ENDOSCOPE WITH SWIVEL IMAGE CAPTURE DEVICE

Description

[0001] The present invention relates to an endoscope with a swiveling image acquisition device.

[0002] Besides endoscopes with a viewing direction parallel to the longitudinal axis of the shaft ("straight-ahead view"), endoscopes whose viewing direction forms an angle with the longitudinal axis of the shaft, often in the range of 30° to 80° ("forward view"), are primarily used. For some applications, endoscopes with an adjustable angle between the viewing direction and the longitudinal axis of the shaft are also suitable.

[0003] US Patent 2007 / 0055103 A1 describes an endoscope with a variable viewing direction (title, paragraphs

[0002] ,

[0017] ,

[0018] ). An optical imaging system 18 with imaging optics 22 and a CCD chip 24 is arranged in a rigid distal head 16 of the endoscope 10 (paragraphs

[0073] ,

[0074] ). The distal head 16 is pivotably connected to a first shaft portion 32 about a first pivot axis 38, and the first shaft portion 32 is pivotably connected to a second shaft portion 34 about a second pivot axis 40 (paragraphs

[0079] ,

[0082] ,

[0083] ).

[0004] In DE 10 2012 206 963 A1 an endoscope is described which has a rotatably mounted holder 5 with a digital camera 4 on or in a holder 6, wherein the holder 6 is arranged to be radially rotatable such that the axes of rotation of the holder 6 and of the holder 5 are arranged perpendicular to each other (paragraph

[0008] ).

[0005] In US 2013 / 0182091 A1, an endoscope with a variable viewing direction is described (Summary, paragraph

[0002] ). An imaging unit 12 is driven by drive rods 22, 23 by two drive force transmission mechanisms and is rotatable about two different axes X, Y (paragraphs

[0002] ,

[0028] ,

[0062] ). Fig. 3 , 4 , 6 , 8 , 9).

[0006] In US 2015 / 0359420 A1, an endoscope 1 with a partially flexible shaft ("insertion section") 11 and an imaging unit ("imaging unit") 36 at the distal end ("tip end portion") of the shaft 11 is described (paragraph

[0036] , Fig. 1 ). The imaging unit 6a is pivotably arranged (paragraphs

[0079] ,

[0081] , Fig. 4, 5 ).

[0007] In EP 3 243 426 A1, an endoscope 100 with an elongated shaft 101 and an image sensor assembly 202 is described (title, summary, paragraphs

[0002] ,

[0008] ,

[0019] ,

[0022] , Fig. 1, 2 , 5 ). The image sensor arrangement 202 can be pivoted about a lateral articulation axis T1 (paragraph

[0026] , Fig. 2, 3 , 5, 6 , 7 ).

[0008] German patent application DE 10 2017 103 721 A1 describes a stereo endoscope in which each of the two optical channels comprises a lens 40, 50 and a viewing direction device 20, 30. Each viewing direction device 20, 30 is rotatable about an associated fixed axis of rotation 48, 58. A drive shaft 90 is coupled to the viewing direction devices 20, 30 by gears to rotate them. Cam gears simultaneously move the viewing direction devices 20, 30, the lenses 40, 50, and image sensors 60, 70 parallel to the axes of rotation.

[0009] In WO 2018 / 065241 A1, a stereo video endoscope 2 with an optical system 20 is described (title, summary, page 13, line 26, to page 14, line 7, page 14, lines 27 to 29, Fig. 1, 2By rotating a handle 4, the viewing direction can be rotated around the longitudinal axis of the endoscope shaft 6 (page 14, lines 18 to 21). To maintain the horizontal orientation of the displayed image, a rotary knob 14 is held in place when the handle 4 is rotated; this prevents the image sensors 52L, 52R inside the endoscope shaft 6 from rotating with the image (page 14, lines 21 to 25, page 16, lines 2 to 13). Fig. 2 ).

[0010] In US 2019 / 0274526 A1, a stereoendoscope 1 with an image pick-up apparatus 30 in a distal end portion 11 distal to a bending portion of the long insertion portion 2 is described (paragraphs

[0021] ,

[0023] ,

[0025] , Fig. 1, 2 )

[0011] US patent 2019 / 0117044 A1 describes a catheter system with a shaft and a camera assembly with adjustable viewing direction at the distal end of the shaft. A ball joint, a coil spring, and a torque rod allow adjustment of the camera's viewing direction, with the coil spring connecting the torque rod to the ball joint.

[0012] When a viewing direction of a cone-shaped object is rotated around the longitudinal axis of the distal end of the shaft, the image produced by the endoscope also rotates relative to the endoscope. With an analog, i.e., purely optical, endoscope whose eyepiece is connected to a camera, this can be avoided by rotating the camera in the opposite direction, or in other words, by holding the camera in place while the endoscope rotates. With a monocular video endoscope, the image captured by the rotating image sensor can be digitally rotated back. However, with a stereo video endoscope, the stereo base also rotates with the endoscope. This, too, can be digitally compensated for by calculating depth information from the stereo image, i.e., by extracting spatial information, and then synthesizing a stereo image with the desired base from this information.However, the computational effort is high, and artifacts and image distortions are to be expected in many situations.

[0013] One object of the present invention is to create an improved, in particular mechanically robust and miniaturizable endoscope or exoscope with a movable viewing direction.

[0014] This problem is solved by the subject matter of claim 1.

[0015] Further embodiments are defined in the dependent claims.

[0016] Embodiments of the present invention are based on the idea of ​​pivoting a swiveling image acquisition device at a distal end of an endoscope or an exoscope by means of a rotatable drive device. The rotatable drive device has, in particular, a distal end that is not rotationally symmetrical with respect to its axis of rotation, which directly or indirectly engages the image acquisition device and pivots the image acquisition device depending on its own rotational position, and in particular, corresponding to this position.

[0017] An endoscope or exoscope comprises an image acquisition device with a lens for producing a real image and an image sensor for capturing the real image and for generating an image signal representing the captured real image, a pivot bearing device that enables the optical axis of the lens of the image acquisition device to move on a conical surface, and a drive device rotatable about a rotational axis, wherein the rotatable drive device is mechanically coupled to the image acquisition device in such a way that a rotation of the rotatable drive device is accompanied by a movement of the optical axis of the lens of the image acquisition device on a conical surface.

[0018] An exoscope is a device designed and intended for extracorporeal use, specifically for the visual inspection or examination of objects in medicine, particularly objects on or near the external surfaces of a human or animal body. Unlike an endoscope, an exoscope is not designed to be inserted through a small natural or artificial opening into a natural or artificial cavity. Rather, an exoscope is designed for viewing an object that is visible from the outside, at least during the examination, especially during surgery. Accordingly, during its intended use, the exoscope is located entirely outside the human or animal body and, unlike an endoscope, does not necessarily have a long, thin shaft.

[0019] An exoscope is typically designed or optimized for an object distance of a few centimeters or decimeters. An exoscope can offer high magnification, providing a resolution unattainable with the naked eye, thus exhibiting characteristics of a magnifying glass, stereomicroscope, or microscope / stereomicroscope. An exoscope may differ from a microscope / stereomicroscope in that it has a greater object distance.

[0020] An endoscope as described herein comprises, in particular, a shaft with a proximal end and a distal end for insertion into a cavity, wherein the image acquisition device is arranged at the distal end of the shaft. The distal end of the shaft may be fluid-tight, in particular hermetically, sealed by an optically transparent window component. If the endoscope has a window component, the image acquisition device is, in particular, arranged immediately proximal to the window component.

[0021] The pivot bearing assembly is specifically designed to allow movement of the optical axis within a solid angle range. Within the range of orientations of the image acquisition device achievable by the pivot bearing assembly, the drive unit controls, in particular, a movement of the optical axis of the lens of the image acquisition device on a complete conical surface or on a partial section of a conical surface with a predetermined opening angle. The conical surface is, in particular, rotationally symmetrical about a longitudinal axis and / or axis of symmetry of the distal end of the shaft. Alternatively, an axis of symmetry of the conical surface can be tilted relative to the longitudinal axis and / or axis of symmetry of the distal end of the shaft.

[0022] The axis of rotation of the rotatable drive unit is, in particular, the same as the longitudinal axis of the shaft or the distal end region of the shaft. The rotatable drive unit extends, in particular, along the entire shaft or a large part of the shaft, from a handling device at the proximal end of the shaft to the image acquisition device at the distal end of the shaft. The proximal end of the rotatable drive unit can be directly mechanically connected to a manually operated control element on a handling device in a proximal end region of the endoscope, or it can be indirectly mechanically or magnetically coupled.

[0023] For example, the proximal end of the rotatable drive unit has one or more magnets which, together with the entire rotatable drive unit, are arranged within a hermetically sealed enclosure of the endoscope or exoscope. A wheel or other manually movable control device has one or more magnets which interact with the magnet(s) at the proximal end of the rotatable drive unit in such a way that a movement of the control device – particularly one generated directly by hand – causes the drive unit to rotate.

[0024] The distal end of the rotatable drive unit is not rotationally symmetrical with respect to its axis of rotation. A direct or indirect mechanical interaction between the distal end of the rotatable drive unit and the image acquisition unit forces a corresponding rotation of the image acquisition unit's viewing direction when the drive unit rotates.

[0025] In an endoscope or exoscope, as described here, the rotatable drive device specifically does not have a gear, a cam drive, or a worm gear.

[0026] In an endoscope or exoscope, as described here, in particular a distal end of the drive unit is arranged at least either proximal to the swivel bearing unit or proximal to the image acquisition unit.

[0027] The distal end of the drive unit is particularly proximal to the image acquisition unit if it does not overlap the image acquisition unit in the longitudinal direction of the shaft or only overlaps it slightly - i.e., with less than half or less than a quarter of the longitudinal extent of the image acquisition unit.

[0028] In an endoscope or exoscope, as described here, the swivel bearing device enables, in particular, swiveling about a first swivel axis and swiveling about a second swivel axis that is different from the first swivel axis.

[0029] In an endoscope or exoscope, as described here, the swivel bearing device enables, in particular, swiveling about a first swivel axis orthogonal or substantially orthogonal to an axis of symmetry of the conical shell and swiveling about a second swivel axis orthogonal or substantially orthogonal to the first swivel axis and orthogonal or substantially orthogonal to the axis of symmetry of the conical shell.

[0030] The first pivot axis is substantially orthogonal to the axis of symmetry of the cone if the angle between the first pivot axis and the axis of symmetry of the cone is not less than 70°, 80°, or 85°. The second pivot axis is particularly orthogonal or substantially orthogonal to the first pivot axis if the angle between the second pivot axis and the first pivot axis is not less than 70°, 80°, or 85°. The angle between the first pivot axis and the second pivot axis is particularly constant. When the image acquisition device is pivoted about the first pivot axis, the second pivot axis is also pivoted.

[0031] An endoscope or exoscope, as described herein, further comprises in particular a guiding device which holds a predetermined series of pixels of the image sensor in each position of the image acquisition device parallel to a predetermined plane.

[0032] The guide device can be partially or completely integrated with or identical to the pivot bearing device. The predetermined plane is, in particular, orthogonal to a first, fixed pivot axis defined by the pivot bearing device. The predetermined array of pixels is, in particular, a row or a column of pixels parallel to a straight edge segment of a rectangular image sensor. The array of pixels is displayed on a screen, in particular along a horizontal or vertical line.

[0033] The guiding mechanism prevents rotation of the image acquisition device around the axis of symmetry of the conical shell, in the case of an endoscope, specifically around the longitudinal axis of the distal end of the shaft. This ensures that even when the image acquisition device is swiveled, and thus the viewing direction changes, the horizon remains unchanged and image erection is unnecessary.

[0034] In the case of an endoscope or exoscope, as described here, the swivel bearing device includes in particular a gimbal suspension.

[0035] The gimbal suspension defines in particular two orthogonal pivot axes and simultaneously acts as a guide device that keeps a predetermined series of pixels of the image sensor parallel to a predetermined plane at all times.

[0036] In an endoscope or exoscope, as described here, the swivel bearing device comprises in particular a ball joint, a rod-shaped component at the end of which the ball joint is arranged, and a slot in which the rod-shaped component is guided to swivel with minimal play and friction.

[0037] In the case of an endoscope, the ball joint is located approximately in the center of the shaft's cross-section. The guidance of the rod-shaped component in the slot ensures that a series of pixels from the image sensor remain parallel to the plane orthogonal to the rod-shaped component when the image acquisition device and viewing direction are swiveled.

[0038] An endoscope or exoscope, as described herein, further comprises in particular a first sliding surface which is rigidly connected to the image acquisition device and a second sliding surface at a distal end of the rotatable drive device which rests against the first sliding surface.

[0039] The first sliding surface is, for example, rotationally symmetrical with respect to the viewing direction of the image acquisition device. The second sliding surface is not rotationally symmetrical with respect to the axis of rotation of the drive unit. The first sliding surface is, in particular, a portion of the outer surface of a carrier or housing of the image acquisition device. The second sliding surface is, in particular, rigidly connected to the rotatable drive unit and is formed, for example, by a surface area at the distal end of the rotatable drive unit.

[0040] In an endoscope or exoscope, as described here, the first sliding surface is in particular arc-shaped or annular.

[0041] If the viewing direction of the image acquisition device can be rotated 360° along a complete conical surface, the first sliding surface is, in particular, annular. If the viewing direction of the image acquisition device can only be moved over a portion of a conical surface, the first sliding surface can be C-shaped.

[0042] In an endoscope or exoscope, as described here, the first sliding surface is rotationally symmetrical to the viewing direction of the image acquisition device.

[0043] In an endoscope or exoscope, as described here, the second sliding surface comprises, in particular, two spaced-apart sub-surfaces.

[0044] The two sub-surfaces of the second sliding surface are spaced apart from each other in such a way that there is no contact between the two sub-surfaces of the second sliding surface between the rotatable drive device or a body mechanically coupled to the rotatable drive device, on which the second sliding surface is provided, and the first sliding surface.

[0045] Dividing the second sliding surface into two spaced-apart sub-surfaces can enable a particularly precise mechanical coupling of the rotatable drive device with the image acquisition device and thus a particularly precise control of the viewing direction of the image acquisition device.

[0046] In an endoscope or exoscope, as described here, the first gliding surface is oriented proximally and the second gliding surface distally.

[0047] In particular, a surface normal of the first sliding surface is parallel to an axis of rotation of the rotatable drive unit or forms an angle with it that is not greater than 30° or not greater than 45°. The surface normal of the second sliding surface is in particular antiparallel to the surface normal of the first sliding surface. In the case of a distal or proximal orientation, the second sliding surface is in particular located near the outer circumference of the rotatable drive unit and, in the case of an endoscope, near the outer circumference of the lumen of the endoscope shaft.

[0048] In an endoscope or exoscope, as described here, a surface normal of the second sliding surface is oriented particularly towards a rotation axis of the rotatable drive device.

[0049] The surface normal of the first sliding surface is parallel to the surface normal of the second sliding surface, but opposite to it. The surface normal of the second sliding surface is arranged radially, or substantially radially, to the axis of rotation of the rotating drive unit. This means that the surface normal of the second sliding surface, at the point of contact with the first sliding surface, lies in a plane with the axis of rotation of the rotating drive unit and forms an angle with it that is not greater than 45°, 30°, 20°, or 10°.

[0050] In an endoscope or exoscope, as described here, two identical or similar image acquisition devices are arranged side by side and rigidly connected to each other mechanically.

[0051] The endoscope or exoscope may further comprise a third and optionally additional image acquisition devices, which may be rigidly connected to each other and to the first and second image acquisition devices. The two or more rigidly connected image acquisition devices are, in particular, arranged on a common support or in a common housing. The viewing directions of the two or more rigidly connected image acquisition devices are, in particular, parallel or slightly convergent. The two or more rigidly connected image acquisition devices enable the acquisition of a stereoscopic image consisting of an image intended for perception with the left eye and an image intended for perception with the right eye.

[0052] In an endoscope or exoscope, as described here, the swivel bearing device includes in particular a ball joint that is arranged between the image acquisition devices.

[0053] An endoscope as described herein further comprises in particular a shaft with a proximal end and a distal end for insertion into a cavity, a signal line at least either for transmitting a control signal from the proximal end of the shaft to the image acquisition device or for transmitting an image signal from the image acquisition device to the proximal end of the shaft, wherein the rotatable drive device is designed as a tube, wherein the signal line is arranged within a lumen of the rotatable drive device. Brief description of the characters

[0054] The following descriptions of the embodiments are explained in more detail with reference to the accompanying figures. They show: Figure 1 is a schematic representation of an endoscope; Figure 2 is a schematic representation of the distal end of the endoscope. Figure 1 Figure 3 shows another schematic representation of the distal end of the endoscope from the Figures 1 and 2 Figure 4 shows another schematic representation of the distal end of the endoscope from the Figures 1 to 3 Figure 5: a schematic representation of the distal end of another endoscope; Figure 6: another schematic representation of the distal end of the endoscope made of Figure 5 Figure 7 shows a schematic representation of the distal end of another endoscope; Figure 8 shows a schematic representation of the distal end of another endoscope. Description of the embodiments

[0055] Figure 1Figure 1 shows a schematic representation of an endoscope 10 with a shaft 12. The shaft 12 has a distal end 14 for insertion into a cavity and a proximal end 16. In the example shown, the shaft 12 is straight and rigid. Alternatively, the shaft 12 can be partially or completely curved or be curved.

[0056] A proximal region 18 of the endoscope 10 is connected to the proximal end 16 of the shaft 12 and is designed as a handling device. The proximal region 18 of the endoscope 10 has, for example, a plug connector for attaching a fiber optic cable for supplying illumination and a control element 19. In the illustrated example, the control element 19 is designed as a rotary knob in the transition area between the proximal region 18 of the endoscope 10 and the proximal end 16 of the shaft 12. The rotary knob 19 is rotatable about the longitudinal axis 38 of the shaft 12.

[0057] In Figure 1 Within the contour of the shaft 12, components are indicated that are enclosed by the shaft 12, in particular hermetically sealed. These are, in particular, an image acquisition device 50 at the distal end 14 of the shaft 12 and a drive device 90 that extends from the proximal region 18 of the endoscope 10 to the image acquisition device 50.

[0058] Figure 2 shows a opposite Figure 1 enlarged schematic representation of the distal end 14 of the shaft 12 of the endoscope 10 Figure 1 The shaft 12 is in Figure 2The image acquisition device 50 and the drive unit 90 are shown in a cross-sectional view along a plane containing the longitudinal axis 38 of the shaft 12. They are each shown in a side view. Individual features of the image acquisition device 50 and the drive unit 90 that are not visible from the outside but are important for the functionality described below are indicated by dashed lines.

[0059] The distal end 14 of the shaft 12 essentially has the shape of a tube with a circular cross-section, which is optically transparent but fluid-tight and, in particular, hermetically sealed distally by a window element 40. In the illustrated example, the window element 40 is oriented orthogonally to the longitudinal axis 38 of the shaft 12, and the surface normal 48 of the window element 40 is parallel to the longitudinal axis 38 of the shaft 12.

[0060] The image acquisition device 50 is arranged at the distal end 14 of the shaft 12 and immediately proximal to the window component 40. The image acquisition device 50 comprises a lens 52 for generating a real image and an image sensor 54 for acquiring the real image generated by the lens 52 and for generating an image signal that represents the acquired image analogously or digitally. A signal line 56 connects the image sensor 54 to the proximal region 18 of the endoscope 10 (see figure). Figure 1 The signal line 56 transmits power and control signals to the image sensor 54 and the image signal from the image sensor 54 to the proximal region 18 of the endoscope 10. The lens 52 has one or more curved refractive surfaces, one of which is located in Figure 2 indicated by a dashed line, and an optical axis 58. The optical axis 58 simultaneously represents the viewing direction of the image acquisition device 50.

[0061] The image acquisition device 50 comprises a housing 60, which is connected to the shaft 12 via a pivot bearing assembly 62. The pivot bearing assembly 62 is designed as a ball joint inside the housing 60 and is therefore only indicated by dashed lines. The pivot bearing assembly 62 allows the image acquisition device 50 and the viewing direction 58 to pivot about two pivot axes orthogonal to the longitudinal axis 38 of the shaft 12. The pivoting movements of the image acquisition device 50 are limited by the geometry of the shaft 12 and the geometry of the image acquisition device 50, in particular its housing 60, to a conical or approximately conical solid angle region.

[0062] The image acquisition device 50 has a sliding surface 64 on the housing 60. In the example shown, the sliding surface 64 has the shape of an annular cutout from the lateral surface of a circular cone.

[0063] The ball joint 62 forming the swivel bearing assembly is rigidly connected to the shaft 12 of the endoscope 10 via a rod-shaped component 86. The rod-shaped component 86 is arranged in a slot 88 in the housing 60 of the image acquisition device 50. The dimensions of the rod-shaped component 86, in particular the diameter of its cross-section, and the dimensions of the slot 88 in the housing 60 are coordinated such that the rod-shaped component 86 is guided in the slot 88 with minimal play and friction. The rod-shaped component 86 and the slot 88 thus form a guide device that reduces the degrees of freedom created by the ball joint 62 itself from 3 to 2.

[0064] Due to the guidance of the rod-shaped component 86 in the slot 88 in the housing 60, the image acquisition device 50 cannot be rotated about its viewing direction. Therefore, certain rows—in particular, lines—of pixels of the image sensor 54, namely all rows of pixels that are orthogonal to the plane of the slot 88, remain parallel at all times to a plane that is orthogonal to the longitudinal axis of the rod-shaped component 86. A pivoting of the viewing direction 58 of the image acquisition device 50 therefore does not result in a rotation of the image captured by the image sensor 54.

[0065] The drive unit 90 is rotatable about the longitudinal axis 38 of the shaft 12. A sliding surface 96 is provided at the distal end 92 of the drive unit 90, which bears against the sliding surface 64 of the image acquisition unit 50. In the illustrated example, the surface normal 97 of the sliding surface 96 is approximately oriented distally. This differs from the schematic representation in Figure 2 The distance between the pivot axes defined by the pivot bearing device 62 and an orthogonal straight line through the point of contact of the sliding surfaces 64, 96 can be significantly larger.

[0066] The drive unit 90 is essentially tubular in shape with a lumen 98 in which the signal line 56 is arranged. In the illustrated example, the lumen 98 in the drive unit 90 is enlarged at the distal end 92 of the drive unit 90 to create space for the signal line 56.

[0067] Figure 3shows another schematic representation of the distal end 14 of the endoscope 10 from the Figures 1 and 2 The method of representation, in particular the position of the section and drawing plane, corresponds to that of the Figure 2 .

[0068] In Figure 3 A situation is shown in which the drive unit 90 is opposite the one in Figure 2 The configuration shown is rotated by 90°, specifically clockwise when viewed from the distal side. Accordingly, the viewing direction 58 of the image acquisition device 50 is oriented differently. Whereas in Figure 2 The configuration shown has a viewing direction 58 parallel to the drawing plane. Figure 2 is, is at the in Figure 3 The configuration shown has been panned out of the drawing plane towards the viewer.

[0069] Figure 4 shows another schematic representation of the distal end 14 of the shaft 12 of the endoscope 10 from the Figures 1 to 3The manner of representation, in particular the position of the section and drawing planes, corresponds to that of the Figures 2 and 3 .

[0070] In Figure 4 A configuration is shown in which the drive unit is 90° opposite the one in Figure 3 The configuration shown is rotated a further 90°. The positions of the drive unit 90° in the Figures 2 and 4 The configurations shown therefore differ by 180°. Corresponding to the different rotational position of the drive unit 90, the viewing direction 58 of the image acquisition unit 50 has also been swivelled further on a conical surface and is again parallel to the drawing plane of the Figure 4 .

[0071] By rotating the drive unit 90 - in particular by manually rotating the rotary wheel 19 (cf. Figure 1) - about the longitudinal axis 38 of the shaft 12 of the endoscope 10 the viewing direction 58 of the image acquisition device 50 can be swivelled and assume any position on a conical surface.

[0072] Figure 5 Figure 1 shows a schematic representation of a distal end 14 of a shaft 12 of another endoscope 10, which in some features, properties and functions resembles the one shown in the Figures 1 to 4 The endoscope shown resembles the one depicted. The following are, in particular, the features, properties, and functions of the endoscope shown. Figure 5 The endoscope shown in section 10 is described, in which it differs from the one shown based on the Figures 1 to 4 The depicted endoscope differs in its type of representation. Figure 5 corresponds to that of the Figures 2 to 4 .

[0073] The in Figure 5 The endoscope shown (10) differs from the one shown based on the Figures 1 to 4The endoscope shown is distinguished in particular by a different orientation of the sliding surfaces 64, 96 on the image acquisition device 50 and the drive unit 90. The surface normal 97 of the sliding surface 96 at the distal end 92 of the drive unit 90 is oriented radially to the longitudinal axis 38 of the shaft 12, which is also the axis of rotation of the rotatable drive unit 90. The sliding surface 64 on the housing 60 of the image acquisition device 50 is an annular cutout from the lateral surface of an acute circular cone.

[0074] Figure 6 shows another schematic representation of the distal end 14 of the shaft 12 of the endoscope 10. Figure 5 . In Figure 6 is a cut along the in Figure 5The indicated plane VI-VI is shown orthogonal to the longitudinal axis 38 of the shaft 12. The shaft 12 has the shape of a tube with a circular cross-section. The drive mechanism 50 is essentially cylindrical and guided with minimal play and friction within the lumen of the shaft 12.

[0075] The sliding surface 96 is attached to a surface as already described in Figure 5 The drive unit 90 is visibly arranged distally with a projecting nose. The housing 60 of the image acquisition device 50 and the sliding surface 64 on the housing 60 are only partially visible through the section plane VI-VI. The part lying in front of the section plane VI-VI, and therefore not shown in the illustration, Figure 6 The non-visible section of the edge of the sliding surface 64 is in Figure 6 indicated by a dashed line. The distal edge of the lumen 98, which serves as a cable channel for the signal line 56 in the drive unit 90, is partially visible behind the housing 60 of the image acquisition unit 50.

[0076] Figure 7 shows a schematic representation of a section through a shaft 12 of an endoscope, which in some features, properties and functions resembles the one shown in the Figures 1 to 4 the endoscope shown and especially the one based on the Figures 5 and 6 The endoscope shown resembles the one depicted. The following describes in particular its features, properties, and functions. Figure 7 The endoscope shown differs from the one shown based on the Figures 5 and 6 The depicted endoscope differs in its type of representation. Figure 7 , in particular the orientation and position of the depicted section plane, corresponds to that of the Figure 6 .

[0077] The in Figure 7 The endoscope shown differs from the one shown based on the Figures 5 and 6The endoscope shown is distinguished in particular by the fact that the sliding surface 96 at the distal end of the drive unit 90 consists of two spaced-apart sub-areas. These two sub-areas of the sliding surface 96 at the distal end of the drive unit 90 contact the sliding surfaces 64 on the housing of the image acquisition unit 50 at two spaced-apart locations. On each of the two sub-areas of the sliding surface 96, the associated surface normal 97 is orthogonal to the longitudinal axis of the shaft 12 and thus parallel to the sectioning plane of the Figure 7 .

[0078] Even in the case based on the Figures 1 to 4 In the depicted endoscope, the sliding surface 96 at the distal end 92 of the drive unit 90 can consist of two or more spaced-apart sub-areas.

[0079] Fig. 8Figure 1 shows a schematic representation of a distal end 14 of a shaft 12 of another endoscope 10, which in some features, properties and functions resembles the one shown in the Figures 1 to 7 The following describes in particular the features, properties, and functions in which the endoscope shown resembles the depicted endoscopes. The following describes in particular the characteristics, properties, and functions in which the in Figure 8 The endoscope shown (10) differs from those shown based on the Figures 1 to 7 The depicted endoscopes differ. The type of representation in Figure 8 , in particular the orientation of the drawing plane and the position and orientation of the cutting plane of the shaft 12, corresponds to that of the Figures 2 to 5 .

[0080] The in Figure 8 The endoscope shown differs from those shown based on the Figures 1 to 7The endoscopes shown are distinguished in particular by the fact that the sliding surface 64 on the housing 60 of the image acquisition device 50 is oriented essentially proximally, and the sliding surface 96 at the distal end 92 of the drive unit 90 is oriented essentially distally. In the illustrated example, the surface normal 97 of the sliding surface 96 at the distal end of the drive unit 90 is parallel to the longitudinal axis 38 of the shaft 12. The sliding surface 96 at the distal end 92 of the drive unit 90 can have two or more spaced-apart sub-regions, similar to the endoscope shown in the illustration. Figure 7 example shown.

[0081] In all cases based on the Figures 1 to 8The endoscopes shown can have the image acquisition device 50 comprising two or more lenses 52 arranged side by side and optionally a corresponding number of image sensors to capture a stereo image. In this case, the ball joint 62 can be located in an area between the lenses 52 or between the image sensors 54.

[0082] In all cases based on the Figures 1 to 8 In the endoscopes shown, a different pivot bearing device may be provided instead of the ball joint 62, for example in the form of a gimbal suspension. Reference sign

[0083] 10 endoscope 12 Endoscope shaft 10 14 Distal end of the shaft 12 16 Proximal end of the shaft 12 18 Proximal area of ​​the endoscope 10 19 Rotary knob as operating element of the endoscope 10 38 Longitudinal axis of the shaft 12 and rotational axis of the drive unit 90 40 Window componentat the distal end 24 of the shaft 20 48 surface normal of the window component 40 50 Image capture device of the endoscope 10 52 Lens of the image acquisition device 50, for generating a real image 54 Image sensor of the image acquisition device 50, for capturing the real image generated by the lens 52 and for generating an image signal 56 Signal line for transmitting power and / or a control signal to the image sensor 54 and / or for transmitting the image signal from the image sensor 54 58 Optical axis of the lens 52 and viewing direction of the image acquisition device 50 60 Housing of the image acquisition devices 50 62 Swivel bearing device, in particular ball joint between the image acquisition device 50 and the distal end 14 of the shaft 12 64 Sliding surface on the housing 60 86 Rod-shaped component that mechanically rigidly connects the swivel bearing 62 to the shaft 12 88 Slot in the housing 60 in which the rod-shaped component 86 is arranged 90 drive unit of the endoscope 10 92 distal end of the drive unit 90 96 sliding surface at the distal end 92 of the drive unit 90 97 surface normal of the sliding surface 96 98 lumen of the drive unit 90

Claims

1. An endoscope (10) having: an image capturing apparatus (50) having an objective (52) for generating a real image and an image sensor (54) for capturing the real image and generating an image signal representing the captured real image; a pivot bearing apparatus (62) which enables the optical axis (58) of the objective (52) of the image capturing apparatus (50) to be moved on a cone surface; a drive apparatus (90) rotatable about an axis of rotation (38), wherein the rotatable drive apparatus (90) is mechanically coupled to the image capturing apparatus (50) in such manner that a rotation of the rotatable drive apparatus (90) is accompanied by the optical axis (58) of the objective (54) of the image capturing apparatus (50) moving on a cone surface, wherein the pivot bearing apparatus (62) enables pivoting about a first pivot axis orthogonal or substantially orthogonal to an axis of symmetry of the cone surface and pivoting about a second pivot axis orthogonal or substantially orthogonal to the first pivot axis and orthogonal or substantially orthogonal to the axis of symmetry of the cone surface, further having a first sliding surface (64) which is mechanically rigidly connected to the image capturing apparatus (50); and a second sliding surface (96) at a distal end (92) of the rotatable drive apparatus (90), characterised in that the second sliding surface (96) bears against the first sliding surface (64).

2. The endoscope (10) according to the preceding claim, in which a distal end (92) of the drive apparatus (90) is arranged at least either proximally of the pivot bearing apparatus (62) or proximally of the image capturing apparatus (50).

3. The endoscope (10) according to one of the preceding claims, further having: a guide apparatus (86, 88) which holds a predetermined row of pixels of the image sensor (54) parallel to a predetermined plane at each position of the image capturing apparatus (50).

4. The endoscope (10) according to one of the preceding claims, in which the pivot bearing apparatus comprises a ball joint (62), a rod-shaped component (86), at the end of which the ball joint (62) is arranged, and a slit (88), in which the rod-shaped component (86) is guided so as to pivot with little play and friction.

5. The endoscope (10) according to the preceding claim, in which the first sliding surface (64) is arc-shaped or ring-shaped.

6. The endoscope (10) according to one of claims 1 and 5, in which the first sliding surface (64) is rotationally symmetrical to the viewing direction (58) of the image capturing apparatus (50).

7. The endoscope (10) according to one of claims 1 and 5 to 6, in which the second sliding surface (96) comprises two partial surfaces spaced apart from each other.

8. The endoscope (10) according to one of claims 1 and 5 to 7, in which the first sliding surface (64) is orientated proximally and the second sliding surface (96) is orientated distally.

9. The endoscope (10) according to one of claims 1 and 5 to 8, in which a surface normal of the second sliding surface (96) is orientated towards an axis of rotation (38) of the rotatable drive apparatus (90).

10. The endoscope (10) according to one of the preceding claims, wherein two identical or similar image capturing apparatuses (50) are arranged next to each other and are mechanically rigidly connected to each other.

11. The endoscope (10) according to the preceding claim, in which the pivot bearing apparatus comprises a ball joint (62) which is arranged between the image capturing apparatuses (50).

12. The endoscope (10) according to one of the preceding claims, further having: a shaft (12) with a proximal end (16) and a distal end (14) for insertion into a cavity, a signal line (56) at least either for transmitting a control signal from the proximal end (16) of the shaft (12) to the image capturing apparatus (50) or for transmitting an image signal from the image capturing apparatus (50) to the proximal end (16) of the shaft (12), wherein the rotatable drive apparatus (90) is designed as a tube, wherein the signal line (56) is arranged inside a lumen of the rotatable drive apparatus (90).