CN-121987126-A - Binocular endoscope

CN121987126ACN 121987126 ACN121987126 ACN 121987126ACN-121987126-A

Abstract

The invention provides a binocular endoscope which comprises a left side shooting unit, a right side shooting unit, an included angle adjusting component and a holding component, wherein the left side shooting unit can rotate around a central axis, the right side shooting unit can rotate around the central axis, the included angle adjusting component is used for adjusting the deflection angle between the left side shooting unit and the right side shooting unit, the change range of the deflection angle does not exceed a preset interval, and the holding component is configured to provide constraint moment opposite to the rotation trend of the left side shooting unit and/or the right side shooting unit when the deflection angle is adjusted based on the included angle adjusting component, so that the deflection angle is maintained unchanged. Through the cooperation of the included angle adjusting component and the holding component, the deflection angle between the left side camera shooting unit and the right side camera shooting unit can be adjusted to any angle in a preset range and is held. Therefore, the imaging module of the binocular endoscope can adapt to near-distance and long-distance scenes when observing the body cavity of the object, and the application range of the binocular endoscope is expanded.

Inventors

FU YE
QIAN CHUNJIAN
CHEN LIMIN
REN YONGQIANG
WANG YANTAO

Assignees

上海澳华内镜股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251219

Claims (11)

1. A binocular endoscope comprising an insertion portion, characterized in that the binocular endoscope comprises: A left image pickup unit rotatable around a center thereof; the right side camera unit can rotate around the center; the included angle adjusting component is used for adjusting the deflection angle between the left side camera shooting unit and the right side camera shooting unit so that the binocular endoscope is adjusted to a state to be imaged; And the holding component is configured to provide a constraint moment opposite to the rotation trend of the left side camera unit and/or the right side camera unit when the deflection angle is adjusted based on the included angle adjusting component, and the deflection angle is adjusted and held within a preset range through cooperation of the included angle adjusting component and the holding component.
2. The binocular endoscope of claim 1, wherein the included angle adjustment assembly comprises: a traction drive unit; The two ends of the first traction wire are respectively connected to the traction installation rotating shaft of the left side shooting unit and the traction installation rotating shaft of the right side shooting unit; One end of the second traction wire is connected with the traction driving unit, and the other end of the second traction wire is connected to the middle section of the first traction wire; The traction driving unit is used for traction the second traction wire under the action of external force, and the second traction wire can drive the two ends of the first traction wire to rotate through the traction installation rotating shaft, so that the left side camera shooting unit and the right side camera shooting unit are driven to rotate around the installation rotating shafts respectively.
3. The binocular endoscope of claim 2, wherein the included angle adjustment assembly comprises: a transmission element, one end of which is connected with the traction driving unit; and the other end of the transmission element is connected with the sliding element, and when the sliding element slides, the second traction wire is pulled to move.
4. The binocular endoscope of claim 1, wherein the included angle adjustment assembly comprises: The electromagnetic driving unit comprises electromagnets arranged in the left side image pickup unit and/or the right side image pickup unit and permanent magnets arranged opposite to the electromagnets; when the power is on, electromagnetic repulsive force or attractive force is formed between the electromagnet and the permanent magnet, and the left side image pickup unit and the right side image pickup unit are driven to rotate around respective installation rotating shafts; when the power is off, the left side camera shooting unit and the right side camera shooting unit can be reset to a preset angle position.
5. The binocular endoscope of claim 1, wherein the angle adjusting assembly comprises a driving member and a motion converting member for converting a linear motion of the driving member into a rotation of the left and right photographing units, thereby adjusting the deflection angle.
6. The binocular endoscope of claim 5, wherein the motion converting member comprises: One end of the driving connecting rod is connected with the driving piece, and the other end of the driving connecting rod is connected with the imaging unit connecting rods respectively arranged on the left side imaging unit and the right side imaging unit; The connecting rod rotating shaft is arranged between the driving connecting rod and the imaging unit connecting rod and used for converting the linear motion of the driving connecting rod into rotation of the left side imaging unit and the right side imaging unit.
7. The binocular endoscope of claim 6, wherein the driving member is a push-pull type magnetic control unit having a driving shaft for providing a linear driving force, an output end of the driving shaft being connected to the driving link.
8. The binocular endoscope of claim 7, wherein the push-pull type magnetic control unit is provided with a limit stroke part for limiting the reciprocating movement of the driving shaft between a preset maximum stroke and a minimum stroke.
9. The binocular endoscope of claim 1, wherein the holding assembly comprises an elastic member that generates an elastic restraining moment opposite to a rotation tendency of the left side camera unit and/or the right side camera unit when the included angle adjusting assembly is adjusted to keep the deflection angle unchanged.
10. The binocular endoscope of claim 1, wherein the holding assembly comprises a magnetic member that provides a restraining moment through a magnetic force created by the magnetic member to maintain the deflection angle unchanged.
11. A binocular endoscope according to claim 1, comprising: a left side objective optical system; A right side objective optical system; And when the left image pickup unit and the right image pickup unit rotate and/or are kept to be parallel to the imaging optical axis of the left objective optical system and the imaging optical axis of the right objective optical system, fusing the images acquired by the left image pickup unit and the right image pickup unit, and outputting a single-channel 2D image signal.

Description

Binocular endoscope Technical Field The invention relates to the technical field of medical equipment, in particular to a binocular endoscope capable of realizing switching between 2D/3D imaging modes. Background The prior art CN102296000B discloses a stereoscopic endoscope in which a support member is provided at the distal end portion, imaging optical axes of left and right imaging units of the binocular endoscope are inclined with respect to the longitudinal direction of the insertion portion, and inclination and rotation angles of the imaging optical system are adjusted by a receiving member, so that consistency of the image center position and rotation angles is ensured. The size of the head end part of the endoscope is obviously increased by additionally arranging the containing part, and in a soft endoscope which is to enter a natural cavity, the size increase of the front end part of the endoscope can cause the difficulty of inserting the front end into a body cavity, the stereoscopic endoscope depends on the mechanical limiting structure of the containing part to adjust, but the continuous accurate maintenance of the deflection angle between two photographing units at a specific angle or any angle cannot be realized, and the stepless controllable adjustment and stable hovering at any position cannot be supported. In the prior art, an endoscope with a preset deflection angle between imaging units is difficult to adjust the angle in real time in the dynamic operation process, and the problems of complex structure, inconvenient angle adjustment control, low adjustment precision, difficulty in maintaining a fixed observation field of view in the dynamic operation process, poor image consistency and the like generally exist, and further optimization and improvement are still needed in the aspects of imaging mode switching and image depth recognition under different adaptation observation distances. Disclosure of Invention In order to solve at least one of the problems in the prior art, the present invention proposes an endoscope system for dual-module imaging, in which two imaging optical axes are precisely intersected at a predetermined distance, and adjustment of a deflection angle between dual imaging units and maintenance of an angle after arbitrary adjustment can be achieved. One embodiment of the present invention provides a binocular endoscope. The binocular endoscope has a flexible insertion portion which can be inserted into a subject, and a bending portion which can be controlled to bend and a head end portion are provided in this order on the distal end side of the insertion portion. The binocular endoscope comprises a left side image pickup unit, a right side image pickup unit, an included angle adjusting component, a retaining component and a limiting moment, wherein the left side image pickup unit can rotate around a central axis, the right side image pickup unit can rotate around the central axis, the included angle adjusting component is used for adjusting the deflection angle between the left side image pickup unit and the right side image pickup unit, the binocular endoscope is adjusted to a state to be imaged, the retaining component is configured to provide a restraining moment opposite to the rotation trend of the left side image pickup unit and/or the right side image pickup unit when the deflection angle is adjusted based on the included angle adjusting component, and the deflection angle is adjusted and retained within a preset range through cooperation of the included angle adjusting component and the retaining component. Optionally, when the external driving force of the included angle adjusting assembly is removed, the deflection angle can be reset to a preset angle position. The included angle adjusting assembly comprises a driving unit, a first traction wire, a second traction wire and a driving unit, wherein two ends of the first traction wire are respectively connected to a traction installation rotating shaft of a left side shooting unit and a traction installation rotating shaft of a right side shooting unit, one end of the second traction wire is connected with the driving unit, the other end of the second traction wire is connected to the middle section of the first traction wire, the driving unit pulls the second traction wire under the action of external force, the second traction wire can drive the traction installation rotating shafts at two ends of the first traction wire to rotate, the left side shooting unit and the right side shooting unit are driven to rotate around the installation rotating shafts respectively, and the included angle adjusting assembly and the holding assembly can cooperatively work, so that a deflection angle between the left side shooting unit and the right side shooting unit can be adjusted to any angle in a preset range and kept. Optionally, the included angle adjusting assembly comprises a transmission element, a sliding element and a tr