Angled endoscope tip image capture unit

• US 10,390,689 B2
• Filed: 03/17/2015
• Issued: 08/27/2019
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: McDowall, Ian E.
• Primary Examiner(s): Philippe, Gims S
• Application Number:
  US15/126,952
• Publication Number:
  US 20170095142A1
• Time in Patent Office: 1,624 Days
• Field of Search: 348 65, 348 68, 600109, 600171, 600173
• CPC Class Codes: A61B 1/00096 Optical elements
• CPC Class Codes: A61B 1/0011 Manufacturing of endoscope parts
• CPC Class Codes: A61B 1/00179 for off-axis viewing
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: G02B 23/2415 Stereoscopic endoscopes
• CPC Class Codes: G02B 23/2423 of the distal end
• CPC Class Codes: G02B 23/243 Objectives for endoscopes
• CPC Class Codes: G02B 23/2469 using optical fibres
• CPC Class Codes: G02B 23/2484 Arrangements in relation to a camera or imaging device processing or control of video signals generated by an endoscope H04N23/60, H04N23/70
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2213/001 Constructional or mechanical details
• CPC Class Codes: H04N 23/54 Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/555 for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes

Abstract

A family of endoscopes includes a non-zero degree endoscope (210) and a zero degree endoscope (200). Zero degree endoscope (210) includes a first image capture unit (220A) mounted in a distal portion (270A) of the zero degree endoscope with a lengthwise axis of the first image capture unit substantially parallel to a lengthwise axis of that distal portion. Non-zero degree endoscope (210) includes a second image capture unit (220B) mounted in a distal portion (270B) of the non-zero degree endoscope with a lengthwise axis of the second image capture unit intersecting a lengthwise axis of that distal portion at a non-zero angle α. The first and second image capture units have substantially identical non-folded optical paths.

Claims

1. An apparatus comprising:

a non-zero degree endoscope comprising a body, a distal portion, and an image capture unit, the distal portion including a distal face, the body being configured for being coupled to a robotic arm of the apparatus;

the distal portion being connected to the body, and the distal portion comprising a lengthwise axis, the distal face being at a fixed angle to the lengthwise axis of the distal portion; and

the image capture unit comprising a zero degree lens stack, the zero degree lens stack having a non-folded optical path, the image capture unit having a lengthwise axis, and the image capture unit being mounted in the distal portion, the image capture unit being fixed in position with the lengthwise axis of the image capture unit intersecting the lengthwise axis of the body to define a non-zero degree angle and with the zero degree lens stack positioned to receive light incident on the distal face.

2. The apparatus of claim 1, wherein the non-zero degree angle is an acute non-zero degree angle.

3. The apparatus of claim 2, wherein the acute non-zero degree angle is a thirty degree angle.

4. The apparatus of claim 1, wherein the non-zero degree endoscope is a non-zero degree stereoscopic endoscope including the image capture unit and a second image capture unit, wherein the second image capture unit is substantially identical to the image capture unit.

5. The apparatus of claim 1, the image capture unit further comprising a window positioned proximal to the zero degree lens stack.

6. The apparatus of claim 1, the image capture unit further comprising an image sensor mounted in the image capture unit proximal to the zero degree lens stack.

7. The apparatus of claim 1, the image capture unit further comprising a stop positioned adjacent to a distal end of the zero degree lens stack.

8. The apparatus of claim 1, the zero degree lens stack comprising a distal lens, the distal lens comprising a filter embedded within the distal lens.

9. The apparatus of claim 1, further comprising a camera retainer mounted within the distal face of the non-zero degree endoscope, the camera retainer being configured to maintain the image capture unit within the distal portion, and the camera retainer having a first surface and a second surface, the first surface contacting the image capture unit and the second surface being aligned with the distal face of the body.

10. An endoscope comprising:

a body configured for being coupled to a robotic arm;

a distal portion connected to the body, the distal portion comprising a proximal end, a distal end, a distal face of the distal end, and a lengthwise axis extending between the proximal end and the distal end, the distal face being at a fixed angle to the lengthwise axis; and

an image capture unit including an image forming lens assembly and an image sensor, the image forming lens assembly comprising a non-folded optical path between an entry location of light into the image forming lens assembly and the image sensor, and the image capture unit being mounted in a fixed position of the distal end of the distal portion at an angle to the lengthwise axis with the image forming lens assembly positioned to receive light incident on the distal face.

11. The endoscope of claim 10, the angle being an acute angle larger than zero degrees.

12. The endoscope of claim 11, wherein the acute angle is a thirty degree angle.

13. The endoscope of claim 10, the angle being a zero degree angle.

14. The endoscope of claim 10, wherein the endoscope is a stereoscopic endoscope including the image capture unit and a second image capture unit, wherein the second image capture unit is substantially identical to the image capture unit.

15. The endoscope of claim 10, the image capture unit further comprising a window positioned proximal to the image forming lens assembly.

16. The endoscope of claim 10, the image capture unit further comprising a stop positioned adjacent to a distal end of the image forming lens assembly.

17. The endoscope of claim 10, the image forming lens assembly comprising a distal lens, the distal lens comprising a filter embedded within the distal lens.

18. The endoscope of claim 10, further comprising a camera retainer mounted within the distal face of the distal portion, the camera retainer being configured to maintain the image capture unit within the distal portion, and the camera retainer having a first surface and a second surface, the first surface contacting the image capture unit and the second surface being aligned with the distal face of the body.

19. A family of endoscopes comprising:

a zero degree endoscope including a first body, a first distal portion, and a first image capture unit, the first body being configured for coupling to a robotic arm, the first distal portion being connected to the first body, the first distal portion having a first lengthwise axis, the first image capture unit having a second lengthwise axis, the first image capture unit being mounted in the first distal portion with the second lengthwise axis of the first image capture unit substantially parallel to the first lengthwise axis of the distal portion; and

a non-zero degree endoscope including a second body, a second distal portion, and a second image capture unit, the second body being configured for mounting on a robotic arm, the second distal portion being connected to the second body, the second distal portion having a third lengthwise axis, the second image capture unit having a fourth lengthwise axis, the second image capture unit being mounted in the second distal portion of the non-zero degree endoscope with the fourth lengthwise axis of the second image capture unit intersecting the third lengthwise axis of the second distal portion at a non-zero angle, the first and second image capture units having nearly identical non-folded optical paths between an entry location of light into each image capture unit and an imager of each image capture unit, and the first body being different from the second body.

20. The family of endoscopes as in claim 19, wherein each of the zero degree endoscope and the non-zero degree endoscope is a stereoscopic endoscope.

21. A method comprising:

mounting an image capture unit in a body of an endoscope by moving the image capture unit through an opening in a distal face of the body, the body having a first lengthwise axis, the image capture unit having a second lengthwise axis when mounted in the body, where the second lengthwise axis of the image capture unit intersects the first lengthwise axis of the body at a non-zero angle; and

mounting a camera retainer within the opening of the distal face, the camera retainer having a first surface and a second surface, the first surface contacting the image capture unit and the second surface being aligned with the distal face of the body, wherein the image capture unit has a non-folded optical path between the first surface and an image sensor of the image capture unit.

22. The method of claim 21, where the endoscope comprises a non-zero degree endoscope.

23. The method of claim 21, wherein the camera retainer includes a channel that extends through the camera retainer from the second surface to the first surface, where a size of the channel is smaller than an optical element of the image capture unit that is in contact with the first surface when the camera retainer is mounted.