WO2025162022A1 - Endoscope imaging module, endoscope having same, and surgical instrument - Google Patents

Abstract

An endoscope imaging module, an endoscope having same, and a surgical instrument. The imaging module comprises a first optical assembly (100). The first optical assembly (100) comprises: an objective lens (101) having a first f-number, a beam splitting element (102), a relay lens (103) having a second f-number, a reflective element (104), a first image collector (105), and a second image collector (106). The objective lens (101), the beam splitting element (102), and the first image collector (105) form a first imaging light path, and the objective lens (101), the beam splitting element (102), the relay lens (103), the reflective element (104), and the second image collector (106) form a second imaging light path. The first f-number is greater than the second f-number, and a wavelength of a first imaging light beam in the first imaging light path is greater than a wavelength of a second imaging light beam in the second imaging light path. The f-numbers of the two imaging light paths are relatively independent and do not interfere with each other, thereby improving the optical resolution limit corresponding to the first imaging light beam to achieve higher resolution during imaging, while enabling the resolutions of the first imaging light beam and the second imaging light beam during final imaging to be relatively close.

Description

Endoscopic imaging module, endoscope and surgical instrument having the same

This disclosure claims priority from application number 202410129120.5 filed with the China Patent Office on January 30, 2024; the entire contents of which are incorporated herein by reference.

Technical Field

The present disclosure relates to the field of optical technology, and in particular to an endoscopic imaging module and an endoscope and a surgical instrument having the same.

Background Art

With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages of minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots offer high dexterity, high control precision, and intuitive surgical images. These features enable them to avoid operational limitations, such as hand tremors and the "chopstick effect" during operation. They are widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities.

Currently, minimally invasive surgical robots consist of a master control arm and a slave manipulator arm. The master control arm receives the surgeon's operating signals, which are processed by the control system and then generated as control signals for the slave manipulator arm, which then performs the surgical operation. During robot-assisted surgery, the slave manipulator arm clips onto the surgical instruments and 3D endoscope. The instruments are inserted into the patient's body through a poke card, which is then inserted into the incision on the patient's surface. The 3D endoscope provides internal monitoring images. The slave manipulator arm includes a scope-holding arm equipped with an endoscope adapter, which holds and moves the 3D endoscope, providing the surgeon with a suitable viewing angle during surgery. Due to the diversity of clinical needs, high-end endoscopes with integrated 3D, 4K, and fluorescence capabilities are becoming a hot topic in the medical device field. In addition to the imaging platform, the front-end lens is a critical and challenging component of the entire process.

A problem with current endoscopes is that the white light imaging optical path and the fluorescence imaging optical path in the endoscope share the same aperture coefficient (for example, patent CN103889353B discloses an image capture unit in a surgical instrument). As a result, the resolution of the fluorescence imaging optical path is limited by that of the white light imaging optical path, and the resolution of the two imaging optical paths differs greatly. When image fusion is required, a clear image cannot be fused.

Summary of the Invention

The present disclosure provides an endoscope imaging module and an endoscope and a surgical instrument having the same, so as to solve the problem in the related art that the resolution of the fluorescence imaging light path is limited by the resolution of the white light imaging light path.

To achieve the above objectives, the present disclosure provides an imaging module for an endoscope, comprising: a first optical component,

The first optical assembly includes: an objective lens with a first aperture coefficient, a beam splitter, a relay lens with a second aperture coefficient, a reflective element, a first image collector and a second image collector;

The objective lens, the beam splitter and the first image collector form a first imaging optical path; the objective lens, the beam splitter, the relay lens, the reflective element and the second image collector form a second imaging optical path;

The first aperture coefficient is greater than the second aperture coefficient, and the wavelength of the first imaging light beam in the first imaging light path is greater than the wavelength of the second imaging light beam in the second imaging light path.

To achieve the above-mentioned objectives, a second embodiment of the present disclosure provides an endoscope, comprising the imaging module of the endoscope described in any embodiment of the present disclosure.

To achieve the above-mentioned objectives, a third embodiment of the present disclosure proposes a surgical instrument, including the endoscope described in any embodiment of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

FIG1 is a schematic structural diagram of an imaging module of an endoscope in the related art;

FIG2 is a schematic structural diagram of an imaging module of an endoscope proposed in an embodiment of the present disclosure;

FIG3 is a partial enlarged view of portion A in FIG2 ;

FIG4 is a partial enlarged view of portion B in FIG2 ;

FIG5 is a schematic structural diagram of a relay lens of an imaging module of an endoscope according to an embodiment of the present disclosure;

FIG6 is an exploded view of the structure of an imaging module of an endoscope according to another embodiment of the present disclosure;

FIG7 is a schematic structural diagram of an imaging module of an endoscope according to another embodiment of the present disclosure;

FIG8 is a C-C cross-sectional view of an imaging module of an endoscope according to another embodiment of the present disclosure;

FIG9 is a schematic diagram of the objective lens structure of an imaging module of an endoscope according to another embodiment of the present disclosure;

FIG10 is a schematic structural diagram of a surgical instrument according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in sequences other than those illustrated or described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

In related technologies, endoscopic surgical robots typically consist of a doctor control platform, a patient operating platform, and an imaging platform. The surgeon sits at the doctor control platform and views a two-dimensional or three-dimensional image of the surgical area. The two-dimensional or three-dimensional image is transmitted by an endoscope placed inside the patient's body. The surgeon controls the movement of a robotic arm on the patient operating platform, as well as the surgical instruments or endoscope attached to the robotic arm. The robotic arm simulates a human arm, and the surgical instruments simulate a human hand. Together, they provide the surgeon with a range of movements that mimic the human wrist while filtering out inherent hand tremors.

The patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators, wherein one or more surgical instrument manipulators are at the end of the support assembly of each robotic arm. Surgical instruments and/or endoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and/or endoscopes for operation at a surgical site within the patient's body. Various forms can be provided to allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints. Each surgical instrument manipulator is constrained to rotate the associated surgical instrument about a center of motion on the surgical instrument, which remains stationary relative to the patient. The center of motion is typically located at the point where the surgical instrument enters the body. This center of motion is also called the "telecentric point." The imaging platform typically includes a device with video image capture capabilities (commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some endoscopic surgical robots, the endoscope includes an optical device. Optical components transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. After undergoing photoelectric conversion and other steps, the video image is transmitted to the host computer of the imaging platform. Subsequently, image processing is performed and the processed image is displayed on a video monitor for observation by the assistant.

The doctor control platform can be located at a single location in the surgical system consisting of an endoscopic surgical robot. It can also be distributed at two or more locations in the system. Remote control master/slave operation can be completed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

Figure 1 is a schematic diagram of the structure of an imaging module of an endoscope in the related art. As shown in Figure 1, the imaging module comprises an objective lens 1, a spectroscopic element 2, a first image collector 3 (which can be understood as the imaging sensor mentioned above), and a second image collector 4 (which can be understood as the imaging sensor mentioned above). The doctor controls the endoscope to detect the patient's affected area. The endoscope's light source illuminates the patient's tissue. The imaging beam formed by reflection or scattering of the patient's tissue passes through the objective lens 1 and is then split by the spectroscopic element 2 into a first imaging beam and a second imaging beam. The first imaging beam is collected by the first image collector 3 (a white light sensor or a fluorescence sensor), and the second imaging beam is collected by the second image collector 4 (which can be a fluorescence sensor or a white light sensor). Because the first and second imaging beams have the same aperture coefficient but different wavelengths, their resolutions differ. Therefore, if the resolution of one imaging beam needs to be improved, the resolution of the other imaging beam will inevitably be affected. Furthermore, when fusion imaging is required, the different resolutions will result in low resolution of the fusion imaging.

For example, by performing imaging processing on the light beams collected by the white light sensor and/or the fluorescence sensor, a tissue image of the endoscope collection position is obtained. Specifically, white light imaging is obtained by performing imaging processing on the light beams collected by the white light sensor. White light imaging is widely used. For example, in gastrointestinal examinations, it can clearly observe the morphology and color of the mucosa, and is used to detect lesions such as ulcers and polyps; in ENT examinations, it can also well view structural abnormalities in the nasal cavity, throat, and other parts; in endoscopic surgery or robot-assisted endoscopic surgery, it can observe the situation inside the patient's body cavity in order to perform surgical operations. Most of the time, the endoscope is turned on with the white light imaging function. Specifically, the device that performs imaging processing can be an image processor, etc.

Fluorescence imaging is generated by imaging the light beams collected by a fluorescence sensor. Fluorescence imaging can be used for lesion detection, such as tumor detection. It primarily exploits the differences in the fluorescence properties of specific fluorescent substances in tumor tissue and normal tissue to locate tumor margins and assist in surgical resection. For example, it plays a crucial role in endoscopic or robotic-assisted endoscopic tumor removal.

By processing the light beams collected by both the white light sensor and the fluorescence sensor, fused fluorescence imaging (also known as color fluorescence mode) is achieved. This fused fluorescence imaging combines the clear display of anatomical structures provided by white light imaging with the functional information contained in fluorescence imaging. During complex surgeries, doctors can visualize the specific details of organ morphology and clearly identify the location of lesions, providing a more comprehensive image reference for precise surgery and making it suitable for complex surgical scenarios.

With the development of medical technology, the demand for imaging clarity continues to grow, because it helps to distinguish the subtle differences in tissues based on the true color of 4K, and has a higher degree of recognition for anatomical levels and blood vessels, and can identify small parts such as lymph, fascia, blood vessels, and nerves. However, in related technologies, white light and fluorescence share the same beam collection optical path, which means that the corresponding aperture numbers of white light and fluorescence in the beam collection optical path (which can be understood as the aperture coefficient mentioned above) are the same. According to the optical resolution limit formula (the optical resolution limit is equal to 1.22λ*f/D, where f is the focal length, D is the clear aperture, λ is the wavelength, and the aperture number FNO=f/D), in order to improve the resolution of the imaging, the aperture number of the beam collection optical path is usually increased (it should be noted that the smaller the aperture number, the larger the aperture number), thereby reducing the optical resolution limit and thus improving the resolution of the imaging (it can be understood that the smaller the optical resolution limit, the higher the resolution of the imaging can be. Of course, the specific resolution of the final imaging is also affected by the pixel resolution of the image collector).

Since the resolution requirements of white light imaging take precedence over those of fluorescence imaging, the resolution requirements of white light imaging are prioritized when adjusting the aperture coefficient of the beam collection optical path. This results in the aperture number corresponding to the fluorescence beam being limited to that of the white light beam. As a result, since the wavelength of the fluorescence beam is greater than that of the white light beam, the optical resolution limit of the fluorescence beam remains at a relatively high level, which in turn results in the problem of low resolution of fluorescence imaging. This problem of low fluorescence imaging resolution is particularly prominent in the application scenario of fused fluorescence imaging, greatly affecting the observation experience of medical staff.

Therefore, the present disclosure proposes an imaging module for an endoscope, so that the resolutions of the two imaging beams do not affect each other, and the resolutions of the two imaging beams can be improved.

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

FIG2 is a schematic diagram of the structure of the imaging module of the endoscope proposed in the embodiment of the present disclosure. As shown in FIG2 to FIG4, the imaging module of the endoscope includes: a first optical component 100,

The first optical assembly 100 includes: an objective lens 101 with a first aperture coefficient, a beam splitter 102, a relay lens 103 with a second aperture coefficient, a reflective element 104, a first image collector 105 and a second image collector 106;

The objective lens 101, the beam splitter 102 and the first image collector 105 form a first imaging optical path; the objective lens 101, the beam splitter 102, the relay lens 103, the reflective element 104 and the second image collector 106 form a second imaging optical path;

The first aperture coefficient is greater than the second aperture coefficient, the distance from the spectroscopic element 102 to the first image collector 105 is less than the distance from the spectroscopic element 102 to the second image collector 106, and the wavelength of the first imaging light beam in the first imaging light path is greater than the wavelength of the second imaging light beam in the second imaging light path.

Based on the optical limit resolution equal to 1.22λ*f/D, where f is the focal length, D is the clear aperture, and λ is the wavelength, the aperture number FNO = f/D (the aperture number can be understood as the aforementioned f-number). For example, if the wavelength of the first imaging beam is 800nm and the wavelength of the second imaging beam is 550nm, then setting the first aperture number to 4 and the second aperture number to 7 yields: the optical limit resolution for the first imaging beam is 1.22*800nm*4=3.904μm; and the optical limit resolution for the second imaging beam is 1.22*550nm*7=4.697μm.

In the related art, the aperture number corresponding to the first imaging beam and the second imaging beam is the same. At this time, the wavelength of the first imaging beam is 800nm, and the wavelength of the second imaging beam is 550nm. The aperture number is determined by the second imaging beam. If the aperture number is 7, it can be obtained that: the optical resolution limit corresponding to the first imaging beam is 1.22*800nm*7=6.832μm; the optical resolution limit corresponding to the second imaging beam is 1.22*550nm*7=4.697μm.

It can be concluded that the optical resolution limit of the first imaging beam is improved from 6.832μm to 3.904μm, and the difference in the optical resolution limits of the first and second imaging beams is reduced from 2.135μm to 0.793μm. It should be noted that the smaller the optical resolution limit, the higher the imaging resolution. Of course, the specific resolution of the final image is also affected by the pixel resolution of the image acquisition device.

It should be understood that the above examples are only used to illustrate the implementation methods and do not constitute a limitation of the present disclosure.

Through the above technical solution, the first imaging beam is configured to propagate through the first imaging optical path, and the second imaging beam is configured to propagate through the second imaging optical path; based on the fact that the wavelength of the first imaging beam is greater than the wavelength of the second imaging beam, the first aperture number of the objective lens is greater than the second aperture number of the relay lens, so that the aperture number of the first imaging optical path is greater than the aperture number of the second imaging optical path, thereby avoiding the problem that the aperture number corresponding to the first imaging beam is limited by the second imaging beam, increasing the aperture number corresponding to the first imaging beam, and improving the optical resolution limit corresponding to the first imaging beam, thereby making the resolution of the first imaging beam during imaging higher.

In addition, the aperture number of the first imaging light path and the aperture number of the second imaging light path are configured separately, which avoids the aperture number corresponding to the first imaging beam being limited by the second imaging beam, reduces the difference in optical resolution limits of the first imaging beam and the second imaging beam, facilitates the processing of the first imaging beam and the second imaging beam during fusion imaging, and improves the overall resolution of the fusion imaging.

It is understandable that, by setting the relay lens 103, the focal length and/or clear aperture of the second imaging beam is changed, so that the focal length and/or clear aperture of the first imaging beam (reflected light in FIG3 ) and the second imaging beam (transmitted light in FIG3 and FIG4 ) are different. Exemplarily, by changing the clear aperture of the relay lens 103, the aperture constraint of the second imaging beam is achieved. The terms "or" and "and/or" used herein should be interpreted as inclusive or mean any one or any combination. Therefore, "A, B or C" or "A, B and/or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B and C. Exceptions to this definition will only occur when the combination of elements, functions, steps or actions is inherently mutually exclusive in some way. Here, the distance from the spectroscopic element 102 to the first image collector 105 is smaller than the distance from the spectroscopic element 102 to the second image collector 106, so that the light flux entering the first image collector 105 is reduced to prevent the scattering problem caused by the large light flux. In addition, the shorter optical path can reduce adverse effects such as energy loss in the propagation of the first imaging light beam, which is conducive to improving the resolution.

It can be understood that in order to improve the imaging effect of the imaging module, the influence of factors such as the wavelength of the first imaging beam, the wavelength of the second imaging beam, the first aperture coefficient, the second aperture coefficient and the optical path on the imaging resolution and imaging clarity should be considered, and the distance from the first spectroscopic element 102 to the first image collector 105, and the distance from the spectroscopic element 102 to the second image collector 106 should be comprehensively determined.

For example, the distance between the spectroscopic element 102 and the first image collector 105 is greater than the distance between the spectroscopic element 102 and the second image collector 106. The diffraction phenomenon of the first imaging light beam is relatively weak. By setting a longer optical path, the integrity and focus of the beam can be better maintained when it reaches the first image collector 105, thereby improving the resolution of the first imaging light path. Furthermore, the second imaging light beam itself has higher energy but is susceptible to scattering and other effects. A shorter second imaging light path can reduce energy loss and scattering of the second imaging light beam during propagation, which also helps to improve the resolution of the second imaging light path, allowing both imaging light paths to achieve good resolution, thereby improving the imaging performance of the entire system.

It is understandable that the distance from the spectroscopic element 102 to the first image collector 105 can also be equal to the distance from the spectroscopic element 102 to the second image collector 106. In this case, the optical path parameters such as the refractive index of the first imaging optical path and the second imaging optical path should be comprehensively configured to ensure the imaging effect.

It should be noted that the wavelength of the first imaging beam in the first imaging light path is greater than the wavelength of the second imaging beam in the second imaging light path, wherein the wavelength of the first imaging beam and/or the wavelength of the second imaging beam are generally within the same wavelength range.

For example, the wavelength of the first imaging beam may be between 800 nm and 815 nm, and the wavelength of the second imaging beam may be between 400 nm and 780 nm. It will be understood that the above examples are only used to illustrate the relationship between the wavelength of the first imaging beam and the wavelength of the second imaging beam, and do not constitute a limitation to the present disclosure.

In other embodiments, based on the optical limit resolution being equal to 1.22λ*f/D, where f is the focal length, D is the clear aperture, λ is the wavelength, and the aperture factor FNO = f/D, it can be seen that when the wavelength of the first imaging beam is greater than the wavelength of the second imaging beam, the first aperture factor of the objective lens 101 needs to be smaller than the second aperture factor of the relay lens 103. This ensures that the imaging resolution of the first imaging beam is close to or equal to that of the second imaging beam. Furthermore, when the two imaging beams are fused, the resolution of the fused image is improved. Furthermore, since the two imaging optical paths have independent focusing lenses and aperture factors, the two imaging optical paths are independent of each other, and their resolutions can be adjusted independently without affecting each other. It should be noted that the "optical limit resolution" here refers to the commonly understood "optical resolution limit." It is understood that the smaller the optical resolution limit, the higher the accuracy of the beam that can be identified, i.e., the higher the resolution. The aperture factor can also be referred to as the f-number; the smaller the f-number, the larger the f-number.

It should be noted that the distance from the spectroscopic element 102 to the first image collector 105 is set to be smaller than the distance from the spectroscopic element 102 to the second image collector 106 because the wavelength of the first imaging beam is greater than the wavelength of the second imaging beam. In this way, the first image collector 105 that collects the first imaging beam with a long wavelength is set close to the objective lens with a small aperture coefficient, which can make the image collector more adapted to the imaging beam and make it easier to adjust the resolutions of the two imaging beams with different wavelengths to be close or the same.

In some embodiments, the first optical assembly 100 is configured to include: an objective lens 101 having a first aperture coefficient, a beam splitter 102, a relay lens 103 having a second aperture coefficient, a reflective element 104, a first image collector 105, and a second image collector 106;

Among them, the objective lens 101, the spectroscopic element 102 and the first image collector 105 form a first imaging optical path; the objective lens 101, the spectroscopic element 102, the relay lens 103, the reflective element 104 and the second image collector 106 form a second imaging optical path; the first aperture coefficient is greater than the second aperture coefficient, and the wavelength of the first imaging light beam in the first imaging light path is greater than the wavelength of the second imaging light beam in the second imaging light path.

Optionally, the first imaging beam is a near-infrared beam, and the second imaging beam is a visible light beam. The first image collector 105 is a fluorescent CMOS (Complementary Metal Oxide Semiconductor), and the second image collector 106 is a white light CMOS. The wavelength of the near-infrared beam can be 800nm, and the wavelength of the visible light beam can be 550nm. Of course, other specific wavelength values or wavelength ranges can also be selected from the near-infrared and visible light wavelength ranges. It is understandable that the wavelength of the visible light beam can be between 400nm and 780nm, and the wavelength of the near-infrared beam can be between 800nm and 815nm. The above-mentioned wavelength of the near-infrared beam can be 800nm, and the wavelength of the visible light beam can be 550nm. It is only used to illustrate that the wavelengths of the near-infrared beam and the visible light beam are different, and does not constitute a limitation to the present disclosure.

Therefore, different aperture coefficients can be used based on white light and fluorescence. The objective path passes through fluorescence (that is, the fluorescence CMOS is set at the end close to the lens) and uses a larger aperture coefficient, while the white light path uses a smaller aperture coefficient, thereby improving the relative resolution of the fluorescence path.

In one embodiment, the objective lens 101 has a larger aperture coefficient, and the relay lens 103 has a smaller aperture coefficient. Of course, the specific values should be determined according to actual design requirements and parameters, mainly depending on the wavelengths of the fluorescent light and white light used, the required resolution, focal length, etc. Specifically, for example, for 800nm fluorescent light, the f/D (focal length/aperture coefficient, i.e., aperture coefficient FNO) of the objective lens can be set to 4; for 550nm white light, the f/D (focal length/aperture coefficient) of the relay lens can be set to 7. Since the FNO value is designed separately for the fluorescent part, its resolution is no longer dependent on white light and can be adjusted according to actual needs.

In some places in this specification, many specific technical details are described. However, it should be understood that the embodiments of the present invention can be practiced without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of the present invention is defined solely by the claims. In other places, well-known structures and other details are not shown in detail to avoid misunderstanding the main points of the present invention.

Optionally, Figure 5 is a schematic diagram of the structure of the relay lens of the imaging module of the endoscope proposed in an embodiment of the present disclosure. As shown in Figures 1 and 5, after the second imaging beam passes through the beam splitter 102 and the relay lens 103, it is reflected by the reflective element 104 to the second image collector 106, where it is captured and imaged.

In some embodiments, the relay lens 103 includes a first relay lens 1031, an aperture 1032 and a second relay lens 1033, whose aperture coefficient is the second aperture coefficient. The first relay lens 1031 is located in the optical path between the spectroscopic element 102 and the aperture 1032, and the second relay lens 1033 is located in the optical path between the aperture 1032 and the reflecting element 104.

It can be understood that the second imaging light beam passes through the first relay lens 1031, the aperture 1032 and the second relay lens 1033 in sequence.

In the disclosed embodiment, the first relay lens is used to adjust the divergence of the second imaging beam, and the second relay lens is used to adjust the focus of the second imaging beam. In this way, through the divergence and focus adjustments, the second imaging beam can be made more collimated and uniform, thereby achieving clearer imaging and improving imaging resolution.

In the disclosed embodiment, the aperture 1032 is used to constrain the aperture of the second imaging light beam, reduce the marginal light of the second imaging light path, and thus reduce the influence of aberration; accordingly, when the aberration is reduced, the imaging will be clearer and the resolution will be correspondingly improved.

Exemplarily, the second imaging beam is transmitted through the beam splitter 102 and focused on the exit surface of the beam splitter 102. The first relay lens 1031 performs divergence adjustment on the second imaging beam. The divergence-adjusted second imaging beam passes through the aperture 1032. The second relay lens 1033 performs focus adjustment on the second imaging beam that passes through the aperture 1032.

Optionally, the aperture coefficient of the second relay lens 1033 is adjustable to ensure that a suitable imaging effect can be obtained under various lighting conditions.

In one embodiment, the second imaging beam is focused on the second image collector 106. That is, the focal plane of the second image collector is conjugate with the transmission plane of the beam splitter 102. Thus, the resolution of the second imaging beam, or the white light beam, is controlled by the relay lens 103 and does not affect the resolution of the first imaging beam, or the fluorescent light beam.

5 , the relay lens 103 further includes a relay lens tube 1034, which is used to securely support the first relay lens 1031, the aperture 1032, and the second relay lens 1033. The relay lens tube 1034 can be a glass tube, with the first relay lens 1031, the aperture 1032, the second relay lens 1033, and the relay lens tube 1034 supported by gaskets. The provision of the relay lens tube 1034 integrates the relay lens 103.

Optionally, the distance from the aperture 1032 to the beam splitter 102 is the same as the distance from the aperture 1032 to the reflective element 104 , and the distance from the beam splitter 102 to the first image collector 105 is the same as the distance from the reflective element 104 to the second image collector 106 .

Therefore, through the above arrangement, the optical path of the first imaging beam from the objective lens to the first image collector 105 is substantially the same as the optical path of the second imaging beam from the objective lens to the second image collector 106. After the optical paths of the aperture 1032, the reflective element 104, and the second image collector 106 are reversed, the position of the second image collector 106 is the same as that of the first image collector 105, and the position of the reflective element 104 is the same as that of the beam splitter 102. Thus, the imaging position of the first imaging beam on the first image collector 105 is substantially the same as the imaging position of the second imaging beam on the second image collector 106. In other words, the positions of the first image collector 105 and the second image collector 106 are symmetrical about the aperture, avoiding the problem of unclear image quality caused by different optical paths.

Optionally, with continued reference to FIG. 2 and FIG. 5 , the first relay lens 1031 and the second relay lens 1033 are symmetrically arranged relative to the aperture 1032 , and the relay lens 103 is further configured to amplify the image formed by the second imaging light beam.

That is to say, the first relay lens 1031 and the second relay lens 1033 are symmetrically arranged relative to the aperture 1032, so that the relay lens can optically amplify the secondary image, thereby adapting to a larger image sensor to improve the resolution of the white light image end (for example, imaging onto a larger 4K image sensor to achieve 4K resolution).

Furthermore, optionally, the photosensitivity of the first image collector 105 is smaller than that of the second image collector 106. That is, by adjusting the aperture coefficients of the objective lens 101 and the relay lens 103, the resolution of the white-light image can be close to or equal to the resolution of the fluorescence image. Simultaneously, the symmetrical arrangement of the first relay lens 1031 and the second relay lens 1033 allows the white-light image to be magnified again, further improving its resolution, thereby increasing the photosensitivity of the second image collector 106. When using only white light for detection, this approach can further improve the resolution of the white-light image.

In one embodiment, the first optical component 100 may constitute an imaging module of a 2D endoscope, wherein the beam splitting element 102 may be a beam splitting prism, and the reflective element 104 may be a reflective prism.

In some embodiments, the imaging beam passes through the objective lens 101 and is incident on the spectroscopic element 102. The spectroscopic element 102 divides the imaging beam into two parts based on the wavelength range of the imaging beam. One part is located in the first imaging light path after being reflected from the spectroscopic element 102 (which can be understood as the first imaging beam mentioned above); the other part is located in the second imaging light path after being transmitted from the spectroscopic element 102 (which can be understood as the second imaging beam mentioned above); wherein the wavelength range of the first imaging beam does not overlap with the wavelength range of the second imaging beam. Accordingly, the first imaging light path is used to collect the first imaging beam of the imaging beam, and the second imaging light path is used to collect the second imaging beam of the imaging beam. In this way, the imaging module can distinguish the incident imaging beam based on wavelength, so that the beam located in the first imaging light path is used to be collected by the first image collector 105, and the beam located in the second imaging light path is used to be collected by the second image collector 106, thereby preventing the problem of light intensity loss caused by beam loss during splitting, thereby affecting the imaging resolution, reducing beam loss, ensuring the light intensity of the imaging beam, and improving the imaging resolution.

In some embodiments, the imaging light beam may be formed by reflection or scattering from the patient's tissue.

In some embodiments, the wavelength of the first imaging light beam is greater than that of the second imaging light beam.

Exemplarily, the first imaging beam is a visible light beam, and the second imaging beam is a near-infrared beam. It should be noted that the first imaging beam is a visible light beam, and the second imaging beam is a near-infrared beam are only examples of the first imaging beam and the second imaging beam, and the present disclosure does not limit the type of imaging beams.

In some embodiments, the beam splitter prism can perform light splitting based on the principle that the refractive index varies with wavelength, so that the light beams in the first imaging optical path are all collected by the first image collector 105, and the light beams in the second imaging optical path are all collected by the second image collector 106. In one embodiment, two sets of optical components are provided to form an imaging module of a 3D endoscope.

In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present invention. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be utilized, and that mechanical structures, physical components, electrical components, and process steps may be varied without departing from the spirit and scope of the present invention.

The terms used herein below are only used to describe specific embodiments and are not intended to limit the present invention. Spatially relative terms, such as "below", "bottom", "above", "upper", etc., may be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for ease of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except for the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation above and below. The device can be oriented in other ways (e.g., rotated 90 ° or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

Optionally, as shown in FIG6 to FIG9 , the imaging module of the endoscope further includes a PCB board 200 and a second optical component having the same structure as the first optical component;

The first optical component and the second optical component are symmetrically arranged with respect to the surface of the PCB board 200, wherein the spectroscopic elements and the reflective elements in the first optical component and the second optical component are both arranged away from the surface of the PCB board 200, and the first image collector and the second image collector of the first optical component and the second optical component are both attached to the surface of the PCB board 200.

The objective lenses 101 in the two optical assemblies are arranged in a lens holder 107, and the objective lenses 101 of the upper and lower optical assemblies are arranged symmetrically. A glass sheet 108 is provided on the light incident surface of the objective lens 101. The structures of the first optical assembly and the second optical assembly are exactly the same. The PCB board 200 can provide circuits to the image collector in the optical assembly and provide mounting support for the relay lens. The optical principle of the second optical assembly is also the same as that of the first optical assembly and will not be repeated here. The endoscope proposed according to the embodiment of the present disclosure includes the imaging module of the endoscope described in any embodiment of the present disclosure. It can achieve the same effect as the imaging module of the endoscope described in any embodiment of the present disclosure. Based on the different aperture coefficients of white light and fluorescence, the objective path uses a larger aperture coefficient through fluorescence (i.e., the fluorescence CMOS is set at the end close to the lens), while the white light path uses a smaller aperture coefficient, thereby improving the resolution of the fluorescence path. Through the telecentric solution of the objective path image space, the relay lens adopts secondary imaging magnification to match the image sensor with a larger image surface (e.g., a 4K image sensor), thereby improving the image resolution.

The surgical instrument provided in accordance with an embodiment of the present disclosure includes the endoscope described in any embodiment of the present disclosure. As shown in FIG10 , the surgical instrument includes an imaging module of the endoscope, a plug 301, an optical fiber cable 302, and a handle 303. The surgical instrument can achieve the same effects as the endoscope described in any embodiment of the present disclosure.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe medical devices, including end effectors, that are configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used with embodiments of the present invention further provide an articulated support for the surgical tool (sometimes referred to as a "wrist") that allows the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. Instruments may also contain stored information (e.g., on a PCBA within the instrument) that is either permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

In summary, according to the embodiment of the present disclosure, an endoscopic imaging module and an endoscope and a surgical instrument having the same are proposed, wherein the imaging module includes: a first optical component, the first optical component includes: an objective lens with a first aperture coefficient, a spectroscopic element, a relay lens with a second aperture coefficient, a reflecting element, a first image collector and a second image collector; the objective lens, the spectroscopic element and the first image collector form a first imaging light path; the objective lens, the spectroscopic element, the relay lens, the reflecting element and the second image collector form a second imaging light path; the first aperture coefficient is greater than the second aperture coefficient, the distance from the spectroscopic element to the first image collector is less than the distance from the spectroscopic element to the second image collector, and the wavelength of the first imaging light beam in the first imaging light path is greater than the wavelength of the second imaging light beam in the second imaging light path. The first imaging beam is configured to propagate through the first imaging optical path, and the second imaging beam is configured to propagate through the second imaging optical path. Based on the fact that the wavelength of the first imaging beam is greater than the wavelength of the second imaging beam, the first aperture number of the objective lens is greater than the second aperture number of the relay lens, so that the aperture number of the first imaging optical path is greater than the aperture number of the second imaging optical path, thereby preventing the aperture number corresponding to the first imaging beam from being limited by the second imaging beam, increasing the aperture number corresponding to the first imaging beam, and improving the optical resolution limit corresponding to the first imaging beam, thereby achieving higher resolution when imaging with the first imaging beam.

Furthermore, the aperture coefficients of the two imaging optical paths are relatively independent and do not affect each other. Furthermore, by setting the aperture coefficients of the first and second imaging optical paths differently, and setting the aperture coefficient of the beam with a larger wavelength to be larger than that of the beam with a smaller wavelength, based on the optical resolution limit, for the same objective lens with the same focal length, the aperture coefficient of the beam with a larger wavelength is larger, while the aperture coefficient of the beam with a smaller wavelength is smaller. This prevents the aperture number corresponding to the first imaging beam from being limited by the second imaging beam, narrows the difference in the optical resolution limit between the first and second imaging beams, and allows the resolution of the final images of the two to be relatively close, thereby improving the overall resolution of the fused imaging.

The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims (12)

An imaging module of an endoscope, comprising: a first optical component, The first optical assembly includes: an objective lens, a beam splitter, a relay lens, a reflective element, a first image collector, and a second image collector; the objective lens has a first aperture coefficient, and the relay lens has a second aperture coefficient; The objective lens, the beam splitter and the first image collector form a first imaging optical path; the objective lens, the beam splitter, the relay lens, the reflective element and the second image collector form a second imaging optical path; The first aperture coefficient is greater than the second aperture coefficient, and the wavelength of the first imaging light beam in the first imaging light path is greater than the wavelength of the second imaging light beam in the second imaging light path. The imaging module of an endoscope according to claim 1, wherein the distance from the spectroscopic element to the first image collector is smaller than the distance from the spectroscopic element to the second image collector. The imaging module of an endoscope according to claim 2, wherein the first imaging beam is a near-infrared beam and the second imaging beam is a visible light beam. The imaging module of the endoscope according to claim 2, wherein the relay lens includes a first relay lens, an aperture and a second relay lens, the first relay lens is located in the optical path between the spectroscopic element and the aperture, and the second relay lens is located in the optical path between the aperture and the reflecting element. The imaging module of the endoscope according to claim 4, wherein the distance from the aperture to the spectroscopic element is the same as the distance from the aperture to the reflecting element, and the distance from the spectroscopic element to the first image collector is the same as the distance from the reflecting element to the second image collector. The imaging module of the endoscope according to claim 4, wherein the first relay lens and the second relay lens are symmetrically arranged relative to the aperture, and the relay lens is also used to magnify the image formed by the second imaging beam. The imaging module of the endoscope according to claim 4 further includes a relay lens tube, which is used to fix and support the first relay lens, the aperture and the second relay lens. The imaging module of an endoscope according to claim 3 or 4, wherein the photosensitivity size of the first image collector is smaller than the photosensitivity size of the second image collector. The imaging module of the endoscope according to claim 4, wherein the first relay lens is used to perform divergence adjustment on the second imaging beam, and the second relay lens is used to perform focus adjustment on the second imaging beam. The imaging module of the endoscope according to claim 2, further comprising a PCB board and a second optical component; The first optical component and the second optical component are symmetrically arranged with respect to the surface of the PCB board and have the same structure, wherein the splitting element and the reflecting element in the first optical component and the second optical component are both arranged away from the surface of the PCB board, and the first image collector and the second image collector of the first optical component and the second optical component are both attached to the surface of the PCB board. An endoscope comprising the imaging module of the endoscope according to any one of claims 1 to 10. A surgical instrument comprising the endoscope according to claim 11.