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CN107529960B - 动态视野内窥镜 - Google Patents

动态视野内窥镜 Download PDF

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CN107529960B
CN107529960B CN201680026237.4A CN201680026237A CN107529960B CN 107529960 B CN107529960 B CN 107529960B CN 201680026237 A CN201680026237 A CN 201680026237A CN 107529960 B CN107529960 B CN 107529960B
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亚伯拉罕·莱维
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Abstract

本发明公开了一种具有动态视野的多传感器内窥镜，其包括以顶端部分为末端的一个细长轴；一个连接到细长轴上的操作部；至少两个传感器，其中至少一个传感器被放置在所述操作部上，在所述顶端部分的后面；以及位于细长轴外表面上的一个或多个照明器。在某些情况下，传感器包括摄像机。本发明还公开了一种多传感器内窥镜系统，其包括由手柄和控制器组成的内窥镜，使得操作部由控制器控制。

Description

动态视野内窥镜
相关申请的交叉引用
本申请基于题为“动态视野内窥镜”的美国临时专利申请案US62/160253的优先权，其全部内容通过引用并入本文。
技术领域
本说明书主要涉及具有动态视野的多传感器内窥镜。
技术背景
内窥镜已经在医疗界获得了很大认可，因为它们提供了一种手段，使手术以最小的患者创伤进行，同时使医师能够观察患者的内部解剖结构。多年来，根据例如腹腔镜检查、宫腔镜检查、膀胱镜检查、结肠镜检查、上消化道内镜检查等具体应用，已经开发和分类了许多内窥镜。内窥镜可以插入身体的天然孔道中或通过皮肤中的切口插入。
内窥镜通常是硬质或弹性的细长管状轴，在其远端或管状轴后方具有摄像机或光学镜头。该轴连接到手柄，有时包括用于直接观察的目镜。观察通常可以通过外部屏幕进行。
上述相关技术的示例和其中隐含的局限性旨在例证说明而不排除其他实例。在阅读了说明书和研究了附图之后，相关技术的其它局限性对于本领域技术人员将变得显而易见。
发明内容
以下实施例及其各方面结合系统、工具和方法来描述，这些系统、工具和方法旨在是示例性和说明性的，而不是限定范围。
在本发明的一个实施例中，提供一种具有动态视野的多传感器内窥镜，其包括：
a.一个细长轴，其末端具有顶端部分；
b.至少一个操作部；
c.至少两个传感器，其中至少一个传感器被放置在所述顶端部分的后面；以及
d.一个或多个照明器。
术语“后面”被定义为位于内窥镜中朝向持内窥镜者的区域。也就是说，在顶端部分是插入特定组织中的第一个部分的情况下，位于顶端部分后面的传感器将能够在顶端部分之后进入组织。
在一些实施例中，所述操作部包括弯曲，旋转和/或转角部。
在另一个实施例中，当内窥镜包括多于一个操作部时，所述操作部可以单独地或同时地操作。
在一些实施例中，所述操作部（例如弯曲，旋转或转角部）中的每一个都被手动或电动操作。
在一些实施例中，至少一些传感器被放置在近端部分处与细长轴轴线呈135度，或120度，或90度，或60度，或45度，或30度，或0度的位置。
在一些实施例中，所述传感器指向各不相同的方向。例如，在三传感器系统中，两个传感器可以彼此相反的方向放置，而第三传感器可以指向任何方向。
在一些实施例中，每个传感器可以通过使用操作（例如，旋转或弯曲或转角）机构来分别地改变其观察方向。
在一些实施例中，一个或多个所述传感器是摄像机。
在另一个实施例中，每个所述摄像机包括电荷耦合器件（CCD）或互补金属氧化物半导体（CMOS）图像传感器。
在一些实施例中，所述多传感器内窥镜包括热传感器或红外光（IR）传感器，紫外线（UV）传感器，超声波传感器或x射线传感器。
在另一个实施例中，位于顶端部分后面的一个或多个所述传感器可位于顶端部分后面的一个或多个部分中。
在一些实施例中，至少一个所述摄像机中包括一个提供45度或更大视场的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供60度或更大视场的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供80度或更大视场的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供100度或更大视场的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供120度或更大视场的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供140度或更大视场的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供约2-20厘米焦距的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供大约2-18厘米焦距的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供大约2-15厘米焦距的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供大约2-13厘米焦距的透镜组件。
在一些实施例中，至少一个所述摄像机中包括一个提供大约2-10厘米焦距的透镜组件。
在一些实施例中，所述各摄像机在其观察方向摄像机镜头的特定距离和特定方向外的视野至少有所重叠，使得距所述一个摄像机观察的感兴趣目标的特定距离外的物体能保持在所述第二摄像机的视野内，而所述顶端部分或顶端部分后面的其它部分朝向所述物体转动或固定，并至少直到所述物体通过其中一个摄像机可见。
在一些实施例中，所述传感器和所述照明器被配置成以各种组合单独或同时地操作。
在一些实施例中，每个所述照明器包括发光二极管（LED）。
在一些实施例中，所述照明器中的至少一个被配置为发射白光。
在一些实施例中，所述照明器中的至少一个被配置为发射紫外光。
在一些实施例中，所述照明器中的至少一个被配置为发射红外光。
在一些实施例中，所述照明器中的至少一个被配置为发射近红外光。
在一些实施例中，所述照明器中的至少一个被配置为发射不同波长的光。
在一些实施例中，所述照明器中的至少一个是用于发射超声信号的超声换能器。
在一些实施例中，所述照明器中的至少一个被配置为发射不同X射线波长的X射线。
在一些实施例中，所述内窥镜是腹腔镜。
在另一个实施例中，本发明提供了一种在内窥镜中实现动态视野的方法，其可以通过使用至少两个传感器来交替其视场参数，其中至少一个传感器可以相对于其它传感器移动。
在另一个实施例中，本发明提供了一种多传感器内窥镜检查系统，包括：内窥镜，其包括手柄；其末端具有顶端部分的细长轴；操作部；至少两个传感器，其中至少一个传感器被放置在所述顶端部分的后面；一个或多个照明器；通过公用电缆连接到所述内窥镜的所述手柄的控制器；连接到所述控制器并被配置为显示从所述传感器接收的信号流的监视器。
除了上述示例性方面和实施例之外，通过参考附图和研究以下详细描述，其他方面和实施例将变得显而易见。
附图说明
示例性实施例在附图中示出。选择附图中所示的特征和组件的尺寸总的来说是为了方便和清楚地呈现，并不一定按比例显示。本文公开的实施例和图形旨在为说明性的而不是限制性的。附图列出如下：
图1示出了一现有技术的内窥镜的横截面图。
图2a-b 示出了根据本发明的示例性实施例的具有旋转部分的多传感器内窥镜的横截面图。
图3示出了根据本发明的示例性实施例的具有弯曲部的多传感器内窥镜的横截面图。
图4示出了根据本发明的示例性实施例的具有转角部的多
传感器内窥镜的横截面视图。
图5示出了根据本发明的示例性实施例的多传感器内窥镜检查系统的半图解示图。
图6a-b 示出了根据本发明的示例性实施例的具有多于一个操作部的多传感器内窥镜的横截面视图。
具体实施方式
关于具有终止于顶端部分的细长轴、操作部和两个或更多个传感器的内窥镜的实施例的一个方面，其中至少一个传感器被放置在顶端部分的后面。优选地，传感器是摄像机。为了讨论的简单，传感器由摄像机表示，其旨在是示例性和说明性的，而不是限制范围。
现在参考图1，其示出了现有技术内窥镜的剖视图，在该示例中，三个摄像机（102,103和106）以及诸如光源或工作通道的其它元件（未示出）位于顶端部分（101）。在这种情况下，当轴（105）移动或弯曲，使用弯曲部（104），使整个顶端移动时，整个传感器图像也因此在移动，而没有选择改变摄像机相对彼此的方向。本发明提供一种具有一个或多个操作部例如弯曲、旋转或转角部的内窥镜。在该配置中，每个传感器可以独立地操作，并且因此可以获得动态视野。
如本文所使用的，术语“旋转部分”是指内窥镜的可以围绕轴线旋转高达360度或更小的部分。
如本文所用，术语“弯曲部”是指内窥镜的具有多个连杆的部分，其能够使弯曲部的顶端部分和/或其他部分沿不同方向转动。
如本文所用，术语“转角部”是指内窥镜的一部分，其能够使顶端部分和位于转角部前方的其它部分在不同方向上转动。
在内镜手术过程中，很多时候需要扩展视野，以观察更多的器官，甚至整个腹腔，而另一个摄像机可能仍然可以看到另一个位置。为了实现这一点，本发明能够在操作期间改变一个摄像机相对于另一个摄像机的彼此朝向。图2a 示出了具有旋转部分206、位于顶端部分201的前指向摄像机202和位于旋转部分处的与轴线203呈90度的另一摄像机的内窥镜的示例。
有利的是，该配置允许获得动态视野。这里，一个传感器，例如前指向摄像机保持静止，而位于旋转部分206处的附加传感器可以单独旋转，而不需要旋转轴205。图2b 示出了具有旋转部分260，位于顶端部分210处的倾斜前指向摄像机220和位于旋转部分260处的沿轴线230定位成90度的另一摄像机。由于前置摄像机220倾斜，当只有轴250（机械地）旋转，整个传感器图像将移动。使用例如在此所述的旋转部分能够获得动态视野。
获得动态视野的另一种方法是使用顶端部分后面的弯曲部。图3示出了具有位于顶端部分301后面的弯曲部305、位于顶端处的前指向摄像机302和位于弯曲部后面的侧指向摄像机306的内窥镜的示例。侧指向摄像机306位于内窥镜的管308的外表面307上。管308包括中空体积，其中电缆将信息从传感器传送到远程系统，如图5所述。该配置允许获得具有广角视野的动态视野。如果用转角部替代弯曲部（未示出），则可以获得类似的传感器图像。
然而，如果使用转角部，则优选运动的控制。此外，当使用转角部代替旋转部分时，可以包括更多的传感器，例如，相同质量的摄像机，在相同的近端距离。图4示出了具有转角部405、位于属于顶端部409的一部分的前顶端部401的倾斜前指向摄像机402的内窥镜。另一个摄像机沿着轴线403成90度定位于顶端部分409后面，并且位于转角部405的后面的第三摄像机406，在类似于上面公开的管308的管408的外表面407上。该配置允许具有宽视角的动态视野。
如上所述，本发明的多传感器内窥镜不仅限于一个操作部，而且可以包括两个以上相同或不同的操作部。现在参考图6a-b ，其中示出了具有多于一个操作部的多传感器内窥镜的配置。有利地，在这些配置中，操作时视场被高度控制。配置A描述了一种内窥镜，其包括弯曲部604和旋转部分606，位于顶端部分601处的前指向摄像机602和位于顶端部后方与轴线603呈90度的另一摄像机可以通过旋转部分606旋转。配置B描述了一种内窥镜，其包括一个转角部670和旋转部分660，位于顶端部分610处的外表面630上的倾斜前指向摄像机620，位于顶端部分后面沿轴线680呈90度或可以通过旋转部分660旋转的另一个摄像机，位于转角部670后面的与轴线690呈90度的第三摄像机。类似地，在其他构造（未示出）中，存在两个或更多个操作部，并且两个或更多个摄像机可以沿着轴线以不同的角度定位在这些部分的每一个中。
现在参考图5，图5示出了多传感器内窥镜系统的半图解示图。该系统可以包括诸如图2，3，4和/或6的内窥镜的多传感器内窥镜。多传感器内窥镜可以包括手柄510，细长轴520从该柄伸出。细长轴520终止于顶端部分530。手柄510可以用于在体腔内操作细长轴520；手柄可以包括控制弯曲、旋转和/或转角部525的一个或多个旋钮515和/或开关。实用电缆580可以在手柄510和控制器540之间连接。公用电缆580可以在其中包括一个或多个电气通道。电信通道可以包括至少一个用于接收信号的数据电缆，所述信号例如来自前和侧指向传感器（例如摄像机）的视频信号。此外，光源电缆590可以在手柄和550光源单元之间连接。
控制器540可以控制对内窥镜的顶端部分530例如顶端部分的传感器的电力传递。控制器540可以通过来自一个或多个弯曲、旋转或转角部的手柄的信号进一步控制操作。一个或多个诸如键盘545的输入设备可以连接到控制器540，用于与控制器540的人类交互的目的。监视器560可以连接到控制器540，并且被配置为显示诸如从传感器（例如多传感器内窥镜的摄像机）接收的图像和/或视频流的信号。监视器560还可以被操作用于显示用户界面，用于允许人类操作者设置各种系统特征。
可选地，当传感器是摄像机时，从多传感器内窥镜的不同摄像机接收的视频流可以在监视器560上分开、并排或交替（即操作者可以手动切换来自不同摄像头的视野）地显示。
或者，这些视频流可以由控制器540处理，以便基于摄像机视场之间的重叠将它们组合成单个全景视频帧。在另一配置（未示出）中，两个或更多个监视器可以连接到控制器540，每个监视器用于显示来自多传感器内窥镜的不同摄像机的视频流。

Claims (30)

1.一种具有动态视野的多传感器内窥镜，包括：
a.—个以顶端部分终止的细长轴；
b.被定位在所述细长轴与所述顶端部分之间的至少一个操作部，所述至少一个操作部被配置成移动并转动所述顶端部分；
c.至少三个传感器，包括：
前指向传感器，位于所述顶端部分的前顶端部上并且相对于所述顶端部分的纵向轴线倾斜；
第一侧指向传感器，位于所述顶端部分后面且在所述至少一个操作部前面，所述第一侧指向传感器被定位成垂直于所述顶端部分的所述纵向轴线；和
第二侧指向传感器，位于所述至少一个操作部后面在所述细长轴的外表面上，所述第二侧指向传感器被定位成垂直于所述细长轴的纵向轴线；和
d.位于所述细长轴的外表面上的一个或多个照明器，
其中，所述前指向传感器、所述第一侧指向传感器和所述第二侧指向传感器中的每一个提供80°或更大的视场，
其中，通过操作所述至少一个操作部改变所述顶端部分相对于所述细长轴的角度，所述第一侧指向传感器的视场相对于所述第二侧指向传感器的视场被改变，并且其中当通过操作所述至少一个操作部所述第一侧指向传感器的视场相对于所述第二侧指向传感器的视场被改变时，所述至少三个传感器的视场至少部分地重叠以便提供所述动态视野；
其中，所述至少一个操作部中的每一个单独地操作或所述至少一个操作部同时地操作；
其中，所述操作部包括转角部。
2.根据权利要求1所述的多传感器内窥镜，其中，所述至少三个传感器是摄像机。
3.根据权利要求2所述的多传感器内窥镜，其中，每个所述摄像机包括电荷耦合器件(CCD)或互补金属氧化物半导体(CMOS)图像传感器。
4.根据权利要求1所述的多传感器内窥镜，其中，所述至少三个传感器中的一个或多个是热传感器或红外(IR)光传感器、紫外线(UV)传感器、超声波传感器或X射线传感器。
5.根据权利要求1所述的多传感器内窥镜，其中，所述至少一个操作部包括弯曲部。
6.根据权利要求1所述的多传感器内窥镜，其中，所述至少一个操作部包括旋转部分。
7.根据权利要求1所述的多传感器内窥镜，其中，所述至少一个操作部手动或电动操作。
8.根据权利要求1所述的多传感器内窥镜，其中，位于所述顶端部分后面的所述第一侧指向传感器和所述第二侧指向传感器中的一个或多个位于所述顶端部分后面的一个或多个部分中。
9.根据权利要求1所述的多传感器内窥镜，其中，所述至少三个传感器和所述照明器被配置成单独或同时地操作。
10.根据权利要求1所述的多传感器内窥镜，其中，所述内窥镜是腹腔镜。
11.根据权利要求1所述的多传感器内窥镜，其中，每个所述照明器包括发光二极管(LED)。
12.根据权利要求1所述的多传感器内窥镜，其中，所述照明器中的至少一个被配置为发射白光。
13.根据权利要求1所述的多传感器内窥镜，其中，所述照明器中的至少一个被配置为发射紫外光。
14.根据权利要求1所述的多传感器内窥镜，其中，所述照明器中的至少一个被配置为发射红外光。
15.根据权利要求1所述的多传感器内窥镜，其中，所述照明器中的至少一个被配置为发射近红外光。
16.根据权利要求1所述的多传感器内窥镜，其中，所述照明器被配置为发射不同波长的光。
17.根据权利要求1所述的多传感器内窥镜，其中，所述照明器中的至少一个是用于发射超声信号的超声换能器。
18.根据权利要求1所述的多传感器内窥镜，其中，所述照明器是被配置为发射不同X射线波长的x射线。
19.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机中的至少一个包括提供80度或更大视场的透镜组件。
20.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机中的至少一个包括提供100度或更大视场的透镜组件。
21.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机中的至少一个包括提供120度或更大视场的透镜组件。
22.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机中的至少一个包括提供140度或更大视场的透镜组件。
23.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机包括提供2-20厘米的焦距的透镜组件。
24.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机包括提供2-18厘米的焦距的透镜组件。
25.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机包括提供2-15厘米的焦距的透镜组件。
26.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机包括提供2-13厘米的焦距的透镜组件。
27.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机包括提供2-10厘米的焦距的透镜组件。
28.根据权利要求2所述的多传感器内窥镜，其中，所述摄像机的视场从观察方向摄像机镜头的特定距离和特定方向至少部分重叠，使得通过所述摄像机的第一摄像机在特定距离处观察的物体能够保持在所述第一摄像机的视野内，而所述顶端部分或所述顶端部分后面的所述至少一个操作部朝向所述物体转动或固定，并且至少直到所述物体通过所述摄像机的第二摄像机可见。
29.一种在根据权利要求1-28中的任一项所述的多传感器内窥镜中实现动态视野的方法，包括操作至少一个连接到细长轴的操作部。
30.一种多传感器内窥镜检查系统，包括：
内窥镜，其包括手柄；
以顶端部分终止的细长轴，所述轴由所述手柄控制；
被定位在所述细长轴与所述顶端部分之间的操作部；
至少三个传感器，包括：
前指向传感器，位于所述顶端部分的前顶端部上并且相对于所述顶端部分的纵向轴线倾斜；
第一侧指向传感器，位于所述顶端部分后面且在至少一个操作部前面，所述第一侧指向传感器被定位成垂直于所述顶端部分的所述纵向轴线；和
第二侧指向传感器，位于所述至少一个操作部后面在所述细长轴的外表面上，所述第二侧指向传感器被定位成垂直于所述细长轴的纵向轴线；
一个或多个照明器；
通过公用电缆连接到所述内窥镜的所述手柄的控制器；
连接到所述控制器并被配置为显示从所述至少三个传感器接收的信号流的监视器；
其中，所述前指向传感器、所述第一侧指向传感器和所述第二侧指向传感器中的每一个提供80°或更大的视场，
其中，通过操作所述至少一个操作部改变所述顶端部分相对于所述细长轴的角度，所述第一侧指向传感器的视场相对于所述第二侧指向传感器的视场被改变，并且其中当所述第一侧指向传感器的视场相对于所述第二侧指向传感器的视场被改变时，所述至少三个传感器的视场至少部分地重叠；
其中，所述至少一个操作部中的每一个单独地操作或所述至少一个操作部同时地操作；
其中，所述操作部包括转角部。
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