WO2016012248A1 - Stereo video endoscope having a plurality of optical modules - Google Patents

Abstract

The invention relates to a stereo video endoscope (2), comprising a shank (4) surrounding a construction space. In a first partial volume (20) of the construction space (18), an optical system for acquiring stereoscopic image data is mounted, said system comprising a left-hand optical channel (24) and a right-hand optical channel (26). In a second partial volume (22) of the construction space (18), a further optical module (44-50) is mounted and can be pivoted into the first partial volume (20) of the construction space (18) by rotation about a longitudinal axial direction (L) of the shank (4).

Description

 Stereo video endoscope with multiple optical assemblies Description

The invention relates to a stereo video endoscope, comprising a shaft which encloses a space, wherein in a first sub-volume of the installation space, an optical system for detecting stereoscopic image data is present, wherein the optical system has a left optical channel with a left optical assembly and a left An image sensor and a right optical channel having a right optical assembly and a right image sensor, wherein the left optical channel and the right optical channel are arranged symmetrically to a longitudinal axial direction of the shaft.

Endoscopes, in particular video endoscopes, are known in various designs. At a distal end of an endoscope shaft is an optical system, with the aid of which a typically illuminated surgical or examination field is imaged for observation or examination on one or more image sensors. There are endoscopes with straight-ahead view, in the so-called 0 ° direction of viewing, and endoscopes with lateral viewing direction known. In the latter type is located at the distal end of the endoscope shaft, a prism, which allows a lateral viewing direction, for example, 30 °, 45 °, 70 °, etc.

Furthermore, stereo video endoscopes are known, which offer the surgeon the opportunity to view the surgical field in a spatial representation. Such a stereo endoscope can be seen for example from DE 1 0 201 0 041 857 A1.

Stereoscopic recording and playback devices are also well known. In a stereoscopic image, a right and a left individual image of a stereoscopic image pair or a series of image pairs are recorded simultaneously or in rapid succession alternately from two different viewing directions. For this purpose, a left optical channel and a right optical channel are used. Each of the two lens systems or lenses images the image field from slightly different viewing directions onto a separate image sensor.

Both endoscopes, which provide a two-dimensional image, and stereo video endoscopes are usually factory-set with regard to the optical parameters of their imaging system.

Based on this prior art, it is an object of the invention to provide a stereo video endoscope, which is variable, in particular with regard to its optical imaging properties.

The object is achieved by a stereo video endoscope, comprising a shaft which encloses a space, wherein in one the first sub-volume of the installation space comprises an optical system for acquiring stereoscopic image data, the optical system comprising a longitudinal optical channel with at least one left optical subassembly and one left image sensor and a right optical channel with at least one right optical subassembly and a right image sensor; wherein the left optical channel and the right optical channel are arranged symmetrically to a longitudinal axial direction of the shaft, wherein the stereo video endoscope is further developed in that in a second partial volume of the installation space, which does not overlap with the first partial volume, a further optical assembly is present, which can be pivoted into the first partial volume of the installation space by rotation about the longitudinal axial direction of the shaft.

The present invention is based on the finding that in a shaft of a stereo video endoscope, which is in particular circular in cross-section, the optical system for detecting stereoscopic image data comprising the left and right optical channels, the space available within the shaft is not complete is exploited. Inside the shaft remains usable space, which is used according to the invention for receiving the further optical assembly. Advantageously, the stereo video endoscope according to the invention is variable, since the optical system can be changed by the swiveling further optical assembly in its optical properties.

According to one embodiment, the further optical assembly is adapted to change the optical imaging properties of the optical system in the pivoted state.

In the context of the present description, among the "optical properties" of an optical system, in particular sen optical imaging properties to understand. The optical imaging properties are determined, in particular, by the optical properties of the further optical assembly and / or by the optical properties of the, in particular planar, image sensors. The optical properties of an optical system are preferably characterized by optical parameters. The optical parameters are, for example, an enlargement, an image or viewing angle, a focal point, a spectral sensitivity, a resolution, a light intensity, a transparency (transmissivity) for specific wavelengths, etc.

The further optical assembly is adapted to change the optical imaging properties of the optical system in the pivoted state. Thus, the optical properties of the stereo video endoscope are variably adjustable. In addition to the actual optical system, another optical system is de facto available, whereby the different optical properties of the two optical systems make it possible to obtain additional or different image information.

According to a further advantageous embodiment, the stereo video endoscope is further developed in that the further optical assembly is adapted to change a position of a focal point and / or an enlargement of the left and / or right optical assembly of the optical system in the pivoted state.

The operator or the operator of the stereo video endoscope according to this embodiment, it is possible by pivoting the other optical assembly different focal points and / or magnifications of the optical system depending on Need to adjust. This makes it possible to observe different areas of the surgical field lying distally in front of the end of the stereo video endoscope. For example, the possibility is created of sharply imaging objects lying at different distances from the distal end of the endoscope. Should a particular area of the surgical field be of interest, then the choice of another, in particular higher or lower, enlargement is appropriate. This is possible by pivoting the other optical assembly. A larger magnification allows details of the surgical field to be magnified. Conversely, the selection of a lower magnification allows to represent the surgical field in an overview.

Furthermore, according to a further embodiment, the stereo video endoscope is further developed in that the further optical assembly comprises at least one optical filter and / or an aperture delimiting the cross section of the beam path, wherein the at least one filter and / or the at least one aperture is rotated by rotation Längsaxialrichtung in the beam path of the optical system can be pivoted / is.

The optical filter is, for example, an absorption or transmission filter. The optical filter may be a spectral filter or a polarizing filter. Furthermore, it is possible to turn a combination of several filters individually or together into the beam path of the optical system. The use of different filters makes it possible to obtain different image information. This is particularly advantageous for photodynamic diagnosis (also referred to as fluorescence diagonistics). By swiveling a corresponding filter into the optical system, a multiplicity of image information from the observation field can be obtained with the aid of a single stereo video endoscope. accessible.

According to a further embodiment, the stereo video endoscope is formed in that the further optical assembly can be swiveled into the optical system in a region in which there is a small, in particular minimal, cross section of a beam path of the left and / or right optical channel, wherein the further optical assembly is further pivoted in particular in a diaphragm plane of the first and / or second optical assembly of the optical system.

By the further optical assembly is pivoted into an area in the optical system in which there is a small cross-section of the beam path, small and thus space-saving optical elements, such as filters or lenses, can be used. This is the always present requirement for the smallest possible space advantageous.

Furthermore, the stereo video endoscope is further developed in particular in that the further optical assembly comprises at least one further, in particular flat, image sensor whose resolution, number of pixels, photosensitivity, spectral sensitivity and / or read-out speed differ from those of the image sensors of the optical system.

In other words, the further optical assembly according to this embodiment comprises image sensors whose optical properties differ from those of the image sensors of the optical system.

The number of pixels of a sensor always provides a balancing compromise between a high resolution and image information density On the one hand and the effort required for processing and transmitting the correspondingly large amounts of data. Depending on the needs of the individual application or the individual application, it is possible to choose between different resolutions by selecting the corresponding sensor or sensor pair. This avoids the transmission of unnecessarily large amounts of data, and if necessary or desired, high-resolution image data can also be used. Similar considerations also play a role in the choice of the spectral sensitivity and in terms of the readout speed of the sensors. Also with regard to these parameters, depending on the application, the appropriate optical system can be set.

Furthermore, the stereo video endoscope is further developed in that the further optical assembly is arranged in a turret, which in particular extends symmetrically to the longitudinal axial direction of the shaft and is rotatable about the longitudinal axial direction of the shaft.

The arrangement of the optical assemblies in a revolver makes it possible to select the optical assembly with little effort and swing it into the beam path. For example, optical assemblies, which have the appropriate focus point, swung in, so aligned with respect to the active sensors. The optical assemblies are in particular lenses.

According to a further embodiment it is provided that a motor drive is provided, which is adapted to rotatably drive the revolver about the longitudinal axial direction of the shaft. A motor drive of the revolver and / or the sensor magazine allows the change of the optical assembly or the change of the image sensors during use of the stereo video endoscope, for example during an operation intervention. Advantageously, the surgeon is thus enabled to choose between different focus points, different filter characteristics, resolutions and / or readout speeds.

The stereo video endoscope is, for example, an endoscope with a straight-ahead view. In order to enable not only a straight-ahead view in the 0 ° direction of view but also an oblique view, in particular a variable oblique view, it is further provided that according to a further embodiment a prism is present in a distal end region of the shaft, in particular rotatable about a longitudinal axial direction of the shaft is.

The image sensor (s) are, for example, CCD or CMOS sensors. Furthermore, located within the shaft of the stereo video endoscope in particular a cladding tube, which encloses the space. The shaft of the stereo video endoscope can be designed both rigid and flexible. For operating the image sensors electrical supply lines are further provided, which extend along the shaft of the endoscope. Furthermore, a viewing window is preferably provided at a distal end of the shaft of the stereo video endoscope, which separates the observation or operating space, which lies distally in front of the end of the endoscope shaft, from the interior of the shaft. The optical system is behind, ie. proximal, of the viewing window. The aforementioned aspects advantageously relate to all embodiments.

Further features of the invention will become apparent from the description. embodiments according to the invention together with the claims and the accompanying drawings ersichtl ich. Embodiments of the invention may satisfy individual features or a combination of several features.

The invention will be described below without limiting the general inventive idea by means of embodiments with reference to the drawings, reference being expressly made to the drawings with respect to all in the text unspecified details of the invention. Show it:

Fig. 1 shows a schematic perspective view of a stereoscopic video endoscope,

Fig. 2 is a schematic longitudinal section through a

 Shank of the stereo video endoscope,

Fig. 3 is a schematic cross-sectional view of the

 Shaft along the plane I I-I I I in Fig. 2,

Fig. 4 a with respect to the representation of FIG. 2 to

 90 ° tilted about a longitudinal axial direction of the shaft longitudinal section through the shaft of the stereo video endoscope, which along the plane IV-IV in FIG. 3 runs and

Fig. 5 is a cross-sectional view of the shaft taken along the plane V-V in FIG. 4th

In the drawings, the same or similar elements and / or parts are provided with the same reference numerals, so that apart from a new idea each. Fig. 1 shows a schematic perspective view of a stereoscopic video endoscope 2 with a shaft 4, in particular a rigid endoscope shaft, in whose distal end region 6 a viewing window 8 is present. In the proximal direction behind the viewing window 8 is located in a space enclosed by the shaft 4 interior a in FIG. 1, not shown optical system. At a proximal end of the shaft 4 is a handle 1 0. Furthermore, a likewise not visible cladding tube is provided in the shaft 4. The shaft 4 of the stereo video endoscope 2 extends in the longitudinal axial direction L. The same applies to the cladding tube, not shown, which extends in the longitudinal axial direction L within the shaft 4.

The cladding tube is connected to the handle 10 at its proximal end. Furthermore, the optical system is mounted in the cladding tube, so that the optical systems present in the distal end region 6 of the stereo video endoscope 2 are rotatable within the shaft 4 together with the cladding tube. This rotation takes place by the handle 10 is rotated relative to a rotary knob 1 2, which is fixedly connected to the shaft 4. On the handle 1 0, a slide switch 14 is further provided as another control.

Fig. FIG. 2 shows a schematic longitudinal section through the cladding tube 16 which, like the shaft 4, encloses a construction space 18.

Fig. 3 shows a schematic cross-sectional view through the cladding tube 1 6 along the in FIG. 2 shown level I I I-I I.

The existing within the cladding tube 1 6 space 1 8 is divided into a first sub-volume 20 and a second sub-volume 22nd The first sub-unit 20 and the second sub-unit 22 do not overlap each other. In the first sub-volume 20, an optical system for detecting stereoscopic image data is provided. In the second sub-volume 22, a further optical assembly is added, which consists in particular of a further left and a further right optical assembly.

The in Fig. 2 shows a longitudinal section through the first partial volume 20 of the installation space 1 8, as shown in FIG. 3 shows I I marked I level.

The existing in the first sub-volume 20 of the space 1 8 optical system comprises a left optical channel 24 and a right optical channel 26. The left optical channel 24 includes at least one left optical assembly 28 and a left, in particular flat, image sensor 30. The right Optical channel 26 is constructed analogously to the left optical channel 24. Thus, the right-hand optical channel 26 comprises a right-hand optical assembly 32 and a right-hand, in particular flat, image sensor 34. The left-hand and right-hand optical assemblies 28, 32 are preferably lenses which image an image field onto the left or right image sensor 30, 34. The image sensors 30, 34 are, for example, CCD or CMOS sensors. The image sensors 30, 34 are connected by suitable, schematically indicated, electrical connection lines 36 with a control and / or evaluation electronics, not shown, so that they can be supplied on the one hand with voltage and control signals and on the other hand.

The left optical channel 24 and the right optical channel 26 are arranged symmetrically to the longitudinal axial direction L of the cladding tube 16 and the shaft 4, respectively. In other words, the left-hand opti- see assembly 28 and the first right optical assembly 32 and in particular also the left image sensor 30 and the right image sensor 34 is arranged symmetrically to the longitudinal axial direction L of the cladding tube 1 6 and the shaft 4.

Furthermore, a prism 38 is located at a distal end of the cladding tube 16. This allows observation of an operating field lying in front of the distal end region 6 (see FIG. 1) under an angle which is inclined with respect to the longitudinal axial direction L. In particular, the prism 38 is rotatable. For example, the prism 38 is supported so as to be rotatable relative to the optical system about the longitudinal axial direction L. Thus, an observation of the examination or surgical field under an inclined angle is possible.

The left optical channel 24 and the right optical channel 26, particularly the left optical assembly 28 and the right optical assembly 32, are spaced apart by the length of a stereo base B. This requires that the viewing angle of the two individual optics, that is, the left and right optical assemblies 28, 32, be slightly different, so that stereoscopic image data, in particular for generating a 3D image data stream, can be detected by the two optical channels 24, 26 are .

Fig. 4 shows a schematic longitudinal sectional view through the cladding tube 1 6, which is opposite to that in FIG. 2 is tilted 90 ° about the longitudinal axial direction L shown in FIG. The orientation of the two in FIGS. FIGS. 2 and 4 are shown in FIG. 3 shown. The in Fig. 2 shows a longitudinal section along the plane I II I. The in Fig. 4 longitudinal section extends at an angle of 90 ° to this along the plane IV-IV. While Fig. FIG. 2 shows a longitudinal section through the first sub-barrel 20 of the installation space 18, is shown in FIG. 4 a longitudinal section through the second Teilvolunnen 22 of the space 1 8 shown.

Fig. 5 shows a schematic cross-sectional view through the cladding tube 1 6 along the in FIG. 4 level V-V shown.

The further optical assembly arranged in the second partial volume 22 is, according to the exemplary embodiment shown, another optical system. This includes by way of example a further left and right optical assembly 44, 48. These further optical assemblies 44, 48 are preferably lens groups. They serve in the swung state to change the optical imaging properties of the left and right optical assembly 28, 32.

The further optical system, ie the further left-hand and right-hand optical subassembly 44, 48, are pivoted into the dotted line region of the left and right optical subassemblies 28, 32 by rotation about the longitudinal axial direction L (see FIG. ,

According to further embodiments, as optical assemblies 44, 48, for example, optical filters, e.g. Spectral or absorption filters, or diaphragms provided. The further optical assemblies 44, 48 are in particular arranged so that they are in the pivoted state at a position with a small or min imalem beam cross-section.

The further optical assembly arranged in the second partial volume 22 comprises in particular a further left-hand, in particular flat, image sensor 46 and a further right-hand, in particular special flat image sensor 50. The further left image sensor 46 and the further right image sensor 50 are connected via suitable electrical connection lines 36 with a control and / or evaluation electronics, not shown, so that for the operation of the image sensors 46, 50 these both supplied with electrical voltage as well as data from the image sensors 46, 50 are readable.

The center of the left optical assembly 28, the right optical assembly 32 and the further left optical assembly 44 and the further right optical assembly 48 are preferably on a common circle, the center of which is the longitudinal axial direction L of the shaft 4. This arrangement of the further optical assemblies 44, 48, at the same distance from the center of rotation, namely the longitudinal axial direction L of the shaft 4, ensures correct alignment of the further optical assemblies 44, 48. This concerns both the alignment of the further optical assemblies 44, 48 to the optical assemblies 28, 32 as well as the orientation of the other image sensors

The further optical assembly alters the optical properties of the optical system. In particular, the focus point is moved to another position. In other words, after swiveling in the further optical assemblies 44, 48 with the optical system, objects can be sharply imaged, which are located at different distances from a distal end of the shaft 4 of the stereo video endoscope 2. For example, it is possible with the aid of the optical system, sharp objects, which are located near the distal end of the endoscope 4, at a first distance, sharply. If the further optical assemblies 44, 48 are pivoted into the optical system, then, for example, objects in a different second distance be sharply imaged, wherein the focal point of the optical system may be both before and behind the position at which it lies when the further optical assembly is not pivoted into the optical system. The terms near and far refer to the distal end 6 of the endoscope shaft 4, respectively.

A change of the optical system takes place for example by rotation of the optical assemblies 28, 32, 44, 48 about the longitudinal axial direction L of the cladding tube 1 6. For this purpose, for example, the optical assemblies 28, 32, 44, 48 are arranged in a revolver, which in Figs. 2 to 5 ledigl I for reasons of clarity is not shown. In particular, it is provided that such a revolver is driven by a motor.

Furthermore, in particular, the further left optical assembly 44 and the further right optical assembly 48, for example two diaphragms or two filters, are accommodated in the revolver. They are pivoted by rotation of the same about the longitudinal axial direction L of the shaft 4 in the left and right optical channel 24, 26.

By a preferably made about the longitudinal axial direction L rotation of the revolver, it is possible to change the optical properties of the optical system. However, it is not only possible to swing filters or diaphragms into the left and right optical channels 24, 26, it is also provided that the further left-hand image sensor 46 and the further right-hand image sensor 50 in the beam path of the left and right optical Channel 24, 26 are pivoted. Thus, it is possible to use the left optical assembly and the right optical assembly 28, 32 optionally with the left-hand image sensor 30 and the right-hand image sensor 34 or with the other left-hand surface Image sensor 46 or the other right-hand image sensor 50 to operate. The association between the optical assemblies 28, 32, 44, 48 and the image sensors 30, 34, 46, 50 is thus variable.

Such a variable and variable assignment between the optical assemblies 28, 32, 44, 48 and the two-dimensional image sensors 30, 34, 46, 50 is particularly advantageous if the flat image sensors 32, 34, 46, 50 have different optical parameters. For example, the optical image sensors 32, 34, 46, 50 of the individual optical systems have a different resolution, in particular a different number of pixels, a different spectral sensitivity and / or a different readout speed. Thus, for example, it is possible for the planar image sensors 46, 50 to have a lower resolution or number of pixels than those of the optical system, but can be read out at a higher speed. Thus, it is possible with unchanged amount of data stream, for example, to transfer slow-motion shots, while the unmodified optical system is used for high-resolution images.

If the further optical assemblies 44, 48 are pivoted into the optical assemblies 28, 32 of the optical system, this changes the magnification, for example. For example, it is possible to use a larger magnification to view a particular portion of an imaged surgical field. Conversely, by using a lower magnification, it is possible to represent, for example, a panoramic image or an image on which a larger area of the surgical field is imaged.

Furthermore, it is provided in particular that optical filters are provided. hen, which change the optical properties of the left and right optical channel 40, 42. The optical filters are, for example, absorption or transmission filters. By selecting the appropriate filter different image information can be displayed variably. Advantageously, such an optical filtering allows, for example, a contrast enhancement or contrast reduction or a false color representation in order to emphasize certain areas of the observation or surgical field which are of particular interest.

All these features, including the drawings to be taken alone as well as individual features that are disclosed in combination with other features are considered alone and in combination as erfindungswesentl I. Embodiments of the invention may be accomplished by individual features or a combination of several features. In the context of the invention, features which are identified by "particular" or "preferably" are to be understood as optional features.

LIST OF REFERENCE NUMBERS

2 stereo video endoscope

 4 shaft

 6 distal end region

 8 viewing window

 1 0 handle

 1 2 rotary wheel

 14 slide switch

 1 6 cladding tube

 1 8 space

 20 first partial volume

 22 second partial volume

 24 left optical channel

 26 right optical channel

 28 left optical assembly

 30 left-hand image sensor

 32 right optical assembly

 34 right area image sensor

 36 electrical connection lines

38 prism

 44 more left optical assembly

46 additional left-sided image sensor

48 further right optical module

50 further right area image sensor

L longitudinal axial direction

 B1 stereo base

Claims

claims 1 . Stereo video endoscope (2) comprising a shaft (4) enclosing a space (1 8), wherein in a first sub-volume (20) of the installation space (1 8) an optical system for detecting stereoscopic image data is present, wherein the optical System comprises a left optical channel (24) having at least one left optical assembly (28) and a left image sensor (30) and a right optical channel (26) with at least one right optical assembly (32) and a right image sensor (34) , wherein the left optical channel (24) and the right optical channel (26) are arranged symmetrically to a longitudinal axial direction (L) of the shaft (4), characterized in that in a second partial volume (22) of the installation space (1 8), which does not overlap with the first partial volume (20), a further optical assembly (44-50) is present, which by rotation about the longitudinal axial direction (L) of the shaft (4) in the first part volume (20) of the installation space (1 8) is einschwenkbar. 2. Stereo video endoscope (2) according to claim 1, characterized shows that the further optical assembly (44-50) is adapted to change the optical imaging properties of the optical system in the pivoted state. Stereo video endoscope (2) according to claim 1 or 2, characterized in that the further optical assembly (44-50) is adapted to, in the pivoted state, a position of a focal point and / or an enlargement of the left and / or right optical assembly ( 28, 32) of the optical system. Stereo video endoscope (2) according to one of claims 1 to 3, characterized in that the further optical assembly (44 - 50) comprises at least one optical filter and / or the cross-section of the beam path limiting aperture, wherein the at least one filter and / or the at least one diaphragm can be pivoted into the beam path of the optical system by rotation about the longitudinal axial direction (L). Stereo video endoscope (2) according to one of claims 1 to 4, characterized in that the further optical assembly (44 - 50) can be pivoted into the optical system in a region in which a small, in particular minimal, cross-section of an optical path of the left and / or right optical channel (24, 26) is present, wherein the further optical assembly (44 - 50) further in particular in an aperture plane of the first and / or second optical assembly (28, 32) of the optical system is einschwenkbar. Stereo video endoscope (2) according to one of claims 1 to 5, characterized in that the further optical assembly (44 - 50) at least one further particular flat Image sensor (46, 50) whose resolution, number of pixels, Lichtempfindl sensitivity, spectral sensitivity and / or a read speed is different from that of the image sensors (30, 34) of the optical system. Stereo video endoscope (2) according to one of claims 1 to 6, characterized in that the further optical assembly (44 - 50) is arranged in a revolver, which extends in particular symmetrically to the longitudinal axial direction (L) of the shaft (4) and about the Langsaxialrichtung (L) of the shaft (4) is rotatable. Stereo video endoscope (2) according to claim 7, characterized in that a motor drive is provided which is adapted to rotatably drive the revolver about the longitudinal axial direction (L) of the shaft (4). Stereo video endoscope (2) according to one of claims 1 to 8, characterized in that in a distal end region (6) of the shaft (4), in particular about a Langsaxialrichtung (L) of the shaft (4) rotatable prism (38) is available.