Endoscope device for image capture

Abstract

The invention relates to an endoscope device for image capture, in particular for stereoscopic image capture, comprising: a shaft, which extends from a proximal end to a distal end and which has a shaft longitudinal axis; and an image capture module, the image capture module comprising: a main body, which has a main body longitudinal axis and which is rotatably and / or pivotably mounted on the shaft in a region of the distal end; a first image capture device attached to the main body; and a second image capture device attached to the main body; wherein the first image capture device and the second image capture device together are configured for image capture, in particular for stereoscopic image capture, and define a main viewing direction that is oriented at an angle to the main body longitudinal axis; and wherein the first image capture device and the second image capture device are spaced apart from one another by a distance in relation to the main body longitudinal axis; wherein the main body can be brought into a first orientation relative to the shaft longitudinal axis in an insertion configuration; and wherein the main body can be brought into a second orientation relative to the shaft longitudinal axis in an image recording configuration, an angle between the main body longitudinal axis and the shaft longitudinal axis being reduced in said image recording configuration vis-à-vis the first insertion configuration, wherein an image region that is situated in front of the distal end of the shaft along the shaft longitudinal axis can be captured by means of the first image capture device and the second image capture device in the image recording configuration.

Description

[0001] Endoscope device for image acquisition

[0002] The invention relates to an endoscope device, in particular a medical endoscope device, and an endoscope, in particular a medical endoscope, with an image acquisition module for image acquisition, in particular for stereoscopic image acquisition.

[0003] Endoscopes are used to perform a diagnostic and / or therapeutic procedure, such as a minimally invasive surgical intervention, on a hard-to-reach part of a patient's body. Examples of hard-to-reach parts of the body include cavities such as a body cavity and / or a hollow organ. In order to perform the diagnostic and / or therapeutic procedure with the endoscope, the endoscope is designed such that it can be partially guided into the patient's cavity. While some endoscopes comprise optical elements and / or light guides that guide imaging light and / or illumination light through an endoscope shaft, others have cameras and / or lighting elements at the distal end. In this case, only electrical energy and data need to be transmitted through the shaft via appropriate cables. Proximally arranged light sources are also combined with distal cameras.A light guide then runs through the shaft to guide the illumination light to the distal end. Cameras can be provided in or on the endoscope to record the patient's cavity in 3D during diagnostic and / or therapeutic procedures, allowing the surgeon to visualize anatomical structures within the patient's cavity. Lighting elements used can include LEDs, for example.

[0004] The cameras and light elements of the endoscope are typically located at one end of the endoscope, which is inserted into the patient's cavity. To visualize a 3D image of the anatomical structures in the patient's cavity, at least two cameras must be arranged side by side. This allows images to be captured from different angles, from which a 3D image can then be generated.

[0005] Such 3D endoscopes usually have a pair of cameras installed directly next to each other at the distal end. The maximum spacing of the cameras is limited by the shaft diameter of the endoscope. Document EP 3 613 331 A1 shows an endoscope with a shaft, at the end of which a moving component is arranged that can be pivoted by 180° with respect to the shaft. An optical device is arranged at the end of the shaft. Another optical device is arranged at each end of the moving component. By pivoting the moving component by 180° with respect to the shaft, the optical device at the end of the shaft and an optical device at one end of the moving component are exposed, so that these two optical devices are oriented in the same direction. The distance between the two optical devices can therefore correspond to the shaft diameter.

[0006] Endoscopes typically have a round cross-section and a small diameter. Small diameters allow for less traumatic insertion into the patient. For example, endoscopes have a diameter of 5 mm or 10 mm.

[0007] For this reason, the space available for the cameras and lighting elements in the endoscope is very limited. This means that, for example, only very small stereo base distances between the cameras can be realized in endoscopes. Depending on the distance from the object to be imaged, this can result in only a slight disparity between the images in a stereo image pair.

[0008] Furthermore, the camera systems of these endoscopes often only offer low resolution, as camera systems with higher resolution would require too much space, especially to achieve a sufficiently large image diagonal. Such space is not available with the conventional installation of two cameras side by side in the distal end.

[0009] Based on the state of the art, the invention is based on the task of cleverly utilizing installation space.

[0010] The object is achieved according to the invention by an endoscope device and an endoscope as described herein and defined in the claims.

[0011] The present invention provides an endoscope device for image acquisition, in particular for stereoscopic image acquisition, in particular a medical endoscope device. The endoscope device for image acquisition, which is particularly suitable for stereoscopic image acquisition, comprises a shaft that extends from a proximal end to a distal end and has a shaft longitudinal axis. The endoscope device further comprises an image acquisition assembly. The image acquisition assembly comprises a base body that has a base body longitudinal axis and is rotatably and / or pivotably mounted on the shaft in a region of the distal end.The image capture assembly further comprises a first image capture device attached to the base body and a second image capture device attached to the base body. The first image capture device and the second image capture device are jointly configured for image capture, in particular for stereoscopic image capture, and define a main viewing direction oriented at an angle to the base body longitudinal axis. The first image capture device and the second image capture device are spaced apart from each other by a distance, in particular a stereo base distance, with respect to the base body longitudinal axis. In an insertion configuration, the base body can be brought into a first orientation relative to the shaft longitudinal axis.Furthermore, in an image acquisition configuration, the main body can be brought into a second orientation relative to the shaft longitudinal axis, in which an angle between the main body longitudinal axis and the shaft longitudinal axis is reduced compared to the first orientation. In the image acquisition configuration, an image region located along the shaft longitudinal axis in front of the distal end of the shaft can be captured, in particular stereoscopically, by means of the first image acquisition device and the second image acquisition device.

[0012] The features according to the invention allow for clever use of installation space. In particular, an endoscope device for image acquisition, in particular for stereoscopic image acquisition, can be provided which, despite its compact design, has increased installation space for elements used for image acquisition. This allows the use of high-resolution camera systems and / or a plurality of camera systems. Furthermore, a large stereo base distance can be realized even with small shaft diameters, or it is possible to adapt the stereo base distance to the respective application. Furthermore, the inventive arrangement of the image acquisition devices in the image acquisition module means that a diameter or cross-section of the base body is available multiple times, whereby higher-resolution systems can be used for the image acquisition devices.For example, it is possible to achieve a 4k resolution in a 10 mm shaft using the image acquisition devices.

[0013] 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, in particular a video endoscope. In particular, the endoscope device can completely encompass the endoscope. The endoscope is preferably a component of an endoscopy system which, in addition to the endoscope, comprises at least one control unit designed to carry out a method for operating the endoscope device of the endoscope. Furthermore, the endoscope device itself could comprise a control unit, which could be integrated in particular into the endoscope base, preferably into the handle, and particularly preferably into a housing provided by the handle.

[0014] Depending on the embodiment, the shaft can be flexible, semi-flexible, and / or rigid. This depends in particular on the application for which the endoscope device or the endoscope is intended. Depending on the application, the shaft can also comprise additional lines, channels, and / or assemblies. For example, a working channel, a light guide, and / or electrical lines can be provided. The lines, in particular the electrical lines, can be configured, for example, to supply the at least one power device. The shaft can, for example, have a round or square cross-section. Preferably, the shaft has a round cross-section.

[0015] The distal end is, in particular, the end of the shaft that faces away from a user during operation. In particular, the distal end is inserted into the cavity and / or a hollow organ of the patient.

[0016] The proximal end is, in particular, the end of the shaft that faces, for example, a user during operation. In particular, the proximal end is inserted into the cavity and / or a hollow organ of the patient, i.e., the proximal end and the distal end represent opposite ends of the shaft.

[0017] The shaft longitudinal axis is, in particular, the axis along which the shaft extends between the proximal end and the distal end. In particular, the shaft longitudinal axis is thus aligned substantially perpendicular to the proximal end and the distal end. The shaft longitudinal axis can be a central axis of the shaft.

[0018] The base body particularly defines the installation space of the image capture assembly. In particular, the base body defines the external dimensions and / or external surfaces of the image capture assembly. The base body preferably has a similar or identical cross-section to the shaft. Depending on the design, the base body can be flexible, semi-flexible, and / or rigid. The longitudinal axis of the base body is perpendicular to the cross-section of the base body. For example, the cross-section of the base body is at least substantially point-symmetrical to the longitudinal axis of the base body.

[0019] In some embodiments, a part of a joint is attached to and / or within the base body, and another part of the joint can be attached to and / or within the shaft. The joint allows the base body to be rotatable or pivotable relative to the shaft. In other words, the joint allows the base body to be articulated to the shaft.

[0020] The first image capture device and the second image capture device can form an HD system, in particular a Full HD system and / or a 4K system. The resolution of the first image capture device and the second image capture device can be different. For example, the second image capture device can have a lower resolution than the first image capture device. For example, the first image capture device is a Full HD image capture device, for example in 16:19 format. Furthermore, the second image capture device, for example, has a square sensor with a resolution of at least 1000 pixels, at least 1200 pixels, or at least 1500 pixels and, in particular, allows the rotation (electronic image erection) of an HD image (1280 x 720p60).

[0021] This allows the upscaled image from the second image capture device to be combined with the image from the first image capture device to create a stereo image without any noticeable loss of resolution. Furthermore, the correspondingly rotated and scaled image from the square sensor of the second image capture device can be used for the image-erected 2D view.

[0022] For example, the second image capture device is arranged closer to the shaft than the first image capture device, at least in the insertion configuration. The first image capture device and the second image capture device each define an image capture area that records an area at an angle to the extension direction of the main body's longitudinal axis. For example, the first image capture device and the second image capture device record an area oriented perpendicular to the extension direction of the main body's longitudinal axis, i.e., the first image capture device and the second image capture device are arranged such that they view from one side of the main body (90° side view).

[0023] The first image capture device can have a first input lens, and the second image capture device can have a second input lens. The input lenses can each define an optical axis. The distance, in particular the stereo base distance, can be a distance between the optical axes, in particular measured between points that lie on the respective optical axis and in the center of the respective input lens. In particular, the stereo base distance between the first image capture device and the second image capture device affects the disparity curve, i.e., the change in disparity between images from the first image capture device and images from the second image capture device as a function of the working distance.A larger stereo base distance between the first image capture device and the second image capture device increases the disparity compared to a smaller stereo base distance with otherwise identical imaging parameters such as focal length and zero disparity. By arranging the first image capture device and the second image capture device along the longitudinal axis of the main body, different stereo base distances can be realized. The stereo base distances can be adapted to the desired spatial effect in the 3D images. Large stereo base distances can be used particularly in combination with image capture devices with a long focal length.

[0024] The first orientation of the base body in the insertion configuration can be, in particular, parallel, preferably coaxial, relative to the shaft longitudinal axis. In particular, the base body in the insertion configuration can represent an extension of the shaft, wherein the cross-section of the base body does not extend beyond the cross-section of the shaft and / or wherein the cross-section of the base body completely overlaps the cross-section of the shaft. Generally speaking, in the first orientation, the base body longitudinal axis can be oriented at least substantially parallel to the shaft longitudinal axis and, in particular, coincide with it.By “at least substantially parallel” is meant here in particular an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction and the reference direction enclose an angle of 0°, in particular taking into account a maximum deviation of less than 8°, advantageously of less than 5° and particularly advantageously of less than 2°.

[0025] The second orientation of the main body in the image recording configuration is set in particular as soon as the endoscope device has been inserted into the body cavity or hollow organ of the patient or has reached a location where the endoscope device is used. For example, the angle in the second orientation between the longitudinal axis of the main body and the longitudinal axis of the shaft is 30°, 45°, 75° or 90°, preferably 90°. Several different image recording configurations can be set, for example in order to be able to work with different viewing directions. In this case, several discrete angular positions can be set and / or any positions can be continuously adjustable. The longitudinal axis of the main body can be oriented at least substantially perpendicular to the longitudinal axis of the shaft in the second orientation.By “at least substantially perpendicular” is meant in particular an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction and the reference direction enclose an angle of 90°, in particular taking into account a maximum deviation of less than 8°, advantageously less than 5° and particularly advantageously less than 2°. The angle between the longitudinal axis of the base body and the longitudinal axis of the shaft can, for example, be continuously adjustable, i.e. the base body can have a plurality of different angles in the range from 0 to almost 180° in the image recording configuration and the angle can be changeable in the range from 0 to almost 180° in the image recording configuration. The angle can be realized or adjusted by Bowden cables and / or an actuator such as an electric motor.

[0026] The image area refers in particular to the area in which an image plane of the first image acquisition device and the second image acquisition device overlaps sufficiently so that structures to be imaged in the image area, for example anatomical structures in the patient's cavity, can be captured, in particular stereoscopically captured, and thus sufficient depth information is present in the image so that the structures can be visualized in 3D.

[0027] In particular, the endoscope device according to the invention provides sufficient space in the base body of the image capture module for various image capture devices. Furthermore, the endoscope device according to the invention can achieve virtually any distance, in particular a stereo base distance.

[0028] For example, the distance, in particular the stereo base distance, is greater than a shaft inner radius and in particular greater than a shaft inner diameter. This makes it possible to achieve disparity curves that are only feasible for very large shaft diameters in conventional arrangements. In some embodiments, the distance, in particular the stereo base distance, can be at least 1.1 times, at least 1.2 times, at least 1.5 times, at least 2 times, at least 3 times, or even at least 5 times as large as the shaft inner radius and / or the shaft inner diameter.

[0029] In some embodiments, the first image capture device comprises a first image sensor having a first detection surface, and the second image capture device comprises a second image sensor having a second detection surface. A diagonal extending across the first detection surface and the second detection surface can be larger than the shaft inner radius and in particular larger than the shaft inner diameter. This allows large image sensors to be installed even when using small shaft diameters. Limitations regarding maximum achievable resolutions can thereby be eliminated. In some embodiments, said diagonal can be at least 1.1 times, at least 1.2 times, at least 1.5 times, at least 2 times, at least 3 times, or even at least 5 times as large as the shaft inner radius and / or the shaft inner diameter.

[0030] Furthermore, a diagonal of the first detection surface and / or a diagonal of the second detection surface can be larger than a shaft inner radius and in particular larger than a shaft inner diameter of the shaft. This allows large image sensors to be installed even when using small shaft diameters. Limitations regarding maximum achievable resolutions can thus be eliminated. Diagonals that are larger than the shaft inner diameter can be used for non-square detection surfaces, for example, by installing a shorter side of the respective detection surface parallel to a transverse direction of the base body. A longer side of the respective detection surface can then extend parallel to the base body's longitudinal axis.In some embodiments, said diagonal of the first detection surface and / or the diagonal of the second detection surface may be at least 1.1 times, at least 1.2 times, at least 1.3 times, at least 1.5 times, at least 2 times or even at least 3 times as large as the shaft inner radius and / or as the shaft inner diameter.

[0031] Furthermore, in particular for square detection surfaces, for example, a diagonal of the first detection surface and / or a diagonal of the second detection surface can be greater than 0.8 times or 0.9 times the shaft inner radius and in particular greater than 0.8 times or 0.9 times the shaft inner diameter of the shaft.

[0032] High imaging quality due to high light yield can be achieved in particular when the size of an input optic of the first image capture device and / or an input optic of the second image capture device is larger than the shaft inner radius and in particular larger than the shaft inner diameter. In the case of a circular input optic, the size of the input optic can refer to its diameter. In the case of a rectangular input optic, such as a prism with a rectangular input side, the size can refer to a diagonal. Generally speaking, the size can refer to the largest distance that can be inscribed in a cross-section of the input optic.In some embodiments, the size of the first input optics and / or the size of the second input optics may be at least 1.1 times, at least 1.2 times, at least 1.3 times, at least 1.5 times, or even at least 1.9 times as large as the shaft inner radius and / or as a shaft outer radius.

[0033] The size can also be larger than the shaft inner diameter and / or the base body inner diameter in the case of circular input optics, by providing a recess in the shaft housing and / or in the base body housing in which the respective input optics are arranged in such a way that they partially overlap a wall of the housing, ie the circular input optics can protrude beyond the edge of the shaft inner diameter and / or the base body inner diameter or beyond the shaft housing and / or the base body inner housing.

[0034] Furthermore, in some embodiments, the base body can define an overall installation space, wherein the first image capture device is arranged in a first longitudinal section of the overall installation space and occupies a first installation space, wherein the first installation space is larger than half of the first longitudinal section. The arrangement of the image capture devices according to the invention can thereby provide a larger overall installation space than with conventional arrangements. The overall installation space of the base body can be divided into different longitudinal sections along the longitudinal axis of the base body. In this case, a “longitudinal section” should be understood in particular to mean a section of the overall installation space that extends over part of its axial length. The cross-section of the longitudinal sections can, for example, correspond to the cross-section of the overall installation space.For example, the overall installation space includes the first longitudinal section in which the first image capture device is arranged. The length of the first longitudinal section along the longitudinal axis of the main body can correspond to the length of the image capture device. The image capture device requires a smaller installation space than the installation space available in the first longitudinal section. The same can apply to each additional longitudinal section in which an image capture device is arranged.

[0035] Furthermore, the image capture assembly can further comprise a third image capture device, which is spaced apart from the first image capture device and the second image capture device along the longitudinal axis of the main body. This allows for a high degree of variability with regard to different image capture modes. Different image capture devices can be used largely freely due to the large available installation space. For example, the additional image capture device can provide the user with an additional image. However, it is also possible for all three image capture devices to be used to generate an image.

[0036] Preferably, two of the three image capture devices can be selectively operated together for imaging, in particular for stereo imaging, in order to provide the user with an additional image via the additional or remaining image capture device. This additional image can, for example, point in a different direction than the imaging, in particular the stereo imaging, in order to be able to record different images in different directions emanating from the base body.

[0037] Furthermore, the third image capture device can be directed in the main viewing direction of the first image capture device and / or the second image capture device. This can be understood, in particular, to mean that the relevant main viewing directions are oriented at least substantially parallel to one another.

[0038] Different image acquisition modes and a variety of possibilities for combining multiple images during imaging can be achieved, in particular, when the first image acquisition device defines a first image angle, the second image acquisition device defines a second image angle, and the third image acquisition device defines a third image angle, wherein the second image angle is greater than the first image angle, and wherein the third image angle is greater than the second image angle. The image angles can differ considerably from one another. For example, the image angles can each differ by at least 5 degrees, each by at least 10 degrees, each by at least 15 degrees, or even each by at least 20 degrees.One of the image capture devices can be a wide-angle image capture device and / or one of the image capture devices can be a standard view image capture device and / or one of the image capture devices can be a telephoto image capture device. This makes it possible to generate an image with sufficient resolution, particularly of the anatomical structures in the cavity and / or in the hollow organ of the patient, at different distances from the main body.

[0039] In particular, the third image capture device can comprise a wide-angle lens. By taking an image with the wide-angle lens, the user can initially obtain a rough overview of the anatomical structures.

[0040] According to some embodiments, the third image capture device can be arranged between the first image capture device and the second image capture device. This allows a sufficiently large distance, in particular a stereo base distance, to be realized between the first image capture device and the second image capture device while maintaining a compact overall arrangement. Furthermore, in the insertion configuration, the main body longitudinal axis and the shaft longitudinal axis can be oriented parallel to one another, and / or in the image acquisition configuration, the main body longitudinal axis and the shaft longitudinal axis can be oriented perpendicular to one another.This allows the endoscope device to be inserted into the body in a space-saving manner in the insertion configuration and to generate an image in the image acquisition configuration that shows the direction of the shaft's longitudinal axis and can therefore be processed intuitively by the user, for example to coordinate further surgical actions.

[0041] The first image capture device can comprise a first image sensor having a detection surface oriented parallel to the main viewing direction. Alternatively or additionally, the second image capture device can comprise a second image sensor having a detection surface oriented in the main viewing direction. Furthermore, alternatively or additionally, the third image capture device can comprise a third image sensor having a detection surface oriented in the main viewing direction. This allows a high degree of compactness to be achieved. In other words, the first image capture device and / or the second image capture device and / or the third image capture device can be installed vertically in the base body.This can lead to very efficient use of the available installation space and ease of manufacture, especially if the image capture devices are designed as so-called camera cubes. These can then be easily inserted into mounting locations in the base body.

[0042] Furthermore, the first image capture device can comprise a first input optics system with an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is inclined relative to the input side. Alternatively or additionally, the second image capture device can comprise a second input optics system with an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is inclined relative to the input side. Furthermore, alternatively or additionally, the third image capture device can comprise a third input optics system with an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is inclined relative to the input side. This allows a high degree of variability and flexibility with regard to usable optical elements to be achieved.The total length of the optical path from the respective input optics to the respective image sensor, which can be located behind the respective output side, can thus be greater than the shaft's inner diameter. This can be particularly advantageous for optics with a long focal length. In general, this does not require the use of exclusively ultra-short optics. The respective output side can, in particular, be oriented at least substantially perpendicular to the input side. This allows imaging light to be guided parallel to the longitudinal axis of the main body, at least in sections.

[0043] In some embodiments, a light beam is deflected from the input side to the output side by a mirror and / or a prism. For example, one or more lenses can be arranged between the mirror / prism and the output side of the first, second, and / or third input optics, in particular to enable changing the image angle of the image capture device. This allows different zoom levels to be achieved in the image capture devices with identical hardware. Furthermore, the lens can also be displaceable between the mirror / prism and the output side to enable different image angles and thus different zoom levels to be achieved with one of the image capture devices.

[0044] Furthermore, the output side of the first, second and / or third input optics can be oriented in a direction at least substantially parallel to the longitudinal axis of the main body. This makes it possible to realize an image recording configuration in which the longitudinal axis of the main body and the optical axis of the input optics are oriented at least substantially perpendicular to one another, while the associated image sensor is oriented at least substantially perpendicular to the longitudinal axis of the main body. This allows the shaft diameter to be used as an available dimension for the input optics, while the optical path length from the input optics to the image sensor can be selected as desired, because imaging light can be guided at least substantially parallel to the longitudinal axis of the main body, so that the image sensor can be arranged at any distance from the input optics. Preferably, the output side is inclined by 90° relative to the input side, i.e.the input side is oriented parallel to the longitudinal axis of the base body and the output side is oriented perpendicular to the longitudinal axis of the base body so that the lenses can be provided with the largest possible installation space along the longitudinal axis of the base body.

[0045] Furthermore, the first, second, and / or third input optics can comprise a prism. In particular, this is in each case a reflection prism. Furthermore, according to some embodiments, an illumination device, which is configured to emit illumination light in the direction of an image region in the image recording configuration, can be located along the shaft longitudinal axis in front of the distal end of the shaft. As a result, the illumination light required for imaging can be provided by means of the endoscope device. The illumination device can be configured to couple out light from an external illumination device at the distal end of the shaft and / or at the base body. The external illumination device can be a standalone device that is different from the endoscope device. The illumination device can be connectable to and / or detachable from the endoscope device, for example, via a fiber optic connector.In some embodiments, the endoscope device may alternatively or additionally include integrated lighting elements. These may, for example, be arranged at the distal end.

[0046] Furthermore, the illumination device can comprise at least one optical fiber and at least one output optic. This allows light to be guided from the proximal end to the distal end of the shaft or to the base body. This variant is preferably used with an external illumination device.

[0047] In addition, the illumination device can comprise at least one luminous element, in particular at least one light-emitting diode. The luminous element can also comprise at least one laser diode. In some embodiments, the illumination device comprises a plurality of luminous elements, in particular emitting in different spectral ranges. In some cases, the endoscope device can be free of a light guide, by means of which light can be guided through the shaft, for example, from the proximal end to the distal end. In other words, the endoscope device can have exclusively integrated luminous elements.

[0048] Generally speaking, the illumination device can be integrated into the shaft. In some cases, the light can be coupled out to the image area from the distal end of the shaft. In other words, the light can be coupled out proximal to the main body but to a position distal to the main body. Furthermore, the illumination device and in particular a light-coupling unit of the illumination device can be concealed by the main body in the insertion configuration and exposed by the main body in the image acquisition configuration. The light-coupling unit comprises, for example, at least one coupling-out optic, such as one or more coupling-out optics of used lighting elements and / or one or more coupling-out optics that are optically connected to one end of the optical fiber and / or formed integrally therewith. As a result, the illumination device is protected by the image acquisition assembly in the insertion configuration.However, it can be automatically exposed when the base body is brought into the image acquisition configuration, so no further steps are required for release. Furthermore, this arrangement eliminates the need for the illumination device to compete with the image acquisition assembly for installation space.

[0049] In general, the illumination device in the image acquisition configuration can ensure that the anatomical structures in the patient's cavity are sufficiently illuminated so that the image acquisition assembly can record an image of sufficient quality.

[0050] It is further proposed that the endoscope device may comprise a distal camera, which, at least in the insertion configuration, is configured to capture an image area located along the shaft's longitudinal axis in front of the distal end of the shaft. This allows the user, in the insertion configuration, to guide the endoscope device to the desired location in the cavity and / or hollow organ, for example, of the patient, where the endoscope device is to switch to the image acquisition configuration to record images.

[0051] Furthermore, the distal camera can be attached to the base body and / or integrated into the base body in order to protect the distal camera and, for example, so that the distal camera does not require any additional installation space outside the base body.

[0052] Furthermore, the endoscope device can comprise a distal illumination device that, at least in the insertion configuration, is configured to emit illumination light toward an image area located along the shaft's longitudinal axis in front of the distal end of the shaft. This can be advantageous for providing the distal camera with sufficient light to provide the user with a sufficiently clear image for orientation during insertion.

[0053] In addition, the distal illumination device can be attached to the base body and / or integrated into the base body in order to protect the distal illumination device and so that the distal illumination device does not require any additional installation space outside the base body.

[0054] It can also be provided that the distal illumination device comprises at least one light-emitting element, in particular at least one light-emitting diode. By using the light-emitting element as a component of the distal illumination device, the distal illumination device can be integrated into the base body in a very space-saving manner.

[0055] A high degree of flexibility regarding the adaptation of the endoscope device to different requirements can be achieved, especially when the image acquisition module comprises different image acquisition devices that differ in design. Thus, a suitable image acquisition device can be available for different image acquisition applications.

[0056] In particular, the different image capture devices can differ in terms of image angle and / or image resolution. This allows sharp images to be recorded simultaneously at different distances from the image capture module. Furthermore, depending on the available installation space and desired distances, particularly stereo base distances, an arrangement can be provided that allows both a large image area for orientation and specifically selected image areas to be imaged in high quality and spatially.

[0057] In some embodiments, the endoscope device can comprise a joint that couples the base body to the shaft, with at least one electrical connection integrated into the joint. In particular, the joint can comprise a rotatable coaxial connection. However, according to the invention, it can also be provided that a cable and / or a flexible cable duct is provided that extends alongside and / or through the joint between the shaft and the base body. The joint can therefore be purely mechanical. The joint allows the base body to be precisely and easily rotated or pivoted relative to the shaft.

[0058] Furthermore, the endoscope device can comprise an actuating device coupled to the image acquisition assembly and the shaft, and configured to move the main body relative to the shaft. The actuating device allows the user to easily adjust the image acquisition configuration.

[0059] Furthermore, the actuating device can comprise a motor drive so that the image acquisition configuration can be adjusted virtually effortlessly and / or automatically, for example, by a user and / or a control system. Furthermore, this allows a high degree of precision to be achieved because the image acquisition configuration can be precisely adjusted. In particular, in the case where several different image acquisition configurations can be adjusted by different angles between the longitudinal axis of the base body and the longitudinal axis of the shaft, and thus different image acquisition configurations can be set, these can be adjusted automatically.

[0060] The shaft diameter can be at least 5 mm and / or at least 10 mm, which allows, in particular, standard sizes to be used for the production of the shaft. However, the invention is not limited to specific shaft diameters, and smaller or larger shaft diameters can also be used.

[0061] Furthermore, the endoscope device according to one of the above embodiments can be integrated into an endoscope.

[0062] 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.

[0063] If there is more than one instance of a particular object, only one of them may be 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, for example, a first object and a third object, but not a second object, may be included. However, a number and / or sequence of objects could also be derived using numerical terms.

[0064] They show:

[0065] Figure 1 is a schematic representation of an endoscope with an endoscope device and a surgical robot;

[0066] Figure 2 is a schematic representation of an endoscope device with an image acquisition assembly;

[0067] Figure 3 is a schematic representation of another embodiment of an image capture assembly;

[0068] Figure 4 is a schematic representation of another embodiment of an image capture assembly;

[0069] Figure 5 is a cross-sectional view of the embodiment shown in Figure 4;

[0070] Figure 6 is a schematic representation of another embodiment of an endoscope device with an image capture assembly;

[0071] Figure 7 is a sectional view of the embodiment shown in Figure 6;

[0072] Figure 8 is a schematic representation of another embodiment of an endoscope device with an image capture assembly;

[0073] Figure 9 is a schematic representation of another embodiment of an endoscope device with an image capture assembly;

[0074] Figure 10 is a sectional view of the embodiment shown in Figure 9;

[0075] Figure 11 is a schematic representation of another embodiment of an endoscope device with an image capture assembly; Figure 12 is a sectional view of the embodiment shown in Figure 11;

[0076] Figure 1 shows a schematic representation of an endoscope 85 with an endoscope device 10, which is held, for example, by a surgical robot 90, and a table 100. The endoscope 85 can also be handheld and / or manually handled. The endoscope device 10 comprises a proximal end 14 and a distal end 16. The proximal end 14 of the endoscope device 10 can be inserted into a holder of the endoscope 85. The distal end 16 can be inserted into a cavity and / or into a hollow organ of a patient. The surgical robot 90 can, for example, as shown, comprise a robot arm. The surgical robot 90 can move the endoscope in 3 or 6 degrees of freedom, preferably in 6 degrees of freedom. The table 100 can be an operating table. The surgical robot 90 can be attached to the table or set up next to the table.

[0077] Figure 2 shows a schematic representation of the endoscope device 10 with an image capture device 20, which is attached to a distal end 16 of a shaft 12 via a joint 75. The shaft 12 and the image capture device 20 have, for example, a round cross-section or can each have the shape of a tube. The cross-section of the shaft 12 and the image capture device 20 is preferably the same size. The cross-section of the shaft 12 and the image capture device 20 can be, for example, 5 mm or 10 mm.

[0078] The image capture assembly 20 comprises a base body 22. A first image capture device 26 and a second image capture device 36 are accommodated in the base body 22. The first image capture device 26 and the second image capture device 36 are arranged at a 90° angle (90° side view) to a base body longitudinal axis 24 of the base body 22.

[0079] As a result, almost any distance, in particular a stereo base distance, can be realized between the first image capture device 26 and the second image capture device 36, i.e. it is possible, for example, to provide a distance of 6 mm or 8 mm between the first image capture device 26 and the second image capture device 36 and to use a full HD system, even if the diameter of the base body 22 is only 10 mm or even only 5 mm or less. The first image capture device 26 can be arranged closer to the distal end 16 of the shaft 12 than the second image capture device 36. The second image capture device 36 can have a full HD resolution, for example in 16:9 format. The first image capture device 26 can be square, for example with a resolution of approximately 1500 pixels.This makes it possible to rotate an image, for example, an HD image (1280 x 720p60), from the second image capture device 36 (electronic image erection). The image from the first image capture device 26 can be combined in an upscaled form with the image from the second image capture device 36 to form one image, in particular a stereo image, without any loss of resolution.

[0080] When inserting the endoscope device 10 into the patient's cavity and / or hollow organ, thus in an insertion configuration of the endoscope device 10, the shaft longitudinal axis 18 and the base body longitudinal axis 24 are preferably aligned parallel, in particular coaxially, to one another. Once the endoscope device 10 has reached the location where the image capture device 20 is to record an image, in particular a stereoscopic image, for example of organs in the patient's cavity, thus in an image recording configuration of the endoscope device 10, the base body longitudinal axis 24 of the image capture device 20 can be rotated relative to the shaft longitudinal axis 18 of the shaft 12. For example, in the image recording configuration, the base body longitudinal axis 24 can be at an angle of 30°, 45°, or 90° to the shaft longitudinal axis 18. Preferably, the angle between the base body longitudinal axis 24 and the shaft longitudinal axis 18 is 90°.For example, the angle between the base body longitudinal axis 24 and the shaft longitudinal axis 18 can also be any angle between 0° and almost 180°. The angle between the base body longitudinal axis 24 and the shaft longitudinal axis 18 can be continuously adjustable and can be changed while images, in particular stereoscopic images, are being recorded with the image capture device 20.

[0081] A distal illumination device 65 and a distal camera 66 are arranged at the frontal and distal ends of the base body 22, respectively. This makes it possible, in the insertion configuration, to transmit images of the patient's cavity and / or hollow organ to, for example, a user via the distal camera 66, so that the user can guide the endoscope device 10 to a desired location in the patient's cavity and / or hollow organ. To ensure that the distal camera 66 generates images of sufficient quality, the patient's cavity can be illuminated by the distal illumination device 65. The distal camera 66 can have a lower resolution than the first image capture device 26 and the second image capture device 36.For example, the distal illumination device 65 and the distal camera 66 can be arranged at an equal distance from the main body longitudinal axis 24 of the main body 22 on opposite sides of the main body longitudinal axis 24 of the main body 22.

[0082] Figure 3 shows a schematic representation of another embodiment of an image capture assembly 220. The image capture assembly 220 can be mounted on a shaft 12 in a manner similar to the image capture assembly 20 or in the same way as the image capture assembly 20.

[0083] The image acquisition assembly 220 includes a base body 222.

[0084] A first image capture device 232, a second image capture device 242, and a distal camera 266 are incorporated into the base body 222. The first image capture device 232 and the second image capture device 242 are incorporated into the base body 222 of the image capture assembly 220 in a similar manner to how the first image capture device 32 and the second image capture assembly 42 are incorporated into the base body 22 of the image capture assembly 20.

[0085] The distal camera 266 is attached to a distal end or a front end of the base body 222. The distal camera 266 can be aligned axially symmetrically to a base body longitudinal axis 224 or arranged slightly offset from the base body longitudinal axis 224. A light, for example, an LED, can also be integrated into the distal camera 266.

[0086] The first image capture device 234 and the second image capture device 244 have, respectively, a first image angle 234 and a second image angle 244. The first image angle 234 and the second image angle 244 can be the same size. Furthermore, the first image capture device 234 has a first input optics 232, a first detection surface 230, and a first image sensor 228. The second image capture device 244 has a second input optics 242, a second detection surface 240, and a second image sensor 238. The distal camera 266 has an image angle 270. The image angle 270 can, for example, be smaller than the first image angle 234 and / or the second image angle 244. The distal camera 266 may further comprise an input optics 269, in particular with at least one lens 271, a detection surface 268, and an image sensor 267. The lens 271 may be arranged between an input side and an output side of the input optics 269.

[0087] The distal camera 266, the first image capture device 226 and the second image capture device 236 may be arranged on the same circuit board.

[0088] It is possible that the distal camera 266 does not require the entire cross-section of the base body 222. The remaining cross-section of the base body 222 can be used, for example, to integrate an optical fiber that can be connected to a distal illumination device.

[0089] Figure 4 shows another embodiment of an image capture assembly 320. The image capture assembly 320 comprises a base body 322. A first image capture device 326 and a second image capture device 336 are accommodated in the base body 322. The first image capture device 326 is arranged closer to the shaft of the endoscope device than the second image capture device 336.

[0090] The first image capture device 326 has an image angle 334, and the second image capture device 336 has an image angle 344. The image angle 334 and the image angle 344 can, for example, be the same size. However, it is also possible for one of the image angles 334 or the image angle 344 to be larger than the other image angle.

[0091] The first image capture device 326 comprises a first input lens 332, which includes at least a first lens 335 and a mirror, a first detection surface 330, and a first image sensor 328. The first detection surface 330 and the first image sensor 328 are arranged at a 90° angle to an input side of the first input lens 332. Therefore, a light beam guided through the input side of the first input lens 332 is first deflected by 90° by the mirror and subsequently guided through the at least one first lens 335 toward the shaft of the endoscope device before the light beam exits the input lens from the output side of the first input lens 332. The light beam then strikes the detection surface 330 of the first image sensor 328.The second image capture device 336 comprises a second input optics 342, which includes at least a second lens 345 and a mirror, a second detection surface 340, and a second image sensor 338. The second detection surface 340 and the second image sensor 338 are arranged at a 90° angle to an input side of the second input optics 342. Therefore, a light beam guided through the input side of the second input optics 342 is first deflected by 90° by the mirror and subsequently guided through the at least one second lens 345 in the opposite direction, as in the first image capture assembly 326. Subsequently, after being guided out of the second input optics 342 from an output side of the second input optics 342, the light beam strikes the detection surface 340 of the second image sensor 338.

[0092] Figure 5 shows a cross-sectional view of the main body 322 of the image capture assembly 320 in a region of the first image capture assembly.

[0093] As shown in Figure 5, the base body 322 has a cross-section that is substantially rectangular or rounded rectangular in some sections. This allows for lateral recesses to be provided that allow the use of planar input optics. However, the base body 322 can also have a round or square cross-section.

[0094] A circuit board 372 can be installed next to the image sensor 328 in a space-efficient manner.

[0095] Figure 6 shows another embodiment of an endoscope device 410 having a shaft 412 and an image capture assembly 420. The image capture assembly 420 is attached to a distal end of the shaft 412 by a pivot 475 in a manner similar to that described in the previous embodiment.

[0096] The image capture assembly 420 includes a first image capture device 426 and a second image capture device 436.

[0097] The first image capture device 426 has an image angle 434, and the second image capture assembly 436 has an image angle 444. The first image angle 434 can, for example, be larger than the second image angle 444. The first image capture device 426 comprises a first input optics 432, which includes at least a first lens 435 and a mirror, a first detection surface 430, and a first image sensor 438. The first detection surface 430 and the first image sensor 428 are arranged at a 90° angle to an input side of the first input optics 432. Therefore, a light beam guided through the input side of the first input optics 432 is first deflected by 90° by the mirror and subsequently guided through the at least one first lens 435, for example, in a direction pointing away from the shaft 422.After the light beam has been coupled out of the first input optics 432 at an output side of the first input optics 432, the light beam strikes the detection surface 430 of the first image sensor 428.

[0098] The second image capture device 436 comprises a second input optics 442, which comprises at least a second lens 445 and a mirror, a second detection surface 440 and a second image sensor 448. The second detection surface 440 and the second image sensor 448 are arranged parallel to the input side of the second input optics 442.

[0099] As shown in Figure 4, a supply cable 480 can be inserted below the first image capture device 426 into the base body 422 without a center point of the supply cable 480 at a connection point of the supply cable 480 on the base body 422 protruding beyond the dimensions of the second image capture device 436. In other words, by using a first image capture device 426 with small dimensions, i.e. with dimensions that do not require the entire cross-section of the base body 422, it is possible to insert the supply cable 480 below the first image capture device 426 and to use the inner bend for bending the cable, whereby the supply cable can be integrated into the endoscope device 410 in a space-saving manner.

[0100] Furthermore, in the insertion configuration of the endoscope device 410, the supply cable 480 can be routed completely within the shaft 412. As a result, the supply cable 480 is protected by the shaft 412 in the insertion configuration. In the image acquisition configuration, the supply cable 480 can protrude from the shaft 412. For this purpose, the shaft 412 can have a slot on its side. Preferably, the supply cable is connected to the base body 422 below the first image acquisition device 436 on a side of the image acquisition device 436 that is directed away from the image area. As a result, the supply cable 480 is integrated into the endoscope device 410 in a very space-saving manner in the image acquisition configuration and, at least to a large extent, does not protrude beyond the dimensions of the other parts of the endoscope device 410. The supply cable 480 is therefore bent in an internal arc in the image acquisition configuration.

[0101] The first image capture device 426 and the second image capture device 436 may be arranged on the same circuit board to which the supply cable 480 is connected.

[0102] The second image capture device 436 can be, for example, a high CRA sensor, such as an OHO2A1O (1920 x 1080p). Furthermore, the second image capture device 436 can comprise an ultra-short focal length lens (UKOS lens), preferably without a prism. The UKOS lens can be mounted in the vertical axis. Furthermore, the second image capture device 436 can be a wide-angle camera (WLC camera), for example, based on a sensor of the OHO2B10 type.

[0103] Furthermore, the image capture assembly 420 can have a distal camera 466 and a distal illumination device 465 at the front or distal end of the base body 422. The distal camera 466 has an image angle 470. The image angle 470 can, for example, be smaller than the first image angle 434 and / or the second image angle 444. Furthermore, the distal camera 466 can include an input optics 469, in particular with at least one lens 471, a detection surface 468, and an image sensor 467. The detection surface 468 and the image sensor 467 are preferably aligned parallel to an input side of the input optics 469.

[0104] The distal camera 466 may be arranged on the same board on which the first image capture device 426 and the second image capture device 436 are arranged and to which the supply cable 480 is connected.

[0105] An illumination device can be attached to the distal end 416 of the shaft 412. By folding down the image capture assembly or by rotating the main body longitudinal axis 422 relative to the shaft longitudinal axis 418, the illumination device, which is integrated into the shaft at the distal end 416 of the shaft 412, is exposed. The illumination device can be supplied with light by the optical fiber 419, as shown in Figure 7. Figure 7 shows a sectional view through the axis of rotation of the joint 475 of the embodiment shown in Figure 6. As shown in Figure 7, the optical fiber 419 can also be guided within the shaft 412.

[0106] Figure 8 shows a further embodiment of an endoscope device 510 with an image capture assembly 520. The image capture assembly 520 is rotatably mounted on a distal end 516 of a shaft 512 of the endoscope device 510 via the joint 575 in a manner similar to that described in the previous embodiments.

[0107] The image capture assembly 520 includes a base body 522. A first image processing device 526, a second image processing device 536, and a third image processing device 546 are housed in the base body 522. The third image processing device 546 is arranged between the first image processing device 526 and the third image processing device 536. As shown, the first image processing device 526 can be arranged closer to the shaft 512 than the first image processing device 526 and the third image processing device 536.

[0108] Due to the inventive arrangement of the image processing devices in the image acquisition module 520, more than three image processing devices can also be integrated into the base body 522 with a sufficient distance, in particular stereo base distance.

[0109] The first image processing device 536 has a first image angle 534, the second image processing device 526 has a second image angle 544 and the third image processing device has a third image angle 552.

[0110] The first image angle 534, the second image angle 544, and the third image angle 552 can be different, as shown. It is also possible for the first image angle 534 and the second image angle 544 to be the same size. The third image angle 552 is preferably larger than the first image angle 534 and the second image angle 544. Furthermore, the first image angle 534 can be larger than the second image angle 544, as shown.

[0111] The third image processing device 546 is preferably a wide-angle camera, ie the third image angle 552 of the third image processing device 546 has a wide image angle, the third image angle 552 is in particular more than 40 to 50°, preferably between 60° and 75°.

[0112] The first image angle 534 of the first image processing device 526 is preferably 80°. The second image angle 544 of the second image processing device 536 is preferably 50°. Preferably, the distance, in particular the stereo base distance, between the first image processing device 526 and the second image processing device 536 is 6 mm or 8 mm. Furthermore, the first image processing device 526, together with the second image processing device 536, can form a single-stage zoom system.

[0113] Figure 9 shows a schematic representation of another embodiment of the endoscope device 610 with an image capture assembly 620. The image capture assembly 620 comprises a base body 622 and can be configured in a similar manner to that described in the above embodiments. The image capture assembly 620 is rotatably mounted on the shaft 612 of the endoscope device 610 by a joint 675. A shaft longitudinal axis 618 of the shaft 612 can, for example, run through the pivot point of the joint 675.

[0114] The image acquisition assembly 620 is powered via a power cable 680. As shown, in the image acquisition configuration, an angle between a base body longitudinal axis 618 of the base body 622 and the shaft longitudinal axis 620 can be 90°. However, in the image acquisition configuration, the angle between the base body longitudinal axis 618 and the shaft longitudinal axis 620 can also be any other angle between zero and nearly 180°, for example, 30° or 45°. In the insertion configuration, the base body longitudinal axis 618 can be parallel, for example, coaxial, to the shaft longitudinal axis 620.

[0115] In the image acquisition configuration, the umbilical 680 can be bent, as shown, on a side of the shaft 612 facing away from the image acquisition assembly 620. This allows the umbilical 680 to be bent within a large radius. Bending the umbilical 680 within the large radius can allow the umbilical 680 to have a larger diameter or allow the umbilical 680 to have a longer service life with the same diameter.

[0116] In the insertion configuration, the umbilical 680 may be routed within the shaft 612 or above or below the shaft 612. To allow the umbilical to be routed out of the side of the shaft 612 if necessary, the shaft 612 may have a slot on the side.

[0117] An illumination device can be attached to a distal end 616 of the shaft 612. By folding down the image capture assembly 620 or by rotating the main body longitudinal axis 622 relative to the shaft longitudinal axis 618, the illumination device, which is integrated into the shaft at the distal end 616 of the shaft 612, is exposed. The illumination device can be supplied with light by an optical fiber 619, as shown in Figure 10.

[0118] Figure 10 shows an exemplary sectional view of the embodiment shown in Figure 9 in the insertion configuration. In the exemplary sectional view, the supply cable 680 runs through the rotation axis of the joint 675. Furthermore, in the exemplary sectional view, the main body 622 of the image acquisition assembly 620 is arranged above the shaft 612. Furthermore, the sectional view shows the optical fiber 619 within the shaft 612.

[0119] Figure 11 shows a schematic representation of another embodiment of an endoscope device 710 with an image capture assembly 720 and a shaft 712. The image capture assembly 720 comprises a base body 722 and can be configured according to one of the embodiments described above. Furthermore, the image capture assembly 720 is attached to the shaft 712 via the joint 775. The shaft 712 can also be configured according to one of the embodiments described above. In the embodiment shown in Figure 11, a supply cable that supplies the image capture assembly 720 is not visible. The supply cable is routed within the shaft 712. However, the supply cable can also be routed above or below the shaft 712.

[0120] Furthermore, energy and information are transmitted in the supply cable via the joint 775 from the shaft 712 to the image acquisition assembly 720 and from the image acquisition assembly 720 to the shaft 712. For this purpose, an electrical interface can be integrated into the joint 775. As a result, the endoscope device 710 requires very little space. Furthermore, a data serializer can be integrated into the image acquisition assembly 720.

[0121] An illumination device can be attached to a distal end 716 of the shaft 712. By folding down the image capture assembly 720 or by rotating the main body longitudinal axis 722 relative to the shaft longitudinal axis 718, the illumination device, which is integrated into the shaft 712 at the distal end 716 of the shaft 712, can be exposed. The illumination device can be supplied with light by an optical fiber 719, as shown in Figure 12.

[0122] Figure 12 shows an exemplary sectional view of the embodiment shown in Figure 11 in the image acquisition configuration. In the exemplary sectional view, the information and power to and from the image processing assembly 720 are transmitted via the joint 775. Furthermore, the exemplary sectional view shows the optical fiber 719, specifically for the illumination device, at the distal end 716 of the shaft 712, within the shaft 712.

[0123] List of reference symbols

[0124] 10, 410, 510, 610, 710 Endoscope device

[0125] 12, 412, 512, 612, 712 shaft

[0126] 14 proximal end

[0127] 16, 416, 516, 616, 716 distal end

[0128] 18, 418, 518, 618, 718 shaft longitudinal axis

[0129] 419, 619, 719 optical fiber

[0130] 20, 220, 320, 420, 520, 620, 720 image acquisition module

[0131] 22, 222, 322, 422, 522, 622, 722 base body

[0132] 24, 224, 324, 424, 524, 624, 724 main body longitudinal axis

[0133] 26, 226, 326, 426, 526 first image capture device

[0134] 28, 228, 328, 428 first image sensor

[0135] 30, 230, 330, 430 first detection area

[0136] 32, 232, 332, 432 first entrance optics

[0137] 34, 234, 334, 434, 534 first angle of view

[0138] 335, 435 first lens

[0139] 36, 236, 336, 436, 536 second image capture device

[0140] 38, 238, 338, 438, 538 second image sensor

[0141] 40, 240, 340, 440, 540 second detection area

[0142] 42, 242, 342, 442, 542 second entrance optics

[0143] 44, 244, 344, 444, 544 second angle of view

[0144] 345, 445, 545 second lens

[0145] 546 third image capture device

[0146] 548 third image sensor

[0147] 550 third detection area

[0148] 551 third entrance optics

[0149] 552 third angle of view

[0150] 65, 465, 565 Distal illumination device 66, 266, 466, 566 Distal camera

[0151] 267, 467 Image sensor of the distal camera

[0152] 268, 468 Detection area of ​​the distal camera

[0153] 269, 469 Entrance optics of the distal camera 270, 470 Angle of view of the distal camera

[0154] 271 , 471 Distal camera lens

[0155] 372 board

[0156] 75, 475, 575, 675, 775 joint

[0157] 480, 680 supply cable 85 endoscope

[0158] 90 surgical robots

[0159] 100 table

Claims

Claims 1. An endoscope device (10, 410, 510, 610, 710) for image acquisition, comprising: a shaft (12, 412, 512, 612, 712) extending from a proximal end (14) to a distal end (16, 416, 516, 616, 716) and having a shaft longitudinal axis (18, 418, 518, 618, 718); and an image capture assembly (20, 220, 320, 420, 520, 620, 720), wherein the image capture assembly (20, 220, 320, 420, 520, 620, 720) comprises: a base body (22, 222, 322, 422, 522, 622, 722) which has a base body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and which is rotatably and / or pivotably mounted on the shaft (12, 412, 512, 612, 712) in a region of the distal end (16, 416, 516, 616, 716); a first image capture device (26, 226, 326, 426, 526) attached to the base body (22, 222, 322, 422, 522, 622, 722); and a second image capture device (36, 236, 336, 436, 536) attached to the base body (22, 222, 322, 422, 522, 622, 722);wherein the first image capture device (26, 226, 326, 426, 526) and the second image capture device (36, 236, 336, 436, 536) are jointly configured for image capture and define a main viewing direction that is oriented at an angle to the main body longitudinal axis (24, 224, 324, 424, 524, 624, 724); and wherein the first image capture device (26, 226, 326, 426, 526) and the second image capture device (36, 236, 336, 436, 536) are spaced apart from one another by a distance with respect to the main body longitudinal axis (24, 224, 324, 424, 524, 624, 724); wherein in an insertion configuration the base body (22, 222, 322, 422, 522, 622, 722) can be brought into a first orientation relative to the shaft longitudinal axis (18, 418, 518, 618, 718);and wherein in an image recording configuration, the base body (22, 222, 322, 422, 522, 622, 722) can be brought into a second orientation relative to the shaft longitudinal axis (18, 418, 518, 618, 718), in which an angle between the base body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and the shaft longitudinal axis (18, 418, 518, 618, 718) is reduced compared to the first orientation, wherein in the image recording configuration, an image area is captured by means of the first image capture device (26, 226, 326, 426, 526) and the second image capture device (36, 236, 336, 436, 536) which is located along the shaft longitudinal axis (18, 418, 518, 618, 718) in front of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712); 2. Endoscope device (10, 410, 510, 610, 710) according to claim 1, wherein the distance is greater than a shaft inner radius and in particular than a shaft inner diameter of the shaft (12, 412, 512, 612, 712).

3. Endoscope device (10, 410, 510, 610, 710) according to claim 1 or 2, wherein the first image capturing device (20, 220, 320, 420, 520, 620, 720) comprises a first image sensor (28, 228, 328, 428) having a first detection area (30, 230, 330, 430), and wherein the second image capturing device (36, 236, 336, 436, 536) comprises a second image sensor (38, 238, 338, 438, 538) having a second detection area (40, 240, 340, 440, 540), and wherein a diagonal extending across the first Detection surface (30, 230, 330, 430) and the second detection surface (40, 240, 340, 440, 540) is larger than the shaft inner radius and in particular larger than the shaft inner diameter of the shaft (12, 412, 512, 612, 712).

4. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the first image capture device (20, 220, 320, 420, 520, 620, 720) comprises a first image sensor (28, 228, 328, 428) having a first detection surface (30, 230, 330, 430), and / or wherein the second image capture device (36, 236, 336, 436, 536) comprises a second image sensor (38, 238, 338, 438, 538) having a second detection surface (40, 240, 340, 440, 540), wherein a diagonal of the first detection surface (30, 230, 330, 430) and / or a diagonal of the second detection surface (40, 240, 340, 440, 540) is greater than a shaft inner radius and in particular greater than a shaft inner diameter of the shaft (12, 412, 512, 612, 712).

5. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the size of an input optics of the first image capture device (26, 226, 326, 426, 526) and / or an input optics of the second image capture device (36, 236, 336, 436, 536) is greater than the shaft inner radius and in particular greater than the shaft inner diameter of the shaft (12, 412, 512, 612, 712).

6. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the base body (22, 222, 322, 422, 522, 622, 722) defines an overall installation space, wherein the first image capture device (26, 226, 326, 426, 526) is arranged in a first longitudinal section of the overall installation space and occupies a first installation space, wherein the first installation space is larger than half of the first longitudinal section.

7. Endoscope device (510) according to one of the preceding claims, wherein the image acquisition assembly (520) further comprises a third Image capture device (546) which is spaced apart from the first image capture device (526) and the second image capture device (536) in the base body longitudinal axis (524).

8. Endoscope device (510) according to claim 7, wherein optionally two of the three image acquisition devices (526, 536, 546) can be operated together for imaging.

9. Endoscope device (510) according to claim 7 or 8, wherein the third image capture device (546) is directed in the main viewing direction of the first image capture device (526) and / or the second image capture device (536).

10. The endoscope device (510) according to any one of claims 7 to 9, wherein the first image capture device (526) defines a first image angle (534), wherein the second image capture device (536) defines a second image angle (544), and wherein the third image capture device (546) defines a third image angle (552), wherein the second image angle (544) is greater than the first image angle (534), and wherein the third image angle (552) is greater than the second image angle (544).

11. The endoscope device (510) according to any one of claims 7 to 10, wherein the third image capturing device (546) comprises a wide-angle lens.

12. Endoscope device (510) according to one of claims 7 to 11, wherein the third image capture device (546) is arranged between the first image capture device (526) and the second image capture device (536).

13. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein in the insertion configuration the main body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and the shaft longitudinal axis (18, 418, 518, 618, 718) are oriented parallel to one another and / or wherein in the image recording configuration the main body longitudinal axis (24, 224, 324, 424, 524, 624, 724) and the shaft longitudinal axis (18, 418, 518, 618, 718) are oriented perpendicular to one another.

14. The endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the first image capture device (26, 226, 326, 426, 526) comprises a first image sensor (28, 228, 328, 428) having a first detection surface (30, 230, 330, 430) oriented parallel to the main viewing direction; and / or wherein the second image capture device (36, 236, 336, 436, 536) comprises a second image sensor (38, 238, 338, 438, 538) having a second detection surface (40, 240, 340, 440, 540) oriented in the main viewing direction; and / or wherein the third image capture unit (546) comprises a third image sensor (548) having a third detection surface (550) oriented in the main viewing direction.

15. The endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the first image capture device (326, 426) comprises a first input optics system (332, 432) with an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented at an angle relative to the input side; and / or wherein the second image capture device (336, 536) comprises a second input optics system (342, 542) with an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented at an angle relative to the input side; and / or wherein the third image capture device (546) comprises a third input optics system with an input side and an output side, the input side of which is oriented in the main viewing direction and the output side of which is oriented at an angle relative to the input side.

16. Endoscope device (10, 410, 510, 610, 710) according to claim 15, wherein the output side of the first, second and / or third input optics (332, 432, 342, 442) is oriented in a direction parallel to the base body longitudinal axis (211).

17. Endoscope device (10, 410, 510, 610, 710) according to claim 15 or 16, wherein the first, second and / or third input optics (332, 432, 342, 442, 551) includes a prism.

18. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, further comprising an illumination device which is configured to emit illumination light in the image recording configuration in the direction of an image region which is located along the shaft longitudinal axis (18, 418, 518, 618, 718) in front of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712).

19. Endoscope device (10, 410, 510, 610, 710) according to claim 18, wherein the illumination device comprises at least one optical fiber (419, 619, 719) and at least one output coupling optic.

20. Endoscope device (10, 410, 510, 610, 710) according to claim 18 or 19, wherein the illumination device comprises at least one luminous element, in particular at least one light-emitting diode.

21. Endoscope device (10, 410, 510, 610, 710) according to one of claims 18 to 20, wherein the illumination device is integrated into the shaft (12, 412, 512, 612, 712).

22. Endoscope device (10, 410, 510, 610, 710) according to one of claims 18 to 21, wherein the illumination device is concealed by the base body (22, 222, 322, 422, 522, 622, 722) in the insertion configuration and is exposed by the base body (22, 222, 322, 422, 522, 622, 722) in the image recording configuration.

23. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, further comprising a distal camera (66, 366, 466, 566) which, at least in the insertion configuration, is configured to capture an image region located along the shaft longitudinal axis (18, 418, 518, 618, 718) in front of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712).

24. Endoscope device (10, 410, 510, 610, 710) according to claim 23, wherein the distal camera (66, 366, 466, 566) is mounted on the base body (22, 222, 322, 422, 522, 622, 722).

25. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, further comprising a distal illumination device (65, 365, 465, 565) which, at least in the insertion configuration, is configured to emit illumination light in the direction of an image region which is located along the shaft longitudinal axis (18, 418, 518, 618, 718) in front of the distal end (16, 416, 516, 616, 716) of the shaft (12, 412, 512, 612, 712).

26. Endoscope device (10, 410, 510, 610, 710) according to claim 25, wherein the distal illumination device (65, 365, 465, 565) in the Base body (22, 222, 322, 422, 522, 622, 722) is integrated.

27. Endoscope device (10, 410, 510, 610, 710) according to claim 26, wherein the distal illumination device (65, 365, 465, 565) comprises at least one lighting element, in particular at least one light-emitting diode.

28. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the image capture assembly (420, 520, 620, 720) has different image capture devices (426, 526, 436, 536, 546) which are structurally different.

29. Endoscope device (410, 510, 610, 710) according to claim 28, wherein the different image capture devices (420, 520, 620, 720) differ with regard to an image angle (434, 444, 534, 544, 552) and / or an image resolution.

30. Endoscope device (710) according to one of the preceding claims, further comprising a joint (775) which couples the base body (722) to the shaft (712), wherein at least one electrical connection is integrated into the joint (775).

31. The endoscope device (10, 410, 510, 610, 710) of claim 30, wherein the joint (75, 475, 575, 675, 775) comprises a rotatable coaxial connection.

32. Endoscope device (10) according to one of the preceding claims, further comprising an actuating device (90) which is connected to the Image capture assembly (20) and the shaft (12) and which is configured to move the base body (22) relative to the shaft (12).

33. Endoscope device (10) according to claim 32, wherein the actuating device (90) comprises a motor drive.

34. Endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims, wherein the shaft diameter is at least 5 mm and / or at least 10 mm.

35. Endoscope (85) with an endoscope device (10, 410, 510, 610, 710) according to one of the preceding claims.

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