CN217960035U - Endoscopic device with wide-angle imaging and surgical robot system - Google Patents

Abstract

The disclosure relates to the field of medical instruments, and discloses an endoscope device with wide-angle imaging and a surgical robot system. The endoscope body has a front end portion and a rear end portion, the imaging assembly is disposed in the front end portion of the endoscope body, the output end of the illumination unit is disposed in the front end portion of the endoscope body, and the wide angle assembly is disposed in the front end portion of the endoscope body. Wherein the wide angle assembly has a field angle greater than the field angle of the at least one imaging assembly. The wide-angle assembly can provide an image with a larger visual field, so that the operator can quickly realize corresponding operation, and the additional time spent by the operator to adjust the position of the endoscope device can be avoided, so that the operation time is shortened.

Description

Endoscope device with wide-angle imaging and surgical robot system

Technical Field

The present disclosure relates to the field of medical devices, and in particular, to an endoscopic device with wide-angle imaging and a surgical robot system.

Background

Currently, when a surgical robot system is used for surgery, a doctor needs to acquire an image of a lesion area in a patient body through an endoscope tool. Limited by the optical elements used in endoscopic tools, which have a maximum field of view with a fixed field of view. Only objects located within the field angle range can be received by the imaging assembly of the endoscopic tool. Generally, the larger the field angle of the endoscopic tool, the wider the surgical field of view will be visible to the surgeon.

However, an excessively large angle of view causes problems, in that the image-formed screen is distorted in the first place, and an excessively large angle of view causes distortion in the corner portions of the image-formed screen. The closer to the edge of the picture, the stronger the deforming and stretching effect of the object will be. Correcting these distortions inevitably leads to image quality loss. In addition, because the amount of light entering the corner of the picture is small during imaging, a dark corner phenomenon also occurs, and the closer the picture is to the edge, the lower the imaging brightness is. Thus, imaging with an excessively large field of view does not give the physician more information available, but rather degrades the quality of the imaging. Therefore, the diagonal field of view of a typical endoscope tool is generally 90 degrees or less, and the aim is to provide finer image quality rather than a larger field of view.

In practice, during the robot-assisted minimally invasive surgery, a plurality of surgical tool instruments and auxiliary manual instruments are often operated near a focus, and in order to avoid mutual interference among the instruments, some surgical instruments which are not used temporarily need to be placed at a far position, and are likely to leave the visual field of an endoscope tool. When the instruments are to be reused, the physician needs to control the endoscopic tool to find the specific location of the instruments and then move the instruments to have their ends within the field of view of the endoscopic tool to avoid damaging the tissue. In other cases, small tools such as suture needles or vascular clamps are inadvertently dropped into a patient, and the field of view of the endoscopic tool must be adjusted to find the dropped object. In the above scenario, limited to the limited view of the endoscope, the doctor needs to spend extra time controlling the movement of the endoscope tool to achieve the corresponding purpose. Thus, the operation time is prolonged and the operation risk is increased.

SUMMERY OF THE UTILITY MODEL

Based on the above problems, an object of the present disclosure is to provide an endoscope apparatus with wide-angle imaging, including:

an endoscope body having a front end portion and a rear end portion;

at least one imaging assembly disposed within the leading end portion of the endoscope body;

at least one illumination unit element, an output end of the illumination unit being disposed within a front end portion of the endoscope body;

a wide angle assembly disposed within a forward end portion of the endoscope body;

wherein the wide angle assembly has a field of view greater than the field of view of the at least one imaging assembly

In some embodiments, the forward end portion of the endoscope body includes an endoscope mount having a receiving cavity for receiving the wide angle assembly, the at least one imaging assembly, and the output end of the at least one illumination unit.

In some embodiments, the endoscope mount includes at least one imaging lens channel for receiving a lens of the at least one imaging assembly, a wide angle lens channel for receiving a lens of the wide angle assembly, at least one illumination channel spaced apart from one another.

In some embodiments, the at least one imaging lens channel comprises a first imaging lens channel and a second imaging lens channel symmetrically disposed along an endoscope body axis;

the wide-angle lens channel is arranged between the first imaging lens channel and the second imaging lens channel.

In some embodiments, the at least one illumination channel is crescent shaped and is disposed outside of the at least one imaging lens channel.

In some embodiments, the lighting unit comprises:

a light source provided at a distal end portion of the endoscope main body; or

A light source disposed at a rear end portion of the endoscope body or outside the endoscope body, and one or more optical fibers coupled to the light source, the optical fibers extending from the light source to a front end portion of the endoscope body.

The present disclosure also provides a surgical robotic system, comprising:

the endoscopic device with wide-angle imaging as described in any of the embodiments above.

In some embodiments, the surgical robotic system further comprises:

a controller communicatively coupled with the endoscopic device, the controller to switch between a normal imaging mode to image based on the at least one imaging assembly and a wide-angle imaging mode to image based on the wide-angle assembly.

In some embodiments, the surgical robotic system further comprises:

a first display for displaying an image in the normal imaging mode and/or a wide-angle image in the wide-angle imaging mode; and

and the second display is used for displaying the image in the normal imaging mode.

In some embodiments, the first display is a flat display screen and the second display is a 3D display.

In some embodiments, the first display comprises:

the first display interface is used for displaying the image in the normal imaging mode or displaying the wide-angle image in the wide-angle imaging mode; or alternatively

The first display includes:

the first display interface is used for displaying the image in the normal imaging mode; and

and the second display interface is used for displaying the wide-angle image in the wide-angle imaging mode.

In some embodiments, the surgical robotic system further comprises:

switching means for switching an operator between a normal imaging mode and a wide-angle imaging mode.

In some embodiments, the switching device comprises at least one of a touch button, a mechanical button, a pedal, a voice control device.

Some embodiments of the disclosure have one or more of the following benefits: 1. the wide-angle component can provide an image with a larger visual field, so that an operator can quickly realize corresponding operation, and the operator can be prevented from spending additional time to adjust the position of the endoscope device, thereby shortening the operation time; 2. the crescent illumination channel is arranged at the gap of the endoscope seat, so that the space of the endoscope seat can be fully utilized, the miniaturization of the endoscope device is realized, and the illumination visual field can be increased; 3. by separating the image pickup path and the illumination path, the interference of external impurities can be reduced to reduce image noise; 4. the surgical robotic system may be switched between a normal imaging mode and a wide-angle imaging mode to facilitate rapid corresponding operations by an operator.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments of the present disclosure will be briefly described below. The drawings in the following description illustrate only some embodiments of the disclosure, and other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein.

FIG. 1 illustrates a partial schematic structural view of an endoscopic device according to some embodiments of the present disclosure;

FIG. 2 illustrates a schematic view of an operating scenario of an endoscopic device according to some embodiments of the present disclosure;

FIG. 3 illustrates a schematic view of a distribution of imaging assemblies according to some embodiments of the present disclosure;

FIG. 4 shows a front view of a front end portion of an endoscope body according to further embodiments of the present disclosure;

FIG. 5 illustrates a schematic structural diagram of a wide-angle imaging lens according to some embodiments of the present disclosure;

fig. 6 shows a schematic view of a channel distribution of an endoscope mount according to some embodiments of the present disclosure;

fig. 7 shows a schematic view of a partially cut-away construction of an endoscope mount according to some embodiments of the present disclosure;

fig. 8 shows a schematic structural view of a surgical robotic system, according to some embodiments of the present disclosure;

fig. 9 illustrates a display structure diagram of a first display according to some embodiments of the present disclosure.

List of reference numbers:

100. an endoscopic device;

10. an endoscope main body; 11. an endoscope mount; 111. an imaging lens channel; 112. a wide-angle lens channel; 113. an illumination channel; 114. a fixed seat; 115. mounting a through hole; 116. a wide-angle lens mounting through hole;

20. an imaging assembly; 21. an imaging lens; 22. an imaging sensor; 20a-b, first and second imaging assemblies;

21a-c, first-to-third imaging lenses; 22a-b, a first and a second imaging sensor;

30. a lighting unit; 31. a light source; 32. an optical fiber;

40. a wide angle assembly; 41. a wide-angle imaging lens; 41a-41f, an optical lens; 42. a wide-angle imaging sensor;

1000. a surgical robotic system; 101. a controller; 102. a switching device; 103. a first display; 104. a second display; 1031. a first display interface; 1032. a second display interface;

105. a signal plate; 106. a vision processor;

200. a surgical instrument; 300 a suture needle; 400. a target area.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present disclosure, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, a fixed connection or a removable connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. In the present disclosure, the end close to the operator (e.g. doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. It will be appreciated by those skilled in the art that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as other non-medical devices.

FIG. 1 illustrates a partial structural schematic of an endoscopic device 100 with wide-angle imaging according to some embodiments of the present disclosure. The endoscopic device 100 may include an endoscope body 10, at least one imaging assembly 20, at least one illumination unit 30, and a wide angle assembly 40. In some embodiments, the endoscope main body 10 may have a tubular shape having a front end portion and a rear end portion, and the front end portion of the endoscope main body 10 plays a role of supporting and fixing. At least one imaging assembly 20, the output end of at least one illumination unit 30, and wide angle assembly 40 may be fixedly disposed within the forward end portion of endoscope body 10.

Fig. 2 illustrates a working scenario schematic of an endoscopic device 100 according to some embodiments of the present disclosure. As shown in fig. 1 and 2, the illumination unit 30 is used to illuminate a target region 400 (e.g., a target tissue or a lesion region) so that the imaging assembly 20 captures an image of the target region 400. It should be appreciated that the at least one imaging assembly 20 is configured to image in a normal mode of operation (e.g., a surgical mode of operation) to provide a high definition quality image of the target area 400. The wide angle assembly 40 has a field angle greater than the field angle of the at least one imaging assembly 20 and may be used for imaging in particular operating modes (e.g., when switching between multiple surgical instruments 200 or looking for a fall, etc.). In this way, a larger view of the image can be provided to facilitate the operator (e.g., a doctor) to quickly perform the corresponding operation, and the operator can be prevented from spending additional time adjusting the position of the endoscope apparatus 100 to shorten the operation time.

It should be understood that the imaging assembly 20 may include an imaging lens 21 (see fig. 7) and an imaging sensor 22 (see fig. 3, 8). The imaging lens 21 is disposed at a front end of the imaging sensor 22 so that the imaging sensor 22 captures an image of the target area 400 through the imaging lens 21. In some embodiments, the imaging lens 21 may include an optical lens group composed of a plurality of lenses. The optical lens group comprises one or more convex lenses and concave lenses which are distributed to form an optical imaging system. In some embodiments, imaging sensor 22 may include, but is not limited to, a CCD, COMS imaging sensor. The imaging assembly 20 may receive light reflected from the target area 400, and may perform photoelectric conversion on the received light by the imaging sensor 22 to form an electronic signal, and may be used for display on a display. It should be understood that the imaging lenses 21 and the imaging sensors 22 may be equal in number and oppositely positioned so that the imaging sensors 22 capture images of the target area 400 through the respective imaging lenses 21.

In some embodiments, the imaging sensor 22 may include one or more. It should be understood that when one imaging sensor 22 is operated, the image ultimately displayed by the endoscopic device 100 is a two-dimensional image. When the plurality of imaging sensors 22 are operated, the imaging sensors 22 act like human binoculars, so that stereoscopic vision can be formed, images are shot from different directions, the images shot by the plurality of imaging sensors 22 are subjected to stereoscopic vision processing, and finally the images are displayed on a screen through a stereoscopic display, so that a clear stereoscopic vision image can be formed. It should be understood that the plurality of imaging sensors 22 may also be operable to display a flat image on a flat panel display.

Fig. 3 illustrates a schematic view of a distribution of a plurality of imaging assemblies according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 3, the at least one imaging assembly 20 may include an imaging assembly 20a and an imaging assembly 20b. The imaging module 20a may include an imaging lens 21a and an imaging sensor 22a, and the imaging module 20b may include an imaging lens 21b and an imaging sensor 22b. The imaging lens 21a is located at the front end of the imaging sensor 22a so that the imaging sensor 22a captures a field of view through the imaging lens 21 a. The imaging lens 21b is located at the front end of the imaging sensor 22b so that the imaging sensor 22b captures a field of view through the imaging lens 21 b. In some embodiments, the front end sides of the imaging lenses 21b and 21a are located in the same horizontal plane. In some embodiments, the imaging sensors 22a and 22b may be disposed in parallel in the accommodating cavity of the endoscope base 11, symmetrically disposed with respect to each other along the axis of the endoscope body 10, with the light-sensing surfaces of the imaging sensors 22a and 22b perpendicular to the axis of the endoscope body 10, and with the axial directions of the imaging lenses 21a and 21b perpendicular to the light-sensing surfaces of the imaging sensors 22a and 22b, respectively.

Fig. 4 illustrates a front view of the front end portion of the endoscope body 10 according to some embodiments of the present disclosure. In some embodiments, the at least one imaging assembly 20 may also include a third imaging assembly. As shown in fig. 4, the third imaging assembly may include a third imaging lens 21c and a third imaging sensor (not shown). For example, the imaging lenses 21a, 21b, and 21c may be located at an intermediate position of the front end portion of the endoscope main body 10. Specific arrangement of the three imaging lenses 21a, 21b and 21c may include, but is not limited to, a linear arrangement in the radial direction, or a triangular arrangement (as shown in fig. 4). It should be understood by those skilled in the art that the number of the imaging assemblies 20 may also be four or more, the plurality of imaging lenses 21 may be arranged in a matrix or other manner, and the specific number and arrangement of the imaging lenses 21 may be changed according to actual needs without departing from the scope of the present disclosure. In some embodiments, the plurality of imaging assemblies 20, the plurality of imaging sensors 22, and the corresponding imaging lenses 21 may include redundant devices for initiating operation in the event of failure of other imaging sensors or imaging lenses.

In some embodiments, wide angle assembly 40 may include a wide angle imaging lens 41 and a wide angle imaging sensor 42. The wide-angle imaging lens 41 is located at the front end of the wide-angle imaging sensor 42 so that the wide-angle imaging sensor 42 captures a field of view through the wide-angle imaging lens 41. In some embodiments, wide-angle imaging lens 41 may include a wide-angle lens mount and a plurality of spherical or aspheric optical lenses mounted in the wide-angle lens mount. Fig. 5 illustrates a partial structural schematic diagram of a wide-angle imaging lens 41 according to some embodiments of the present disclosure. As shown in fig. 5, the wide-angle imaging lens 41 may include optical lenses 41a, 41b, 41c, 41d, 41e, and 41f, and the optical lenses 41a to 41f may be arranged in combination to project a larger range of incident light onto a wide-angle imaging sensor 42 with a smaller area, so as to implement wide-angle imaging. Those skilled in the art will appreciate that the optical lenses 41a, 41b, 41c, 41d, 41e, 41f and their arrangement shown in fig. 5 are merely exemplary, and one or more of the optical lenses 41a, 41b, 41c, 41d, 41e, 41f may be deleted, changed or replaced, or a different arrangement may be adopted, according to specific embodiments.

In some embodiments, as shown in fig. 4, the number of lighting units 30 may be two. It should be understood that the number of lighting units 30 may also be one, three or more. Providing a plurality of illumination units 30 can further increase the illumination intensity of the endoscope apparatus 100. For example, the output ends of the plurality of illumination units 30 are provided along the circumferential edge of the front end portion of the endoscope main body 10, or at the gaps between the plurality of imaging lenses 21. As shown in fig. 4, the output ends of one or more illumination units 30 (e.g., 2) may be formed in a crescent shape, disposed at the circumferential edges of a plurality of imaging lenses (e.g., imaging lenses 21a, 21b, and 21 c). The number and arrangement of the lighting units 30 may be changed according to actual requirements without departing from the scope of the present invention.

In some embodiments, as shown in fig. 1, the forward end portion of the endoscope main body 10 may include an endoscope mount 11. Endoscope mount 11 may be tubular in shape and have a receiving cavity for receiving the output of wide angle assembly 40, at least one imaging assembly 20, and at least one illumination unit 30. Fig. 6 shows a schematic view of the channel distribution of the endoscope mount 11 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 6, endoscope mount 11 may include at least one imaging lens channel 111, wide angle lens channel 112, at least one illumination channel 113, spaced apart from one another. At least one imaging lens channel 111 may be used to accommodate the imaging lens 21 of at least one imaging assembly and wide angle lens channel 112 is used to accommodate the wide angle imaging lens 41 of wide angle assembly 40. By separating the image pickup path and the illumination path, interference of foreign substances can be reduced to reduce image noise.

In some embodiments, as shown in fig. 6, the at least one imaging lens channel may include two imaging lens channels 111 symmetrically disposed along the axis of the endoscope body 10. For example, the two imaging lens channels 111 have a circular cross section, are symmetrically disposed in the middle portion of the endoscope base 11, and extend in the axial direction of the endoscope base 11. The imaging lenses 21a and 21b may be respectively disposed in the two imaging lens channels 111. In some embodiments, as shown in fig. 6, wide angle lens channel 112 may be disposed in the middle of two imaging lens channels 111. It should be understood that wide angle lens channel 112 may be provided at any gap in endoscope holder 11.

Fig. 7 shows a schematic view of a partially sectioned configuration of an endoscope mount 11 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 7, the endoscope base 11 is provided with a fixing base 114 inside, and the fixing base 114 is provided with a plurality of mounting through holes 115 arranged side by side. The imaging lenses 21a and 21b are respectively fixedly disposed in the corresponding mounting through-holes 115. The rear ends of the imaging lenses 21a and 21b are aligned with the imaging sensors 22a and 22b through the mounting through holes 115. The front ends of the imaging lenses 21a and 21b are inserted into the imaging lens passages 111 at the front end of the endoscope holder 11, respectively. In some embodiments, the fixing base 114 is further provided with a wide-angle lens mounting through hole 116, the wide-angle imaging lens 41 is tightly disposed in the corresponding wide-angle lens mounting through hole 116, and the front end of the wide-angle imaging lens 41 extends into the wide-angle lens passage 112 at the front end of the endoscope base 11.

In some embodiments, the at least one illumination channel 113 is crescent shaped and is disposed outside of the at least one imaging lens channel 111. For example, as shown in fig. 6, the at least one illumination channel 113 may include two crescent-shaped channels, respectively disposed at both sides of the imaging lens channel 111. The front end of the output end of the illumination unit 30 is crescent-shaped and is respectively arranged in the illumination channel. Thus, the space of the endoscope base 11 can be fully utilized, the endoscope apparatus 100 can be miniaturized, and the illumination field can be increased.

In some embodiments, as shown in fig. 7, illumination unit 30 may include a light source (e.g., light source 31, as shown in fig. 8) and an optical fiber 32 coupled to the light source. The light source 31 may be provided in the rear end portion of the endoscope body 10 or outside the endoscope body 10. The optical fiber 32 may be provided in the endoscope body 10 and extend from the light source 31 to the front end portion of the endoscope body 10. In some embodiments, optical fiber 32 may include one or more optical fibers. The output end of the front end of the optical fiber 32 may constitute the output end of the illumination unit 30. Illumination light emitted from the light source 31 is transmitted to the front end portion of the endoscope body 10 through the optical fiber 32, and is output from the output end of the optical fiber 32 to realize illumination. In some embodiments, the output end front end of the optical fiber 32 may be crescent shaped in cross-section. It is to be understood that the light source 31 may be provided in the rear end portion of the endoscope body 10 or in or outside the endoscope main body portion on the rear end side of the endoscope body 10. It should also be understood that in some embodiments, the illumination unit 30 may also include an illumination device, such as an LED light source, disposed directly at the forward end portion of the endoscope body 10 (e.g., within the endoscope mount 11).

In some embodiments, the endoscope body 10 may include an intermediate portion between the front end portion and the rear end portion. At least a part of the intermediate portion may include a deformable tube that is bendably deformable, facilitating adjustment of the posture of the leading end portion of the endoscope main body 10, thereby observing the target region 400 and acquiring image information of the target region 400.

Fig. 8 illustrates a structural schematic of a surgical robotic system 1000 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 8, the present disclosure also provides a surgical robotic system 1000 that may include the endoscopic device 100 of any of the embodiments of the present disclosure.

In some embodiments, as shown in fig. 8, the surgical robotic system 1000 may further include a controller 101. The controller 101 is communicatively connected to the endoscope apparatus 100, and the controller 101 is configured to switch between a normal imaging mode and a wide-angle imaging mode. Wherein the normal imaging mode images based on the at least one imaging assembly 20 and the wide-angle imaging mode images based on the wide-angle assembly 40. For example, in a normal surgical manipulation mode, a normal imaging mode may be selected. The wide-angle imaging mode may be selected in special cases such as switching between multiple surgical instruments (e.g., surgical instrument 200) or finding a drop (e.g., suture needle 300) in target area 400.

In some embodiments, as shown in fig. 8, the surgical robotic system 1000 may further include a switching device 102, the switching device 102 being for an operator to switch between a normal imaging mode and a wide-angle imaging mode. It should be understood that the switching device 102 may include, but is not limited to, at least one of a mechanical button, a pedal, a touch key, a voice control device, and the like. For example, the operator may switch between the normal imaging mode and the wide-angle imaging mode by pressing a button, stepping a pedal, selecting a touch screen, or sending a command by voice, etc.

In some embodiments, as shown in fig. 8, the surgical robotic system 1000 may further include a first display 103 and a second display 104. The first display 103 may be used to display images in a normal imaging mode. It should be understood that the first display 103 may also display a wide-angle image in a wide-angle imaging mode. The second display 104 may be used to display images in a normal imaging mode. In some embodiments, the first display 103 may be a flat display screen, such as a liquid crystal screen, a plasma screen, a projection screen, or the like. The second display 104 may be a 3D display, such as a head-mounted stereoscopic display, a glasses-type stereoscopic display, and the like.

Fig. 9 illustrates a display structure schematic of the first display 103 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 9, the first display 103 may include a first display interface 1031. For example, in a normal surgical operation mode, the first display interface 1031 may be used to display images in a normal imaging mode to provide an image of a field of view of the target zone 400 for viewing by an operator. In the wide-angle imaging mode, the first display interface 1031 may display a wide-angle image in the wide-angle imaging mode to provide an image of a larger field of view of the target area 400 for the operator to perform the corresponding operation quickly. The image in the normal imaging mode and the wide-angle image in the wide-angle imaging mode may be switched to display one of the images on the first display interface 1031.

In some embodiments, as shown in fig. 9, the first display 103 may include a first display interface 1031 and a second display interface 1032. The first display interface 1031 may be used to display an image in the normal imaging mode, and the second display interface 1032 may be used to display a wide-angle image in the wide-angle imaging mode. It should be understood that the second display interface 1032 may be overlappingly disposed on the first display interface 1031 when the normal imaging mode is switched to the wide-angle imaging mode. The first display interface 1031 and the second display interface 1032 can simultaneously display an image in the normal imaging mode and a wide-angle image in the wide-angle imaging mode based on a picture-in-picture display manner. For example, the second display interface 1032 may be smaller than the first display interface 1031, disposed at any corner of the first display interface 1031, or disposed at any position of the first display interface 1031. In this way, an image in the normal imaging mode and a wide-angle image in the wide-angle imaging mode can be simultaneously displayed on the first display 103. It should be understood that in the normal imaging mode, the first display 103 may display only the first display interface 1031.

In some embodiments, as shown in fig. 8, the surgical robotic system 1000 may further include a signal board 105 and a vision processor 106. The imaging sensor 22, the signal board 105, the vision processor 106, and the displays (e.g., the first display 103 and the second display 104) are communicatively coupled. In actual operation, the imaging sensor 22 captures an image of the target area 400 through the imaging lens 21, and then transmits captured image information to the signal board 105. The signal board 105 receives the image information from the imaging sensor 22, collects the image information, and then transmits the collected information to the vision processor 106. The vision processor 106 receives the collected information transmitted from the signal board 105, processes the collected image information, and then transmits the processed image information to the displays (e.g., the first display 103 and the second display 104). The display receives the processing information transmitted by the vision processor 106 and displays the processing information as an image on a display interface (e.g., the display interface 1031 or 1032).

It is noted that the foregoing is only illustrative of the embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments illustrated herein and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (13)

1. An endoscopic device with wide-angle imaging, comprising:

an endoscope body having a front end portion and a rear end portion;

at least one imaging assembly disposed within the forward end portion of the endoscope body;

at least one illumination unit, an output end of the illumination unit being disposed within a front end portion of the endoscope body;

a wide angle assembly provided within a front end portion of the endoscope body for wide angle imaging;

wherein a field angle of the wide angle assembly is greater than a field angle of the at least one imaging assembly.

2. The endoscopic device with wide angle imaging of claim 1, wherein the front end portion of the endoscope body comprises an endoscope mount having a receiving cavity for receiving the wide angle assembly, the at least one imaging assembly and the output end of the at least one illumination unit.

3. The wide-angle imaging endoscopic device of claim 2 wherein the endoscope mount comprises at least one imaging lens channel, a wide-angle lens channel, at least one illumination channel spaced apart from one another, the at least one imaging lens channel for receiving a lens of the at least one imaging assembly, and the wide-angle lens channel for receiving a lens of the wide-angle assembly.

4. An endoscopic device with wide angle imaging according to claim 3, wherein the at least one imaging lens channel comprises a first imaging lens channel and a second imaging lens channel disposed symmetrically along an endoscope body axis;

the wide-angle lens channel is arranged between the first imaging lens channel and the second imaging lens channel.

5. An endoscopic device with wide angle imaging as defined in claim 3, wherein the at least one illumination channel is crescent shaped and is disposed outside of the at least one imaging lens channel.

6. An endoscopic device with wide angle imaging as defined in claim 1, wherein the illumination unit comprises:

a light source provided at a distal end portion of the endoscope main body; or alternatively

A light source disposed at a rear end portion of the endoscope body or outside the endoscope body, and one or more optical fibers coupled to the light source, the optical fibers extending from the light source to a front end portion of the endoscope body.

7. A surgical robotic system, comprising:

an endoscopic device with wide angle imaging as defined in any of claims 1-6.

8. The surgical robotic system as claimed in claim 7, further comprising:

a controller communicatively coupled with the endoscopic device, the controller to switch between a normal imaging mode to image based on the at least one imaging assembly and a wide-angle imaging mode to image based on the wide-angle assembly.

9. The surgical robotic system as claimed in claim 8, further comprising:

a first display for displaying an image in the normal imaging mode and/or a wide-angle image in the wide-angle imaging mode; and

and the second display is used for displaying the image in the normal imaging mode.

10. The surgical robotic system as claimed in claim 9, wherein the first display is a flat display screen and the second display is a 3D display.

11. The surgical robotic system as claimed in claim 9, wherein the first display includes:

the first display interface is used for displaying the image in the normal imaging mode or displaying the wide-angle image in the wide-angle imaging mode; or

The first display includes:

the first display interface is used for displaying the image in the normal imaging mode; and

and the second display interface is used for displaying the wide-angle image in the wide-angle imaging mode.

12. The surgical robotic system as claimed in claim 8, further comprising:

switching means for switching an operator between a normal imaging mode and a wide-angle imaging mode.

13. The surgical robotic system according to claim 12, wherein the switching device includes at least one of a touch button, a mechanical button, a pedal, a voice control device.

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