WO2020042887A1 - 电子内窥镜及电子内窥镜系统 - Google Patents

电子内窥镜及电子内窥镜系统 Download PDF

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Publication number
WO2020042887A1
WO2020042887A1 PCT/CN2019/099866 CN2019099866W WO2020042887A1 WO 2020042887 A1 WO2020042887 A1 WO 2020042887A1 CN 2019099866 W CN2019099866 W CN 2019099866W WO 2020042887 A1 WO2020042887 A1 WO 2020042887A1
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WO
WIPO (PCT)
Prior art keywords
lens
electronic endoscope
gear
transmission
light receiving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/099866
Other languages
English (en)
French (fr)
Inventor
毛昊阳
何裕源
何超
高旭
瞿旻
王燕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microport Shanghai Medbot Co Ltd
Original Assignee
Microport Shanghai Medbot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Microport Shanghai Medbot Co Ltd filed Critical Microport Shanghai Medbot Co Ltd
Priority to BR112021003776-4A priority Critical patent/BR112021003776A2/pt
Priority to RU2021106606A priority patent/RU2770743C1/ru
Priority to JP2021536134A priority patent/JP7122476B2/ja
Priority to EP19854380.3A priority patent/EP3845117A4/en
Priority to US17/272,137 priority patent/US20210338067A1/en
Publication of WO2020042887A1 publication Critical patent/WO2020042887A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A61B1/051—Details of CCD assembly
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096—Optical elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112—Connection or coupling means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112—Connection or coupling means
    • A61B1/00117—Optical cables in or with an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00137—End pieces at either end of the endoscope, e.g. caps, seals or forceps plugs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/044—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for absorption imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/16—Details of sensor housings or probes; Details of structural supports for sensors
    • A61B2562/166—Details of sensor housings or probes; Details of structural supports for sensors the sensor is mounted on a specially adapted printed circuit board

Definitions

  • the present application relates to the technical field of medical devices, and in particular, to an electronic endoscope and an electronic endoscope system.
  • Various embodiments disclosed herein provide an electronic endoscope and an electronic endoscope system.
  • An aspect of the present application provides an electronic endoscope including a tube body, at least two non-zero-degree lenses, an image sensing component, and a transmission module; wherein the tube body is provided with a through light receiving channel, and the light The receiving channel is used to sequentially house the lens, the image sensing component, and the transmission module; the optical axis of the lens is parallel to the extension axis of the light receiving channel; the image sensing component is used to place the lens The received image transmitted from the lens is converted into an electrical signal and the electrical signal is output; and the transmission module is used to drive the lens to rotate in the same direction around the optical axis.
  • the tube body of the electronic endoscope is provided with a penetrating light receiving channel.
  • the light receiving channel sequentially contains a lens, an image sensing component, and a transmission module.
  • the optical axis of the lens is parallel to the extension axis of the light receiving channel.
  • the image sensing component is used to receive the image transmitted by the lens and convert it into an electrical signal.
  • the transmission module is used to drive each non-zero-degree lens to rotate in the same direction around its own optical axis, so that each lens can be rotated independently of the image sensing component, so that the field of view will not change while the field of view is changed. .
  • the electronic endoscope further includes a driving device
  • the transmission module includes a first transmission device, a second transmission device, and a transmission medium; wherein the driving device is driven by the second transmission device
  • the transmission medium and the transmission medium drive the non-zero-degree lens through the first transmission device.
  • the tube body includes a lens body head and a tube body, wherein the lens body head is connected to a distal end of the tube body; and the light receiving channel includes the light receiving channel.
  • the inner cavity of the lens extends to the first light receiving channel, the first transmission device is located in the first light receiving channel, the image sensing component is located at the proximal end of the lens body head and is fixed to the second Light receiving channel.
  • the electronic endoscope further includes a handheld end located at a proximal end of the tube body, the driving device is located at the handheld end, and the second transmission device is located at a proximal end of the light receiving channel and Connected to the driving device, the proximal end of the transmission medium is connected to the second transmission device, and extends to the distal end along the axial direction of the tube body and is connected to the first transmission device.
  • the first transmission device includes any one of a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a link transmission mechanism, or a wire transmission mechanism;
  • the transmission medium is a transmission shaft or a steel wire;
  • the second transmission device includes a gear transmission mechanism or a connection shaft structure.
  • the image sensing component includes a printed circuit board and at least one solid-state imaging element disposed on the printed circuit board.
  • the fixed imaging element has a photosensitive surface. The imaging surface is located on the photosensitive surface of the solid-state imaging element.
  • the printed circuit board and the photosensitive surface of the solid-state imaging element are perpendicular to the optical axis, and a through hole is formed on the printed circuit board, wherein the first A transmission device passes through the through hole.
  • the first transmission device includes a gear transmission mechanism; the gear transmission mechanism includes a driving gear and at least two lens gears; wherein each of the lens gears is coupled outside a lens and is coupled with The driving gear meshes; the driving gear is connected to the transmission medium; and the driving gear drives the lens gears to rotate in the same direction so that each lens rotates in the same direction.
  • the printed circuit board and the photosensitive surface of the solid-state imaging element are disposed along the direction of the optical axis; and the electronic endoscope further includes an optical steering member; The method converts the propagation direction of the light emitted by the lens into a direction perpendicular to the photosensitive surface.
  • the first transmission device includes a gear transmission mechanism;
  • the gear transmission mechanism includes a gear mount, a driving gear, a driven gear, and at least two lens gears; each of the lens gears is coupled to one Outside the lens;
  • the driving gear is connected to the transmission medium;
  • the driving gear and the driven gear are both rotatably fixed on the gear mount;
  • the driving gear is externally meshed with the driven gear;
  • the driven gear is externally meshed with each of the lens gears to drive each lens gear to rotate in the same direction.
  • the optical steering component is a steering prism or a flat mirror.
  • an exit surface of the turning prism is bonded to a photosensitive surface of the image sensing component.
  • the printed circuit board has a channel for receiving the transmission medium.
  • the printed circuit board includes at least two sub printed circuit boards, and each of the sub printed circuit boards is disposed symmetrically with respect to an extension axis of the pipe body to form a housing for accommodating the transmission medium to pass through. aisle.
  • the electronic endoscope further includes a lens protection cover disposed at the distal end of the inner cavity of each lens, and the lens protection cover is used to protect the lens in the corresponding inner cavity of the lens.
  • the electronic endoscope further includes a cover, and the cover is provided on the lens body head.
  • the cover and the lens body head are snap-fitted or threaded.
  • the electronic endoscope further includes an optical fiber
  • the lens body head forms a penetrating light output channel between the lens cavity, the light output channel and the second light
  • the receiving channel is connected, and the optical fiber extends from the second light receiving channel and extends to the distal end of the lens body head through the light output channel.
  • the electronic endoscope further includes a cold light source and a power source, wherein the lens body head forms a light output channel between the lens cavity, and the light output channel is used for Accommodate the cold light source and the power source.
  • an electronic endoscope system including: the electronic endoscope according to any one of the preceding embodiments; an image workstation, the image workstation being connected to the image sensing component for receiving The image information transmitted by the image sensing component, and processing the image information; and a monitor connected to the image workstation for receiving and displaying the image information processed by the graphics workstation.
  • FIG. 1 is a schematic three-dimensional structure diagram of an electronic endoscope according to an embodiment
  • FIG. 2a is a cross-sectional view of the electronic endoscope in the embodiment shown in FIG. 1;
  • Figure 2b is a partially enlarged view of Figure 2a
  • Figure 2c is an exploded view of the portion shown in Figure 2b;
  • FIG. 3 is a schematic cross-sectional structure diagram of a first transmission device in the embodiment shown in FIG. 2b;
  • FIG. 4 is a schematic cross-sectional structure diagram of a first transmission device in another embodiment
  • FIG. 5 is a schematic structural cross-sectional view of a first transmission device in still another embodiment
  • FIG. 6 is a schematic structural cross-sectional view of a first transmission device in still another embodiment
  • FIG. 7 is a schematic partial structural diagram of an electronic endoscope with a driving device according to an embodiment
  • FIG. 8 is a schematic partial structural diagram of an electronic endoscope with a driving device in another embodiment
  • 9 to 12 are schematic diagrams of the electronic endoscope in different attitudes in the embodiment shown in FIG. 2;
  • FIG. 13 is a schematic structural diagram of a cover of an electronic endoscope according to an embodiment
  • FIG. 15 is a schematic structural cross-sectional view of a first transmission device in the embodiment shown in FIG. 14;
  • 16 to 19 are schematic diagrams of the electronic endoscope in different attitudes in the embodiment shown in FIG. 14;
  • FIG. 20 is a schematic diagram of an electronic endoscope system according to an embodiment.
  • FIG. 1 is a schematic three-dimensional structure diagram of an electronic endoscope according to an embodiment.
  • FIG. 2a is a sectional view of the electronic endoscope in the embodiment shown in FIG. 1.
  • FIG. 2b is a partially enlarged view of FIG. 2a.
  • Fig. 2c is an exploded view of the portion shown in Fig. 2b. The structure of the electronic endoscope will be described in detail below with reference to FIGS. 1 and 2a to 2c.
  • the electronic endoscope includes a tube body 100, at least two non-zero-degree lenses 200, an image sensing component 300, and a transmission module.
  • the tube body 100 is provided with a through light receiving channel.
  • the light receiving channel is used for sequentially accommodating at least two non-zero-degree lenses 200 (hereinafter referred to as lenses), an image sensing component 300 and a transmission module.
  • the optical axis of the lens 200 is disposed parallel to the extension axis of the light receiving channel.
  • the non-zero degree lens 200 means that the viewing angle of the lens is not zero.
  • the viewing angle of the lens 200 is 30 °. In other embodiments, the viewing angle of the lens 200 may be other angles.
  • the image sensing component 300 is configured to receive an image transmitted by the lens 200 and convert the image into an electrical signal and output the image.
  • the image sensing component 300 may be output to an image processing device or an image workstation.
  • the transmission module is used to drive each lens 200 to rotate in the same direction around its own optical axis, so that each lens 200 can rotate independently of the image sensor assembly 300, and the direction of the field of view will not change while the field of view is changed. Changes that do not cause inconvenience to the doctor's diagnosis.
  • the field of view area refers to a viewable area covered by an observed scene obtained through the lens 200.
  • the field of view direction refers to a direction when the observed scene acquired through the lens 200 is presented on the image sensing component 300.
  • the direction in which the observed scene appears on the image sensing component 300 is also the positive direction, that is, the direction of the field of view is the positive direction; and when the image sensing component 300 is rotated, The direction in which the observed scene is presented on the image sensing component 300 is also deflected, that is, the direction of the field of view also changes accordingly.
  • the electronic endoscope further includes a driving device 500, as shown in FIGS. 7 and 8.
  • the transmission module includes a first transmission device 410, a second transmission device 430, and a transmission medium 420.
  • the driving device 500 drives the transmission medium 420 through the second transmission device 430, and the transmission medium 420 drives the lenses 200 through the first transmission device 410, so that each lens 200 rotates in the same direction around its own optical axis.
  • the driving device 500 is a driving motor, as shown in FIG. 7.
  • the driving motor drives the transmission medium 420 through the second transmission device 430, and the transmission medium 420 drives the lenses 200 to rotate around the optical axis of the lens 200 in the same direction through the first transmission device 410.
  • the driving device 500 may be a driving lever, as shown in FIG. 8.
  • the driving rod drives the transmission medium 420 through the second transmission device 430, and the transmission medium 420 drives the lenses 200 to rotate around the optical axis of the lens 200 in the same direction through the first transmission device 410.
  • the electronic endoscope further includes a hand-held end 440 (shown in a dotted area in FIG. 7 and FIG. 8) located at the proximal end of the tube body 100.
  • the driving device 500 is located inside or partly outside of the hand-held end 440, thereby facilitating operation by a doctor or an operator.
  • the second transmission device 430 is located in the handheld end 440. Further, the second transmission device 430 is adjacent to the proximal end side of the light receiving channel and is connected to the driving device 500.
  • the proximal end of the transmission medium 420 is connected to the second transmission device 430 and extends along the axial direction of the tube body 100 to the distal end and is connected to the first transmission device 410.
  • the tube body 100 includes a lens body head 110 and a tube body 120, as shown in FIG. 1, FIG. 2a, and FIG. 2b.
  • the lens body head 110 is connected to the distal end of the tube body 120.
  • the light receiving channel includes a lens inner cavity 132 at a distal end of the lens head 110, a first light receiving channel 134 at a proximal end of the lens head 110, and a second light receiving channel penetrating the tube body 120. 136, as shown in Figure 2b.
  • the lens inner cavity 132, the first light receiving channel 134, and the second light receiving channel 136 communicate with each other.
  • the number of the lens inner cavities 132 is the same as the number of the lenses 200 so that one lens 200 is accommodated in each of the lens inner cavities 132. Therefore, the lens inner cavity 132 has a cavity structure matching the size of the lens 200. Specifically, each lens 200 extends into the first light receiving channel 134 in a corresponding lens inner cavity 132. In addition, the optical axis of each lens 200 is in line with the extension axis of the corresponding lens cavity 132, and the extension axis of each lens cavity 132 is parallel to the extension axis of the tube body 100, so that each lens 200 has the largest possible View range.
  • the first transmission device 410 is located in the first light receiving channel 134, and the image sensing component 300 is located at the proximal end of the lens body head 110 and fixed in the second light receiving channel 136.
  • the first transmission device 410 is mainly used to drive each lens 200 to rotate in the same direction around its own optical axis.
  • the first transmission device 410 may include any one of a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a link transmission mechanism, and a wire transmission mechanism.
  • the meshing manner of the gear transmission mechanism may be an internal meshing between the gears or an external meshing between the gears, and is not limited to a specific implementation .
  • the transmission medium 420 may be a transmission shaft or a wire.
  • the transmission shaft may be a rigid transmission shaft or a transmission flexible shaft.
  • the wire drives coaxial bevel gears, turbines, etc. to achieve torque transmission.
  • the second transmission device 430 is not particularly limited, and may be an externally meshed gear set, that is, the gear set includes a first gear 432 and a second gear 434, as shown in FIG. 7.
  • the first gear 432 is disposed on the output shaft of the drive motor, and the second gear 434 is located at the proximal end of the transmission medium 420.
  • the second transmission device 430 may also be a coupling or a universal joint.
  • the connection between the output shaft of the driving motor and the transmission medium 420 can be realized through a universal joint or a coupling, so as to control the rotational movement of each lens 200 by the driving motor.
  • the image sensing assembly 300 includes at least one solid-state imaging element 310 and a printed circuit board 320.
  • the solid-state imaging element 310 is fixed on a printed circuit board 320.
  • the number of solid-state imaging devices 310 and the number of lenses 200 may be the same or different. For example, all the lenses 200 correspond to one solid-state imaging element 310.
  • the printed circuit board 320 is fixedly disposed with respect to the lens body head 110, that is, the solid-state imaging element 310 is also fixedly disposed with respect to the lens body head 110.
  • the solid-state imaging element 310 is configured to receive an image transmitted from the lens 200 and convert it into an electrical signal.
  • the position of the solid-state imaging element 310 can be set as required, but it is necessary to ensure that the distance from the exit surface of the lens 200 to the photosensitive surface of the solid-state imaging element 3120 is equal to the image distance of the lens 200, that is, the imaging surface of the lens 200 is located on the solid-state imaging element 310.
  • the light-sensitive surface ensures that the lens 200 can condense light reflected from human tissue and form an image on the light-sensitive surface of the solid-state imaging element 310.
  • the solid-state imaging device 310 may be a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) device commonly used in the art.
  • CCD charge coupled device
  • CMOS complementary metal oxide semiconductor
  • the electrical signal can be output to an image processing device, such as an image workstation 920, through a printed circuit board 320, and after image processing (such as denoising, white balance , Sharpening, etc.) and then transmitted to a display device such as the monitor 930, so that medical personnel can observe images on the monitor.
  • image processing device such as an image workstation 920
  • image processing such as denoising, white balance , Sharpening, etc.
  • the solid-state imaging element 310 is mounted on a printed circuit board 320, and the photosensitive surface of the solid-state imaging element 310 is configured to face the exit surface of the lens 200, as shown in FIG. 2c.
  • the solid-state imaging element 310 and the printed circuit board 320 are disposed along the optical axis direction of the lens 200.
  • the first transmission device 410 is a gear transmission mechanism.
  • the first transmission device 410 includes a driving gear 412 and at least two lens gears 414.
  • the rotation axes of the driving gear 412 and the lens gear 414 are parallel to the optical axis of the lens 200, and are preferably collinear, as shown in FIG. 3.
  • the number of the lens gears 414 corresponds to the number of the lenses 200 in the electronic endoscope.
  • Each lens gear 414 is disposed in the first light receiving channel 134.
  • Each lens gear 414 is coupled outside the corresponding lens 200 and meshes with the driving gear 412.
  • the driving gear 412 is also disposed in the first receiving channel 134 and is connected to the transmission medium 420. Therefore, the driving device 500 drives the transmission medium 420 through the second transmission device 430, and the transmission medium 420 then drives the lens gears 414 through the driving gear 412 to rotate in the same direction around the optical axis of the corresponding lens 200, thereby making each lens 200 around itself The optical axis rotates in the same direction.
  • the center of the driving gear 412 is located on a line perpendicular to the line connecting the centers of the lens gears 414, that is, the distance between the center of the driving gear 412 and the center of each lens gear 414 is the same.
  • the printed circuit board 320 is provided with a through hole 322 for the first transmission device 410 to pass through the through hole 322.
  • the rotation shaft of the driving gear 412 of the first transmission device 410 extends through the through hole 322 into the second light receiving channel 136 and is connected to the distal end of the transmission medium 320.
  • the driving device 500 drives the transmission medium 420 through the second transmission device 430.
  • the transmission medium 420 drives the driving gear 412 to rotate through the first transmission device 410, and then drives each lens gear 414 to drive each lens 200 to rotate.
  • the first transmission device 410 Since the first transmission device 410 passes through the through hole 322 on the printed circuit board 320 so as to be able to rotate relative to the printed circuit board 320, the first transmission device 410 is driven in the process of driving the rotation of the lens 200.
  • the rotation of the printed circuit board 320 will not cause the printed circuit board 320 to rotate, thereby ensuring that the printed circuit board 212 and the solid-state imaging element 310 fixed thereon can be fixed relative to the lens head 110 without rotating synchronously with the lens 200.
  • the relative independence of the user's rotation process, while expanding the field of view, will not change the direction of the field of view, which facilitates the doctor's diagnosis.
  • the driving gear 412 and the lens gear 414 of the first transmission device 410 may also be internally engaged, as shown in FIG. 4. At this time, the diameter of the driving gear 412 is at least larger than the diameter of the lens gear 414.
  • the first transmission device 410 may have other structures. Those skilled in the art should understand that any device that can convert the torque transmitted by the transmission medium 420 into a driving force for driving the independent rotational movement of each lens 200 can be used as the present application. First transmission 410.
  • the first transmission device 410 may also adopt a belt transmission mechanism (as shown in FIG. 5), a chain transmission mechanism, a link transmission mechanism (as shown in FIG. 6), or a wire transmission mechanism.
  • the specific structure of the first transmission device 410 can be set according to needs, for example, it can be set according to the number of the lens 200, the structure of the endoscope end, and the outer diameter limitation.
  • FIG. 9 to FIG. 12 are schematic diagrams of the electronic endoscope rotating 360 degrees clockwise in the embodiment shown in FIG. 2 in four different attitudes of 0 °, 90 °, 180 °, and 270 °, respectively. Dotted arrows are used in the illustration to identify the rotation direction of the lens 200. It should be understood that the dotted arrows are only for convenience of explanation, and do not constitute a limitation on the present application.
  • a is a schematic diagram of the state of the lens 200
  • b is a schematic diagram of the state corresponding to the first transmission device 410 in the a state
  • c is a structural diagram of each component in the light receiving channel in the electronic endoscope in the a state.
  • two lens inner cavities 132 are provided in the lens body head 110, that is, the electronic endoscope includes two lenses 200.
  • the driving gear 412 rotates counterclockwise and simultaneously drives the two lens gears 414 to rotate clockwise, thereby driving the two lenses 200 to rotate in the same direction at the same time, and the printed circuit board 320 and solid-state imaging The element 310 does not rotate, so that the field of view is expanded without changing the direction of the field of view.
  • the electronic endoscope further includes a lens protection cover 140 disposed at a distal end of each lens cavity 132, as shown in FIGS. 1 and 2a to 2c.
  • the lens protection cover 140 is used to protect the lens 200 and other components in the corresponding lens cavity 132, especially to keep the lens 200 clean, and prevent the lens 200 from being polluted by tissue fluid and other pollutants during the operation.
  • the lens protection cover 140 is fixedly disposed at the front end of the lens 200, and is fixed to the lens body head 110 by means of threads or buckles, or is integrally prepared with the lens body head 110.
  • the lens protection cover 140 can be made of a material with high transparency, so that it will not affect image acquisition.
  • the lens cover 140 may be replaced by an integral cover 150 as shown in FIG. 13.
  • the cover 150 is provided at the front end of the lens body head 110 to protect the components such as the lens 200.
  • the cover 150 can be fixed on the lens body head 110 by a snap connection or a screw connection.
  • the lens body head 110 is provided with a through-light output channel 160 between the lens inner cavities 132.
  • the light output channel 160 is in communication with the second light receiving channel 136, as shown in FIGS. 2b and 2c.
  • the number of the light output channels 160 may be the same as the number of the lens inner cavity 132 or may be different.
  • the electronic endoscope further includes an optical fiber 600. The optical fiber 600 extends from the second light receiving channel 136 and through the light output channel 160 to the distal end of the lens body head 110.
  • the near end of the optical fiber 600 is connected to a separately-set lighting device to output light generated by the lighting device to the light output channel 160.
  • the electronic endoscope may further include a cold light source and a power source (not shown).
  • the cold light source and power supply are set in the light output channel.
  • the power supply is used to provide electric power to the cold light source, so that the cold light source operates to provide a light source to the light output channel 160 as a lighting device. Since the cold light source is directly disposed in the light output channel 160, there is no need to provide an optical fiber in the second light receiving channel 136.
  • the arrangement of the cold light source and the power source in the lens body head 110 can reduce the volume of the electronic endoscope system.
  • FIG. 14 is a partial exploded view of an electronic endoscope in another embodiment.
  • the exploded view mainly shows related components in a light receiving channel.
  • components appearing in the foregoing embodiment continue to use the same reference numerals as in the foregoing embodiment, and components that are not specifically described are the same as those in the foregoing embodiment.
  • the photosensitive surface of the solid-state imaging element 310 and the printed circuit board 320 in the image sensing module 300 are disposed along the extending axial direction of the tube body 100, that is, disposed along the optical axis direction of the lens 200.
  • the electronic endoscope further includes an optical steering member 330.
  • the optical steering member 330 is configured to convert a propagation direction of the light emitted from the lens 200 into a direction perpendicular to the light-receiving surface of the solid-state imaging element 310.
  • the number of the optical steering members 330 corresponds to the number of the lenses 200.
  • the optical turning component 330 may be a turning prism for turning the incident light.
  • the steering prism may be a triangular prism or a pentaprism.
  • the optical steering member 330 may also be a flat mirror.
  • the exit surface of the optical steering member 330 is located on the light-receiving surface of the solid-state imaging element 310. Further, the exit surface of the optical steering member 330 and the photosensitive surface of the solid-state imaging element 310 are bonded together, which can reduce the occupied space, which is beneficial to the miniaturization of the device.
  • the other side of the solid-state imaging device 310 is attached to the printed circuit board 320.
  • the position of the printed circuit board 320 needs to make the distance from the exit surface of the lens 200 through the optical turning member 330 to the photosensitive surface of the solid-state imaging element 310 equal to the image distance of the lens 200, so as to ensure that the light passes through the lens 200 and the optical turning member 330.
  • An image is formed on the photosensitive surface of the solid-state imaging element 310.
  • the first transmission device 410 may also be one of a gear transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, a link transmission mechanism, or a wire transmission mechanism.
  • the first transmission device 410 is a gear transmission mechanism, as shown in FIGS. 14 and 15.
  • the first transmission device 410 includes a gear mount 410a, a driving gear 410b, a driven gear 410c, and at least two lens gears 410d.
  • Each lens gear 410d is coupled to the outside of a lens 200.
  • Both the driving gear 410b and the driven gear 410c are rotatably fixed to the gear mount 410a.
  • the driving gear 410b is connected to the transmission medium 420.
  • the driving gear 410b is externally meshed with the driven gear 410c.
  • the driven gear 410c is externally meshed with each lens gear 410d to drive each lens gear 410d to rotate in the same direction. Further, the distance from the center of the driven gear 410c to the center of each lens gear 410d remains the same.
  • the printed circuit board 320 has a hollow polygonal structure, which can form a channel for receiving the transmission medium 420. Therefore, the transmission medium 420 can transmit the input driving force to each lens 200 through the first transmission device 410, and then drive each lens 200 to rotate around its own optical axis in the same direction through the first transmission device 410.
  • the printed circuit board 320 includes at least two sub printed circuit boards, as shown in FIG. 14. At this time, the number of the sub printed circuit boards, the optical steering member 330, and the lenses 200 are the same and correspond one to one. Each sub printed circuit board is arranged symmetrically along the axial direction of the tube body 100. In this embodiment, the printed circuit board 320 includes two sub printed circuit boards.
  • the two sub-printed circuit boards are arranged symmetrically with respect to the extension axis of the tube body 100 and form a channel.
  • This channel is used for the transmission medium 420 to pass through.
  • the transmission medium 420 is connected to the driving gear 410b after passing through the channel, and drives the lenses 200 through the driven gear 410c and the lens gear 410d, so that the lens 200 is synchronously rotated in the same direction relative to the lens body head 110 and the like, thereby achieving Expand the field of view without changing the direction of the field of view.
  • FIGS. 16 to 19 are schematic diagrams of the electronic endoscope in the embodiment shown in FIG. 14 when it is rotated 360 ° clockwise, in four different attitudes of 0 °, 90 °, 180 °, and 270 °, respectively.
  • a is a schematic diagram of the state of the lens 200
  • b is a schematic diagram of the state corresponding to the first transmission device 410 in the a state
  • c is a structural diagram of each component in the light receiving channel in the electronic endoscope corresponding to the a state.
  • the dotted arrows in the figure are only for convenience of explanation and do not constitute a limitation on the present application.
  • the driven gear 410c rotates counterclockwise, and then simultaneously drives the two lens gears 410d to rotate clockwise, thereby driving the two lenses 200 to rotate clockwise synchronously.
  • the printed circuit board 320 and the solid-state imaging element 310 do not rotate, so that the field of vision is expanded without changing the direction of the field of view.
  • An embodiment of the present application also provides an electronic endoscope system, as shown in FIG. 20.
  • the electronic endoscope system includes an electronic endoscope 910, an image workstation 920, and a monitor 930.
  • the electronic endoscope 910 may be the electronic endoscope described in any of the foregoing embodiments.
  • the image workstation 920 is communicatively connected with the image sensing component 300 in the electronic endoscope 910, and is used for receiving image information output by the receiver and processing the image information.
  • the image workstation can process a series of algorithms such as decoding, difference, sharpening, enhancement, shadow processing, and white balance.
  • the monitor 930 is connected to the image workstation 920 and is used to receive and display the processed image of the image workstation 920 for the convenience of the operator to view. Further, the monitor 930 and the image workstation 920 may be integrated on one terminal.
  • the lighting device 940 in the above-mentioned electronic endoscope system is provided independently of the electronic endoscope 910, thereby facilitating replacement of the lighting device 940 and reducing the volume of the electronic endoscope 910.

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Abstract

一种电子内窥镜及电子内窥镜系统，其中电子内窥镜包括管体(100)、至少两个非零度镜头(200)、图像传感组件(300)以及传动模组。管体(100)包括贯通的光接收通道，用于依次容纳镜头(200)、图像传感组件(300)和传动模组。镜头(200)的光轴与光接收通道的延伸轴线平行。图像传感组件(300)用于接收镜头(200)传递的图像并转化为电信号，传动模组用于驱动非零度镜头(200)围绕光轴同向旋转。电子内窥镜在视场区域改变的同时，视场方向不发生改变。

Description

电子内窥镜及电子内窥镜系统
援引加入
本申请要求于2018年08月31日提交中国专利局、申请号为201811011600.2、发明名称为“电子内窥镜及电子内窥镜系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，特别是涉及一种电子内窥镜及电子内窥镜系统。
背景技术
随着介入医疗技术的迅猛发展，集传统光学内窥镜技术与现代计算机技术、微电子技术等高新技术于一身的电子内窥镜已经成为当前应用非常广泛的一种医疗诊断仪器。
在电子内窥镜的使用过程中，由于微创伤手术的切口小，通常需要旋转内窥镜角度来观察目标组织或者器官。但是对于电子内窥镜而言，不论是2D电子内窥镜还是3D电子内窥镜，当操作者旋转镜体时，镜头和感光元件同时旋转，从而导致在改变视场区域的同时，视场方向也会跟着一起旋转，这给医生的诊断工作带来了不便。
发明内容
本申请公开的各种实施例提供一种电子内窥镜及电子内窥镜系统。
本申请的一方面提出一种电子内窥镜，包括管体、至少两个非零度镜头、图像传感组件以及传动模组；其中，所述管体设有贯通的光接收通道，所述光接收通道用于依次容纳所述镜头、所述图像传感组件和所述传动模组；所述镜头的光轴与所述光接收通道的延伸轴线平行；所述图像传感组件用于将所接收的自所述镜头传递的图像转化为电信号并输出所述电信号；以及所述传动模组用于驱动所述镜头围绕所述光轴同向旋转。
上述电子内窥镜的管体中设有贯通的光接收通道。该光接收通道中依次容纳有镜头、图像传感组件和传动模组。镜头的光轴与光接收通道的延伸轴线平行。图像传感组件用于接收镜头传递的图像并将其转化为电信号。传动模组用于驱动各非零度镜头以围绕自身的光轴同向旋转，从而使得各镜头可以独立于图像传感组件进行转动，实现在视场区域改变的同时，视场方向不会发生改变。
在其中一个实施例中，所述电子内窥镜还包括驱动装置，以及所述传动模组包括第一传动装置、第二传动装置以及传动媒介；其中，所述驱动装置通过第二传动装置驱动所述传动媒介，以及所述传动媒介再通过所述第一传动装置驱动所述非零度镜头。
在其中一个实施例中，所述管体包括镜体封头和管体本体，其中，所述镜体封头与所述管体本体的远端连接；以及所述光接收通道包括位于所述镜体封头的远端的镜头内腔、位于所述镜体封头的近端的第一光接收通道和贯穿所述管体本体的第二光接收通道，其中，所述镜头从所述镜头内腔延伸至所述第一光接收通道，所述第一传动装置位于所述第一光接收通道中，所述图像传感组件位于所述镜体封头的近端且固定于第二光接收通道。
在其中一个实施例中，所述电子内窥镜还包括位于管体近端的手持端，所述驱动装置位于所述手持端上，所述第二传动装置位于所述光接收通道近端并与所述驱动装置连接，所述传动媒介近端与所述第二传动装置连接，并沿所述管体的轴向延伸至远端并与所述第一传动装置连接。
在其中一个实施例中，所述第一传动装置包括齿轮传动机构、皮带传动机构、链传动机构、连杆传动机构或丝传动机构中的任一种；所述传动媒介为传动轴或者钢丝；以及所述第二传动装置包括齿轮传动机构或连接轴结构。
在其中一个实施例中，所述图像传感组件包括印制电路板和设置在所述印制电路板上的至少一个固体摄像元件，所述固定摄像元件具有感光面，其中，所述镜头的成像面位于所述固体摄像元件的所述感光面。
在其中一个实施例中，所述印制电路板以及所述固体摄像元件的所述感光面与所述光轴垂直，且所述印制电路板上形成有通孔，其中，所述第一传动装置穿过所述通孔。
在其中一个实施例中，所述第一传动装置包括齿轮传动机构；所述齿轮传动机构包括驱动齿轮和至少两个镜头齿轮；其中，每个所述镜头齿轮耦合在一个镜头外部，并与所述驱动齿轮啮合；所述驱动齿轮与所述传动媒介连接；以及所述驱动齿轮驱动各镜头齿轮同向转动，以使各镜头朝同一方向转动。
在其中一个实施例中，所述印制电路板及所述固体摄像元件的感光面沿所述光轴的方向设置；以及所述电子内窥镜还包括光学转向部件；所述光学转向部件用于将镜头的出射光的传播方向转换为垂直于所述感光面的方向。
在其中一个实施例中，所述第一传动装置包括齿轮传动机构；所述齿轮传动机构包括齿轮安装座、驱动齿轮、从动齿轮和至少两个镜头齿轮；每个所述镜头齿轮耦合在一个镜头外部；所述驱动齿轮与所述传动媒介连接；所述驱动齿轮和所述从动齿轮均可转动地固定在所述齿轮安装座上；所述驱动齿轮与所述从动齿轮外啮合；以及所述从动齿轮与各所述镜头齿轮外啮合，以驱动各镜头齿轮朝同一方向转动。
在其中一个实施例中，所述光学转向部件为转向棱镜或平面镜。
在其中一个实施例中，所述转向棱镜的出射面与所述图像传感组件的感光面贴合。
在其中一个实施例中，所述印制电路板上具有用于容纳所述传动媒介穿过的通道。
在其中一个实施例中，所述印制电路板包括至少两个子印制电路板，各所述子印制电路 板关于所述管体的延伸轴线对称设置以形成容纳所述传动媒介穿过的通道。
在其中一个实施例中，所述电子内窥镜还包括设置在每个镜头内腔远端的镜头保护罩，所述镜头保护罩用于保护对应的镜头内腔内的镜头。
在其中一个实施例中，所述电子内窥镜还包括封罩，所述封罩设在所述镜体封头上。
在其中一个实施例中，所述封罩与所述镜体封头之间为卡扣连接或者螺纹连接。
在其中一个实施例中，所述电子内窥镜还包括光纤，所述镜体封头在所述镜头内腔之间形成有贯通的光输出通道，所述光输出通道与所述第二光接收通道联通，以及所述光纤从所述第二光接收通道中延伸并通过所述光输出通道延伸至所述镜体封头的远端。
在其中一个实施例中，所述电子内窥镜还包括冷光源和电源，其中，所述镜体封头在所述镜头内腔之间形成有光输出通道，以及所述光输出通道用于容纳所述冷光源和所述电源。
本申请的另一方面提出一种电子内窥镜系统，包括：如前述任一实施例所述的电子内窥镜；图像工作站，所述图像工作站与所述图像传感组件连接，用于接收所述图像传感组件传输的图像信息，并对所述图像信息进行处理；以及监视器，所述监视器与所述图像工作站连接，用于接收并显示所述图形工作站处理后的图像信息。
附图说明
图1为一实施例中的电子内窥镜的立体结构示意图；
图2a为图1所示实施例中的电子内窥镜的剖视图；
图2b为图2a的局部放大图；
图2c为图2b所示部分的爆炸图；
图3为图2b所示实施例中的第一传动装置的横向截面结构示意图；
图4为另一实施例中的第一传动装置的横向截面结构示意图；
图5为再一实施例中的第一传动装置的横向截面结构示意图；
图6为又一实施例中的第一传动装置的横向截面结构示意图；
图7为一实施例中具有驱动装置的电子内窥镜的局部结构示意图；
图8为另一实施例中具有驱动装置的电子内窥镜的局部结构示意图；
图9至图12为图2所示实施例中的电子内窥镜在不同姿态下的示意图；
图13为一实施例中的电子内窥镜的封罩的结构示意图；
图14为另一实施例中的电子内窥镜的局部爆炸图；
图15为图14所示实施例中的第一传动装置的横向截面结构示意图；
图16至图19为图14所示实施例中的电子内窥镜在不同姿态下的示意图；
图20为一实施例中的电子内窥镜系统的示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本申请的描述中，需要理解的是，术语“中心”、“横向”、“上”、“下”、“内”以及“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，需要说明的是，当一个元件被认为是“连接”另一个元件，它可以直接连接到另一元件或者同时存在居中元件。相反，当元件被称作“直接在”另一元件“上”时，不存在中间元件。在本申请中，对于各部件而言均以靠近患者的一端为远端或末端，远离患者的一端则为近端或前端。
图1为一实施例中的电子内窥镜的立体结构示意图。图2a为图1所示实施例中的电子内窥镜的剖视图。图2b为图2a的局部放大图。图2c为图2b所示部分的爆炸图。下面结合图1和图2a至2c对电子内窥镜的结构做详细介绍说明。
在本实施例中，电子内窥镜包括管体100、至少两个非零度镜头200、图像传感组件300以及传动模组。其中，管体100设有贯通的光接收通道。该光接收通道用于依次容纳至少两个的非零度镜头200(以下简称镜头)、图像传感组件300以及传动模组。具体地，镜头200的光轴与光接收通道的延伸轴线平行设置。在本实施例中，非零度镜头200是指镜头的视向角不为零。例如，镜头200的视向角为30°。在其他的实施例中，镜头200的视向角也可以为其他角度。图像传感组件300用于接收该镜头200传递的图像，并将该图像转换为电信号后输出，例如，可以输出到图像处理设备或图像工作站。传动模组则用于驱动各镜头200绕自身的光轴做同向旋转，从而使得各镜头200可以独立于图像传感组件300进行转动，并且在视场区域改变的同时，视场方向不会发生改变，从而不会给医生的诊断工作带来不便。在本申请的各示例性实施例中，所述视场区域是指通过镜头200所获取的被观察场景所及的可视区域。所述视场方向是指通过镜头200所获取的被观察场景在所述图像传感组件300上呈现时的方向。例如，当图像传感组件300正置时，所述被观察场景在图像传感组件300上呈现的方向也为正方向，即视场方向为正方向；而当图像传感组件300旋转时，所述被观察场景在图像传感组件300上呈现的方向也发生偏转，即所述视场方向也随之发生改变。
在一实施例中，上述电子内窥镜还包括驱动装置500，如图7和图8所示。在该实施例中，传动模组包括第一传动装置410、第二传动装置430以及传动媒介420。其中，驱动装置500通过第二传动装置430驱动传动媒介420，传动媒介420再通过第一传动装置410驱动各镜头200，以使得各镜头200绕自身光轴同向转动。在一个具体实施例中，驱动装置500为驱动电机，如图7所示。驱动电机通过第二传动装置430驱动传动媒介420，传动媒介420 再通过第一传动装置410驱动各镜头200绕自身光轴朝相同方向旋转。在另一具体实施例中，驱动装置500可以为驱动杆，如图8所示。在该实施例中，驱动杆通过第二传动装置430驱动传动媒介420，传动媒介420再通过第一传动装置410驱动各镜头200绕自身光轴朝相同方向旋转。
在一实施例中，电子内窥镜还包括位于管体100近端的手持端440(图7、图8的虚线区域中表示)。驱动装置500位于手持端440内部或部分处于外部，从而方便医生或者操作人员进行操作。第二传动装置430位于手持端440内。进一步，第二传动装置430邻接于光接收通道的近端侧且与驱动装置500连接。传动媒介420的近端与第二传动装置430连接，并沿管体100的轴向延伸至远端与第一传动装置410连接。
在一实施例中，管体100包括镜体封头110和管体本体120，如图1、图2a和图2b所示。镜体封头110与管体本体120的远端连接。具体地，光接收通道包括位于镜体封头110的远端的镜头内腔132、位于镜体封头110的近端的第一光接收通道134和贯穿管体本体120的第二光接收通道136，如图2b所示。其中，镜头内腔132、第一光接收通道134以及第二光接收通道136相互连通。镜头内腔132的数量与镜头200的数量相同，从而每个镜头内腔132中容纳有一个镜头200。因此，镜头内腔132具有与镜头200大小相匹配的腔体结构。具体地，每个镜头200在对应的镜头内腔132中延伸至第一光接收通道134中。此外，每个镜头200的光轴与对应的镜头内腔132的延伸轴线共线，并且各镜头内腔132的延伸轴线平行于管体100的延伸轴线，从而使得每个镜头200具有最大的可视范围。第一传动装置410位于第一光接收通道134中，而图像传感组件300则位于镜体封头110的近端且固定在第二光接收通道136中。
在一实施例中，第一传动装置410主要用于驱动各镜头200绕自身光轴做同向旋转。第一传动装置410可以包括齿轮传动机构、皮带传动机构、链传动机构、连杆传动机构和丝传动机构中的任一种。进一步地，当第一传动装置410为齿轮传动机构时，该齿轮传动机构的啮合方式可以为齿轮之间的内啮合也可以为齿轮之间的外啮合，而并不限于某一特定的实现方式。传动媒介420则可以为传动轴或者钢丝等。例如，传动轴可以为刚性传动轴或者传动软轴。而钢丝通过转轮驱动同轴的锥形齿轮、涡轮等来实现扭矩的传递。第二传动装置430没有特别的限定，可以为外啮合的齿轮组，即该齿轮组包括第一齿轮432和第二齿轮434，如图7所示。第一齿轮432设置在驱动电机的输出轴上，而第二齿轮434位于传动媒介420的近端。在其他的实施例中，第二传动装置430也可以为联轴器或万向节。通过万向节或联轴器可以实现驱动电机的输出轴与传动媒介420的连接，从而实现驱动电机对各镜头200的旋转运动控制。
在一实施例中，图像传感组件300包括至少一个固体摄像元件310和印制电路板320。固体摄像元件310固定在印制电路板320上。固体摄像元件310的数量与镜头200的数量可 以相同，也可以不同。例如，所有镜头200对应一个固体摄像元件310。在一实施例中，印制电路板320相对于镜体封头110固定设置，即固体摄像元件310也相对于镜体封头110固定设置。固体摄像元件310用于接收镜头200传递来的图像并转换为电信号。固体摄像元件310的位置可以根据需要设置，但是需要确保光从镜头200的出射面至固体摄像元件3120的感光面的距离等于镜头200的像距，即镜头200的成像面位于固体摄像元件310的感光面，从而确保镜头200能够将人体组织反射来的光汇聚并在固体摄像元件310的感光面成像。在一实施例中，固体摄像元件310可以为本领域常用的电荷耦合元件(Charge Coupled Device，CCD)或互补金属氧化物半导体器件(Complementary Metal Oxide Semiconductor，CMOS)。在固体摄像元件310将被拍摄物体图像转换为电信号后，可以通过印制电路板320将该电信号输出至图像处理装置，例如图像工作站920，并且经过图像处理后(例如去噪、白平衡、锐化等)再传输至监视器930等显示设备，使得医护人员能够在监视器上进行图像观察。
在一实施例中，固体摄像元件310安装在印制电路板320上，并且该固体摄像元件310的感光面被配置为朝向镜头200的出射面，如图2c。换言之，固体摄像元件310以及印制电路板320沿镜头200的光轴方向设置。在本实施例中，第一传动装置410为齿轮传动机构。具体地，第一传动装置410包括驱动齿轮412以及至少两个镜头齿轮414。其中，驱动齿轮412和镜头齿轮414的旋转轴线均与所述镜头200的光轴平行，优选共线，如图3所示。镜头齿轮414的数量与电子内窥镜中的镜头200的数量相对应。每个镜头齿轮414设置在第一光接收通道134中。每个镜头齿轮414耦合在对应的镜头200外部，并与驱动齿轮412啮合。驱动齿轮412同样设置在第一接收通道134中，并与传动媒介420连接。因此，驱动装置500通过第二传动装置430驱动传动媒介420，传动媒介420则再通过驱动齿轮412驱动各镜头齿轮414以围绕对应镜头200的光轴做同向转动，进而使得各镜头200绕自身的光轴做同向转动。进一步，驱动齿轮412的中心位于各镜头齿轮414的中心的连线的中垂线上，即驱动齿轮412的中心至各镜头齿轮414的中心的距离相同。
在一个实施例中，印制电路板320上设有通孔322，以供第一传动装置410穿过该通孔322。具体地，第一传动装置410的驱动齿轮412的转动轴穿过该通孔322延伸至第二光接收通道136中，并与传动媒介320的远端连接。此时，驱动装置500通过第二传动装置430驱动传递媒介420。传递媒介420通过第一传动装置410驱使驱动齿轮412旋转，进而驱动各镜头齿轮414带动各镜头200转动。由于第一传动装置410穿过印制电路板320上的通孔322，从而可与所述印制电路板320相对转动，因此在实现对镜头200的转动的驱动过程中，第一传动装置410的转动不会带动印制电路板320的转动，从而确保印制电路板212以及固定在其上的固体摄像元件310能够相对镜体封头110固定，而不会随镜头200同步转动，实现二者转动过程的相对独立性，进而在扩展视场范围的同时，不会改变视场方向，方便了医生的诊断工作。
在一替代实施例中，第一传动装置410的驱动齿轮412与镜头齿轮414之间也可以为内啮合，如图4所示。此时驱动齿轮412的直径至少大于两倍的镜头齿轮414的直径。进一步，第一传动装置410还可以为其它结构，本领域技术人员应当理解，只要能够将传动媒介420的传递的扭矩转化为驱动各镜头200的独立旋转运动的驱动力的装置即可作为本申请的第一传动装置410。例如，第一传动装置410也可以采用皮带传动机构(如图5所示)、链传动机构、连杆传动机构(如图6所示)或者丝传动机构等。图4至图6中虚线箭头示范性表示第一传动装置410中各个部件之间运动方向的关系，并不构成对各个部件转动能力的限制。第一传动装置410的具体结构可以根据需要进行设置，例如可以根据镜头200的数量以及内窥镜末端的结构、外径限制等情况来进行设置。
图9至图12为图2所示实施例中的电子内窥镜顺时针转动360度的过程中，分别在0°、90°、180°以及270°四个不同姿态时的示意图。图示中采用虚线箭头标识了镜头200的旋转方向。应理解，虚线箭头仅仅为了便于解释说明，并不构成对本申请的限制。其中，a为镜头200的状态示意图，b为对应于a状态下的第一传动装置410的状态示意图，c为a状态下的电子内窥镜中的光接收通道内各个部件的结构示意图。在本实施例中，镜体封头110中设置有两个镜头内腔132，也即电子内窥镜包括两个镜头200。从图9至图12中可以看出，驱动齿轮412逆时针旋转，同时驱动两个镜头齿轮414顺时针转动，从而带动两个镜头200同时朝向同一方向转动，而印制电路板320和固体摄像元件310不会转动，进而实现在视线拓展的同时不改变视场方向。
在一实施例中，电子内窥镜还包括设置在每个镜头内腔132的远端的镜头保护罩140，如图1和图2a至2c所示。镜头保护罩140用于保护对应的镜头内腔132内的镜头200以及其他部件，尤其是维持镜头200的清洁，防止手术过程中镜头200被组织液等污染物污染。镜头保护罩140固定设置在镜头200前端，其通过螺纹或者卡扣等方式固定在镜体封头110上，或者与镜体封头110一体制备。镜头保护罩140可以采用透明度较高的材质制备而成，从而不会给图像采集带来影响。
在另一替代实施例中，可以用整体的封罩150来替代独立设置的镜头保护罩140，如图13所示。此时，封罩150设在镜体封头110前端，以实现对镜头200等部件的保护。封罩150可以通过卡扣连接或者螺纹连接的方式固定在镜体封头110上。
在一实施例中，镜体封头110在镜头内腔132之间设置有贯通的光输出通道160。光输出通道160与第二光接收通道136联通，如图2b和图2c所示。具体地，光输出通道160的数量可以与镜头内腔132的数量相同，也可以不同。例如，在本实施例中，光输出通道160设置有三个，而镜头内腔132设置有两个。在该实施例中，电子内窥镜还包括光纤600。光纤600从第二光接收通道136中延伸并通过光输出通道160延伸至镜体封头110的远端。光纤600的近端则与独立设置的照明设备连接，以将照明设备产生的光输出至光输出通道160 中。在另外一实施例中，电子内窥镜中还可以包括冷光源和电源(图中未示)。冷光源和电源设置在光输出通道中。电源用于向冷光源提供电能，从而使得冷光源工作，以作为照明设备向光输出通道160提供光源。由于冷光源直接设置在光输出通道160中，故无需再在第二光接收通道136中设置光纤。将冷光源和电源设置在镜体封头110内，可以减少电子内窥镜系统的体积。
图14为另一实施例中的电子内窥镜的局部爆炸图，该爆炸图中主要呈现了光接收通道中的相关部件。在本实施例中，在前述实施例中出现的部件延续采用与前述实施例中相同的附图标记，未做特殊说明的部件均与前述实施例相同。
在本实施例中，图像传感组件300中的固体摄像元件310的感光面和印制电路板320沿管体100的延伸轴向方向设置，即沿着镜头200的光轴方向设置。相应地，电子内窥镜还包括光学转向部件330。光学转向部件330用于将镜头200的出射光的传播方向转换为垂直于固体摄像元件310的感光面的方向。具体地，光学转向部件330的数量与镜头200的数量相对应。进一步，光学转向部件330可以为转向棱镜，用于实现入射光线的转向。具体地，转向棱镜可以为三棱镜或者五棱镜等。此外，光学转向部件330还可以为平面镜。光学转向部件330的出射面位于固体摄像元件310的感光面。进一步，光学转向部件330的出射面与固体摄像元件310的感光面贴合在一起，能够缩小占用的空间，有利于实现设备的小型化。固体摄像元件310的另一面则贴合在印制电路板320上。印制电路板320的位置需要使得光从镜头200的出射面通过光学转向部件330至固体摄像元件310的感光面的距离等于镜头200的像距，从而确保光经过镜头200以及光学转向部件330后在固体摄像元件310的感光面成像。
在本实施例中，第一传动装置410同样可以为齿轮传动机构、皮带传动机构、链传动机构、连杆传动机构或者丝传动机构等中的一种。例如，第一传动装置410为齿轮传动机构，如图14和图15所示。具体地，第一传动装置410包括齿轮安装座410a、驱动齿轮410b、从动齿轮410c以及至少两个的镜头齿轮410d。每个镜头齿轮410d耦合在一个镜头200的外部。驱动齿轮410b和从动齿轮410c均可转动地固定在齿轮安装座410a上。驱动齿轮410b与传动媒介420连接。驱动齿轮410b与从动齿轮410c外啮合。从动齿轮410c与各镜头齿轮410d外啮合，以驱动各镜头齿轮410d朝同一方向转动。进一步地，从动齿轮410c的中心到每个镜头齿轮410d的中心的距离保持一致。
进一步，印制电路板320呈中空多边形结构，其可以形成用于容纳传动媒介420的通道。因此，传动媒介420能够将输入的驱动力通过第一传动装置410传递至各镜头200，进而通过第一传动装置410驱动各镜头200绕自身的光轴朝同一个方向旋转转动。在另一替代实施例中，印制电路板320包括至少两个子印制电路板，如图14所示。此时，子印制电路板、光学转向部件330以及镜头200的数量相同且一一对应。各子印制电路板沿管体100的轴向对 称设置。在本实施例中，印制电路板320包括两个子印制电路板。两个子印制电路板关于管体100的延伸轴线间隔对称布置，并形成一通道。该通道用于供传动媒介420穿过。传动媒介420穿过该通道后与驱动齿轮410b连接，并通过从动齿轮410c、镜头齿轮410d驱动各镜头200，进而使镜头200相对于镜体封头110等朝同一方向同步转动，从而可实现在扩展视场的同时不改变视场方向。
图16至图19为图14所示实施例中的电子内窥镜顺时针转动360°的过程中，分别在0°、90°、180°以及270°四个不同姿态时的示意图。其中，a为镜头200的状态示意图，b为对应于a状态下的第一传动装置410的状态示意图，c为对应于a状态下电子内窥镜中的光接收通道内各个部件的结构示意图。应理解，图中的虚线箭头仅仅为了便于解释说明，并不构成对本申请的限制。从图中可以看出，当驱动齿轮410b顺时针驱动从动齿轮410c时，从动齿轮410c逆时针转动，再同时驱动两个镜头齿轮410d顺时针转动，从而带动两个镜头200同步顺时针转动，而印制电路板320和固体摄像元件310不会转动，进而实现在视线拓展的同时不改变视场方向。
本申请一实施例还提供一种电子内窥镜系统，如图20所示。电子内窥镜系统包括电子内窥镜910、图像工作站920和监视器930。电子内窥镜910可以采用前述任意实施例所述的电子内窥镜。图像工作站920与电子内窥镜910内的图像传感组件300通信连接，用于接收器输出的图像信息并对该图像信息进行处理。具体地，图像工作站可以对图像进行解码、差值、锐化、增强、阴影处理以及白平衡等一系列算法处理。
监视器930与图像工作站920连接，用于接收并显示该图像工作站920处理后的图像，以方便操作人员查看。进一步，监视器930和图像工作站920可以集成在一个终端上。
进一步，上述电子内窥镜系统中的照明装置940独立于电子内窥镜910设置，从而方便对照明装置940进行更换，并降低电子内窥镜910的体积。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种电子内窥镜，包括管体、至少两个非零度镜头、图像传感组件以及传动模组；
    其中，所述管体设有贯通的光接收通道，所述光接收通道用于依次容纳所述镜头、所述图像传感组件和所述传动模组；
    所述镜头的光轴与所述光接收通道的延伸轴线平行；
    所述图像传感组件用于将所接收的自所述镜头传递的图像转化为电信号并输出所述电信号；以及
    所述传动模组用于驱动所述镜头围绕所述光轴同向旋转。
  2. 根据权利要求1所述的电子内窥镜，其中，所述电子内窥镜还包括驱动装置，以及所述传动模组包括第一传动装置、第二传动装置以及传动媒介；其中，所述驱动装置通过第二传动装置驱动所述传动媒介，以及所述传动媒介再通过所述第一传动装置驱动所述非零度镜头。
  3. 根据权利要求2所述的电子内窥镜，其中，
    所述管体包括镜体封头和管体本体，其中，所述镜体封头与所述管体本体的远端连接；以及
    所述光接收通道包括位于所述镜体封头的远端的镜头内腔、位于所述镜体封头的近端的第一光接收通道和贯穿所述管体本体的第二光接收通道，其中，所述镜头从所述镜头内腔延伸至所述第一光接收通道，所述第一传动装置位于所述第一光接收通道中，所述图像传感组件位于所述镜体封头的近端且固定于第二光接收通道。
  4. 根据权利要求2所述的电子内窥镜，其中，所述电子内窥镜还包括位于管体近端的手持端，所述驱动装置位于所述手持端上，所述第二传动装置位于所述光接收通道近端并与所述驱动装置连接，所述传动媒介近端与所述第二传动装置连接，并沿所述管体的轴向延伸至远端并与所述第一传动装置连接。
  5. 根据权利要求4所述的电子内窥镜，其中，所述第一传动装置包括齿轮传动机构、皮带传动机构、链传动机构、连杆传动机构或丝传动机构中的任一种；
    所述传动媒介为传动轴或者钢丝；以及
    所述第二传动装置包括齿轮传动机构或连接轴结构。
  6. 根据权利要求4所述的电子内窥镜，其中，所述图像传感组件包括印制电路板和设置在所述印制电路板上的至少一个固体摄像元件，所述固定摄像元件具有感光面，其中，所述镜头的成像面位于所述固体摄像元件的所述感光面。
  7. 根据权利要求6所述的电子内窥镜，其中，所述印制电路板以及所述固体摄像元件的所述感光面与所述光轴垂直，且所述印制电路板上形成有通孔，其中，所述第一传动装置穿 过所述通孔。
  8. 根据权利要求7所述的电子内窥镜，其中，所述第一传动装置包括齿轮传动机构；所述齿轮传动机构包括驱动齿轮和至少两个镜头齿轮；其中，每个所述镜头齿轮耦合在一个镜头外部，并与所述驱动齿轮啮合；所述驱动齿轮与所述传动媒介连接；以及所述驱动齿轮驱动各镜头齿轮同向转动，以使各镜头朝同一方向转动。
  9. 根据权利要求6所述的电子内窥镜，其中，所述印制电路板及所述固体摄像元件的感光面沿所述光轴的方向设置；以及
    所述电子内窥镜还包括光学转向部件；所述光学转向部件用于将镜头的出射光的传播方向转换为垂直于所述感光面的方向。
  10. 根据权利要求9所述的电子内窥镜，其中，所述第一传动装置包括齿轮传动机构；所述齿轮传动机构包括齿轮安装座、驱动齿轮、从动齿轮和至少两个镜头齿轮；每个所述镜头齿轮耦合在一个镜头外部；所述驱动齿轮与所述传动媒介连接；所述驱动齿轮和所述从动齿轮均可转动地固定在所述齿轮安装座上；所述驱动齿轮与所述从动齿轮外啮合；以及所述从动齿轮与各所述镜头齿轮外啮合，以驱动各镜头齿轮朝同一方向转动。
  11. 根据权利要求9所述的电子内窥镜，其中，所述光学转向部件为转向棱镜或平面镜。
  12. 根据权利要求9所述的电子内窥镜，其中，所述光学转向部件的出射面与所述图像传感组件的感光面贴合。
  13. 根据权利要求9所述的电子内窥镜，其中，所述印制电路板上形成有用于容纳所述传动媒介穿过的通道。
  14. 根据权利要求9所述的电子内窥镜，其中，
    所述印制电路板包括至少两个子印制电路板，各所述子印制电路板关于所述管体的延伸轴线对称设置以形成容纳所述传动媒介穿过的通道。
  15. 根据权利要求3所述的电子内窥镜，其中，所述电子内窥镜还包括设置在每个镜头内腔远端的镜头保护罩，所述镜头保护罩用于保护对应的镜头内腔内的镜头。
  16. 根据权利要求3所述的电子内窥镜，其中，所述电子内窥镜还包括封罩，所述封罩设在所述镜体封头上。
  17. 根据权利要求16所述的电子内窥镜，其中，所述封罩与所述镜体封头之间为卡扣连接或者螺纹连接。
  18. 根据权利要求3所述的电子内窥镜，其中，所述电子内窥镜还包括光纤，所述镜体封头在所述镜头内腔之间形成有贯通的光输出通道，所述光输出通道与所述第二光接收通道联通，以及所述光纤从所述第二光接收通道中延伸并通过所述光输出通道延伸至所述镜体封头的远端。
  19. 根据权利要求3所述的电子内窥镜，其中，所述电子内窥镜还包括冷光源和电源， 其中，所述镜体封头在所述镜头内腔之间形成有光输出通道，以及所述光输出通道用于容纳所述冷光源和所述电源。
  20. 一种电子内窥镜系统，包括：
    如权利要求1至19中任一项所述的电子内窥镜；
    图像工作站，所述图像工作站与所述图像传感组件连接，用于接收所述图像传感组件传输的图像信息，并对所述图像信息进行处理；以及
    监视器，所述监视器与所述图像工作站连接，用于接收并显示所述图形工作站处理后的图像信息。
PCT/CN2019/099866 2018-08-31 2019-08-08 电子内窥镜及电子内窥镜系统 Ceased WO2020042887A1 (zh)

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CN115590453B (zh) * 2022-12-13 2023-04-07 杭州康基医疗器械有限公司 内窥镜手术中曝光度的智能调节系统及方法

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CN110393499B (zh) 2021-12-07
BR112021003776A2 (pt) 2021-05-18
CN110393499A (zh) 2019-11-01
EP3845117A1 (en) 2021-07-07
EP3845117A4 (en) 2022-05-11

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