Three-dimensional endoscope optical system

Abstract

The invention discloses a three-dimensional endoscope optical system. The three-dimensional endoscope optical system comprises left and right optical systems symmetrically arranged along the central axis of an endoscope tube, and each of the left and right optical systems comprises an imaging part, an image transmitting component, an image rotating component and a camera module from the object side to the imaging side; the imaging part is used for capturing the scene, and the focal length is smaller than 2mm. The system satisfies the following conditions: (1) the focal length is smaller than 5mm; (2) the depth of scene is greater than 20mm and smaller than 200mm; (3) the field angle is greater than 70 degrees and smaller than 80 degrees; (4) the working length of the endoscope body is greater than 380mm and smaller than 390mm; and (5) the parallax error is greater than 5.2mm and smaller than 5.5mm.

Description

technical field [0001] The invention relates to a three-dimensional endoscope optical system, in particular to a structure of a three-dimensional endoscope optical system under a minimally invasive surgical robot. Background technique [0002] At present, robot-assisted surgical operation has become a hot research direction in the field of international medical robotics. Among them, robot-assisted minimally invasive surgery has become a more prominent research content due to its wide application range and high demand. In traditional laparoscopic surgery, the doctor performs surgery by observing the 2D plane images captured by the single-channel endoscope. During the operation, the doctor lacks an intuitive three-dimensional sense of the surgical environment, which limits the doctor's operating ability and increases the intensity of the surgical work. And reduced the operation precision. Robot-assisted minimally invasive surgical operations apply 3D stereo vision technology...

AI Technical Summary

Problems solved by technology

The developed three-dimensional endoscope optical system for minimally invasive surgery includes imaging components, image transmission components, image transfer components, and a photosensitive image sensor CCD or CMOS for receiving light. There are many optical components, the optical path structure is complex, and the optical fiber transmittance is reduced. and affect the final image quality

In addition, most of the optical structures of the existing three-dimensional endoscopes for minimally invasive surgery are obtained by two-way adjustment on the basis of the optical structure of the planar endoscope. Small working length, not suitable for minimally invasive surgical robotic systems

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