness, as it eliminates the need for additional components and thus reduces complexity. Furthermore, it avoids the increased error tolerance caused by additional components, thereby improving accuracy. The clamping and / or clamping element is preferably formed by a recess in the tracker holder. In particular, the quick-release connector is at least partially integrally formed with the quick-release fastener. Specifically, the corresponding quick-release interface of the quick-release connector is integrally formed with the clamping ring of the quick-release fastener.

[0035] In a further aspect of the invention, which can be considered in particular individually or in combination with further aspects of the invention, a method for operating an endoscope device is proposed in which, in at least one calibration process, at least one factory-determined position and / or orientation parameter of a position and / or orientation of at least one tracker module relative to at least one endoscope camera is at least partially integrated into an endoscope base comprising at least one shaft and at least one handle connected to the shaft, and is stored retrievably on at least one associated storage medium, wherein this position and / or orientation is defined by at least one quick-connect interface which establishes a detachable connection of the tracker module with the endoscope base.

[0036] This can advantageously improve the accuracy of an endoscope device with regard to motion capture. Preferably, it can ensure that the endoscope device can be used consistently and, in particular, that calibration before use by a user can be simplified or even avoided.

[0037] A "method for operating an endoscope device" is understood to mean, in particular, a preferably functional component, especially a subassembly and / or a design and / or functional component, of an operating program of the endoscope device. An operation of a method is understood to mean, in particular, a part of a process step, which comprises at least one, preferably at least one, and particularly preferably several process steps. In particular, the method for operating an endoscope device can comprise the entire operating program. The method is, in particular, executable at least by means of the control unit of the endoscopy system. The method is, in particular, free of hand-eye calibration performed by an operator before or during operation.If the endoscope device has, in particular, different tracker levels, the procedure for operating the endoscope system is repeated at least partially, preferably at least to a large extent, and especially preferably completely for the different tracker levels. Furthermore, in the calibration process, at least one camera parameter is stored on the storage medium in a retrievable manner.

[0038] Furthermore, it is proposed that the position and / or orientation parameter be determined during the calibration process using a factory hand-eye calibration. This can advantageously simplify operation, as it eliminates the need for an operator to perform calibration before each use. In particular, safety can be further improved.

[0039] Furthermore, it is proposed that the method includes at least one test procedure in which a comparison is made between an existing component assignment of at least the tracker module and the endoscope base and a intended component assignment stored on the memory medium. This can advantageously further improve user-friendliness, as it prevents the combination of mismatched and / or uncalibrated components, such as the tracker module and the endoscope base. This, in particular, further increases safety and accuracy. Specifically, an unforeseen component assignment is detected if at least the tracker module or the endoscope base deviates from the intended component assignment. Preferably, a warning is issued to the operator, for example via the display, if an unforeseen component assignment occurs.Particularly preferred is the blocking of the endoscope device's operation in the event of an unforeseen component assignment, specifically by the control unit. Component assignment is achieved primarily by comparing an identifier of the respective components, such as a serial number, which may be printed on the components and / or stored in the memory medium. Furthermore, component assignment could be accomplished by retrieving and / or comparing RFID chips with which the components are equipped.

[0040] Furthermore, it is proposed that the procedure include at least one re-evaluation step in which, prior to use of the endoscope, a hand-eye calibration of the position and / or orientation of the tracker module relative to the endoscope camera is re-evaluated based on the stored position and / or orientation parameters. This can advantageously detect and prevent faulty calibration, damage to components, or incorrect component assignment. In particular, the hand-eye calibration is re-evaluated taking the camera parameters into account.

[0041] Furthermore, it is proposed that the re-evaluation process include the provision of an image signal corresponding to a real image of a reference object, in particular the aforementioned reference object, captured by the endoscope camera. This allows for the advantageous verification of the accuracy of the endoscope camera itself.

[0042] It is further proposed that an additional image signal be provided during the re-evaluation process. This signal corresponds to a virtual image of a reference object, generated by capturing the tracker module using a separate room camera and based on the stored position and / or location parameters. Advantageously, the accuracy of the room camera itself can be verified. Furthermore, the virtual image of the reference object is generated taking the camera parameters into account.

[0043] Furthermore, it is proposed that a comparison of the image signal and the additional image signal be performed during the re-evaluation process for hand-eye calibration. Advantageously, a visual comparison can be provided for the operator, thereby improving user-friendliness. In particular, the image signal and / or the additional image signal are displayed on the endoscopy system's screen. Preferably, the image signal and the additional image signal are projected onto each other.

[0044] Furthermore, it is proposed that the re-evaluation process determines a deviation between the image signal and another image signal, which corresponds at least to a deviation between the real image and the virtual image of the reference object in at least one spatial dimension. Advantageously, this deviation can be visualized for the operator. Furthermore, the deviation is compared, in particular, with a stored maximum deviation, especially one stored in the storage medium and / or the memory unit of the control unit. If, for example, a deviation value exceeds a maximum deviation value, a warning signal is issued. The operator is preferably prompted to use a different endoscope base and / or tracker module. Furthermore, the operator can particularly preferably be prompted to have the calibration process performed again at the factory.Further operation of the endoscope device is particularly preferred if it is blocked by the control unit. In particular, it is conceivable that the control unit automatically informs the manufacturer about the existing deviation. The re-evaluation process, and especially individual procedural steps, can be repeated for re-evaluation using multiple images, especially from different directions, angles, and / or distances of the endoscope camera to the reference object.

[0045] Furthermore, it is proposed that the calibration and / or re-evaluation process be performed for different tracker levels of the tracker module. This can advantageously improve accuracy further.

[0046] The endoscope device according to the invention, as well as the method for operating the endoscope device, are not limited to the application and embodiment described above. In particular, the endoscope device according to the invention, as well as the method for operating the endoscope device, may, in order to achieve a functionality described herein, comprise a different number of individual elements, components, units, processes, and process steps than specified herein.

[0047] Furthermore, values ​​within the specified ranges of values ​​in this disclosure shall also be considered disclosed and freely usable. Drawings

[0048] Further advantages become apparent from the following description of the drawings. The drawings illustrate exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. It is advantageous for those skilled in the art to also consider the features individually and combine them into meaningful further combinations. Furthermore, for the sake of clarity, identical components in the drawings and figures are provided with the same reference numerals.

[0049] They show: Fig. 1 a perspective view of a schematic representation of an endoscopy system with an endoscope device, Fig. 2 a perspective view of a schematic representation of the endoscope device with an endoscope base and a tracker module, in a connected state, Fig. 3 a distal front view of a schematic representation of the endoscope base, Fig. 4 a perspective view of a schematic exploded view of the tracker module, Fig. 5 a perspective view of a schematic representation of the endoscope device in a separated state of the tracker module and the endoscope base, Fig. 6 a proximal rear view of a schematic representation of the tracker module, Fig. 7 a schematic flow chart of an exemplary method for operating the endoscopy system, and Fig. 8 a schematic top view of a display of the endoscopy system, which is used in carrying out the method.9. An alternative schematic top view of an embodiment of an endoscope device. Description of the exemplary implementations

[0050] Figure 1 Figure 1 shows a perspective view of a schematic representation of an endoscopy system 66. The endoscopy system 66 comprises at least one endoscope 64. In this case, the endoscope 64 is designed as a rigid video endoscope, specifically in the form of a stereo video endoscope. Alternatively, the endoscope 64 could also be a fiberscope, flexoscope, or the like.

[0051] Furthermore, the endoscopy system 66 comprises at least one endoscope device. In the present case, the endoscope device includes the endoscope 64.

[0052] Figure 2Figure 1 shows a perspective view of a schematic representation of the endoscope device. The endoscope device comprises at least one endoscope base 10. The endoscope base 10 comprises at least one shaft 12. In this case, the endoscope base 10 has a single shaft 12. The shaft 12 is designed for insertion into a body cavity of a patient. The shaft 12 is designed as an elongated component. The shaft 12 has a round cross-section. Alternatively, the shaft 12 could also have an oval cross-section. The shaft 12 has a diameter 70. In this case, the diameter 70 of the shaft 12 is 10 mm. The diameter 70 is an outer diameter of the shaft 12. Alternatively, the shaft 12 could have a diameter 70 that is advantageous to a person skilled in the art, such as at least 2 mm and / or at most 18 mm. The shaft 12 has a main extent 72.The main extent 72 of the shaft 12 is at least ten times greater than the diameter 70 of the shaft 12. The shaft 12 is designed as an outer shaft. The shaft 12 is rigid. The shaft 12 consists at least partially of metal, specifically stainless steel.

[0053] The shaft 12 has a distal end 102. During operation, the distal end 102 faces a patient. During operation, the distal end 102 faces away from the operator. The shaft 12 has a distal end section 24. The distal end section 24 extends from the distal end 102 to the center of the shaft 12 by a maximum of 5 cm in the proximal direction 96. A principal direction of extension of the shaft 12 is at least substantially parallel to the proximal direction 96.

[0054] The shaft 12 has a proximal end 104. During operation, the proximal end 104 faces the operator. During operation, the proximal end 104 faces away from the patient. The shaft 12 has a proximal end section 30. The proximal end section 30 extends from the proximal end 104 along the main extension 72 of the shaft 12 by a maximum of 5 cm in the distal direction 98. The distal direction 98 is opposite to the proximal direction 96. The main extension direction of the shaft 12 is at least substantially parallel to the distal direction 98.

[0055] The endoscope base 10 has at least one handle 14. In the present case, the endoscope base 10 has a single handle 14. The handle 14 is made at least partially of a plastic. Advantageously, the plastic is autoclavable. The shaft 12 is firmly connected to the handle 14. The handle 14 is located at the proximal end section 30 of the shaft 12. The handle 14 is located at the proximal end 104 of the shaft 12. For example, the shaft 12 is overmolded by the handle 14. Alternatively, the shaft 12 could be connected to the handle 14 by means of a thread.

[0056] The handle 14 has a grip 74. In this case, the handle 14 has a single grip 74. The grip 74 is designed to make contact with an operator's hand. For example, the grip 74 is ergonomically adapted to the contour of an operator's hand gripping it. Furthermore, the handle 14 includes at least one housing 80. Additional components of the endoscope device can be arranged in the housing 80. The grip 74 and the housing 80 are at least partially joined as a single piece. For this purpose, the grip 74 could be injection-molded onto the housing 80.

[0057] Furthermore, the handle 14 comprises at least one operating module 76. The operating module 76 is designed for operating the endoscope device, such as activating and / or deactivating it by the operator. The operating module 76 comprises at least one control element 78. The control element 78 is designed as a push button. Alternatively, the control element 78 could also be designed as a switch, a touch-sensitive button, or the like.

[0058] The endoscope device comprises at least one endoscope camera 16. The endoscope camera 16 is at least partially integrated into the shaft 12. In the present case, the endoscope camera 16 is fully integrated into the shaft 12. The endoscope camera 16 is arranged at the distal end section 24 of the shaft 12. The handle 14 of the endoscope base 10 is free of the endoscope camera 16.

[0059] Figure 3Figure 1 shows a front view of a schematic representation of part of the endoscope device with the endoscope camera 16. The endoscope camera 16 has an image acquisition module 86. The image acquisition module 86 comprises at least one image acquisition sensor 88. The image acquisition sensor 88 has at least one image sensor 90. The image sensor 90 is configured as a CCD sensor or CMOS sensor. Furthermore, the image acquisition module 86 comprises at least one image acquisition optic 92. The image acquisition optic 92 has at least one optical element 94, which is configured as a lens 94. Furthermore, the image acquisition optic 92 may include other optical elements, such as lenses, prisms, optical waveguides, or the like.

[0060] The image acquisition optics 92 are associated with the image acquisition sensor 88. Viewed in the proximal direction 96, the image acquisition optics 92 are arranged in front of the image acquisition sensor 88. The image acquisition optics 92 are located directly at the distal end 102 of the shaft 12.

[0061] In the present case, the endoscope camera 16 is designed as a stereo camera. The endoscope camera 16 has at least one further image acquisition module 100. The further image acquisition module 100 is designed at least substantially identically to the image acquisition module 86. The further image acquisition module 100 is arranged at least substantially perpendicular to an optical axis of the image acquisition module 86, in particular to a principal extension direction of the shaft 12, and offset from the image acquisition module 86.

[0062] The endoscope device comprises at least one illumination module 82. The illumination module 82 is configured to provide illumination for imaging. The illumination module 82 is arranged in the shaft 12. The illumination module 82 is located in the distal end section 24 of the shaft 12. The illumination module 82 is integrated into the shaft 12. The illumination module 82 comprises at least one light emitter 84. The light emitter 84 is an LED. Alternatively, the illumination module 82 could also achieve illumination via fiber optic bundles, which are then routed within the shaft 12. Furthermore, the illumination module 82 can include illumination optics, such as an optical component.

[0063] The endoscope device includes at least one tracker module 20. Figures 2 and 4Figures show a portion of the endoscope device, once connected to the endoscope base 10 and the tracker module 20, and once with the endoscope base 10 separated from the tracker module 20. The tracker module 20 is designed for motion capture and determines the movement of the endoscope device. The tracker module 20 is made at least partially of metal, in particular steel, preferably stainless steel, and / or titanium.

[0064] The tracker module 20 can be connected to the shaft 12. The tracker module 20 can be slid onto the shaft 12. The tracker module 20 can be slid onto the shaft 12 in a proximal direction 96. In a connected state, the tracker module 20 surrounds the shaft 12. In a connected state, a principal extension direction of the tracker module 20 extends at least substantially parallel to a principal extension direction of the endoscope base 10, in particular the shaft 12.

[0065] Figure 5Figure 1 shows an exploded view of the tracker module 20. The tracker module 20 has at least one tracker holder 32. The tracker holder 32 is made at least partially of metal, in particular steel, preferably stainless steel, and / or titanium. The tracker holder 32 has a recess 106, in particular a bore. The recess 106 is a solid recess. The tracker holder 32 has the shape of a hollow cylinder. The shape of the hollow cylinder narrows conically in the distal direction 98. The recess 106 has a diameter 108. The diameter 108 is an inner diameter. The diameter 108 corresponds to the diameter 70 of the shaft 12. The tracker holder 32 can be slid onto the shaft 12. The tracker holder 32 can be slid onto the shaft 12 in the proximal direction 96. The shaft 12 can be inserted into the recess 106 of the tracker holder 32.In a connected state, the tracker module 20 completely surrounds the shaft 12. In this connected state, a sleeve 110 of the shaft 12 and a wall 112 of the tracker holder 32, which defines the recess 106, are in contact with each other. The sleeve 110 of the shaft 12 and the wall 112 of the tracker holder 32, which defines the recess 106, form a positive fit.

[0066] Furthermore, the tracker module 20 has at least one tracker 34. The tracker 34 is made at least partially of metal, in particular steel, preferably stainless steel, and / or titanium. The tracker 34 is arranged on the tracker holder 32. In the present case, the tracker 34 is at least partially formed integrally with the tracker holder 32. The tracker 34 is, for example, welded to the tracker holder 32. Alternatively, the tracker 34 could also be detachably connected to the tracker holder 32.

[0067] In this case, the tracker 34 has at least three markers 114. The markers 114 are designed to be detected during motion capture. In this case, the markers 114 are at least substantially identical. The markers 114 are arranged at different positions on the tracker 34. The markers 114 are designed as passive markers 114. In this case, the markers 114 are designed as reflective spheres, in particular glass spheres. The markers 114 are designed to be autoclavable. Alternatively, the markers 114 could be designed as active markers 114, such as light-emitting diodes. The markers 114 are arranged on the marker holder 116. The markers 114 are arranged such that they define a tracker plane 36 of the tracker 34.

[0068] The tracker 34 has a marker holder 116. The marker holder 116 is designed to accommodate the markers 114. The marker holder 116 is made at least partially of metal, in particular steel, preferably stainless steel, and / or titanium. One shape of the marker holder 116 corresponds at least substantially to that of a triangle. The marker holder 116 has a marker station 118 for each marker 114. The markers 114 are connected to the marker stations 118. The marker stations 118 are arranged in the shape of a triangle. Each marker station 118 has a preferably spherical recess 106 in the marker holder 116.

[0069] The marker holder 116 has a main extension that, at most, extends at least partially, and substantially parallel, along the shaft 12. A projection of the marker holder 116 perpendicular to the proximal and / or distal direction 96, 98 covers at most 20% of the shaft 12's main extension 72. Furthermore, the main extension of the marker holder 116 extends, at most partially, and substantially parallel to the main extension 72 of the shaft 14. The marker holder 116 is connected to the tracker holder 32. In this case, the marker holder 116 is integrally connected to the tracker holder 32. For example, the marker holder 116 could be welded to the tracker holder 32. Alternatively, the marker holder 116 could also be detachably connected to the tracker holder 32, for example, by means of a screw connection.

[0070] The endoscope device includes at least one 120 mm quick connector ( Figure 4The quick connector 120 is designed to connect the tracker module 20 to the endoscope base 10 in a form-fit and / or force-fit manner. The quick connector 120 has at least one quick connector interface 18. The quick connector interface 18 is made, in particular, at least partially, preferably at least predominantly, and especially preferably entirely of metal, in particular steel, preferably stainless steel, and / or titanium. The quick connector interface 18 defines at least one position and / or orientation of the tracker module 20 relative to the endoscope camera 16. The quick connector interface 18 is designed to form a detachable connection between at least the tracker module 20 and the endoscope base 10. The quick connector interface 18 is arranged, at least partially, on a proximal end section 30 of the shaft 12. The quick connector interface 18 is fixedly connected to the shaft 12.The quick connector interface 18 can, for example, be welded to the shaft 12.

[0071] The quick-connect interface 18 has at least one collar element 122. The collar element 122 extends at least substantially perpendicular to a principal direction of extension of the endoscope base 10. The collar element 122 particularly encompasses the shaft 12 of the endoscope base 10. The collar element 122 is integrally connected to the shaft 12.

[0072] The quick connector interface 18 has at least one end-face stop 26 (see Figure 3 The stop 26 is designed to define the position of the tracker module 20 relative to the endoscope camera 16. The end-face stop 26 is formed by the collar element 122. The stop 26 is formed by an end face of the collar element 122.

[0073] The quick-connect interface 18 has at least one poka-yoke element 28. The poka-yoke element 28 is designed to define the orientation of the tracker module 20 relative to the endoscope camera 16. In this case, the poka-yoke element 28 is designed as a groove. The poka-yoke element 28 is formed by the collar element 122. The poka-yoke element 28 is formed by a groove arranged in the sleeve 110 of the collar element 122. Alternatively, the poka-yoke element 28 could also be designed as a pin.

[0074] The quick connector 120 has at least one additional quick connector interface 42. This additional quick connector interface 42 is provided by the tracker module 20. The additional quick connector interface 42 is configured to correspond to the quick connector interface 18. When the tracker module 20 is connected to the endoscope base 10, the quick connector interface 18 and the additional quick connector interface 42 interact.

[0075] The additional quick-connect interface 42 has at least one further collar element 124. The further collar element 124 is designed corresponding to the collar element 122. The further collar element 124 is rotatably mounted. The further collar element 124 extends at least substantially perpendicular to a principal extension direction of the endoscope base 10. The further collar element 124 encompasses the shaft 12. The further collar element 124 is integrally connected to the tracker module 20.

[0076] The additional quick-connect interface 42 has at least one further stop 126. This further stop 126 is located on the end face. Together with the stop 26, it is designed to define the position of the tracker module 20 relative to the endoscope camera 16. The end-face stop 26 is formed by the further collar element 124. In a connected state, the stops 26 and 126 are abutting each other on their end faces.

[0077] The quick-connect interface 18 has at least one additional poka-yoke element 128. This additional poka-yoke element 128 is configured to define the orientation of the tracker module 20 relative to the endoscope camera 16. This additional poka-yoke element 128 corresponds to the poka-yoke element 28. In this case, the additional poka-yoke element 128 is configured as a pin. The additional poka-yoke element 128 is provided by the tracker module 20. The additional poka-yoke element 128 is formed by the sheath 110 of the tracker holder 32.

[0078] The quick-connect interface 18 has a connection form 130. The connection form 130 is end-faced. The connection form 130 is formed by the collar element 122. The connection form 130 has at least two rotational symmetry. However, the connection form 130 does not have rotational symmetry. In a top view, particularly in the proximal direction 96, the connection form 130 has a quadrilateral shape with two opposite rounded sides.

[0079] Furthermore, the additional quick-connect interface 42 has a further connection form 132. The further connection form 132 is designed corresponding to the connection form 130. The connection forms 130 and 132 are designed in the manner of a key and a keyhole, corresponding to each other. The connection form 130 is formed by the further collar element 124.

[0080] The quick-connect interfaces 18, 42 have a first arrangement relative to each other. In the first arrangement, the quick-connect interfaces 18, 42 are aligned in the same direction relative to each other. In the first arrangement, the angle between the quick-connect interfaces 18, 42 is 0°. Alternatively, the angle between the quick-connect interfaces 18, 42 could be 180°. In the first arrangement, the quick-connect interfaces 18, 42 are aligned relative to each other such that the connection forms 130, 132 of the quick-connect interfaces 18, 42, and in particular their connection forms 130, 132, are congruent with each other. In the first arrangement, the quick-connect interfaces 18, 42 can be inserted into one another end-to-end.

[0081] The quick-connect interfaces 18, 42 have a second arrangement relative to each other. In this second arrangement, the quick-connect interfaces 18, 42, and in particular their connection forms 130, 132, are aligned in a twisted manner relative to each other. In this second arrangement, the angle between the quick-connect interfaces 18, 42 is 90°. Alternatively, the angle between the quick-connect interfaces 18, 42 could be 270°. To transfer the quick-connect interfaces 18, 42 from the first arrangement to the second arrangement, they can be rotated 90° relative to each other. In the second arrangement of the quick-connect interfaces 18, 42, their end faces are abutting each other.

[0082] The endoscope device has at least one quick-release clamp 44. The quick-release clamp 44 clamps the quick-connect interfaces 18, 42 together by applying force when the tracker module 20 is connected to the endoscope base 10. The quick-release clamp 44 is at least partially integrally formed with the tracker module 20. Furthermore, the quick-release clamp 44 is at least partially integrally formed with the quick-connector 120, in particular with the further quick-connect interface 42 of the quick-connector 120. The quick-connector 120 consists at least partially of metal, in particular steel, preferably stainless steel, and / or titanium.

[0083] The quick-release clamp 44 has a first position. Furthermore, the quick-release clamp 44 has a second position. The quick-release clamp 44 can be moved from the first position to the second position and vice versa. In the first position of the quick-release clamp 44, the quick-connect interfaces 18, 42 are separated from each other. In the second position of the quick-release clamp 44, the quick-connect interfaces 18, 42 can be inserted into each other end-to-end. The quick-release clamp 44 can be moved from the first position to the second position and vice versa by rotating it, in particular by an angle of 90°. In the second position, the quick-release clamp 44 clamps the quick-connect interfaces 18, 42 together. In the second position of the quick-release clamp 44, the stops 26, 126 of the quick-connect interfaces 18, 42 are firmly in contact with each other. In the second position of the quick-release clamp 44, the stops 26, 126 are subjected to force.The first position of the quick-release clamp 44 corresponds to the first arrangement of the quick-connect interfaces 18, 42. The second position of the quick-release clamp 44 corresponds to the second arrangement of the quick-connect interfaces 18, 42. The arrangements of the quick-connectors 120 are directly linked to the positions of the quick-release clamp 44.

[0084] The quick-release fastener 44 has at least one clamping ring 134. The clamping ring 134 is rotatably mounted around the shaft 12. The clamping ring 134 is integrally connected to the further collar element 124 of the further quick-release interface 42. By means of the clamping ring 134, the quick-release fastener 44 can be moved from the first position to the second position and vice versa.

[0085] The quick-release fastener 44 has at least one clamping element 136. The clamping element 136 defines at least the second position of the quick-release fastener 44. The quick-release fastener 44 can be clamped in the second position by means of the clamping element 136. In this case, the clamping element 136 is designed as a thread. The clamping element 136 serves to define the position of the quick-release fastener 44. The clamping element 136 is formed by a recess 106 in the tracker holder 32.

[0086] Furthermore, the quick-release fastener 44 has an additional clamping and / or clamping element 138. This additional clamping and / or clamping element 138 corresponds to the clamping and / or clamping element 136. The additional clamping and / or clamping element 138 is guided by the clamping and / or clamping element 136. In this case, the additional clamping and / or clamping element 138 is designed as a pin. The additional clamping and / or clamping element 138 is arranged on the clamping ring 134. By guiding the additional clamping and / or clamping element 138 within the clamping and / or clamping element 136, the first position can be transferred to the second position of the quick-release fastener 44, and in particular, the first arrangement of the quick-connect interfaces 18 can be transferred to the second arrangement.

[0087] For actuation of the quick-release fastener 44, it has an actuating element 140. The actuating element 140 is arranged on the clamping ring 134. The actuating element 140 is pin-shaped. The actuating element 140 is formed integrally with the further clamping and / or clamping element 138.

[0088] The endoscope device has at least one electrical and / or electronic interface module 142 (see Figure 1The electrical and / or electronic interface module 142 is configured for an electrical and / or electronic connection of the endoscope device with other components of the endoscopy system 66. The electrical and / or electronic interface module 142 is at least partially located in the endoscope base 10. The electrical and / or electronic interface module 142 is integrated into the housing 80 provided by the handle 14. The electrical and / or electronic interface module 142 has at least one connection 144. In this case, the connection 144 is wired. The connection 144 can be configured as a USB, BUS, CAN, and / or LAN connection.

[0089] The electrical and / or electronic interface module 142 includes at least one power interface 146. The power interface 146 is designed to supply electrical power to other components of the endoscope device. The power interface 146 is connected to the terminal 144.

[0090] The electrical and / or electronic interface module 142 comprises at least one data interface 148. The data interface 148 is designed for exchanging data, in particular a position and / or orientation parameter and / or camera parameter, with other components of the endoscope device and / or the endoscopy system 66. The data interface 148 is formed by the connection 144. In this case, the data interface 148 and the power interface 146 are formed as a single unit.

[0091] The endoscopy system 66 comprises at least one storage medium 22 associated with the endoscope device (see Figure 2On the associated storage medium 22, at least one factory-defined position and / or orientation parameter of the defined position and / or orientation of the tracker module 20 relative to the endoscope camera 16 is stored and retrievable. Furthermore, at least one camera parameter of the endoscope camera 16 is stored and retrievable on the storage medium 22. In this case, at least the distance of the endoscope camera 16 relative to the tracker module 20 is stored as a position parameter. Furthermore, at least the polar angle of the endoscope camera 16 relative to the tracker module 20 is stored as an orientation parameter. Furthermore, at least the azimuth angle of the endoscope camera 16 relative to the tracker module 20 is stored as another orientation parameter. In addition, at least the focal length of the endoscope camera 16 is stored as a camera parameter. Furthermore, other camera parameters could be stored, such as its distortion, image center, depth of field, or the like.In the present case, the storage medium 22 is a mass data storage device. Furthermore, configurations of the storage medium 22 as a storage section provided by a server, in particular a cloud server, are conceivable.

[0092] In the present case, the storage medium 22 is part of the endoscope device. The storage medium 22 is integrated into the endoscope base 10, in particular the handle 14. The storage medium 22 is integrated into the housing 80 provided by the handle 14. Alternatively, the storage medium 22 could also be designed separately from the endoscope device.

[0093] The storage medium 22 contains at least one identifier, such as a key, in particular a serial number, of the storage medium 22 and / or the endoscope device. This identifier is designed to assign the storage medium 22 to the endoscope device. Furthermore, the storage medium 22 is encrypted based on this identifier, so that access to it is only possible when the storage medium 22 is correctly assigned to a specific endoscope device.

[0094] The endoscopy system 66 has at least one room camera 60 (see Figure 1The room camera 60 is designed separately from the endoscope device. The room camera 60 is stationary relative to the endoscope device. The room camera 60 establishes a fixed reference point. The room camera 60 detects the tracker module 20. The room camera 60 is designed to detect the position and / or orientation of the tracker module 20 relative to the endoscope camera 16.

[0095] Furthermore, the endoscopy system 66 has at least one reference object 56. In this case, the reference object 56 was another tracker. Alternatively, the reference object 56 could be a field containing a pattern, such as a checkerboard pattern or the like.

[0096] Furthermore, the endoscopy system 66 comprises at least one control unit 68. The control unit 68 is configured to carry out a method for operating the endoscope device. The control unit 68 is arranged in a rack 150 of the endoscopy system 66. Alternatively, the endoscope device itself could comprise a control unit 68, which could be integrated, in particular, into the endoscope base 10, preferably into the handle 14, and most preferably into a housing 80 provided by the handle 14.

[0097] In this case, the control unit 68 is configured as a computer. Alternatively or additionally, the control unit 68 could be a tablet, a smartphone, or the like. The control unit 68 comprises at least one control electronics unit 152. For the sake of clarity, components of the control electronics unit 152 are not shown in the figures. The control electronics unit 152 includes a processor. Furthermore, the control electronics unit 152 includes a storage unit, such as a hard drive. At least one operating program is stored on the storage unit. The operating program is executable by the processor.

[0098] Furthermore, the endoscopy system 66 includes at least one display 154, such as a computer screen. The display 154 is arranged in the rack 150. The display 154 is configured to display an image signal 52 provided by the endoscope camera 16. The display 154 is also configured to display information from the operating program.

[0099] Figure 7 Figure 6 shows a schematic flowchart of a procedure for operating the endoscopy system 66. The procedure is part of the operating program.

[0100] The procedure comprises at least one test operation 48. In test operation 48, a comparison of an existing component assignment is performed. Test operation 48 comprises at least one procedure step 156. In procedure step 156, an existing endoscope base 10 is identified. In this case, the endoscope base 10 is identified using an identifier, such as a serial number. Alternatively, identification could be electrical and / or electronic, for example, via the electrical and / or electronic interface or via an RFID chip located on the endoscope base 10. Furthermore, an existing tracker module 20 is identified. This can be identified corresponding to the endoscope base 10.

[0101] Test procedure 48 comprises at least one further process step 158. In this further process step 158, the identified components, namely the tracker module 20 and the endoscope base 10, are registered by the control unit 68. The control unit 68 compares the identifiers of the endoscope base 10 and the tracker module 20 to determine a intended component assignment. If the tracker module 20 and the endoscope base 10 deviate from an intended component assignment, the procedure is terminated. Alternatively, an error message could be displayed, for example, via display 154, and a new assignment requested, after which test procedure 48 is repeated. If the tracker module 20 and the endoscope base 10 correspond to an intended component assignment, the procedure continues.It is conceivable that test procedure 48 can be omitted when carrying out the present procedure.

[0102] The method comprises at least one assembly operation 160. In assembly operation 160, the intended components, the endoscope base 10 and the tracker module 20, are connected to one another. Assembly operation 160 comprises at least one process step 162. In process step 162, the tracker module 20 is slid onto the endoscope base 10. For this purpose, the shaft 12 is inserted into the recess 106 of the tracker holder 32. The tracker module 20 is slid in a proximal direction 96 relative to the endoscope base 10. The tracker module 20 is slid until it reaches the proximal end section 30 of the shaft 12. At the proximal end section 30 of the shaft 12, the quick-connect interfaces 18, 42 of the quick connector 120 abut each other.

[0103] The assembly process 160 comprises at least one further process step 164. In this further process step 164, the quick-connect interfaces 18 and 42 are brought into the first arrangement relative to each other. Furthermore, the poka-yoke elements 28 and 128 are inserted into one another. These then define the orientation of the tracker module 20 relative to the endoscope camera 16. The additional quick-connect interface 42 is rotated until the first arrangement is formed. In the first arrangement, the quick-connect interfaces 18 and 42 engage each other end-to-end. Since the clamping ring 134 is formed integrally with the additional quick-connect interface 42, it is automatically brought into the first position as well. The tracker module 20 is moved further in the proximal direction 96 relative to the endoscope base 10 until the quick-connect interfaces 18 and 42 interlock behind each other.

[0104] The assembly process 160 comprises at least one further process step 166. In the further process step 166, the quick-connect interfaces 18, 42 are transferred from the first arrangement to the second arrangement. Furthermore, the quick-release clamp 44 is transferred from the first position to the second position. For this purpose, the quick-connect interfaces 18, 42 are rotated relative to each other. The connection forms 130, 132 of the quick-connect interfaces 18, 42 are interlocked. The quick-connect interfaces 18, 42 are in contact with each other at their ends. By simultaneously rotating the quick-release clamp 44 from the first position to the second position, the quick-connect interfaces 18, 42 are clamped together. The quick-connect interfaces 18, 42 are in contact with each other, so that their stops define a position of the tracker module 20 relative to the endoscope camera 16.Accordingly, when a connection is made using the quick connector 120, the position and / or orientation of the tracker module 20 is defined relative to the endoscope base 10.

[0105] The method comprises at least one calibration process 46. The calibration process 46 is performed at the factory. In the calibration process 46, at least one position and / or orientation parameter of the position and / or orientation of the tracker module 20 relative to the endoscope camera 16, as defined by the quick-connect interface 18, is determined at the factory.

[0106] The calibration process 46 comprises at least one process step 168. In process step 168, a hand-eye calibration is performed to determine the position and / or orientation parameters. These position and / or orientation parameters are stored on the storage medium 22 for retrieval. Furthermore, the camera parameters could also be determined using the hand-eye calibration and advantageously stored on the storage medium 22 for retrieval.

[0107] The procedure includes at least one re-evaluation process 50. The re-evaluation process 50 is performed by an operator before the endoscope device is used. In the re-evaluation process 50, the hand-eye calibration of the position and / or orientation of the tracker module 20 relative to the endoscope camera 16, based on the stored position and / or orientation parameters, is re-evaluated.

[0108] The re-evaluation process 50 comprises at least one process step 170. In process step 170, the reference object 56 is recorded by the endoscope camera 16. The endoscope camera 16 provides an image signal 52, which corresponds to a real image 54 of the reference object 56 recorded by the endoscope camera 16 (see Figure 8 ).

[0109] The re-evaluation process 50 comprises at least one further process step 172. This further process step 172 occurs essentially simultaneously with process step 170. In further process step 172, a further image signal 58 is provided. This further image signal 58 is provided by the control unit 68. The position and / or orientation of the tracker module 20 is determined by means of the separate room camera 60. The room camera 60 detects the tracker module 20. The control unit 68 retrieves the position and / or orientation parameter and / or the camera parameter of the tracker module 20 to calculate the further image signal 58. The further image signal 58 corresponds to a virtual image 62 of the reference object 56.

[0110] The re-evaluation process 50 comprises at least one further process step 174. In this further process step 174, a comparison of the image signal 52 and the further image signal 58 is performed to re-evaluate the hand-eye calibration of the calibration process 46. The image signal 52 is displayed on the display 154. The further image signal 58 is also displayed on the display 154. The control unit 68 generates a projection of the image signal 52 and the further image signal 58 onto each other for a visual comparison. Furthermore, a deviation between image signal 52 and the further image signal 58 is determined. The deviation corresponds to at least a deviation between the real image 54 and the virtual image 62 of the reference object 56 in at least two spatial dimensions. In particular, with a tracker module 20, which comprises several tracker planes 36, 38, 40, a specific deviation in at least three spatial dimensions is conceivable.

[0111] The re-evaluation process 50 includes at least one further process step 176. In this further process step 176, the deviation is compared with a stored maximum deviation. If a deviation value exceeds the maximum deviation value, a warning signal is issued. The operator is then prompted to use a different endoscope base 10 and / or tracker module 20. Furthermore, the operator may be prompted to have the calibration process 46 performed again at the factory. It is also conceivable that further operation of the endoscope device will be blocked by the control unit 68.

[0112] The re-evaluation process 50, in particular individual procedural steps of the re-evaluation process 50, can be repeated for re-evaluation using several images, in particular from different directions, angles and / or distances of the endoscope camera 16 to the reference object 56.

[0113] In the Figure 9A further embodiment of the invention is shown. The following descriptions and drawings are essentially limited to the differences between the embodiments, whereby with regard to identically designated components, in particular components with the same reference numerals, reference is also generally made to the drawings and / or the description of the other embodiment, in particular the Figures 1 to 8 , can be referenced. To distinguish the embodiments, the embodiment of Figure 9 Each reference symbol is supplemented by the letter a.

[0114] Figure 9Figure 1 shows an alternative embodiment of the endoscopy system 66 with an endoscope device. The present embodiment differs essentially from the previous one in the design of a tracker module 20a of the endoscope device. The tracker module 20a has at least two different tracker levels 36a, 38a, 40a. The tracker module 20a has a first tracker level 36a. Furthermore, the tracker module 20a has a second tracker level 38a. In addition, the tracker module 20a has a third tracker level 40a. In the present case, the tracker module 20a thus has three different tracker levels 36a, 38a, 40a. The tracker levels 36a, 38a, 40a are arranged at an angle to each other. The tracker levels 36a, 38a, 40a are spanned by different markers 114a of the tracker module 20a. None of the tracker levels 36a, 38a, 40a shares a marker 114a with another tracker level 36a, 38a, 40a.The tracker planes 36a, 38a, 40a are arranged offset from each other in the circumferential direction of a shaft 12 of the endoscope device.

[0115] The tracker module 20a has a marker holder 116a for each tracker level 36a, 38a, 40a. The marker holders 116a are designed differently from one another, preferably so that they can be uniquely identified in motion capturing. A principal extent plane of each marker holder 116a coincides with a respective tracker level 36a, 38a, 40a.

[0116] The tracker module 20a has a tracker holder 32a. The marker holders 116a are arranged together on the single tracker holder 32a. The marker holders 116a are connected to each other. Alternatively, the tracker module 20a could also include several tracker holders 32a, preferably one tracker holder 32a for each tracker level 36a, 38a, 40a and / or marker holder 116a.

[0117] The procedure for operating the endoscopy system 66 is repeated at least partially for the different tracker levels 36a, 38a, 40a. At least the calibration process 46 is performed for each of the different tracker levels 36a, 38a, 40a. Furthermore, at least the re-evaluation process 50 is performed for each of the different tracker levels 36a, 38a, 40a of the tracker module 20a. Reference symbol list 10 Endoscope base 60 room camera 12 shaft 62 Virtual image 14 handling 64 endoscope 16 Endoscope camera 66 Endoscopy system 18 Quick connector interface 68 control unit 20 Tracker module 70 diameter 22 Storage medium 72 Main extent 24 distal end section 74 handle 26 stop 76 operating module 28 Poka-Yoke element 78 Control element 30 proximal terminal section 80 Housing 32 Tracker mount 82 Lighting module 34 tracker 84 Light emitter 36 Tracker level 86 Image capture module 38 Tracker level 88 Image acquisition sensors 40 Tracker level 90 Image sensor 42 additional quick connector interface 92 94 Image acquisition optics lens 44 quick-release fasteners 96 proximal direction 46 Calibration process 98 distal direction 48 Test procedure 100 additional image capture module 50 Re-evaluation process 102 distal end 52 Image signal 104 proximal end 54 Real image 106 Exclusion 56 Reference object 108 diameter 58 further image signal 110 Coat 112 wall 162 Procedure step 114 marker 164 Procedure step 116 Marker holder 166 Procedure step 118 Marker station 168 Procedure step 120 quick connectors 170 Procedure step 122 collar element 172 Procedure step 124 Additional collar element 174 Procedure step 126 Another attack 176 Procedure step 128 Another Poka-Yoke element 130 Connection type 132 Other connection form 134 Tension ring 136 Clamping and / or tensioning element 138 Additional clamping and / or clamping element 140 Actuating element 142 electrical and / or electronic interface module 144 Connection 146 Energy interface 148 Data interface 150 Rack 152 Control electronics 154 Advertisement 156 Procedure step 158 Procedure step 160 Assembly process

Claims

1. Endoscope device having at least one endoscope base (10) which comprises at least one shaft (12) and at least one handle (14) connected to the shaft (12), having at least one endoscope camera (16) which is at least partially integrated into the endoscope base (10), and having at least one quick connector interface (18) which is designed to releasably connect at least one tracker module (20) to the endoscope base (10) and which defines at least one position and / or orientation of the tracker module (20) relative to the endoscope camera (16), wherein at least one factory-determined position parameter and / or orientation parameter of this defined position and / or orientation is retrievably stored on at least one associated storage medium (22) which is at least partially integrated into the endoscope base (10).

2. Endoscope device according to claim 1, characterized in that at least one camera parameter of the endoscope camera is stored on the storage medium.

3. Endoscope device according to claim 1 or 2, characterized in that the endoscope camera (16) is at least partially arranged on a distal end portion (24) of the shaft (12).

4. Endoscope device according to any of the preceding claims, characterized in that the quick connector interface (18) comprises at least one end-face stop (26) which is designed to establish the position of the tracker module (20) relative to the endoscope camera (16).

5. Endoscope device according to any of the preceding claims, characterized in that the quick connector interface (18) comprises at least one poka-yoke element (28) which is designed to establish the orientation of the tracker module (20) relative to the endoscope camera (16).

6. Endoscope device according to any of the preceding claims, characterized in that the quick connector interface (18) is at least partially arranged on a proximal end portion (30) of the shaft (12).

7. Endoscope device according to any of the preceding claims, characterized by the tracker module (20) which comprises at least one tracker mount (32) and at least one tracker (34) arranged on the tracker mount (32).

8. Endoscope device according to any of the preceding claims, characterized in that the tracker module (20) has at least two different tracker planes (36, 38, 40) which are spanned by at least three markers of the tracker module.

9. Endoscope device according to any of the preceding claims, characterized in that the tracker module (20) comprises at least one further quick connector interface (42) which is designed in a manner corresponding to the quick connector interface (18) and interacts therewith when connecting the tracker module (20) to the endoscope base (10).

10. Endoscope device according to claim 9, characterized in that in at least one arrangement of the quick connector interfaces (18, 42) relative to each other, the quick connector interface (18) and the further quick connector interface (42) can be inserted into each other via the respective end faces thereof and in at least one further arrangement they rest against each other via the respective end faces thereof.

11. Endoscope device according to claim 9 or 10, characterized by at least one quick-release tensioner (44) which clamps the quick connector interfaces (18, 42) together by applying force when connecting the tracker module (20) to the endoscope base (10).

12. Endoscope device according to claim 11, characterized in that the quick-release tensioner (44) is at least partially formed in one piece with the tracker module (20).

13. Method for operating an endoscope device, in particular an endoscope device according to any of the preceding claims, in which method in at least one calibration process (46) at least one factory-determined position parameter and / or orientation parameter of a position and / or orientation of at least one tracker module (20) relative to at least one endoscope camera (16), at least partially integrated into an endoscope base (10) comprising at least one shaft (12) and at least one handle (14) connected to the shaft (12), is retrievably stored on at least one associated storage medium (22) which is at least partially integrated into the endoscope base (10), wherein this position and / or orientation is defined by at least one quick connector interface (18) which releasably connects the tracker module (20) to the endoscope base (10).

14. Method according to claim 13, characterized in that in the calibration process (46) the position parameter and / or orientation parameter is determined by means of a factory-implemented hand-eye calibration.

15. Method according to claim 13 or 14, characterized by at least one test process (48) in which an existing component assignment of at least the tracker module (20) and the endoscope base (10) is compared to an intended component assignment stored on the storage medium (22).

16. Method according to claim 13 or 14, characterized by at least one re-evaluation process (50) in which prior to use of the endoscope device a hand-eye calibration, based on the stored position parameter and / or orientation parameter, of the position and / or orientation of the tracker module (20) relative to the endoscope camera (16) is re-evaluated.

17. Method according to claim 16, characterized in that in the re-evaluation process (50) an image signal (52) is provided which corresponds to a real image (54) of a reference object (56) taken by the endoscope camera (16).

18. Method according to claim 16 or 17, characterized in that in the re-evaluation process (50) a further image signal (58) is provided which corresponds to a virtual image (62) of a reference object (56), which virtual image is generated by capturing the tracker module (20) by means of a separate room camera (60) and on the basis of the stored position parameters and / or location parameters.

19. Method according to claims 17 and 18, characterized in that in the re-evaluation process (50) the image signal (52) and the further image signal (58) are compared in order to re-evaluate the hand-eye calibration.

20. Method according to at least claims 17 and 18, characterized in that in the re-evaluation process (50) a deviation between the image signal (52) and the further image signal (58) is determined which corresponds at least to a deviation between the real image (54) and the virtual image (62) of the reference object (56) in at least one spatial dimension.

21. Method at least according to claim 13 and / or 17, characterized in that the calibration process (46) and / or the re-evaluation process (50) are performed for different tracker planes (36, 38, 40) of the tracker module (20) which are spanned by at least three markers of the tracker module.

22. Endoscope (64) having at least one endoscope device according to any of claims 1 to 1223. Endoscopy system (66) having at least one endoscope (64) according to claim 22 and at least one control unit (68).

24. Endoscopy system (66) according to claim 23, characterized in that the control unit (68) is designed to perform the method according to any of claims 13 to 21.