CN105301757A - Stereoscopic endoscope optical system - Google Patents
Stereoscopic endoscope optical system Download PDFInfo
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- CN105301757A CN105301757A CN201510759627.XA CN201510759627A CN105301757A CN 105301757 A CN105301757 A CN 105301757A CN 201510759627 A CN201510759627 A CN 201510759627A CN 105301757 A CN105301757 A CN 105301757A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2407—Optical details
- G02B23/2415—Stereoscopic endoscopes
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2407—Optical details
- G02B23/2446—Optical details of the image relay
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Abstract
The invention discloses a stereoscopic endoscope optical system. The system is provided with an object lens, more than two groups of image transferring groups, a group of double Gaussian image transferring group, a rhombic prism, an eye lens, protective glass and an interface lens which are arranged along a light transmission direction in turn. The design aberration of the object lens and an image transferring system is corrected in a combined way so that the optical system is high in optical energy transmittance, clear in image and low in distortion under the premise of meeting the requirement of working distance.
Description
Technical field
The invention belongs to optical design techniques field, be specifically related to a kind of stereo endoscope Optical System Design.
Background technology
In the world today, Minimally Invasive Surgery has become surgical medicine each field developing direction.Minimally Invasive Surgery have little to patient trauma, reduce the multiple advantages such as patient between art is painful, post-operative recovery time is short, apply more and more extensive.And carrying out of any one Minimally Invasive Surgery all be unable to do without rigid pipe endoscope.Rigid pipe endoscope, due to advanced technology, application convenience, product diversification, specialization, is therefore subject to patient and surgical welcome.At present, the various rigid pipe endoscope such as cystoscope, hysteroscope, laryngoscope, nasal sinus mirror, laparoscope, arthroscope is generally applied in China's County Hospital.
Traditional Minimally Invasive Surgery, by doctor's operation apparatus in person, is undertaken by the Two-dimensional electron image observing rigid pipe endoscope, and operation accuracy varies with each individual, and long operation also once in a while maloperation can occur.Along with the development of electronic technology, there is surgery mechanical people, accurately controlled operating theater instruments by the mechanical arm of surgery mechanical people, operation precision can have been improved, reduced wound, make patient's quick recovery.
In order to accurately control the position of operating theater instruments, surgery mechanical people uses stereo endoscope to observe pathological tissues, this stereo endoscope has two observation optical channels, the optical imagery of each passage is imaged on CCD or CMOS respectively, utilize software engineering synthetic stereo image, show over the display.
For stereo endoscope or laparoscope, need field angle large, generally need be greater than 80 °, to observe surgical field of view on a large scale.The optical system of 80 ° of field angle, relative distortion is about 25%.In order to not make the anamorphose of operating theater instruments, require that optical system distorts little, general relative distortion need be less than 5%, and external endoscope manufacturer uses aspheric surface correction of typist's errors optical system to distort usually.
As shown in Figure 1, rigid pipe endoscope optical system comprises three parts: rigid pipe endoscope object lens OBJ, becomes inverted image to object; Optical inversion system of rigid tube endoscope REL, to the 1:1 imaging again of object lens imaging, finally after repeatedly image rotation become upright real image at rigid pipe endoscope eyepiece object space focal plane place (optical inversion system of rigid tube endoscope contains the identical image rotation lenses group of many group structures, these image rotation lenses groups are by the repeatedly imaging of object lens imaging, increase optical system overall length, to meet the requirement of rigid pipe endoscope active length); Rigid pipe endoscope eyepiece OCU, is imaged on infinite distance by endoscopic images, and observer observes aforementioned upright real image by it.
The method of being observed endoscopic images by eyepiece is seldom used now, and especially laparoscope Minimally Invasive Surgery, must use endoscope relay system.Such as: after eyepiece, add interface lens, the infinite image of eyepiece is imaged on CCD or cmos device.Over the display it is seen that two dimensional image, it does not have the positional information of depth direction.
Fig. 2 to Fig. 5 represents the conventional optical inversion system of rigid tube endoscope structural representation of different optical version in prior art respectively.
Optical inversion system of rigid tube endoscope structural drawing as shown in Figure 2, for early stage optical inversion system of rigid tube endoscope, the cemented doublet group be made up of thin positive lens 1 and thin negative lens 2 by a pair is formed, and aperture diaphragm 3 is positioned at centre, and vertical axial aberration obtains well-corrected.But owing to adopting compound lens, Systems Theory light-transmissive rate is lower, and eyeglass easily tilts when assembling, thus influential system picture element, almost do not have now enterprise to adopt.
Optical inversion system of rigid tube endoscope structural representation as shown in Fig. 3, Fig. 4 and Fig. 5, after being Hopkins proposition rod-like mirror relay system, the different structure form that each enterprise uses.Compared with structure shown in Fig. 2, theoretical luminous energy transmitance is high, and for ultra-fine rigid pipe endoscopes such as urethrocystoscopes, image planes brightness significantly improves.
In optical inversion system of rigid tube endoscope as shown in Figure 3, a pair Hopkins rod-shaped lens 4, one end and focal length are that negative thin negative lens 2 phase is glued together, and thin negative lens 2 uses the optical glass of high index of refraction, high dispersion, for correcting axial chromatic aberration, but the curvature of field can not be corrected.The advantage of this structure is that structure is simple, and shortcoming is that the non-cemented surface radius of Hopkins rod-shaped lens is large, and more difficult with the processing of traditional optical process, overseas enterprise adopts this structure more.
In optical inversion system of rigid tube endoscope as shown in Figure 4, Hopkins rod-shaped lens 4, two ends are that negative thin negative lens 2 phase is glued together respectively with focal length, and thin negative lens 2 uses the optical glass of high index of refraction, high dispersion, for correcting axial chromatic aberration, but the curvature of field can not be corrected.This structural advantages adopts symmetrical structure, and thin lens 2 structural parameters at Hopkins rod-shaped lens 4 two ends are identical, and Hopkins rod-shaped lens spherical radius is little, and processing is comparatively speaking than being easier to; The shortcoming of this structure is that cemented surface is many, easily eccentric during gummed, and cemented surface is large on picture quality impact.Domestic enterprise's great majority adopt this structure.Stereo endoscope, if relay system adopts structure shown in 7 picture groups 4, number of lenses reaches 42, cemented surface 28, and this will make light-transmissive rate decline, and mismachining tolerance also can make deterioration in image quality.
At present, optical inversion system of rigid tube endoscope uses structure as shown in Figure 4 usually, and it is symmetrical structure, and Hopkins rod-shaped lens spherical radius is little, adopts glass punching to join the method processing of dish.Hopkins rod-shaped lens, punching glass join to stick with glue with fixture connect fixing after, then carry out fine grinding and polishing.Each fine grinding and polishing process can cause Hopkins rod-shaped lens centering precision to decline, and are difficult to the large Hopkins rod-shaped lens of processing spherical radius.
Structure as shown in Figure 5, be made up of two panels Hopkins rod-shaped lens 4, its rod-shaped lens two spherical radius are identical, aperture diaphragm 3 is positioned in the middle of two panels Hopkins rod-shaped lens 4, and the rear focus of first rod-shaped lens 4 overlaps with the focus in object space of second rod-shaped lens 4, form the two heart (4F) system far away, relay system intermediary image (thing) is positioned at the focus in object space of first rod-shaped lens 4, relay system intermediary image (as) the rear focus place of second slice rod-shaped lens 4.This structure cannot correct any aberration, and spherical radius is large, no matter adopt glass punching to join dish or edging centering technique, difficulty of processing is all very large, does not almost have enterprise to adopt this structure.
In sum, stereo endoscope Optical System Design relates to object lens, relay system, interface lens system design three aspect, three how is made to organically combine, under the prerequisite meeting working distance requirement, optical system light-transmissive rate is the highest, clear picture, distorting little, is the technical barrier needing to solve.
Summary of the invention
For above-mentioned prior art and Problems existing, the present invention proposes a kind of stereo endoscope optical system, have devised Large visual angle, little distortion, high-quality, low cost stereo endoscope optical system, this system is also applicable to the rigid pipe endoscope such as laparoscope, urethrocystoscope.
The present invention proposes a kind of stereo endoscope optical system, this system is followed successively by object lens, image rotation group more than two, one group of double gauss image rotation group, rhombic prism, eyepiece, cover glass and interface lens along light transmition direction; Wherein:
Described object lens are followed successively by sapphire screening glass glued together, the first plano-concave negative lens, the second plano-concave negative lens, prism, plano-convex lens and two groups of cemented doublets along light transmition direction;
Often organize the 1:1 relay system that described image rotation group adopts structural symmetry, be made up of two panels rod-shaped lens, rod-shaped lens two spherical radius are identical, aperture diaphragm is provided with in the middle of two panels rod-shaped lens, and the rear focus of first rod-shaped lens overlaps with the focus in object space of second rod-shaped lens, form two telecentric system, intermediary image/thing is positioned at the focus in object space place of first rod-shaped lens and the rear focus place of second rod-shaped lens;
Described double gauss image rotation group is telecentric beam path in image space, be followed successively by along light transmition direction convex flat rod-shaped lens, two groups two
Balsaming lens, plano-convex rod-shaped lens, two plano-convex rod-shaped lens structural parameters are identical.
Compared with prior art, beneficial effect of the present invention is:
(1) the present invention is by preferred relay system group number and relay system structure, makes optical system lens sheet number minimum, can reduce the parasitic light that reflextion from lens surface causes, and improves picture contrast;
(2) the present invention is by preferred relay system group number and relay system structure, makes optical system cemented surface number minimum, can reduce the absorption of cemented surface to luminous energy, improves light-transmissive rate;
(3) the present invention is organically combined by object lens, both relay systems, corrective system can distort to greatest extent, ensure peripheral field illumination simultaneously, obtain image clearly;
(4) stereo endoscope optical system lens sheet number of the present invention is few, and processing cost is low, and assembling is simple.
Of the present inventionly relate to object lens, relay system, interface lens system design three aspect, three organically combined, under the prerequisite meeting working distance requirement, optical system light-transmissive rate is the highest, clear picture, distort little.
Accompanying drawing explanation
Fig. 1 is rigid pipe endoscope optical system structure schematic diagram;
Fig. 2 to Fig. 5 is several conventional optical inversion system of rigid tube endoscope structural representation in prior art;
Fig. 6 is rod-shaped lens structural representation of the present invention;
Fig. 7 is stereo endoscope objective lens arrangement schematic diagram of the present invention, and a is for direct-view objective lens arrangement figure, b are for looking side ways objective lens arrangement figure;
Fig. 8 is electronic imaging lens system structure embodiment schematic diagram of the present invention, docks respectively respectively, to obtain and to show stereo-picture with two CCD or cmos device.
Reference numeral: 1: thin positive lens; 2: thin negative lens; 3: aperture diaphragm; 4:Hopkins rod-shaped lens; 5: sapphire screening glass; 6: the first plano-concave negative lenses; 7: the second plano-concave negative lenses; 8: equivalent parallel plate; 9: plano-convex lens; 10: prism; 11: object lens first glue together part; 12: object lens second glue together part; 13: objective lens arrangement; 14: image rotation group (as shown in Figure 5, eliminating two groups in figure); 15: double gauss image rotation group; 16: rhombic prism (distance for increasing between subsequent optical systematic optical axis); 17: eyepiece; 18: cover glass: 19: interface lens; 20: image planes.
Embodiment
Stereo endoscope has two optical viewing channel, and the Optic structure parameter of each observation passage is identical.For stereo endoscope, do not need people's viewing optics image, but the electronic image on observation display, therefore, it is without the need for eyepiece, and this is the place different from rigid pipe endoscope.It needs the pixel faces picture of last group relay system being imaged on CCD or cmos device, and this system uses two CCD or cmos device, must consider space layout during Optical System Design.
Below in conjunction with accompanying drawing and optical design tables of data 1, stereo endoscope optical system of the present invention is described in detail.
Hopkins rod-shaped lens structure as shown in Figure 6, wherein, d is aperture of lens, and L is lens thickness, r
1, r
2for the spherical radius of lens, usual L/d>4,100>r
1, r
2>3, because thickness is large, adopts traditional centering edging processes more difficult.
Object lens adopt the anti-long distance structure before aperture diaphragm with two panels plano-concave lens, and two panels plano-concave lens well on balancing shaft and off-axis aberration, and can provide enough back work distances.Structure is shown in Fig. 7 (a).In order to satisfied direct-view and the needs looking side ways endoscope, also have and consider that the structure of prism is shown in Fig. 7 (b).
Direct-view stereo endoscope objective lens arrangement figure as shown in Figure 7a, sapphire screening glass 5, first plano-concave negative lens 6, second plano-concave negative lens 7, parallel flat 8 (also can be processed into one with follow-up plano-convex lens), plano-convex lens 9, five is glued together; Fig. 7 b is 30 ° of stravismus stereo endoscope objective lens arrangement figure, and this structure comprises sapphire screening glass 5, first plano-concave negative lens 6, second plano-concave negative lens 7, prism 10, plano-convex lens 9, and five is glued together; .Its advantage is the reliability that improve sealing, reduces assembly difficulty.
Stereo endoscope active length, between 300mm ~ 450mm, selects relay system structure and group number to be the keys concerning system image quality.Such as: otoscope active length is less than 100mm, adopt 1 group of relay system just passable; Arthroscope active length 180mm, adopts three groups of relay systems; Urethrocystoscope active length 300mm, adopts 5 groups of relay systems; For the stereo endoscope of active length 380mm, relay system adopts 7 groups to seem more reasonable.
Stereo endoscope, if relay system adopts structure shown in 7 picture groups 4, number of lenses reaches 42, cemented surface 28, and this will make light-transmissive rate decline, and mismachining tolerance also can make deterioration in image quality.
In order to make stereo endoscope become upright real image, relay system group number must be odd number.Such as: embodiments of the invention adopt 3 groups of relay systems, wherein two groups of relay systems adopt structure shown in Fig. 5 (eliminating a group in Fig. 8), but cannot correcting chromatic aberration; Another group relay system adopts double gauss relay system, can correct the aberration of aforementioned relay system, can combine the aberrations such as the distortion of corrective system again with object lens.Relay system of the present invention only uses 10 lens, two cemented surfaces, and structure is simple, and light-transmissive rate is high, under the prerequisite meeting picture quality, reaches optical system structure parameter minimum.
Table 1, objective lens optical system structural parameters
| Sequence number | Spherical radius | Thickness | Optical material |
| Object plane | 1e+018 | 20 | Air |
| 1 | 1e+018 | 0.8 | SAPHIR_SPECIAL |
| 2 | 1e+018 | 0.4 | SBSM16_OHARA |
| 3 | 1.814 | 0.3 | Air |
| 4 | 6.557 | 0.3 | SBSM16_OHARA |
| 5 | 1.5 | 0.3 | Air |
| 6 | 1e+018 | 1 | SLAH64_OHARA |
| STO | 1e+018 | 3 | SLAH64_OHARA |
| 8 | 1e+018 | 6 | SLAH64_OHARA |
| 9 | -4.98 | 1.5 | Air |
| 10 | -11.15 | 4.2 | SBSM16_OHARA |
| 11 | -3.55 | 1.3 | NSF4_SCHOTT |
| 12 | -7.905 | 0.6 | Air |
| 13 | 11.272 | 1.4 | SBSM16_OHARA |
| 14 | -3.55 | 11.2 | NSF15_SCHOTT |
| 15 | 26.32 | 3.9 | Air |
| Image planes |
In table 1,1 ~ 15 is objective lens arrangement parameter, will control the radius of concave surface 3,5 during optimal design, makes its platform have enough width, so that water-tight after gummed, the thickness between plane 6 ~ 8 will equal the equivalent thickness turning to prism 10.
Table 2, rod-shaped lens relay system structural parameters
| Sequence number | Spherical radius | Thickness | Optical material |
| Object plane | 1e+018 | 4.5 | Air |
| 1 | 19 | 48 | K9 |
| 2 | -19 | 4.5 | Air |
| Diaphragm | 1e+018 | 4.5 | Air |
| 6 | 19 | 48 | K9 |
| 7 | -19 | 4.5 | Air |
| 8 | 1e+018 | 4.5 | Air |
| 9 | 19 | 48 | K9 |
| 10 | -19 | 4.5 | Air |
| 11 | 1e+018 | 4.5 | Air |
| 12 | 19 | 48 | K9 |
| 13 | -19 | 4.5 | Air |
| Image planes | 1e+018 | 0 | Air |
Table 2 is relay system parameters of structure shown in two picture groups 5 that adopt of this patent, be made up of two panels rod-shaped lens, diaphragm is positioned at centre, form the two heart (4F) system far away, relay system intermediary image (thing) is positioned at the focus in object space of first rod-shaped lens, relay system intermediary image (as) be positioned at the rear focus place of second rod-shaped lens gummed part.This structure cannot correct any aberration, and owing to being two telecentric beam paths, spacer ring thickness error is little on picture quality impact.
Table 3, double gauss image rotation group Optic structure parameter
| Sequence number | Radius | Thickness | Material |
| Object plane | 1e+018 | 4.4 | Air |
| 1 | 20 | 39.5 | K9 |
| 2 | 1e+018 | 2.84 | Air |
| 3 | 1e+018 | 4 | LaF3 |
| 4 | -6.557 | 1 | SF4 |
| 5 | -55.34 | 2.2 | Air |
| Diaphragm | 1e+018 | 2.2 | Air |
| 7 | 26.756 | 0.9 | LaF3 |
| 8 | 6.82 | 3 | ZK9 |
| 9 | -17.5 | 1.6 | Air |
| 10 | 1e+018 | 39.5 | K9 |
| 11 | -20 | 4.4 | Air |
| Image planes | 1e+018 | 0 |
In table 3,1 ~ 2,10 ~ 11 is plano-convex rod-shaped lens structure, and its thickness, in order to reduce clearance, increases system light-transmissive rate; Two groups of middle cemented doublets can correcting chromatic aberration, combines correct other aberrations with object lens.
During optical manufacturing, object lens concave surface 3,5 platform need polishing so that gummed, and to glue together with prism below or plano-convex lens.
Claims (1)
1. a stereo endoscope optical system, is characterized in that, this system is followed successively by object lens, image rotation group more than two, one group of double gauss image rotation group, rhombic prism, eyepiece, cover glass and interface lens along light transmition direction; Wherein:
Described object lens are followed successively by sapphire screening glass glued together, the first plano-concave negative lens, the second plano-concave negative lens, prism, plano-convex lens and two groups of cemented doublets along light transmition direction;
Often organize the 1:1 relay system that described image rotation group adopts structural symmetry, be made up of two panels rod-shaped lens, rod-shaped lens two spherical radius are identical, aperture diaphragm is provided with in the middle of two panels rod-shaped lens, and the rear focus of first rod-shaped lens overlaps with the focus in object space of second rod-shaped lens, form two telecentric system, intermediary image/thing is positioned at the focus in object space place of first rod-shaped lens and the rear focus place of second rod-shaped lens;
Described double gauss image rotation group is telecentric beam path in image space, and be followed successively by convex flat rod-shaped lens, two groups of cemented doublets, plano-convex rod-shaped lens along light transmition direction, two plano-convex rod-shaped lens structural parameters are identical.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105890671A (en) * | 2016-06-15 | 2016-08-24 | 浙江大学 | Probe for three-dimensional measurement of particle field in high temperature environment |
| CN106580236A (en) * | 2016-11-15 | 2017-04-26 | 天津大学 | Three-dimensional endoscope optical system |
| CN106725245A (en) * | 2016-12-23 | 2017-05-31 | 山东威高手术机器人有限公司 | A kind of objective lens arrangement for stereo endoscope |
| CN106767544A (en) * | 2016-12-29 | 2017-05-31 | 中国电子科技集团公司第三十四研究所 | The test system and method for testing of the depth of parallelism between a kind of optical fiber buncher fiber cores |
| CN108051913A (en) * | 2017-12-28 | 2018-05-18 | 北京凡星光电医疗设备股份有限公司 | A kind of endoscopic system and endoscopic camera optical system integrated design method |
| CN108107557A (en) * | 2018-01-10 | 2018-06-01 | 佛山华国光学器材有限公司 | A kind of high magnification bilateral telecentric lens of long reach |
| CN109324359A (en) * | 2017-07-31 | 2019-02-12 | 北京威斯顿亚太光电仪器有限公司 | A kind of aspherical glass stick mirror for rigid pipe endoscope |
| CN110850580A (en) * | 2019-11-29 | 2020-02-28 | 重庆西山科技股份有限公司 | Endoscope optical system |
| CN111323900A (en) * | 2020-04-20 | 2020-06-23 | 华中科技大学 | Endoscope device for high-temperature kiln internal imaging |
| CN112190347A (en) * | 2020-11-09 | 2021-01-08 | 珠海维尔康生物科技有限公司 | Micro-endoscope and micro-endoscope system |
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|---|---|---|---|---|
| CN105890671A (en) * | 2016-06-15 | 2016-08-24 | 浙江大学 | Probe for three-dimensional measurement of particle field in high temperature environment |
| CN106580236A (en) * | 2016-11-15 | 2017-04-26 | 天津大学 | Three-dimensional endoscope optical system |
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| CN106725245A (en) * | 2016-12-23 | 2017-05-31 | 山东威高手术机器人有限公司 | A kind of objective lens arrangement for stereo endoscope |
| CN106767544B (en) * | 2016-12-29 | 2023-05-12 | 中国电子科技集团公司第三十四研究所 | System and method for testing parallelism among optical fiber cores of optical fiber bundling device |
| CN106767544A (en) * | 2016-12-29 | 2017-05-31 | 中国电子科技集团公司第三十四研究所 | The test system and method for testing of the depth of parallelism between a kind of optical fiber buncher fiber cores |
| CN109324359A (en) * | 2017-07-31 | 2019-02-12 | 北京威斯顿亚太光电仪器有限公司 | A kind of aspherical glass stick mirror for rigid pipe endoscope |
| CN108051913A (en) * | 2017-12-28 | 2018-05-18 | 北京凡星光电医疗设备股份有限公司 | A kind of endoscopic system and endoscopic camera optical system integrated design method |
| CN108107557A (en) * | 2018-01-10 | 2018-06-01 | 佛山华国光学器材有限公司 | A kind of high magnification bilateral telecentric lens of long reach |
| CN108107557B (en) * | 2018-01-10 | 2024-01-16 | 佛山华国光学器材有限公司 | High-magnification double-side telecentric lens with long working distance |
| CN110850580B (en) * | 2019-11-29 | 2021-07-06 | 重庆西山科技股份有限公司 | Endoscope optical system |
| CN110850580A (en) * | 2019-11-29 | 2020-02-28 | 重庆西山科技股份有限公司 | Endoscope optical system |
| CN111323900A (en) * | 2020-04-20 | 2020-06-23 | 华中科技大学 | Endoscope device for high-temperature kiln internal imaging |
| CN113625443A (en) * | 2020-04-20 | 2021-11-09 | 华中科技大学 | Endoscope device for high-temperature kiln internal imaging |
| CN112190347A (en) * | 2020-11-09 | 2021-01-08 | 珠海维尔康生物科技有限公司 | Micro-endoscope and micro-endoscope system |
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Application publication date: 20160203 Assignee: Shandong Weigao surgical robot Co Ltd Assignor: Tianjin University Contract record no.: 2017370000041 Denomination of invention: Stereoscopic endoscope optical system License type: Exclusive License Record date: 20170622 |
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