206 results about "Endoscopic imaging" patented technology

The application discloses a multi-marked endoscopic imaging lens for digestive tract, and belongs to the field of biomedical microscopic endoscopic imaging. The endoscopic imaging lens comprises a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens and a seventh lens; the first lens focuses laser; the second lens is matched with the first lens to limit a light beam in an effective light aperture of the lens; the third lens corrects chromatic aberration; the fourth lens and the fifth lens are combined to correct aberration; the sixth lens adopts an aspheric lens to correct spherical aberration caused in a collimating and focusing system; and the seventh lens is matched with the sixth lens to correct chromatic aberration. The working spectral range of the microscopic objective lens group is 488-860 nm, the effective light aperture is less than 1.8 mm, the mechanical outer diameter is not greater than 2.6 mm, the numerical aperture at the object side or the tissue is 0.55, the imaging field of view is 450 microns, the magnification is 2.14 times, and the working distance is 84 microns. The effect of matching excitation and fluorescence spectrum of a clinically available fluorescence contrast agent is realized.

The invention discloses an ultra-wide-spectrum endoscopic imaging device capable of being used for short-wave infrared fluorescence imaging, which is used for in-vivo minimally invasive imaging and comprises an illumination module, a wide-spectrum image transmission module, an imaging module and an image processing module. The illumination module consists of a light source and a light guide optical fiber, and is used for generating illumination light from ultraviolet to short wave infrared band and transmitting the illumination light to the wide-spectrum image transmission module; the wide-spectrum image transmission module consists of a few-interface optical imaging channel and a light guide illumination channel, and is used for illuminating an imaging target, exciting target fluorescence and collecting image signals from ultraviolet to short-wave infrared bands; the imaging module is composed of an optical filter and an imaging camera, and the imaging camera can be a wide spectral response image sensor or can be formed by combining cameras working in different wavebands and is used for converting optical images in different wavebands into image data; and the image processing module is used for registering and fusing image data of different wavebands in real time and displaying the image data.

The invention discloses a multi-photon optical fiber array endoscopic imaging device and method based on hollow spiral scanning, and belongs to the technical field of biological imaging. The device comprises a laser collimation and beam expansion module, a pulse chirp module, a light beam switching module, an endoscopic detection module and a fluorescence acquisition module. The light beam switching module comprises an optical switch and an optical fiber array composed of at least two low-group-velocity dispersion single-mode optical fibers. The endoscopic detection module drives the optical fiber array to execute hollow spiral scanning through the resonance driver, the track starting point is not located at the view field original point, and central dense sampling is avoided. According to the method, the optical fibers are switched through the optical switch, so that the optical fibers execute spatial non-coincident hollow spiral scanning, multi-photon signals such as fluorescence, second harmonic and fluorescence lifetime are acquired, a central hole is complemented through image reconstruction and fusion, and a complete field imaging result is obtained. Light damage of the central area is remarkably reduced, the imaging resolution uniformity is improved, the fused image is true and reliable based on physical sampling, and the system stability is high.

An endoscopic imaging system for use in a light deficient environment includes an imaging device having a tube, one or more image sensors, and a lens assembly including at least one optical elements that corresponds to the one or more image sensors. The endoscopic system includes a display for a user to visualize a scene and an image signal processing controller. The endoscopic system includes a light engine having an illumination source generating one or more pulses of electromagnetic radiation and a lumen transmitting one or more pulses of electromagnetic radiation to a distal tip of an endoscope.

The invention discloses an optical fiber coupling real-time correction method in a single-mode and multi-mode optical fiber endoscopic imaging system, which comprises the following steps of: firstly, manually adjusting reflectors M1 and M2 to an optimal multi-mode optical fiber coupling state, acquiring images of light spots at the near end and the far end of a laser beam in the state by using a CCD (charge coupled device) 1 and a CCD 2, and calculating the position of a central coordinate of the images; and collecting a speckle image formed by the light spot through the scattering medium by using a CCD3 (charge coupled device 3). The system monitors the center coordinates of near-end and far-end light spots at the current moment and the correlation coefficient of the current speckle image and the collimation state image in real time. The piezoelectric mirror bracket is fed back and adjusted in real time through the center coordinates of the two spot light spots and the correlation coefficient of the speckles, so that the correlation coefficient of the speckles is kept above a set threshold value, and automatic calibration of light beams is achieved. On the basis of the traditional thinking that two points determine one straight line, the correlation coefficient of using speckles is increased, the alignment precision is improved, and the method has certain practicability and application prospects.

The invention provides an endoscope imaging system and a hard tube type endoscope, and belongs to the technical field of optical imaging, the endoscope imaging system comprises an objective lens, a relay lens and an ocular lens of an object space telecentric structure, the objective lens comprises a first lens, a second lens, a third lens with positive focal power and a bonding lens group with positive focal power, the second lens is a steering prism, the image side surface and the object side surface of the first lens are aspheric surfaces, the balsaming lens group comprises a fourth lens, a fifth lens and a sixth lens, the fourth lens is a doublet lens, the fifth lens is a triplet lens, the sixth lens is a doublet lens, the relay lens comprises an odd number of rod lens groups which are arranged at intervals, and the rod lens groups are arranged at intervals. The eyepiece comprises a seventh lens, an eighth lens and a ninth lens, and the seventh lens, the eighth lens and the ninth lens are all doublet lenses. By optimizing the structural design of the optical system, the defocusing amount is reduced, seamless switching of visible light and near-infrared light dual-mode imaging can be achieved, and meanwhile high-quality imaging is achieved.

The invention discloses a self-adaptive intervention type single-array-element photoacoustic endoscopic imaging near-field noise removal method based on a spatial domain and morphological characteristics. The method comprises the following steps that 1, original data of photoacoustic endoscopic imaging are obtained; step 2, adaptively generating a patch mask area; 3, preprocessing the image in a frequency domain; step 4, executing strip interference detection based on adaptive spatial domain filtering on the non-plaque region to obtain a spatial domain noise mask; step 5, screening strip-shaped noise areas; step 6, performing interpolation restoration on the noise area; 7, calculating the convergence degree and the noise level in the iteration process; and step 8, outputting a final result after polar coordinate transformation. The intrusive single-array-element photoacoustic endoscopic imaging method can effectively inhibit strip-shaped interference signals occurring in intrusive single-array-element photoacoustic endoscopic imaging and reduce the covering influence of background noise on target signals, so that the imaging quality of a near-end area is improved, and the structural definition and contrast ratio of overall imaging are remarkably optimized.

There is provided a processor device that performs a type determination method for an endoscope by a processor using an endoscope color adjustment jig, the endoscope color adjustment jig including an insertion portion that includes at least one insertion hole into which a distal end portion of the endoscope is inserted, a lid portion that is disposed to face the insertion portion in an insertion direction of the distal end portion, and an outer peripheral portion that is in contact with the insertion portion and the lid portion to form an internal space, the lid portion including a chart that includes a mark on an inner surface facing the internal space, in which the processor is configured to, based on a shape of the mark imaged by the endoscope inserted from the insertion portion, determine an oblique angle of the endoscope.

The invention discloses a balloon type heart cavity endoscope imaging system and method based on a three-dimensional mapping system, and belongs to the technical field of medical equipment. The problems that in an existing imaging method, imaging in the heart cavity is interfered by blood, the image definition is insufficient, and intuitive visualization of an inner wall image cannot be achieved are solved. A filling opening is formed in the handle end of the balloon type heart cavity endoscope, the filling opening is used for injecting liquid into a balloon so that the balloon can expand to be attached to the inner wall of a heart cavity to drain blood at the attached position of the inner wall of the heart cavity, and an image sensor is used for conducting image collection on the tissue, attached to the outside of the balloon, of the inner wall of the heart cavity; the positioning assembly is used for acquiring the position and posture of the image sensor in real time; the image processing unit is used for preprocessing the image acquired by the image sensor and then transmitting the image to the three-dimensional mapping system; the three-dimensional mapping system establishes a mapping heart cavity model, and the collected image and the mapping heart cavity model are matched, fused and displayed. The method is mainly used for intracardiac imaging.

The invention discloses an endoscope imaging method and system. The method comprises the following steps: acquiring a real-time acquired image of an endoscope; performing brightness clustering on the real-time acquired image, extracting an area with a brightness value in a front preset proportion as an initial light spot candidate area, and performing circularity detection on the initial light spot candidate area to select a light spot candidate area from the initial light spot candidate area; extracting an LBP local texture histogram of the light spot candidate region to obtain a corresponding texture entropy, and determining a target light spot region from the light spot candidate region according to a size relationship between the texture entropy and a texture entropy threshold value; and in the real-time acquired image, inhibiting factors which influence the image quality and are caused by the target light spot in the target area where the target light spot area is located, and obtaining an endoscope imaging image. The problem that in the prior art, the imaging quality of an endoscope is low is solved.

The invention discloses a device for measuring photoacoustic endoscopic imaging resolution and depth, and belongs to the technical field of biomedical imaging detection.The device comprises a vertical plate, a height adjusting mechanism is arranged on the vertical plate, the height adjusting mechanism is connected with a liftable probe clamping assembly, and a bottom plate is fixedly arranged at one end of the vertical plate; a scanning imaging rotating motor is arranged on one side of the bottom plate, the output end of the scanning imaging rotating motor is connected with a coupling medium container, a base body is installed in the coupling medium container, a plurality of through holes distributed in an Archimedes spiral shape are formed in the base body, and a plurality of target wires used for providing photoacoustic signal comparison are arranged in the through holes in a penetrating mode. According to the invention, a complex tissue environment can be simulated, and a multi-azimuth and multi-scale imaging result can be obtained, so that the resolution ratio and the imaging depth of the photoacoustic endoscopic system can be evaluated, and the method is suitable for detection and standardized evaluation of different types of photoacoustic endoscopic equipment.

The invention discloses a method for identifying a blood vessel in an endoscope image and an endoscope system. The method for identifying the blood vessel in the endoscope image comprises the following steps: acquiring a multi-channel image formed by endoscope imaging; time sequence points of all points in all RGB channels in the to-be-analyzed area in the multi-channel image are extracted, and normalization processing is carried out; according to the time sequence point of each point in each RGB channel in the to-be-analyzed area, respectively calculating the time sequence point of the mean value of each RGB channel in the to-be-analyzed area, and carrying out normalization processing; according to the normalized time sequence point of each point in each RGB channel in the to-be-analyzed area, determining a PPG amplitude for representing blood fluctuation information at each point; determining an average amplitude for representing blood fluctuation information according to a time sequence point of an average value of each RGB channel in the normalized region to be analyzed; and determining a blood vessel region according to the PPG amplitude of each point, the average amplitude, the penetration depth of the light sources with different wavelengths to human tissues and the difference of the absorption characteristics of blood components.

The invention discloses a bending endoscopic imaging method and system based on a few-mode optical fiber, and belongs to the technical field of optical fiber imaging. According to the method, an MNIST handwritten digital image is loaded through a digital micromirror device (DMD), a speckle pattern is generated through few-mode optical fiber transmission, image restoration in a bending state is achieved through a deep learning model, and reconstruction effects under different bending degrees are quantized through a Dice coefficient. The system comprises a light beam collimation module, a pattern loading module, an image transmission module and an image acquisition-processing module. The image transmission module adopts a step refractive index few-mode optical fiber, and mode coupling caused by bending is inhibited by increasing the effective refractive index difference between modes; and the image acquisition-processing module is combined with a shallow U-shaped convolutional neural network to reconstruct a speckle pattern acquired by the CCD camera. While miniaturization of the probe is ensured, the imaging quality in a bending environment is remarkably improved, and the probe is suitable for miniaturized high-resolution imaging scenes such as medical endoscopes and the like.

The application provides an endoscopic imaging system field mask obtaining method and device, wherein the endoscopic imaging system field mask obtaining method comprises the following steps: firstly, imaging a target object to obtain a target image; then, determining the positions of feature pixel points in the target image according to the pixel values of the target image; then, forming a binary image according to the positions of the feature pixel points; finally, performing morphological processing on the binary image to obtain an endoscopic imaging system field mask. Through the endoscopic imaging system field mask obtaining method, the circular window region of the fiber bundle end face can be accurately identified, and the endoscopic imaging system field mask can be obtained at a high speed. The obtained endoscopic imaging system field mask has a good shielding effect on the region outside the circular window of the fiber bundle end face, and is convenient for diagnosing the body tissue lesion condition of a subject.

The invention discloses an endoscope imaging optimization method, and belongs to the technical field of medical optical imaging and image processing. The method comprises the following steps: firstly, obtaining a super-structure lens distortion image, a high-definition truth value image and a semantic segmentation label; extracting multi-scale initial features through a multi-branch encoder; carrying out feature enhancement and self-adaptive downsampling by utilizing a dynamic super-surface feature extraction module; constructing robust features through a dynamic parameter generation module in combination with the high-halal truth value image; then, extracting contour guide features from the high-halal truth value image and fusing the contour guide features with robust features; and finally, image segmentation and recovery tasks are executed in parallel, and a segmentation mask and a distorted image are output. By fusing physical prior and data driving, the problems of chromatic aberration, information dispersion and the like of super-structure lens imaging are effectively solved, and the image definition, the small focus recognition precision and the model generalization ability are remarkably improved.

The invention relates to the technical field of endoscope imaging, in particular to an endoscope fault detection and processing method and system. According to the scheme, firstly, a current image frame in a video shot by a camera of an endoscope is obtained; then, inputting the obtained current image frame into a pre-trained image discrimination neural network model for judgment, and finally outputting a classification type and confidence corresponding to the image information; and then, according to the classification type and the confidence coefficient, judging whether an image abnormal fault occurs in the endoscope, if the image abnormal fault occurs, determining a corresponding fault processing measure according to the classification type, performing corresponding processing on the endoscope according to the determined fault processing measure, and if the image abnormal fault does not occur, performing corresponding processing on the endoscope. And if so, continuing to acquire the next image frame. By adopting the scheme of the invention, real-time fault judgment can be carried out, and adaptive judgment and correction can be carried out on possible image abnormity, so that the endoscope fault can be effectively prevented from being continued or expanded.

A method for guiding bone removal includes receiving at least one two-dimensional image of bony anatomy captured by a two-dimensional imaging system and at least one endoscopic image of the bony anatomy captured by an endoscopic imager. A three-dimensional model of the bony anatomy is registered with the endoscopic imager in a common reference frame using the two-dimensional image and a tracking system. A position and orientation of the three-dimensional model relative to the endoscopic image is determined based on registration of the three-dimensional model with the endoscopic imager in the common reference frame. The endoscopic image is displayed simultaneously with at least a portion of the three-dimensional model based on the determined position and orientation of the three-dimensional model relative to the endoscopic image.

The present application belongs to the technical field of endoscope and image processing, and in particular to an endoscope image anti-shake method based on motion vector compensation, comprising the following steps: collecting a sequence of continuous video frames, performing stability screening on the initial feature point set, eliminating unstable feature points located in the edge region, high light reflection region and low contrast region of the image to form a reliable feature point set, performing robust estimation processing on the original motion vector set based on the matched feature points in the reliable feature point set to generate a stabilized output frame, wherein the remapping adopts a bilinear interpolation algorithm; by constructing a closed-loop anti-shake system taking local feature motion vectors as input, spatio-temporal domain joint filtering as core and sub-pixel remapping as output, high-precision separation and compensation of high-frequency micro-shaking in endoscope imaging are realized without introducing additional mechanical structures.

The embodiment of the specification relates to the technical field of super-resolution fluorescence microscopy, and particularly relates to an optical superlens optical sheet endoscopy imaging system and method. Phase control is performed on short-wavelength laser by an optical sheet superlens, so that incident light on a sample is finely adjusted into the form of an optical sheet, the short-wavelength laser after phase control is irradiated on the sample, the optical sheet and the sample interact to excite fluorescence, at the same time, phase control is performed on long-wavelength laser by an OAM light superlens, the obtained OAM light is irradiated on the sample, the OAM light quenches fluorescent substances at a specified position in a fluorescent spot excited by the short-wavelength laser, so that the diffraction area of the fluorescent spot is reduced, finally, fluorescence remaining after OAM light irradiation of the sample is converged on a photodiode for fluorescence power detection, and the resolution of imaging is improved on the basis of scanning of samples such as living cells.

The application relates to a kind of self-adapting scattering deep penetration microscopic endoscopic imaging method, device and medium, method comprises the following steps: S1, the input-output mapping relationship of optical fiber under specified penetration depth is measured;S2, when the same specified penetration depth is set with biological sample, effective pixel is traversed;S3, when traversing each effective pixel, the traversal range of the phase constant of each pixel is adjusted, and the phase constant corresponding to each pixel is obtained, so that the light intensity is maximum;S4, data integration is carried out, and a group of self-adapting scattering matrix corresponding to each pixel is obtained;S5, calling self-adapting scattering matrix as phase parameter, scanning is carried out pixel by pixel, and the light intensity corresponding to pixel is obtained, and the light intensity is combined into a frame gray scale image.Compared with prior art, the application has the advantages of clearly imaging deep tissue, effectively improving imaging quality and the like.

The utility model relates to a device for testing the imaging performance of a fluorescent endoscope, which comprises a mounting frame, and a clamp assembly, a container placing disc and an integrating sphere which are sequentially distributed on the mounting frame from top to bottom, and a lighting device arranged on one side of the integrating sphere, and exciting light of the lighting device illuminates the container placing disc through the integrating sphere. The container placing disc is provided with observation holes which are distributed in a circumferential mode, the clamp assembly comprises a double-screw clamp used for fixing the fluorescent endoscope and an adjusting frame used for adjusting the irradiation angle of the fluorescent endoscope, and the main purpose of the utility model is to enable a light source in the container placing disc to be more uniform through the reflection effect of an integrating sphere; according to the fluorescent endoscope, the sensitivity and definition of the fluorescent endoscope are improved, three important indexes including the radiance response characteristic, the fluorescent signal-to-noise ratio and the fluorescent static image latitude of the fluorescent endoscope are analyzed through real-time data of a fluorescent image collected by the fluorescent endoscope, and important parameters are provided for judging the imaging performance of the fluorescent endoscope.

The application discloses a kind of multi-photon fiber array endoscopic imaging device and method based on hollow spiral scanning, belong to biological imaging technical field.The device includes laser collimation and beam expansion module, pulse chirp module, beam switching module, endoscopic detection module and fluorescence acquisition module.The beam switching module contains optical switch and at least two low group velocity dispersion single-mode fiber array;Endoscopic detection module drives fiber array to perform hollow spiral scanning by resonant driver, its track starting point is not located at the origin of field of view, to avoid central dense sampling.The method switches fiber by optical switch, so that each fiber performs spatial non-overlapping hollow spiral scanning, collects multi-photon signals such as fluorescence, second harmonic and fluorescence lifetime, and completes the central cavity by image reconstruction and fusion, to obtain complete field of view imaging result.The application significantly reduces the central region light damage, improves the uniformity of imaging resolution, and the fused image is based on physical sampling to ensure authenticity and reliability, with high system stability.

Provided herein is an intravascular endoscope with an improved balloon design. The endoscope comprises an anterior balloon with a camera, light source, and working channel port for visualization and therapeutic access. One or more posterior balloons are positioned inferior to, at the same level as, or superior to the anterior balloon. Inflation of the one or more posterior balloons pushes the anterior balloon against the blood vessel wall while maintaining a channel for blood flow past the anterior balloon. The endoscope enables real-time, direct visualization of the interior of blood vessels for diagnosis and treatment of vascular diseases while preserving critical blood flow. Additional imaging modalities, such as ultraviolet and infrared, can be incorporated to enhance tissue characterization. Visual markers on devices inserted through the working channel improve visibility and guidance under endoscopic imaging. The endoscope is compatible with arteries and veins throughout the body and provides advantages over traditional imaging techniques for managing vascular disease.

This invention discloses a device for detecting the sensitivity of an endoscopic imaging system, comprising a device body with an inlet and at least one outlet. An endoscope mounting component is disposed on the outlet. The device body is configured to attenuate the illuminance of the light beam entering through the inlet, and the mounting component is configured to further attenuate the illuminance of the light beam exiting through the outlet. The beneficial effects of this invention are that, through layered attenuation, the final illuminance entering the endoscope can be reduced to below 3 Lux. Furthermore, even below 3 Lux, the aperture size of the endoscope mount can be freely adjusted, and attenuation plates can be added to further reduce the illuminance. In addition, this device has a simple structure, low cost, and is easy to operate. The operator can directly test the device by simply attaching the light source output end and the endoscope interface, without complex adjustments or installations, saving time and effort.

The invention discloses a MicroLED-based structured light 3D camera and a phase optimization method, and belongs to the technical field of computer vision and optical measurement. The camera is composed of a three-dimensional imaging unit and a control unit, and the three-dimensional imaging unit integrates a micro projector based on a MicroLED and a monocular industrial camera, so that a flexible extension structure can be adopted to extend into narrow areas such as pipelines and precision parts; the control unit is responsible for image projection, image acquisition control and three-dimensional reconstruction; according to the phase optimization method, an initial phase is obtained by combining a multi-frequency heterodyne method with a four-step phase shift method, then a gray model is constructed to solve parameters such as a background item and a modulation item pixel by pixel, iterative correction is performed on pixels exceeding a dynamic range, and meanwhile, a gray and phase dual convergence criterion is set to complete phase optimization. Miniaturization, low power consumption and high real-time performance are achieved by means of the MicroLED, phase calculation precision and robustness are improved through iterative optimization, and a scheme is provided for precision part detection, medical endoscopic imaging and the like.

A hyperspectral imaging device includes an optical channel arranged to focus light at a first image plane. A spectrometer includes a slit formed at the first image plane to allow a slit-shaped portion of the light pass through. A dispersive element receives light from the slit and spectrally disperses it along a direction perpendicular to a width of the slit. A focusing lens focuses the spectrally dispersed light at a second image plane such that the spectral dispersion is imaged along a first axis thereof, and a spatial image of the slit width is imaged along a second axis for detection by a sensor. A sliding lens group between the optical channel and the first image plane moves to direct the incident light, scanning the entire image over the slit such that multiple frames acquired by the sensor each correspond to a horizontal line of the image.

The utility model discloses a near-infrared cascading super lens for endoscopic imaging. The near-infrared cascading super lens comprises a silicon dioxide substrate layer and a double-layer nano-column structure made of silicon materials. Through the precise arrangement design of the nanorods, the lens achieves efficient optical modulation in the near-infrared band, has the high-resolution and large-view-field imaging capacity, and is suitable for a miniaturized endoscopic system. According to the structure, the imaging depth and resolution are remarkably improved, the problems of size and structure complexity of a traditional optical lens are solved, and a better solution is provided for medical endoscopic imaging.

The invention relates to the technical field of endoscopes, and discloses an endoscope system, an endoscope imaging method and an endoscope. The system comprises an endoscope probe, a light source, a photoelectric detection unit and an imaging processing unit. The endoscope probe includes an illumination fiber array and a collection fiber array for insertion into a target site. The collection optical fiber is used for collecting return light of different positions of the target part. The light source transmits exciting light to a target part through the illumination optical fiber. The photoelectric detection unit is composed of an independent photoelectric detector array optically coupled with the collection optical fiber array and an optical filter, and is used for detecting return light at different positions. And the imaging processing unit performs imaging reconstruction based on the spatial distribution characteristics of the return light so as to generate an image of the target part. According to the invention, by independently detecting the signal of each collection optical fiber, the spatial distribution characteristics of the returned light can be analyzed, and the target image containing spatial difference information is reconstructed, so that the diagnosis precision is improved.

This invention relates to an illumination module, an endoscopic imaging system, an endoscope, and an imaging method thereof. The illumination module includes a light source assembly and a filter assembly. The light source assembly includes a first light source, a second light source, and a control element, the control element being used to control the light emission from the first and / or second light sources. The filter assembly includes a switching element, a first filter, and a second filter, the first and second filters alternating circumferentially along the switching element; the switching element is used to rotate to selectively place the first and second filters on the light emission path of the light source assembly, the first filter allowing light emitted from the first light source to pass through while blocking light emitted from the second light source, and the second filter allowing light emitted from the second light source to pass through while blocking light emitted from the first light source. In this illumination module, the illumination of the object under test by the first and second light sources is separated, which facilitates individual optimization processing of the images formed by the first and second light sources, thereby improving image quality.

The present invention provides an endoscopic same axis-maintaining system, a coaxial optical system, and an endoscopic imaging system and application thereof. The endoscopic same axis-maintaining system includes: a transfer lens sheath, a connecting member, and an imaging lens sheath sequentially arranged along a same optical axis from an image side. The same optical axis of the transfer lens sheath and the imaging lens sheath is formed with the transfer lens sheath and the imaging lens sheath axially abutting against, in opposite directions, a radial outer wall and a radial inner wall of the connecting member, respectively. The transfer lens sheath is sleeved outwards with an inner lens sheath and an outer lens sheath sequentially, coaxially, and radially, and the outer lens sheath is axially separated from the inner lens sheath. At least part of the outer lens sheath axially extends beyond an imaging lens sheath object-side end, and the outer lens sheath is radially separated from or connected to the connecting member. This application improves the overall low stability of the endoscopic same axis-maintaining system due to actions such as accidental impacts or shaking during operation, avoiding a decrease in clarity of a biological body image during transmission.