Endoscope device, endoscopic system, and endoscopic imaging method

Abstract

The invention relates to an endoscope device (10), comprising a shaft (12), which extends from a proximal end (14) to a distal end (16), and a distal end piece (18), which is arranged on the distal end (16) of the shaft (12). The distal end piece (18) comprises a plurality of image-capturing units (20), which are oriented in different directions and define a total viewing angle (6), wherein the total viewing angle (6) is greater than a single viewing angle (α, ß, γ) of the image-capturing units (20). The invention also relates to an endoscopic system and to an endoscopic imaging method.

Description

[0001] Endoscope device, endoscopic system and endoscopic

[0002] Imaging procedures

[0003] The present invention relates to an endoscope device, an endoscopic system and an endoscopic imaging method.

[0004] Endoscopes with a shaft that use digital technology for image generation and transmission are known from the prior art. Such endoscopes, also called video endoscopes, have an image acquisition unit at their distal end, which can capture an image of an object under examination. The image acquisition unit can be powered by electrical energy through the shaft of the endoscope. Furthermore, image signals can be transmitted via a cable from the image acquisition unit to the proximal end of the shaft. This eliminates the need for optical elements such as lenses, particularly rod lenses, or optical fibers for image transmission through the shaft. The image acquisition unit can be thought of as a camera; it includes, for example, an input lens and an image sensor.

[0005] Conventional endoscopes have a fixed viewing direction, defined by a viewing angle relative to a longitudinal axis of the shaft, and a fixed viewing angle, defined by the optics used. Viewing angle and viewing angle thus define an imaging area that can be viewed by a user of the endoscope. In practice, users use different endoscopes with different viewing directions for different imaging situations, which requires changing the endoscope during a therapeutic or diagnostic procedure. Typical viewing angles between the longitudinal axis of the shaft and the respective viewing direction are, for example, 30°, 45°, 75°, 90°, and for some applications, 120°. Users are familiar with these viewing angles and can therefore intuitively move the endoscope shaft while simultaneously observing the resulting image.

[0006] The size of the respective imaging area also depends on the viewing angle. The viewing angle can also be referred to as the image angle. The viewing angle depends on the focal length of the lens used. It can also depend on the size or format of the image sensor used. Differently sized imaging areas can be provided by using lenses or image acquisition units with different viewing angles, which requires, for example, changing from an endoscope with a first viewing angle to another endoscope with a different viewing angle. Endoscopes with upstream entrance optics that can be pivoted relative to the shaft are also known. In this case, for example, a distal prism is pivoted, which means that an angular range of over 100° can be covered despite the use of a lens with a viewing angle of 55°. The pivoting changes the current viewing angle, i.e. the current viewing direction, i.e.the specified angular range is not observed simultaneously.

[0007] Furthermore, mechanical pivoting of the distal components of the image acquisition unit, for example, an entire camera module, is possible. This can be achieved, for example, when ultra-short lenses are used. Such a camera module can then be pivoted as a whole within the shaft relative to its longitudinal axis. Compared to the case of an entrance prism, the maximum pivot angle is limited only by mechanical or structural conditions. However, only one current viewing angle or viewing direction is observed at a time.

[0008] The variants described also share the following characteristics: A part within the endoscope must be moved. Maintaining centering can be particularly challenging with the optical solution. Furthermore, due to the limited space, the storage and movement of moving components is achieved using very delicate components, which are easily damaged and thus rendered inoperable.

[0009] In these cases, the sealing of the entire endoscope for autoclavability is based on a curved, elongated cover glass, which is very expensive to manufacture and difficult to handle during autoclave-tight soldering.

[0010] At the distal end, installation space is utilized with only limited efficiency. The camera module or prism can only be oriented in a very specific viewing direction. Empty space must be reserved for all other viewing positions, meaning the remaining space for pivoting cannot be used for other functional components such as the lighting. This results in far-reaching limitations for the overall design, since the central shaft area, due to its size, represents the "most valuable" installation space.

[0011] This restriction can be particularly problematic for illumination. Optical fibers for illumination can only be accommodated at the edge of the cover glass. In addition, the total amount of optical fibers possible in the shaft is limited.

[0012] The optical power is limited by the optical fibers and must also be distributed over a wide angular range to provide sufficient illumination for all orientations of the camera module or prism. This results in rather weak illumination in most applications.

[0013] The object of the present invention is to achieve a large imaging range in a simple and / or inexpensive and / or user-friendly and / or reliable manner, in particular in a manner that is space-efficient and / or easy to handle, for example during manufacture, use or cleaning.

[0014] This object is achieved according to the invention by an endoscope device, an endoscopic system and an endoscopic imaging method as described herein and defined in the claims.

[0015] The endoscope device comprises a shaft extending from a proximal end to a distal end, and a distal endpiece disposed at the distal end of the shaft. The distal endpiece comprises a plurality of image capture units directed in different directions and defining a total viewing angle, wherein the total viewing angle is larger than the individual viewing angles of the image capture units.

[0016] Furthermore, an endoscopic system may be provided which comprises the endoscope device.

[0017] In addition, an endoscope with an endoscope device according to the invention can be provided.

[0018] Furthermore, an endoscopic imaging method can be provided, wherein at least one image is acquired by means of the endoscope device. The features according to the invention make it possible to achieve a large imaging field in a simple and / or inexpensive and / or user-friendly and / or reliable manner. In particular, a high degree of space efficiency and / or ease of handling can be achieved, for example during manufacture, use, or cleaning. While moving parts can be dispensed with, a large imaging field, optimized illumination, and a simple structure can still be achieved. In some cases, this can be achieved using standard components or without special designs such as curved cover glasses or the like.

[0019] The endoscope device can be designed for a rigid endoscope. The endoscope device can be designed for a flexible endoscope. The endoscope device can be designed for a video endoscope.

[0020] An “endoscope device” is to be understood in particular as a preferably functional component, in particular a subassembly and / or a structural and / or functional component of an endoscope. The endoscope device can preferably form the endoscope at least partially, preferably at least to a large extent, and particularly preferably completely. For example, the endoscope device can be configured to be inserted at least partially and preferably at least to a large extent into a particularly artificial and / or natural cavity, in particular a body cavity, in particular in order to examine it. The endoscope device can be a medical and / or industrial endoscope device. In the context of this disclosure, “configured” can be understood in particular to mean specially programmed, designed, configured, and / or equipped.In the context of this disclosure, the fact that a component is configured for a specific function can be understood in particular to mean that the component fulfills and / or executes this specific function in at least one application and / or operating state.

[0021] A "shaft" is to be understood in particular as an elongated part of an endoscope and / or an endoscope device, which is designed, for example, to be introduced into a particularly artificial and / or natural cavity, in particular a body cavity. An "elongated part" is to be understood in particular as a component whose main extension is at least a factor of five, preferably at least a factor of ten, and particularly preferably at least a factor of twenty greater than a greatest extension of the component perpendicular to its main extension, i.e. in particular a diameter of the component. A "main extension" of a component is to be understood in particular as its longest extension along its main extension direction.A "main extension direction" of a component is understood to mean, in particular, a direction that runs parallel to the longest edge of the smallest imaginary cuboid that just completely encloses the component and preferably passes through a geometric center and / or a center of mass of the component. The shaft can have a longitudinal axis. The longitudinal axis can run parallel to the main extension direction of the shaft.

[0022] The shaft has, in particular, a distal end section and a proximal end section. The distal end section can comprise the distal end. Furthermore, the proximal end section can comprise the proximal end. An “end section” of a component is to be understood, in particular, as a section which extends from one end of the component to the center of the component by a maximum of 10 cm, preferably by a maximum of 5 cm, and particularly preferably by a maximum of 3 cm. A “distal end section” of a component is to be understood, in particular, as an end section which extends in the proximal direction from a distal end of the component. A “proximal end section” of a component is to be understood, in particular, as an end section which extends in the distal direction from a proximal end of the component."Distal" is understood to mean, in particular, when operating the device facing a patient and / or away from an operator and / or user. In particular, "proximal" is the opposite of distal. "Proximal" is understood to mean, in particular, when operating the device facing away from a patient and / or away from an operator and / or user.

[0023] Furthermore, the endoscope device in particular has at least one handle. The handle can be arranged, for example, at the proximal end section of the endoscope shaft. The handle is designed in particular for manual operation of the endoscopic device. The handle comprises, for example, at least one handle and / or at least one operating element, such as a switch, button or the like, which is preferably arranged on the handle. The distal end piece can be different from the shaft. The distal end piece can be designed as a single piece with the shaft. Even with a single-piece design, the distal end piece can be structurally and / or functionally different from the shaft. In some embodiments, at least one sheath and / or a housing of the distal end piece is designed as a single piece with the sheath of the shaft.According to the invention, it can also be provided that the distal end piece is formed separately from the shaft and is connected to the shaft, in particular fixedly and / or immovably and / or permanently connected.

[0024] The image capture units each have, in particular, a viewing direction and an individual viewing angle. The viewing direction can be a main viewing direction of the respective image capture unit. For example, the viewing direction can be a central axis of an input optics of the respective image capture unit. The individual viewing angle can be an angle spanned with respect to the viewing direction. In particular, the central axis can be an angle bisector of the individual viewing angle. Depending on the design of the image capture units, these can each be defined by two individual viewing angles that are spanned perpendicular to one another. These can, for example, define a viewing angle with respect to a transverse axis or a viewing angle with respect to a vertical axis, each of which is perpendicular to the central axis and / or the viewing direction.In particular, in cases where an image capture unit comprises a rectangular image sensor, the two viewing angles belonging to the image capture unit can be assigned to a short and a long side of the rectangular image sensor.

[0025] The specification of an individual viewing angle can also be understood as the largest viewing angle of the respective image capture unit and / or as a viewing angle corresponding to a diagonal of the respective image sensor. An image capture unit can also be described by a horizontal viewing angle, a vertical viewing angle, and a diagonal viewing angle. Specifications relating to a viewing angle can refer to any of these three dimensions and preferably refer to a diagonal viewing angle.

[0026] The overall viewing angle can be defined analogously. This can be a diagonal viewing angle corresponding to the diagonal of the largest image that can be recorded simultaneously and / or jointly by the multiple image capture units. Likewise, the specification of an overall viewing angle can refer to a horizontal overall viewing angle and / or a vertical overall viewing angle, in particular with respect to an image that can be recorded simultaneously and / or jointly by the multiple image capture units.

[0027] The multiple image acquisition units, which are directed in different directions and which define an overall viewing angle, in particular enlarge an imaging area of ​​the endoscope device without having to provide moving parts or without having to forego illumination of the imaging area due to a lack of installation space.

[0028] The image capture units can each be formed by camera modules that allow installation in the shaft, in particular camera modules with short lenses or so-called camera cubes with wafer-level optics, and / or image sensors for image generation, in particular CCD chips or CMOS chips. The multiple image capture units directed in different directions can have individual viewing angles of, for example, 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, or 110°. The image capture units can, in particular, together capture a common imaging area. The total viewing angle can, for example, be at least 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, 175°, 180°, 185°, 190°, 195°, 200°, 205°, 210°, 215°, 220°, 225°, 230°, 235°, 240°, 245°, 250°, 255°, 260°, 265° or 270°.

[0029] At least one of the plurality of image acquisition units can be directed toward the proximal end. The image acquisition unit directed toward the proximal end can enable a rear-view imaging area, which is useful, for example, for an application in a bladder neck of a urinary bladder or in resectoscopy. The at least one of the plurality of image acquisition units can have a viewing angle of at least 120°, in particular with respect to the longitudinal axis of the shaft.

[0030] The overall viewing angle can define an imaging area, which can extend along the shaft or enclose it. A boundary of the imaging area can extend parallel to the shaft. Preferably, the shaft is located at least partially within the imaging area, allowing the shaft itself to be observed during image acquisition.

[0031] The multiple image acquisition units can be arranged offset in a longitudinal direction and / or with respect to the longitudinal axis of the shaft. In other words, the multiple image acquisition units can be arranged one behind the other with respect to the longitudinal direction and / or the longitudinal axis of the shaft. The offset arrangement in the longitudinal direction of the shaft enables a narrow distal end piece. The overlapping imaging regions enable the generation of a complete panoramic image and / or pseudo-panoramic image with the aid of an image stitching process. Within the overlapping region of the individual image cones, a coherent image can be generated using an interpolation algorithm. The panoramic image can be a pseudo-panoramic image in the sense that the overlapping regions may not be geometrically determined completely correctly despite the interpolation.This may be due to the fact that the multiple image acquisition units are not located on a common axis of rotation or that their center axes do not all intersect at a single point. Therefore, in some embodiments, the combined image may be primarily suitable for orientation.

[0032] Within a (pseudo-)panoramic image, the individual imaging areas of the image acquisition units can, for example, be marked differently, for example in different colors, so that the user can see which image acquisition unit can best and / or most expediently capture the object. The endoscope device and / or the system can have a control unit configured to calculate a corresponding image representation and, for example, forward it to a display unit, in particular of the system, for presentation to a user. Likewise, with the help of the (pseudo-)panoramic image, instruments can be observed from insertion to the working area, which offers a time advantage in use and simultaneously increases patient safety, for example by preventing injuries caused by instruments that cannot be monitored during insertion.

[0033] The plurality of image acquisition units can be arranged offset in a transverse direction of the shaft. In other words, the image acquisition units can be arranged next to one another with respect to the longitudinal direction and / or the longitudinal axis of the shaft. Preferably, at least one of the image acquisition units is directed into a distal half-space and at least one of the image acquisition units is directed into a proximal half-space, in particular with respect to the distal end piece. The offset arrangement in the transverse direction of the shaft enables a compact distal end piece. The plurality of image acquisition units can be formed by two or three image acquisition units. Two or three image acquisition units can enable the provision of a compact end piece. Alternatively, the plurality of image acquisition units can be formed by four, five, or more image acquisition units.Four, five or more image acquisition units can provide a particularly large imaging area.

[0034] At least two of the plurality of image capture units can define a first imaging area and a second imaging area, wherein the first imaging area and the second imaging area overlap. This allows a large overall imaging area to be achieved.

[0035] In some embodiments, a stereo image of an overlapping region of the first imaging region and the second imaging region can be generated using at least one image of the first imaging region and at least one image of the second imaging region. By using suitably arranged and oriented image acquisition units, a wide range of functions can be achieved with a compact arrangement of the components. In particular, a large overall imaging region can be provided, and stereoendoscopy can also be performed in a selected angular range. For this purpose, an overlap between the respective image acquisition units is suitably selected. For example, the overlap for generating a stereo image can be at least 10°, at least 20°, at least 30°, or even at least 40°, in some cases also at least 50° or at least 60°.

[0036] Furthermore, the endoscope device can comprise a control device configured to perform at least one stereoscopic distance measurement based on at least one image of the first imaging region and at least one image of the second imaging region. The stereoscopic distance measurement can be carried out directly, in particular without rotating the endoscope device. The control device can further be configured to provide a real-time stereo image. Due to the multiple image acquisition units with different orientations, a stereo image can be acquired directly, in particular without the need for a user to rotate the endoscope device and / or for the successive acquisition of multiple individual images to determine a stereo image. The distal end piece can comprise at least one lighting element. The at least one lighting element can be arranged between two of the multiple image acquisition units.The arrangement between two of the plurality of image acquisition units enables uniform illumination of an imaging area, in particular an overlapping area of ​​imaging areas of the image acquisition units.

[0037] The at least one lighting element and at least one of the plurality of image capture units can be oriented at least substantially parallel and / or in the same direction. This can mean that the at least one lighting element is arranged next to at least one of the image capture units and oriented parallel to it. The at least substantially parallel alignment and / or orientation in the same direction of the at least one lighting element and the one of the plurality of image capture units improves the illumination of an imaging area of ​​the one of the plurality of image capture units.

[0038] The luminous element may comprise or be formed by a light-emitting diode and / or a laser diode and / or a light guide. Particularly in embodiments in which the luminous element comprises a light guide, the endoscope device may have an optical connector at and / or in the vicinity of the proximal end, which is configured for connection to a lighting device.

[0039] The lighting element can be designed as a planar lighting element. The lighting element can in particular be formed by a planar light-emitting diode and / or a planar laser diode. A planar lighting element utilizes the available space at the distal end section of the shaft, in particular the available space between the individual image acquisition units, particularly efficiently and thereby ensures uniform illumination of an object to be examined. The lighting element can have an optical element for shaping a light beam. The optical element can be configured to shape the light beam according to an imaging region of an image acquisition unit, in particular two or more imaging regions of different image acquisition units.The optical element can, in particular, be configured to shape the light beam substantially overlapping two adjacent imaging areas of two adjacent image acquisition units. The optical element can, for example, be formed by a beam-shaping lens. By equipping the device with such an optical element, the efficiency and homogeneity of the illumination of an object to be examined can be improved. In some embodiments, multiple lighting elements can be provided, each having different beam-shaping optical elements. In particular, the different beam-shaping optical elements can be configured to define different light cones and / or different illumination profiles and / or different illumination areas.This allows a variable overall lighting profile to be achieved by selectively activating and / or deactivating individual or multiple lighting elements. Alternatively or additionally, the lighting intensity of the different lighting elements can be adjusted to different levels. This allows different overall lighting profiles to be achieved by overlaying partial lighting areas with different intensities.

[0040] The distal end piece can have a plurality of luminous elements, wherein the image capture units and the luminous elements can be arranged in pairs and can comprise at least a first pair and a second pair, wherein an arrangement of an image capture unit and a luminous element of the first pair can be converted into an arrangement of an image capture unit and a luminous element of the second pair by rotation and / or mirroring. This pairwise arrangement enables a particularly compact design of the distal end piece.

[0041] The endoscope device can further comprise a control device configured to selectively control the one or more lighting elements. This can be used, for example, to statically and / or dynamically adapt an illumination profile, in particular an intensity profile, to an object to be examined. The control device can, in particular, be configured to dynamically adapt an illumination profile, in particular an intensity profile, by controlling the intensity of individual LEDs. The control device can be configured separately or integrated into a control device described further below.Generally speaking, the control device can be configured to control different lighting elements differently, for example, to activate at least one lighting element and not activate / deactivate at least one other lighting element, and / or to set different illumination intensities for at least two different lighting elements. The orientation of the multiple image capture units relative to the shaft and / or relative to the distal endpiece can be fixed. Avoiding movable image capture units reduces the susceptibility of the endoscope device to failure.

[0042] The distal end piece can be designed to be autoclave-resistant. The autoclave-resistant design, in particular, provides a sealed distal end piece that is suitable for sterilization with an autoclave. The distal end piece can have cover glasses that cover, in particular seal, the plurality of image capture units and / or the at least one lighting element from an outer side of the distal end piece. The cover glasses can be soldered into the distal end piece.

[0043] The shaft may have a longitudinal axis and an outer wall. The distal end piece may protrude radially in a transverse direction of the shaft. An input optic of at least one of the plurality of image acquisition units may be arranged radially further outward with respect to the longitudinal axis of the shaft than the outer wall of the shaft. Such a configuration of the shaft enables a complete imaging range along the shaft to the proximal side of the shaft.

[0044] The distal end may have a first inclined surface on a distal side that is inclined with respect to a longitudinal direction of the shaft. At least one of the plurality of image capture units may be directed in a direction parallel to a surface normal of the first inclined surface. The distal end piece on a proximal side may have a second inclined surface that is inclined with respect to a longitudinal direction of the shaft. The at least one of the plurality of image capture units may be directed in a direction parallel to a surface normal of the second inclined surface. Such inclined surfaces may simplify insertion and / or removal of the endoscope device in a human medical application.

[0045] The shaft may further comprise a heat dissipation device configured to transfer heat from the distal end of the shaft to the proximal end of the shaft. The heat dissipation device may be formed by a heat pipe that can transfer heat via an evaporation and condensation circuit. The heat dissipation device may reduce heat input to an examination subject caused by the image acquisition units and / or lighting elements.

[0046] The endoscope device can further comprise a control device configured to determine a panoramic image, for example by stitching, based on a plurality of images acquired by the plurality of image acquisition units at different rotational positions of the distal end piece relative to a longitudinal axis of the shaft. Such a panoramic image provides the user with a good overview of the examination object during an examination, particularly when the examination object is a urinary bladder. The control device can further be configured to mark different image areas of the panoramic image, based on images acquired with different image acquisition units, differently for a user.The different markings help the user to better assess a partially distorted representation in the panoramic image, whereby the user can in particular recognize which of the several image acquisition units can best capture an object under examination.

[0047] The control device can further be configured to place one or more of the lighting elements and / or the image acquisition units into a standby state when a predetermined image area is not required. Placing the units into the standby state can reduce heat input to an examination subject during an examination.

[0048] The endoscopic imaging procedure may be performed partially or entirely manually. In other embodiments, the procedure may be performed partially or entirely automatically.

[0049] The devices according to the invention and the methods according to the invention are not intended to be limited to the application and embodiments described above. In particular, they may have a number of individual elements, components and units as well as method steps that differs from the number stated herein in order to fulfill a function described herein. Furthermore, within the value ranges specified in this disclosure, values ​​​​that lie within the stated limits are also to be considered disclosed and can be used arbitrarily. It is particularly pointed out that all features and properties described with regard to a device, as well as methods, can be transferred mutatis mutandis to methods and can be used within the meaning of the invention and are considered to be co-disclosed. The same applies in the reverse direction.This means that structural features mentioned in relation to methods, i.e. features related to the device, can also be taken into account, claimed and also counted as part of the disclosure within the scope of the device claims.

[0050] The present invention is described below by way of example with reference to the accompanying figures. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will expediently consider the features individually and use them in meaningful combination within the scope of the claims.

[0051] If there is more than one instance of a particular object, only one of them is provided with a reference symbol in the figures and in the description. The description of this instance can be transferred accordingly to the other instances of the object. If objects are named using numerical terms, such as first, second, third object, etc., these serve to name and / or assign objects. Accordingly, a first object and a third object, but not a second object, can be included. However, a number and / or sequence of objects can also be derived using numerical terms.

[0052] They show schematically:

[0053] Fig. 1 is a perspective view of an endoscopic system with an endoscope device;

[0054] Fig. 2 is a perspective view of a distal end of the endoscope device according to an embodiment with two image acquisition units;

[0055] Fig. 3 is a side view of the distal end of the endoscope device according to the embodiment with two image acquisition units;

[0056] Fig. 4 is a front view of the distal end of the endoscope device according to the embodiment with two image acquisition units; Fig. 5 is a side view of the distal end of the endoscope device according to the embodiment with two image acquisition units in use;

[0057] Fig. 6 is a perspective view of a distal end of an endoscope device according to another embodiment with three image acquisition units;

[0058] Fig. 7 is a side view of the distal end of the endoscope device according to the further embodiments with three image acquisition units;

[0059] Fig. 8 is a front view of the distal end of the endoscope device according to the further embodiment with three image acquisition units;

[0060] Fig. 9 is a side view of the distal end of the endoscope device according to the further embodiments with three image acquisition units in one application;

[0061] Fig. 10 is a perspective view of a distal end of an endoscope device according to a further embodiment with three image capture units, wherein two lighting elements are designed as flat lighting elements;

[0062] Fig. 11 is a perspective view of a distal end of an endoscope device according to another embodiment with two image acquisition units offset in the transverse direction, viewed from a distal side; and

[0063] Fig. 12 shows a further perspective view of the distal end of the endoscope device according to the further embodiments with two image acquisition units offset in the transverse direction, viewed from a proximal side.

[0064] Fig. 1 shows a perspective view of an endoscopic system 100 with an endoscope device 10. The endoscopic system 100 shown as an example comprises the endoscope device 10, a handle 102, a connecting cable 104, and a supply unit 106 connected to the endoscope device 10 via the cable 104. The endoscopic system 100 and / or the endoscope device 10 and the supply unit 106 can be part of a medical system. The supply unit 106 can be used with a display (not shown). Furthermore, the supply unit 106 can be configured to forward and / or process image data received from the endoscope device 10.

[0065] Fig. 2 shows a perspective view of the distal end 16 of the endoscope device 10 according to an embodiment with two image acquisition units 20, Fig. 3 shows a side view of the distal end 16 of the endoscope device 10 according to the embodiment with two image acquisition units 20 and Fig. 4 shows a front view of the distal end 16 according to the embodiment with two image acquisition units 20, wherein a housing of the endoscope device 10 is only indicated by a dashed line, so that an interior of the distal end piece 18 is shown. Fig. 5 shows a side view of the distal end 18 of the endoscope device 10 according to the embodiment with two image acquisition units 20 in use.

[0066] The endoscope device 10 comprises a shaft 12 extending from a proximal end 14 to a distal end 16, and a distal end piece 18 arranged at the distal end 16 of the shaft 12. The distal end piece 18 comprises two image acquisition units 20 directed in different directions and defining a total viewing angle θ, wherein the total viewing angle θ is greater than the individual viewing angles α, β of the image acquisition units 20. The endoscope device 10 illustrated as an example is designed for a rigid video endoscope. The multiple image acquisition units 20 of the endoscope device 10 are not shown in Fig. 1.

[0067] The two image acquisition units 20, which are directed in different directions and define a total viewing angle 0, enlarge an imaging area A of the endoscope device 10 without providing any moving parts. Fig. 5 shows an application in a urinary bladder, with the imaging area A indicated by a dot-dash line.

[0068] The shaft 12 is rigid and can be inserted into the interior of organisms such as the urinary bladder shown in Fig. 5. The distal end 16 of the shaft 12 and the proximal end 14 of the shaft 12 are opposite each other with respect to a longitudinal axis 32 of the shaft 12, and the distal end piece 18 is formed integrally with the shaft 12.

[0069] The two image capture units 20 are each formed by camera modules. The multiple image capture units 20 directed in different directions have, as shown in Fig. 3 and Fig. 5, individual viewing angles α, β of 100° each, with the total viewing angle θ being 135°. The image capture units 20 can together capture a common imaging area A. The image capture unit 20 located further toward the proximal end 14 is directed slightly toward the proximal end 14. As shown in Fig. 5, the total viewing angle θ defines the imaging area A, with the image capture unit 20 directed toward the proximal end 14 enabling a partial rearview.

[0070] The image acquisition units 20 are arranged offset in the longitudinal direction 32 of the shaft. As shown in Fig. 5, the image acquisition units 20 define a first imaging region and a second imaging region, wherein the first imaging region and the second imaging region overlap, and wherein the first imaging region and the second imaging region form the imaging region A. Based on an image of the first imaging region and an image of the second imaging region, a stereo image of the overlap region can be generated, and a stereoscopic distance measurement can be carried out. The endoscope device 10 comprises a control device 11 configured to perform the stereoscopic distance measurement. Alternatively, the stereoscopic distance measurement can be performed partially or completely by a control device of the supply unit 106.The stereoscopic distance measurement is carried out directly, without the need to rotate the endoscope device 12.

[0071] The distal end piece 18 comprises two lighting elements 26, wherein a lighting element 26 located further towards the proximal end 14 is arranged between the two image acquisition units 20 in order to provide uniform illumination of the imaging area A. The lighting elements 26 are each formed by a light-emitting diode.

[0072] The orientation of the image acquisition unit 20 relative to the shaft 12 and relative to the distal end piece 18 is fixed. The distal end piece 18 is designed to be autoclave-resistant. The distal end piece 18 has a cover glass 21 for each of the image acquisition units 20 and the lighting elements 20, which is soldered into a housing of the endoscope device. The distal end piece 18 protrudes radially in a transverse direction 24 of the shaft 12. The radially protruding configuration of the distal end piece 18 is optional. The shaft 12 can have the same dimensions as the distal end piece 18 in the transverse direction 24 of the shaft 12.

[0073] The distal end piece 18 has a first inclined surface 36 on a distal side, which is inclined with respect to the longitudinal direction 22 of the shaft 12, and a second inclined surface 38 on a proximal side, which is inclined with respect to the longitudinal direction 32 of the shaft 12. The image capture units 20 are each directed in a direction parallel to a surface normal of the first inclined surface 36 or the second inclined surface 38. The lighting elements 26 are each arranged on further separate inclined surfaces. This design avoids sharp edges.

[0074] The shaft 12 further includes a heat dissipation system 40 configured to transfer heat from the distal end 16 of the shaft 12 to the proximal end 14 of the shaft 12. The heat dissipation system 40 is formed by a heat pipe that can transfer heat via an evaporation and condensation circuit, thereby reducing heat input from the image acquisition units 20 and the lighting elements 26 to an examination subject. Alternatively, the heat dissipation system 40 can also be formed by a heat exchanger that can transfer heat via a rinsing circuit.

[0075] The endoscope device 10 further comprises a control device 11, which is configured to determine a panoramic image based on a plurality of images recorded at different rotational positions of the distal end piece 18 with respect to the longitudinal axis 32 of the shaft 12 by means of the plurality of image acquisition units 20, in order to provide the user with a good overview of the examination object during examination, in particular in the case of the bladder as shown in Fig. 5, when the user rotates the endoscope device 10 about its longitudinal axis 32. The control device 11 is further configured to mark different image areas of the panoramic image, which are based on images recorded with different image acquisition units 20, differently for the user. The different markings allow the user to recognize which image acquisition unit 20 can most accurately capture the examination object. In Fig. 6 to Fig.9 shows a further exemplary endoscope device 10' as an alternative embodiment of the endoscope device 10 described above. The endoscope device 10' largely corresponds to the previously described endoscope device 10 shown in FIGS. 2 to 5, wherein the endoscope device 10' comprises three image acquisition units 20 and has a differently configured distal end piece 18'. Regarding the description, reference can also be made to the above explanations.

[0076] Fig. 6 shows a perspective view of the distal end 16 of the endoscope device 10' according to an embodiment with three image acquisition units 20, Fig. 7 shows a side view of the distal end 16 of the endoscope device 10' according to the embodiment with three image acquisition units 20 and Fig. 8 shows a front view of the distal end 16 according to the embodiment with three image acquisition units 20, wherein a housing of the endoscope device 10' is only indicated by a dashed line, so that an interior of the distal end piece 18' is shown. Fig. 9 shows a side view of the distal end 18' of the endoscope device 10' according to the embodiment with three image acquisition units 20 in use.

[0077] The distal end piece 18' comprises three image acquisition units 20 directed in different directions and defining a total viewing angle 0', wherein the total viewing angle 0' is greater than the individual viewing angles α, β, y of the image acquisition units 20. The three image acquisition units 20 directed in different directions each have individual viewing angles α, β, y of 100° and are arranged such that the total viewing angle 0' is 200°. The image acquisition unit 20 located furthest from the proximal end 14 has a viewing angle of 130° with respect to the longitudinal axis 32 of the shaft 12. The resulting total viewing angle 0' defines an imaging area that encloses the shaft 12. This enables a complete rear view, which is helpful, for example, for an application with a urinary bladder as shown in Fig. 9, in order to view a bladder neck of the bladder.

[0078] Fig. 9 shows the three image acquisition units 20, each defining a first imaging region, a second imaging region, and a third imaging region. The first imaging region and the second imaging region, as well as the second imaging region and the third imaging region, overlap, creating two overlapping regions. The previously described stereoscopic distance measurement can be performed in both overlapping regions.

[0079] The image capture units 20 are arranged in a longitudinal direction 34 of the shaft 12. The distal end piece 18' and the shaft 12 are constructed in two parts. The distal end piece 18' comprises four illuminating elements 26, two of which are arranged between the image capture units 20. Two of the illuminating elements 26 and one of the image capture units 20, as well as a further illuminating element 26 and another of the image capture units 20, are each directed essentially parallel in the same direction. The distal end piece 18' projects radially in the transverse direction 24 of the shaft 12 such that an input optic of the image acquisition unit 20 located furthest from the proximal end 14 is arranged radially further outward with respect to the longitudinal axis 32 of the shaft 12 than an outer wall 34 of the shaft 12. Such a configuration of the shaft 12 enables an imaging area A' along the shaft 12 to the proximal side of the shaft 12.

[0080] Fig. 10 shows a further exemplary endoscope device 10" as an alternative embodiment of the endoscope device 10 and endoscope device 10' described above. The further endoscope device 10" largely corresponds to the endoscope device 10' according to the above description and the illustrations in Fig. 6 to Fig. 9, but two of the lighting elements 26, which are arranged between the image capture units 20, are formed by flat lighting elements 26, in this case, for example, light-emitting diodes. The other individual features of the endoscope device 10" have therefore already been described for the endoscope device 10' shown in Fig. 6 to Fig. 9. A further description of the individual features is therefore omitted.

[0081] The planar lighting elements 26, which are arranged between the image capture units 20, are formed and arranged along the shaft 12 such that they largely occupy a rectangular space available between the image capture units 20. The planar lighting elements 26 further each comprise an optical element 27 designed as a beam-shaping lens, which shapes a light beam 27a of the planar lighting elements 26 according to the imaging areas. The respective light beam 27a is pyramid-shaped, as shown in Fig. 10. By using planar lighting elements 27 in this way, the imaging areas can be illuminated more evenly and, in particular, can also be designed to be selectively controllable in order to adapt an intensity profile of the lighting elements 27 designed as light-emitting diodes, so that an object to be examined can be individually illuminated.The control can be carried out by the above-mentioned control device 11.

[0082] In Fig. 11 and Fig. 12, a further exemplary endoscope device 10'" is shown as a further alternative embodiment of the endoscope devices 10, 10', 10" described above. The endoscope device 10'" largely corresponds to the previously described endoscope device 10 shown in Fig. 2 to Fig. 5, wherein the endoscope device 10'" comprises two image capture units 20 offset in a transverse direction and has a differently designed distal end piece 18'". With regard to the description, reference can also be made to the above explanations.

[0083] Fig. 11 shows a perspective view of a distal end 16 of the endoscope device 10'" according to a further embodiment with two transversely offset image acquisition units 20, viewed from a distal side. Fig. 12 shows a further perspective view of the distal end 16 of the endoscope device 10'" according to the further embodiment with two transversely offset image acquisition units 20, viewed from a proximal side.

[0084] The distal end piece 18'" comprises two image acquisition units 20 directed in different directions, one toward a proximal end 14 and the other toward a distal end 16. The image acquisition unit 20 located further toward the proximal end 14 has a viewing angle of more than 120° with respect to the longitudinal axis 32 of the shaft 12. The resulting imaging area includes the shaft 12. This enables a complete rear view.

[0085] The image capture units 20 are arranged offset in a transverse direction 34 of the shaft 12, and the distal end piece 18'" and the shaft 12 are integrally formed. The distal end piece 18'" comprises two luminous elements 26, wherein the two luminous elements 26 are each directed substantially parallel to one of the image capture units 20 in the same direction. The image capture units 20 and the luminous elements 26 are also arranged in pairs, wherein a first pair 28 and a second pair 30 are formed, and the arrangement of the image capture unit 20 and the luminous element 26 of the first pair 28 can be converted into an arrangement of the image capture unit 20 and the luminous element 26 of the second pair 30 by rotation and mirroring.

[0086] The distal end piece 18'" projects radially in the transverse direction 24 of the shaft 12 such that an input optic of the image acquisition unit 20 located furthest from the proximal end 14 is arranged radially further outward with respect to the longitudinal axis 32 of the shaft 12 than the outer wall 34 of the shaft 12. Such a configuration of the shaft 12 enables an imaging area along the shaft 12 to the proximal side of the shaft 12.

[0087] From the above description it becomes clear how at least one image is recorded in an endoscopic imaging method using the endoscope device 10.

[0088] List of reference symbols

[0089] 10 Endoscope device

[0090] 12 shaft

[0091] 14 proximal end

[0092] 16 distal end

[0093] 18 distal end piece

[0094] 20 image acquisition unit

[0095] 21 cover glasses

[0096] 22 Longitudinal direction

[0097] 24 Transverse direction

[0098] 26 lighting elements

[0099] 27 optical element

[0100] 27a Light beam

[0101] 28 first pair

[0102] 30 second pair

[0103] 32 Longitudinal axis

[0104] 34 Outer wall

[0105] 36 first inclined surface

[0106] 38 second inclined surface

[0107] 40 Heat dissipation a, ß, Y Single viewing area

[0108] 0 total field of view

[0109] A imaging area

Claims

Claims 1. An endoscope device (10), comprising: a shaft (12) extending from a proximal end (14) to a distal end (16); and a distal end piece (18) arranged at the distal end (16) of the shaft (12), wherein the distal end piece (18) comprises a plurality of image acquisition units (20) directed in different directions and defining a total viewing angle (θ), wherein the total viewing angle (θ) is greater than individual viewing angles (α, β, γ) of the image acquisition units (20).

2. Endoscope device (10) according to claim 1, wherein the total viewing angle (θ) is at least 110°.

3. Endoscope device (10) according to claim 1 or 2, wherein at least one of the plurality of image acquisition units (20) is directed towards the proximal end (14).

4. Endoscope device (10) according to one of the preceding claims, wherein the total viewing angle (θ) defines an imaging area (A), and wherein the imaging area (A) extends along or encloses the shaft (12).

5. Endoscope device (10) according to one of the preceding claims, wherein the plurality of image acquisition units (20) are arranged offset in a longitudinal direction (22) of the shaft (12).

6. Endoscope device (10) according to one of the preceding claims, wherein the plurality of image acquisition units (20) are arranged offset in a transverse direction (24) of the shaft (12).

7. The endoscope device (10) according to any one of the preceding claims, wherein at least two of the plurality of image acquisition units (20) define a first imaging area (A1) and a second imaging area (A2), and wherein the first imaging area (A1) and the second imaging area (A2) overlap.

8. Endoscope device (10) according to claim 7, wherein a stereo image of an overlapping region (AA) of the first imaging region (A1) and the second imaging region (A2) can be generated based on at least one image of the first imaging region (A1) and at least one image of the second imaging region (A2).

9. Endoscope device (10) according to claim 7 or 8, further comprising a control device (11) which is configured to carry out at least one stereoscopic distance measurement based on at least one image of the first imaging area (A1) and at least one image of the second imaging area (A2).

10. Endoscope device (10) according to one of the preceding claims, wherein the distal end piece (18) comprises at least one luminous element (26).

11. Endoscope device (10) according to claim 10, wherein the at least one lighting element (26) is arranged between two of the plurality of image acquisition units (20).

12. Endoscope device (10) according to claim 10 or 11, wherein the at least one lighting element (26) and at least one of the plurality of image capture units (20) are directed at least substantially parallel in the same direction.

13. Endoscope device (10) according to one of claims 10 to 12, wherein the at least one light-emitting element (26) comprises a light-emitting diode and / or a laser diode and / or a light guide.

14. Endoscope device (10) according to one of claims 10 to 13, wherein the distal end piece (18) has a plurality of lighting elements (26), wherein the image capture units (20) and the lighting elements (26) are arranged in pairs and comprise at least a first pair (28) and a second pair (30), wherein an arrangement of an image capture unit (20) and a lighting element (26) of the first pair (28) can be converted into an arrangement of an image capture unit (20) and a lighting element (26) of the second pair (30) by rotation and / or mirroring.

15. Endoscope device (10) according to one of claims 10 to 14, wherein the at least one luminous element (26) is designed as a planar luminous element, which preferably further comprises an optical element (27) for forming a light beam (27a).

16. Endoscope device (10) according to one of claims 10 to 15, further comprising a control device (11) which is configured to selectively control one or more of the lighting elements (26) and / or to statically and / or dynamically adapt an illumination profile of the lighting elements (26), in particular an intensity profile of the lighting elements (26), to an object to be examined.

17. Endoscope device (10) according to one of the preceding claims, wherein an orientation of the plurality of image acquisition units (20) relative to the shaft (12) and / or relative to the distal end piece (18) is unchangeable.

18. Endoscope device (10) according to one of the preceding claims, wherein the shaft (12) has a longitudinal axis (32) and an outer wall (34), wherein the distal end piece (18) protrudes radially in a transverse direction (24) of the shaft (12), and wherein an input optics of at least one of the plurality of image acquisition units (20) is arranged radially further outward with respect to the longitudinal axis (32) of the shaft (12) than the outer wall (34) of the shaft (12).

19. Endoscope device (10) according to one of the preceding claims, wherein the distal end piece (18) has on a distal side a first inclined Surface (36) which is inclined with respect to a longitudinal direction (22) of the shaft (12), wherein at least one of the plurality of image acquisition units (20) is directed in a direction parallel to a surface normal of the first inclined surface (36).

20. Endoscope device (10) according to one of the preceding claims, wherein the distal end piece (18) has on a proximal side a second inclined surface (38) which is inclined with respect to a longitudinal direction (22) of the shaft (12), wherein at least one of the plurality of image acquisition units (20) is directed in a direction parallel to a surface normal of the second inclined surface (38).

21. The endoscope device (10) of any preceding claim, wherein the shaft (12) further comprises a heat sink (40) configured to transfer heat from the distal end (16) of the shaft (12) to the proximal end (14) of the shaft (12).

22. Endoscope device (10) according to one of the preceding claims, further comprising a control device (11) which is configured to determine a panoramic image based on a plurality of images recorded at different rotational positions of the distal end piece (18) with respect to a longitudinal axis (32) of the shaft (12) by means of the plurality of image acquisition units (20).

23. Endoscope device (10) according to claim 22, wherein the control device (11) is further configured to mark different image areas of the panoramic image, which are based on image recordings with different image acquisition units (20), differently for a user.

24. Endoscope device (10) according to one of the preceding claims, further comprising a control device (11) which is configured to put one or more of the lighting elements (26) and / or the image acquisition units (20) into a rest state when a predetermined imaging area is not required.

25. Endoscope device (10) according to one of the preceding claims, wherein the distal end piece (18) is autoclave-resistant.

26. Endoscopic system (100) comprising an endoscope device (10) according to one of the preceding claims.

27. An endoscopic imaging method, wherein at least one image is recorded by means of an endoscope device (10) according to one of claims 1 to 25.

Images