CN118647917A - Stereoscopic arrangement structure, surgical microscope with the same, and surgical kit - Google Patents

Abstract

A stereoscopic arrangement (1) is proposed, comprising at least one objective unit (2, 102, 202), a deflection unit (3, 103, 203), a lens group arrangement (15, 115) and at least one image sensor (6, 106). Here, an optical subpath (7, 107) between the deflection unit (3, 103, 203) and the image sensor (6, 106) should be at an acute angle relative to a plane formed by an optical subpath (8, 108) of the same optical path (5, 105) extending between the objective unit (2, 102, 202) and the deflection unit (3, 103, 203) and a stereoscopic baseline (4). In addition, at least one lens group (13, 14, 113, 114) of the lens group arrangement (15, 115) should be arranged between the deflection unit (3, 103, 203) and the image sensor (6, 106). Furthermore, it is proposed that in a stereoscopic arrangement (1) at least two optical paths (5, 105) extend in a common plane. Furthermore, it is proposed that a surgical microscope (24) is provided which comprises such a stereoscopic arrangement (1).

Description

Stereoscopic arrangement structure, surgical microscope with stereoscopic arrangement structure, and surgical kit

Technical Field

The present invention relates to a stereoscopic arrangement structure for realizing a stereoscopic imaging system, which has an objective lens unit, a deflection unit, a lens group arrangement structure and an image sensor unit. In particular, the stereoscopic arrangement structure may include at least one objective lens unit, at least one deflection unit and at least one image sensor. Here, the image sensor is arranged behind the at least one deflection unit with respect to an optical path starting at a stereoscopic baseline.

The invention also relates to a surgical microscope having such a stereoscopic arrangement structure.

Finally, the invention also relates to a surgical kit which can be used in surgical interventions and comprises a three-dimensional arrangement which is fixed to a movable robot arm and can be pivoted in space by means of the robot arm. Here, the arrangement is preferably designed according to the invention.

Background Art

Such stereoscopic arrangements, surgical microscopes and surgical kits are used, for example, in surgical interventions. Here, the patient is observed through such a stereoscopic arrangement or such a microscope. The operator stands next to the patient and watches a monitor, where he is presented with a stereoscopic image that is recorded with the stereoscopic arrangement or is being recorded live.

However, the space available for such an arrangement near the patient is very limited, since the operator must be free to view the monitor and the operating space below the stereoscopic arrangement and above the patient must also remain freely accessible. The space requirement that such an arrangement can have is therefore very limited.

This applies in particular when the viewing angle of the stereoscopic arrangement is to be changed. Here, the arrangement, which is fastened to the support, can be pivoted about one or more axes. As already mentioned, the arrangement can be fastened to the robot arm, for example, so that it can be pivoted about two axes. Such a pivoting can lead to an obstruction of the operator's view of the monitor, in particular when pivoting about an axis which runs parallel to the distance of the two viewing rays, i.e. the stereoscopic base line.

In currently known systems, it is common that the image beam or the optical path is deflected by a deflection unit. The optical path can be considered to be decomposed into a plurality of subpaths by the deflection unit. Thus, one subpath extends between the stereo baseline and the deflection unit and one subpath extends between the deflection unit and the image sensor unit. In currently known systems, the deflection usually causes the optical path to be deflected out of the plane occupied by the two first subpaths, so that the two second subpaths (which are used for stereoscopic imaging) lead away from the operator. It is possible here that these subpaths enter the line of sight from the operator to the monitor and thus hinder the operator in certain situations.

Summary of the invention

The object of the present invention is to provide a stereoscopic arrangement and a surgical microscope having a stereoscopic arrangement, the space requirement of which is reduced so that the problems mentioned can be reduced or completely avoided. In particular, the ergonomics during medical operations when working with a surgical kit as described in the introduction should be improved.

According to the invention, this object is achieved by providing the features of claim 1. In particular, in order to achieve this object in a stereo arrangement of the type mentioned at the outset, it is proposed according to the invention that a subpath of the optical path extending between the deflection unit and the image sensor is at an acute angle to a plane formed by a stereo baseline and a subpath of the same optical path extending between the objective unit and the deflection unit, and that at least one lens group of the lens group arrangement is arranged between the deflection unit and the image sensor.

The optical path can thus be directed laterally away from the patient and the operating space after the deflection unit. This can also apply to both optical paths. Thus, the operator can maintain a free view of the monitor and the operating space, ie, for example, the operating area being observed, especially when the stereoscopic arrangement is pivoted.

By arranging the lens group between the deflection unit and the image sensor, space is also saved between the stereo baseline and the deflection unit. As a result, the first optical subpath can be shortened. This results in a compact design of the arrangement in the z direction (=direction of the optical axis of the objective unit and thus the viewing direction of the stereo arrangement), so that the operator always has a free view of the monitor, although the arrangement is arranged between the operator's line of sight to the monitor and the observed surgical field during use.

The lens group may be composed of one or more lenses, and the lenses of the lens group may be configured to contact each other or to be spaced apart from each other. For example, spacers may be provided respectively. The lens group may be moved without changing the distance of the lenses contained therein. The lens group may be variable, for example, by making the distance between the lenses contained therein variable.

Alternatively or additionally, in order to achieve this object, according to the invention, the features of parallel claim 2 are provided, which are directed to a further stereoscopic arrangement having at least one objective unit, at least one deflection unit, at least one image sensor and at least two optical paths extending from the at least one objective unit via the at least one deflection unit to the at least one image sensor. Therefore, in particular in order to achieve this object, it is provided according to the invention in a stereoscopic arrangement of the type mentioned at the outset that the optical paths extend in a common plane. Here, this plane can in particular include a stereoscopic baseline.

Thus, the optical path can be directed laterally away from the operating area, whereby this area and thus the operator's view of the monitor can remain free. After the deflection unit, the optical path can continue in the opposite direction. However, the optical paths can also extend in the same direction after the deflection unit and also extend parallel or at an acute angle to one another. Here, the optical paths can extend in particular parallel to the stereobase.

If, for example, two optical paths are formed which extend from the at least one deflection unit to the respective image sensor, it can be advantageous if the two image sensors are arranged offset relative to one another in the axial direction of the respective optical path. This is because in this case the waste heat of the image sensors can be better discharged, since the waste heat is now generated by the respective image sensor at two locations instead of at just one location. In addition, there is thus more space for contacting the image sensors via the flexible printed circuit board and also for the associated electronic components. This last point and the fact that the image sensors no longer block one another also result in the image sensors (or more precisely the respective optical paths) being able to be moved closer to one another. As a result, a smaller/shorter stereo baseline can thus be obtained.

Although a shorter stereo baseline in principle leads to a lower stereoscopic perception, this may seem disadvantageous at first glance. However, the present invention has recognized that a smaller stereo baseline can be advantageous in specific medical applications: for example, if a narrow body cavity is observed with a stereo arrangement according to the invention (which can be designed in particular as an endoscope), a slight shift of the image results due to the smaller stereo baseline. However, precisely in the case of long/deep body cavities, this can lead to a smaller shift of the front and rear image areas, which are originally blurred due to the limited depth of field, so that overall a better quality image can be obtained that is easier for the human brain to process. The use characteristics can therefore be improved thereby. In addition, in the case of a smaller stereo baseline, the entire arrangement becomes more compact, which in turn provides advantages for the operator.

The measure according to the invention of arranging the two image sensors axially displaced relative to each other/offset relative to each other here in particular deviates from the classic approach in which an eyepiece is provided instead of an image sensor. This is because if a person is to look into the eyepiece with his or her eyes, it does not make sense to displace the eyepieces axially relative to each other.

In order to improve the use characteristics of the arrangement, it is also advantageous to provide a variable aperture diaphragm, more precisely preferably in each of the two paths for stereoscopic viewing. Thus, at least one adjustable aperture diaphragm can be arranged in the ray path after at least one objective unit, with which the depth of field and/or the optical resolution can be adjusted. If two optical paths are configured which extend from at least one deflection unit to the corresponding image sensor, it makes sense to arrange a corresponding adjustable aperture diaphragm in each of the two optical paths. Preferably, the two aperture diaphragms can then be arranged offset relative to each other in the axial direction, which is particularly suitable if the associated image sensors (as described above) are also arranged offset relative to each other in the axial direction. This also makes it easier to design the arrangement more compactly as a whole and to construct a relatively small stereo baseline (which brings about the above-mentioned advantages).

If two optical paths are formed extending from the at least one deflection unit to the respective image sensor, two basic designs are also conceivable: the two optical paths extend in opposite directions, but then preferably also at the same height; or the two optical paths extend in the same direction, but (in particular as explained further above) are offset relative to one another in the direction of the subpath extending between the objective unit and the at least one deflection unit. In the latter case, the optical paths are therefore stacked one on top of the other relative to the viewing direction (z direction) of the stereo arrangement; whereas in the first case, the paths can extend to the left and to the right relative to the viewing direction. In such a design, it is generally preferred for a compact design transversely to the viewing direction if the two optical paths, the subpath extending between the objective unit and the at least one deflection unit and the stereo base extend in a common plane.

In an advantageous embodiment, it can be provided that the angle (in particular the above-mentioned acute angle) between the subpath of the optical path extending between the deflection unit and the image sensor and the plane formed by the stereo baseline and the subpath of the same optical path extending between the objective unit and the deflection unit is less than 20°, in particular less than 10° and/or is zero. Thus, in certain cases, the optical path can also be led away laterally in a manner that does not extend exactly parallel to the stereo baseline.

In an advantageous design, it can be provided that for each optical path, at least one lens group of its own objective lens unit and/or deflection unit and/or lens group arrangement structure and/or its own image sensor is set. Therefore, the difference in optical path length can be easily compensated by moving the individual lenses or lens groups of the two optical paths relative to each other. This can also be achieved by moving the individual lens groups of one or two optical paths. For example, the components constructed in one optical path can be fixed in their position, while the lens group of the other path can move. The application of separate lens groups for the two paths can be advantageously utilized in order to eliminate unfavorable edge rays and/or scattered light. In addition, the best optical quality of imaging can be produced for each optical path, because the individual lens groups allow better adjustment of the corresponding optical paths.

In an advantageous embodiment, it can also be provided that a common objective unit and/or a deflection unit and/or at least one lens group of a lens group arrangement and/or a common image sensor are provided for the optical path. This enables easy installation.

Depending on requirements, in particular depending on the space available for the optical component or its desired orientation in space, a separate component can therefore be provided for each optical path.

However, common structural elements can also be provided for both optical paths: for example, a (common) focusing unit can be implemented before the first deflection unit with a common lens group and/or a zoom objective can be implemented after the first deflection unit with a separate lens group for each of the two optical paths. The deflection unit can be implemented jointly for both paths and/or separately for each path.

The focusing unit can have at least one tunable focusing lens, with which the focusing plane of the stereoscopic arrangement can be changed. "Tuning" can be understood here as that the focusing lens can be changed in terms of its refractive power and/or its position along the optical axis. Here, an object in the current focusing plane is imaged clearly on the at least one image sensor, so that the focusing plane forms the object plane of the corresponding imaging ray path, which is constructed by the corresponding optical path of the stereoscopic arrangement, and the image plane coincides with the effective area of the at least one image sensor. The distance between the focusing plane/object plane set at the moment (by means of a variable focusing unit) and at least one objective unit (in particular the first lens surface of the objective unit) can be understood here as the working distance. If, for example, a working distance of 15 cm is set, the object in front of the objective unit at this distance is clearly imaged on the corresponding image sensor. Therefore, different working distances can be made possible by means of the focusing unit (by tuning the focusing lens).

It can therefore be provided that at least one focusing unit is formed which is arranged in the beam path upstream of the at least one deflection unit and by means of which the position of the focus plane of the volume arrangement can be changed.

In this case, the focusing unit can preferably be formed, in particular, by a lens package and/or can respectively be formed as part of at least one objective unit.

The focusing unit is preferably arranged in such a way that the incident uncollimated imaging radiation of the corresponding optical path leaves the focusing unit in collimated form and then impinges on the at least one deflection unit as collimated light. The focusing unit can thus assume an optical function within the three-dimensional arrangement in order to convert the incident uncollimated light radiation (which emanates from the focusing plane/the observed object) into collimated light.

Such a focusing unit can also be designed separately for the two optical paths, wherein a common focusing unit is preferred since in the latter case only one tunable lens instead of two lenses has to be controlled synchronously.

In an advantageous design, it can be provided that for each optical path, the distance between the objective unit and/or the deflection unit and/or the lens group of the lens group arrangement and/or the image sensor is the same, so that almost or completely identical imaging characteristics of the paths can be easily achieved.

In an advantageous embodiment, it can also be provided that for each optical path, the distance between the lens group of the objective unit and/or the deflection unit and/or the lens group arrangement and/or the image sensor is different. This is particularly advantageous in the case of an asymmetrical arrangement in which different optical path lengths are to be compensated.

Thus, depending on the direction of the optical path, the distances between the optical structural elements can be selected so that an image of the desired quality can be captured. For example, it may be necessary to set different distances between structural elements of the same type for each path when the length of the optical path is the same. Thus, for example, it may be necessary to set a different distance between the objective unit and the deflection unit for each path, but this is also compensated by a different distance between the deflection unit and the image sensor for each path.

In an advantageous design or in an alternative solution of possibly independent inventive quality, it can be provided that the optical paths are diverted by the deflection unit into the same or opposite directions and/or diverted so that they encounter image sensors arranged on the same or opposite sides of an orthogonal plane, which is oriented orthogonally to a plane formed by the stereo baseline and a subpath of the optical path extending between the objective unit and the deflection unit and includes the subpath of this same optical path extending between the objective unit and the deflection unit.

Thus, depending on the requirements on the geometry of the three-dimensional arrangement, the optical paths can be directed such that they end in the same or different half-spaces separated by orthogonal planes.

A preferred application of the invention provides that the stereoscopic arrangement according to the invention is used, in particular as described above, in a surgical microscope.

In order to solve the problems mentioned at the outset and thus improve the ergonomics and the usability of the three-dimensional arrangement according to the invention, the invention proposes a specific surgical kit, namely a spatial arrangement of the following components: A surgical kit according to the invention, which can be used, for example, for observing an operating area on or in a patient's body during a surgical intervention, comprises:

- A three-dimensional arrangement according to any one of claims 1 to 12 and/or as described herein. Here, the three-dimensional arrangement can be designed, for example, as part of a surgical microscope or an endoscope or an exoscope;

- A screen for displaying stereoscopic images that have been or will be recorded with the stereoscopic arrangement (i.e. in particular for displaying a stereoscopic image data stream, for example in the form of a live video). The screen can preferably be arranged behind the stereoscopic arrangement so that an operator who is viewing the screen (in order to thus observe the patient with the aid of the arrangement) can freely view the screen. In other words, the operator can therefore be provided with a free view of the screen or can freely maintain such a view; the view preferably extends orthogonally to the display surface of the screen and ends in this display surface.

- Finally, the surgical kit comprises a (movable) robotic arm (e.g. as part of a complex surgical robot), wherein the stereoscopic arrangement is fastened to the robotic arm and can therefore be pivoted in space with the robotic arm, more precisely preferably about two different axes. Thus, the viewing angle of the stereoscopic arrangement can be changed with the aid of the robotic arm. Since the stereoscopic arrangement moves with it when the robotic arm moves, the spatial position and/or orientation of the optical axis of the at least one objective unit (and thus the viewing direction of the stereoscopic arrangement) and/or the distance of the at least one objective unit from the object to be observed/the surgical area (and thus the working distance of the stereoscopic arrangement) can then be changed.

In order to achieve the stated object, it is provided according to the invention that the stereo base line of the arrangement extends parallel to the screen and that the optical path of the arrangement, i.e. in particular the subpath between the at least one deflection unit and the corresponding image sensor, is directed parallel to the stereo base line and laterally (relative to the free line of sight between the operator and the screen) away.

Such a surgical kit can relieve the operator in the case of difficult microsurgery, wherein the stereoscopic arrangement and in particular its variable focus plane (which can be set by means of the focus unit) carried on each robot arm enables the operator to always obtain the desired spatial impression of the instantaneous surgical area displayed on the screen with excellent image clarity in different situations by means of the stereoscopic arrangement. By means of the at least one aperture stop, the operator can also adjust the resolution and depth of field of the recorded stereoscopic image according to his or her own wishes.

The advantages mentioned, in particular with regard to the reduced space requirement of such a stereoscopic arrangement, can therefore be realized in a surgical microscope or endoscope and in particular in the surgical set described above and used during a medical intervention. It should be particularly emphasized here that the lateral routing of the optical path saves valuable structural space in the z-direction (thus in the direction of the optical axis of the objective unit of the stereoscopic arrangement), so that the line of sight remains free in different positions of the robot arm and the operator can therefore see the complete field of view of the stereoscopic arrangement on the screen without interference.

Furthermore, in the case of a surgical kit it may also be provided that two sub-paths of the arrangement structure extending between the at least one deflection unit and the at least one image sensor are arranged superimposed on each other or extend in opposite directions with respect to a sub-path of the stereoscopic arrangement structure extending between the objective unit and the at least one deflection unit.

As already described in detail, the stereoscopic arrangement according to the invention used in the surgical kit can also include a focusing unit, with which the current position of the focus planes for the two optical paths (which are used for stereoscopic imaging) can be set simultaneously, in particular depending on the instantaneous position of the robot arm. It can thus be achieved in particular that the arrangement can automatically generate sharp stereoscopic images at different working distances. For this purpose, for example, automatic focusing can be achieved with the aid of the focusing unit in the arrangement, so that when the working distance changes, the system automatically adjusts the position of the focus plane to the new working distance.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is now described in more detail with reference to exemplary embodiments, but the invention is not restricted to these exemplary embodiments. Further exemplary embodiments are obtained by combining the features of one or more claims with one another and/or with one or more features of the exemplary embodiments.

In the attached picture:

FIG. 1 shows a three-dimensional arrangement according to the invention in a side view,

FIG. 2 shows the three-dimensional arrangement structure of FIG. 1 in a front view,

FIG3 shows a side view of another three-dimensional arrangement according to the present invention,

FIG. 4 shows the three-dimensional arrangement structure of FIG. 3 in a front view,

FIG5 shows another three-dimensional arrangement according to the present invention in a side view,

FIG. 6 shows the three-dimensional arrangement structure of FIG. 5 in a front view,

FIG. 7 shows another three-dimensional arrangement according to the present invention in a side view,

FIG8 shows the three-dimensional arrangement structure of FIG7 in a front view,

FIG. 9 shows another three-dimensional arrangement according to the present invention in a side view,

FIG. 10 is a front view showing the three-dimensional arrangement structure of FIG. 9 ,

FIG. 11 shows another three-dimensional arrangement according to the present invention in a side view,

FIG. 12 is a front view showing the three-dimensional arrangement structure of FIG. 11 ,

FIG. 13 shows a surgical microscope according to the invention in a top view as part of a surgical kit according to the invention,

FIG. 14 shows another three-dimensional arrangement according to the present invention in a side view,

FIG. 15 is a front view showing the three-dimensional arrangement structure of FIG. 14 ,

FIG. 16 shows another three-dimensional arrangement according to the present invention in a side view, and

FIG. 17 shows the perspective arrangement of FIG. 16 in a front view.

DETAILED DESCRIPTION

1 shows a stereo arrangement 1 in a side view, which has a common objective unit 202, two deflection units 3, 103 and two optical paths 5, 105 starting at a stereo base 4, each extending via a deflection unit 3, 103 to an image sensor 6, 106. Each deflection unit 3, 103 divides the respective optical path 5, 105 into two sub-paths 7, 107 and 8, 108. The sub-path 7, 107 extends between the deflection unit 3, 103 and the image sensor 6, 106, and the sub-path 8, 108 extends between the stereo base 4 and the deflection unit 3, 103.

The sub-paths 7, 107 are each angled relative to a plane formed by the sub-paths 8, 108 and the stereo baseline 4 belonging to the same optical path 5, 105, which angle is zero angle in each case in this embodiment. The objective unit 202 consists of a common lens group 211, 212. The other lens groups 13, 113, 14, 114 of each lens group arrangement 15, 115 are located between the deflection unit 3, 103 and the image sensor 6, 106.

The viewing direction of the stereoscopic arrangement 1 is exactly opposite to the direction of the respective first sub-path 5 , 105 ; ie the arrangement 1 can receive imaging radiation from a spatial direction corresponding to the direction of the respective sub-path 5 , 105 and thus record a respective image in the viewing direction.

The lens group arrangement 15, 115 can also be a zoom objective 16, 116. The deflection unit 3, 103 can also be arranged inside the lens group arrangement 15, 115, for example, one lens group 13, 113 can be located in the subpath 8, 108 and one lens group 14, 114 in the subpath 7, 107. In the embodiment shown, it can also be seen that the offset 17 between the deflection units 3, 103 leads to a lengthening of the subpath 8 compared to the subpath 108, and the subpath 107 is lengthened by the offset 17 compared to the subpath 7 in order to compensate for this. The distance 118 between the deflection unit 103 and the lens group 113 results from the offset 17 and the distance 18 between the deflection unit 3 and the lens group 13. In this embodiment, for example, distances 18, 118 are different from each other, while distances 19, 119 between lens groups 13, 113 and 14, 114 and distances 20, 120 between lens group 14, 114 and image sensor 6, 106, respectively, are the same.

It can also be clearly seen in the construction embodiments of the figures that the adjustable aperture diaphragm 30 can be set at different positions in the corresponding ray path in order to be able to adjust the depth of field. As can be seen in the figure, each adjustable aperture diaphragm 30 can preferably be arranged in the corresponding ray path for stereoscopic imaging. Preferably, the variable aperture diaphragm 30 is placed in the ray path behind the lens 212, preferably behind the corresponding first beam splitter 3/103. For example, the corresponding aperture diaphragm 30 can be arranged at a distance of 18/118 or at a distance of 19/119. In addition, these aperture diaphragms 30 are controlled synchronously. For example, it can also be clearly seen in Figure 1 that the two aperture diaphragms 30 (like the two image sensors 6, 106) are arranged axially offset relative to each other, more precisely, they are arranged axially offset relative to the corresponding sub-paths 7, 107 extending in parallel.

2 shows the stereo arrangement 1 of FIG. 1 in a front view. The common objective unit 202, which consists of common lens groups 211 and 212, and the deflection units 3 and 103 can be seen here. The optical paths 5 and 105 largely coincide in the illustrated viewing angle, since the angle between the subpaths 7, 107 of the optical paths 5, 105 extending between the deflection unit 3 and the image sensor 6, 106 and the plane formed by the stereo base 4 and the subpaths 8, 108 of the same optical paths 5, 105 extending between the objective unit 202 and the deflection units 3, 103 is zero angle in each case.

Fig. 3 shows another stereoscopic arrangement 1 according to the invention, which differs from the arrangement 1 shown in Fig. 1 in that, instead of the common lens group 212 of the common objective unit 202 for each subpath 8, 108, a separate lens group 12, 112 is provided. The objective unit 202 also comprises the common lens group 211 shown in Fig. 1.

FIG. 4 shows the stereoscopic arrangement 1 of FIG. 3 in a front view with the deflection unit 3 , 103 and the objective unit 202 , wherein the lens groups 12 belonging to the subpaths 8 and the common lens group 211 can be seen.

5 shows another stereoscopic arrangement 1 according to the invention, which has a common objective unit 202 consisting of common lens groups 211 and 212 and a common deflection unit 203. Here, the optical paths 5, 105 are guided so that the different lengths of the sub-paths 8 and 108 up to the lens groups 13, 113 of the corresponding lens group arrangement 15, 115 are compensated. Therefore, the corresponding lens groups 13, 113 and 14, 114 and the image sensors 6, 106 of the sub-paths 7, 107 are arranged side by side.

6 shows the stereoscopic arrangement 1 of FIG. 5 in a front view, wherein common lens groups 211 and 212 of a common objective unit 202 and a common deflection unit 203 can be seen. The course of the subpaths 8 and 108 is shown to be largely identical from this perspective.

FIG. 7 shows a further stereoscopic arrangement 1 according to the invention, which differs from the arrangement 1 shown in FIG. 5 in that here a separate objective unit 2 , 102 having two lens groups 11 , 111 and 12 , 112 is provided for each subpath 8 , 108 .

8 shows the stereoscopic arrangement 1 of FIG. 7 in a front view, wherein the common deflection unit 203 and the lens groups 11 and 12 of the objective unit 2 belonging to the subpath 8 can be seen. The course of the subpaths 8 and 108 is shown to be largely identical from this perspective.

9 shows another stereoscopic arrangement 1 according to the invention, in which the sub-paths 7 and 107 extend in opposite directions from the respective deflection units 3 and 103. In this case, for each optical path 5, 105, a respective objective unit 2, 102 with lens groups 11, 111 and 12, 112, a respective lens group arrangement 15, 115 with lens groups 13, 113 and 14, 114 and a respective image sensor 6, 106 are provided. Furthermore, a projection of an orthogonal plane 21 is shown, in which the optical paths 5 and 105 are diverted by the deflection units 3 and 103 in this embodiment into different half-spaces 22, 122 separated by the orthogonal plane 21.

10 shows the perspective arrangement 1 of FIG. 9 in a front view, in which the objective unit 2 with the lens groups 11 and 12 and the image sensor 6 can be seen. The course of the overlapping sub-paths 8 and 108 from this viewing angle is shown.

FIG. 11 shows another stereoscopic arrangement 1 according to the present invention, which differs from the arrangement 1 shown in FIG. 9 in that a common objective unit 202 having common lens groups 211 and 212 is provided here.

12 shows the stereoscopic arrangement 1 of FIG. 11 in a front view, wherein the common objective unit 202 with the lens groups 211 and 212 and the image sensor 6 can be seen. The course of the overlapping sub-paths 8 and 108 from this viewing angle is shown.

As mentioned at the outset, in hitherto known systems, the two optical paths for stereoscopic viewing are typically diverted from a plane defined by two first sub-paths (which extend between the stereo baseline and the first deflection unit). The present invention now proposes an alternative solution based on the surgical kit according to the invention explained above, in which the sub-paths are led laterally away in the plane (either in one direction, for example as in the examples of FIGS. 1 to 8 , or in two opposite directions, as illustrated in FIGS. 9 to 12 ). This is explained more clearly below with reference to FIG. 13 :

FIG. 13 shows a top view of a surgical microscope 24 according to the invention with a stereoscopic arrangement 1 mounted on a robot arm 23, with an operator 25 and a monitor in the form of a screen 26. The screen 26 can be used to display a real-time video image data stream being recorded with the arrangement 1. The robot arm 23 can be adjusted in space here, so that the surgical microscope 24 and therefore the arrangement 1 can be positioned at different working distances from the patient, more precisely at different working distances from the surgical area to be observed. For this purpose, it can be provided, for example, that the robot arm 23 (and the arrangement 1 therewith) can be pivoted about at least two different axes.

In order to always obtain a sharp image even at different viewing angles and/or different working distances (=distance between objective unit 2 and observed object), the system has an automatic focusing which is achieved by means of a focusing unit of the stereo arrangement 1 .

The length of the stereo base 4 of the stereo arrangement 1 corresponds here to the pupil distance 27 of the operator 25, i.e. the lateral distance between the two optical paths 8, 108 is selected to correspond to a typical average value of the pupil distance 27 (see, for example, FIG. 1 or FIG. 9). In the view of FIG. 13, the robot arm 23 covers the guidance of the optical paths 5, 105 parallel to the stereo base 4 and laterally away from the line of sight 28 between the operator 25 and the screen 26. In other words, the optical paths 7, 107 extending between the respective deflection element 3/103 and the respective image sensor 6/106 are guided away in the lateral direction, more precisely in the plane defined by the two paths 8, 108 and in which the stereo base 4 is located (see, for example, FIG. 1 or FIG. 9). The invention has thus recognized that the structural space can be used to arrange the imaging optical elements 13, 14/113/114 without hindering the operator 25's free view of the screen 26.

FIG. 14 shows a further stereoscopic arrangement 1 according to the invention, which differs from the arrangement 1 shown in FIG. 5 in that a common image sensor 206 is provided here.

15 shows the stereoscopic arrangement 1 of FIG. 14 in a front view, wherein the common lens groups 211 and 212 of the common objective unit 202 and the common deflection unit 203 can be seen. The course of the subpaths 8 and 108 is shown to be largely identical from this perspective.

FIG. 16 shows another stereoscopic arrangement 1 according to the present invention, which differs from the arrangement 1 shown in FIG. 7 in that a common image sensor 206 is provided.

17 shows the stereoscopic arrangement 1 of FIG. 16 in a front view, wherein the common deflection unit 203 and the lens groups 11 and 12 of the objective unit 2 belonging to the subpath 8 can be seen. The course of the subpaths 8 and 108 is shown to be largely identical from this perspective.

Reference numerals list

1 Three-dimensional layout structure

2 Objective lens unit

3 Deflection unit

4 Stereo Baseline

5 Optical Path

6 Image Sensor

7 Subpaths

8 Subpaths

11 Lens Group

12 Lens Group

13 Lens Group

14 Lens Group

15 Lens group arrangement structure

16 Zoom objective

17 Offset

18 Distance

19 Distance

20 Distance

21 Orthogonal planes

22 Half Space

23 Robotic Arm

24. Surgical Microscope

25 Operator

26 Screen

27 Pupillary distance

28 Sight

29 Focusing Unit

30 Aperture stop (used to adjust depth of field and optical resolution)

102 objective lens unit

103 deflection unit

105 Optical Path

106 Image Sensor

107 subpaths

108 subpaths

111 lens group

112 lens group

113 lens group

114 lens group

115 lens group arrangement structure

116 zoom objective

118Distance

119Distance

120 Distance

122 Half Space

202 common objective unit

203 common deflection unit

206 common image sensors

211 common lens group

212 common lens group

300 viewing direction (parallel to the optical z-axis of 2/102/202)

Claims (16)

1. A three-dimensional arrangement structure (1) having - at least one objective lens unit (2, 102, 202), - at least one deflection unit (3, 103, 203), and at least one image sensor (6, 106) which is arranged behind the at least one deflection unit (3, 103, 203) with respect to an optical path (5, 105) starting at the stereo base line (4), It is characterized in that a subpath (7, 107) of the optical path (5, 105) extending between the at least one deflection unit (3, 103, 203) and the at least one image sensor (6, 106) is at an acute angle relative to a plane formed by a stereo baseline (4) and a subpath (8, 108) of the same optical path (5, 105) extending between the at least one objective unit (2, 102, 202) and the at least one deflection unit (3, 103, 203), wherein the angle can in particular be 0°, and At least one lens group (13, 14, 113, 114) of a lens group arrangement (15, 115) is arranged between the at least one deflection unit (3, 103, 203) and the at least one image sensor (6, 106). 2. A three-dimensional arrangement (1), in particular a three-dimensional arrangement according to the preamble of claim 1 or according to claim 1, having at least two optical paths (5, 105), which extend from the at least one objective unit (2, 102, 202) via the at least one deflection unit (3, 103, 203) to the at least one image sensor (6, 106), It is characterized in that - the optical paths (5, 105) extend in a common plane, - In particular, said plane comprises said stereo base line (4). 3. A three-dimensional arrangement structure (1) according to one of the preceding claims, wherein two optical paths (7, 107) are constructed, which extend from the at least one deflection unit (3, 103, 203) to the corresponding image sensor (6, 106), and the two image sensors (6, 106) are arranged offset relative to each other in the axial direction of the corresponding optical path (7, 107). 4. A stereoscopic arrangement (1) according to any of the preceding claims, wherein at least one adjustable aperture stop (30) is arranged in the ray path behind the at least one objective unit (2, 102, 202), by means of which the depth of field and/or the optical resolution can be adjusted, and/or wherein two optical paths (7, 107) are configured, which extend from the at least one deflection unit (3, 103, 203) to the respective image sensor (6, 106), and - wherein a respective adjustable aperture stop (30) is arranged in each of the two optical paths (7, 107), preferably the two aperture stops (30) being arranged offset relative to one another in the axial direction. 5. The stereoscopic arrangement (1) according to claim 1 , wherein two optical paths (7, 107) are configured, which extend from the at least one deflection unit (3, 103, 203) to the respective image sensor (6, 106), and the two optical paths (7, 107) - extend in opposite directions, preferably at the same height, or - extend in the same direction but offset relative to one another in the direction of a subpath (8, 108) extending between the objective unit (2, 102, 202) and the at least one deflection unit (3, 103, 203), Preferably, the two optical paths (7, 107), the subpath (8, 108) extending between the objective unit (2, 102, 202) and the at least one deflection unit (3, 103, 203), and the stereo base (4) extend in a common plane. 6. The stereoscopic arrangement (1) according to claim 1 , wherein at least one focusing unit (29) is provided, which is arranged in the beam path upstream of the at least one deflection unit (3, 103, 203) and by means of which the position of the focal plane of the stereoscopic arrangement (1) is variable. - Preferably, the focusing unit (29) has a tunable focusing lens, and/or - wherein the incident uncollimated imaging radiation of the corresponding optical path (5, 105) leaves the focusing unit (29) in collimated form and then impinges on the at least one deflection unit (3, 103, 203) as collimated light. 7. A stereoscopic arrangement (1) according to one of the preceding claims, wherein the angle, in particular the acute angle, between a subpath (7, 107) of the optical path (5, 105) extending between the deflection unit (3, 103, 203) and the image sensor (6, 106) and a plane formed by a stereoscopic baseline (4) and a subpath (8, 108) of the same optical path (5, 105) extending between the objective unit (2, 102, 202) and the deflection unit (3, 103, 203) is less than 20°, in particular less than 10° and/or is zero. 8. A stereoscopic arrangement structure (1) according to one of the preceding claims, wherein for each optical path (5, 105) a own objective unit (2, 102) and/or a deflection unit (3, 103) and/or at least one lens group (13, 14, 113, 114) of a lens group arrangement structure (15, 115) and/or its own image sensor (6, 106) is provided. 9. A stereoscopic arrangement (1) according to one of the preceding claims, wherein a common objective unit (202) and/or a deflection unit (203) and/or at least one lens group (13, 14, 113, 114) of a lens group arrangement (15, 115) and/or a common image sensor (6, 106) are provided for each optical path (5, 105). 10. A stereoscopic arrangement (1) according to one of the preceding claims, wherein for each optical path (5, 105), the distances between the objective unit (2, 102, 202) and/or the deflection unit (3, 103, 203) and/or the lens groups (13, 14, 113, 114) of the lens group arrangement (15, 115) and/or the image sensor (6, 106) are the same. 11. A stereoscopic arrangement (1) according to one of the preceding claims, wherein for each optical path (5, 105), the distance between the objective unit (2, 102, 202) and/or the deflection unit (3, 103, 203) and/or the lens groups (13, 14, 113, 114) of the lens group arrangement (15, 115) and/or the image sensor (6, 106) is different. 12. The stereoscopic arrangement (1) according to claim 1, wherein the optical path (5, 105) is formed by a deflection unit (3, 103, 203). - turn in the same direction or - turn in the opposite direction, - and/or wherein the optical path (5, 105) is deflected by a deflection unit (3, 103, 203) so that the optical path meets an image sensor (6, 106), the image sensor - arranged on the same side or on opposite sides of an orthogonal plane (21), the orthogonal plane being orthogonal to a plane orientation formed by a stereo baseline (4) and a subpath (8, 108) of an optical path (5, 105) extending between an objective lens unit (2, 102, 202) and a deflection unit (3, 103, 203), and the orthogonal plane (21) includes a subpath (8, 108) of the same optical path (5, 105) extending between an objective lens unit (2, 102, 202) and a deflection unit (3, 103, 203). 13. Surgical microscope (24), having - A three-dimensional arrangement (1) according to one of the preceding claims. 14. A surgical kit for use in surgical intervention, comprising: - a stereoscopic arrangement (1) according to one of claims 1 to 12, which is designed in particular as part of a surgical microscope (24) or an endoscope, - a screen (26) for displaying a stereoscopic image captured by means of the stereoscopic arrangement (1), - in particular, the screen (26) is arranged behind the stereoscopic arrangement (1) so that an operator (25) viewing the screen (26) can freely view the screen (26) in order to observe the patient with the aid of the arrangement (1), and a movable robot arm (23), wherein the arrangement (1) is preferably fixed to the robot arm (23) so as to be pivotable about two axes, so that the viewing angle of the three-dimensional arrangement (1) can be changed, Characterized in that the arrangement (1) is oriented - such that the stereo base line (4) of the arrangement (1) extends parallel to the screen (26), and - the optical path (5, 105) of the arrangement (1) is directed parallel to the stereo base (4) and laterally away with respect to a free line of sight (28) between an operator (25) and the screen (26). 15. The surgical kit according to claim 10, wherein the two subpaths (7, 107) of the arrangement (1) extending between the at least one deflection unit (3, 103, 203) and the at least one image sensor (6, 106) are arranged relative to the subpath (8, 108) of the stereoscopic arrangement (1) extending between the objective unit (2, 102, 202) and the at least one deflection unit (3, 103, 203). - arranged one above the other or - Extend in opposite directions. 16. The surgical kit according to claim 10 or 11, wherein the arrangement (1) comprises a focusing unit (29), in particular the focusing unit (29), with which the current position of the focus plane (30), in particular as a function of the instantaneous position of the robot arm (23), is adjustable simultaneously for both optical paths (5, 105), The arrangement (1) is preferably configured to automatically generate clear stereo images at different working distances.