Stereoscopic endoscope

• US 5,976,071 A
• Filed: 11/29/1995
• Issued: 11/02/1999
• Est. Priority Date: 11/29/1994
• Status: Expired due to Fees

• Current Assignee: Asahi Kogaku Kogyo Kabushiki Kaisha
• Original Assignee: Asahi Kogaku Kogyo Kabushiki Kaisha
• Inventors: Sekiya, Takaomi
• Primary Examiner(s): Leubecker, John P.
• Application Number:
  US08/564,537
• Time in Patent Office: 1,434 Days
• Field of Search: 600/111, 600/166, 600/181, 359/462, 359/473, 359/467, 359/471, 359/472, 348/45, 348/42, 348/49
• US Class Current: 600/111
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/055 having rod-lens arrangements
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/218 using spatial multiplexing
• 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 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/282 for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/341 using temporal multiplexing
• CPC Class Codes: H04N 13/349 Multi-view displays for displaying three or more geometrical viewpoints without viewer tracking for viewing without the aid of special glasses using fly-eye lenses H04N13/307
• CPC Class Codes: H04N 13/363 using image projection screens volumetric display H04N13/388
• CPC Class Codes: H04N 13/398 Synchronisation thereof; Control thereof

Abstract

A stereoscopic endoscope is provided having a primary optical system for forming an image of an object, a device for dividing the light transmitted by the primary optical system into two light beams, and a pair of optical systems for detecting the image formed by the primary optical system. Each of the secondary optical systems may receive one of the light beams and form an image of the object on a corresponding imaging device. The stereoscopic endoscope may also include a device for adjusting a position of the light dividing device relative to an optical axis and an exit pupil of the primary optical system, and a device for detecting a position of the light dividing device in accordance with each of the output image signals.

Claims

1. A stereoscopic endoscope comprising:

a single primary optical system for transmitting light, reflected by an object located near a first end of said single primary optical system, to a second end of said single primary optical system;

a pupil dividing system that divides said light transmitted to an exit pupil of said single primary optical system into two light beams;

a pair of secondary optical systems, each of said secondary optical systems comprising an imaging device, each of said secondary optical systems receiving one of said two light beams divided by said pupil dividing system and forming an image of said object on one of said imaging devices, wherein each of said imaging devices outputs an image signal;

a system that adjusts a position of said pupil dividing system relative to an optical axis and the exit pupil of said primary optical system; and

a system that detects a position of said pupil dividing system in accordance with each of said output image signals,

wherein said pupil dividing system comprises two mirrors arranged perpendicular to each other, with each of said mirrors arranged at a 45°

angle to an optical axis of said single primary optical system.

2. The stereoscopic endoscope according to claim 1, wherein said detecting system detects said position of said pupil dividing system in accordance with a distribution of brightness of said images formed on each of said imaging devices by an object having a uniform brightness.

3. The stereoscopic endoscope according to claim 2, further comprising a calculating system that calculates an amount and direction of movement required to move said adjusting system to a standard correct position, in accordance with said distribution of brightness of said images formed on each of said imaging devices.

4. The stereoscopic endoscope according to claim 3, said adjusting system comprising a mechanism for adjusting said position of said pupil dividing system, in accordance with said calculated amount of movement and said calculated direction of movement.

5. The stereoscopic endoscope according to claim 4, wherein said mechanism adjusts said position of said pupil dividing system by moving said pupil dividing system by said calculated amount in said calculated direction.

6. The stereoscopic endoscope according to claim 4, further comprising a system that determines whether said detected position of said pupil dividing system is within an allowed range of a reference position,

wherein said mechanism adjusts said position of said pupil dividing system by repeatedly moving said pupil dividing system by a predetermined amount in said calculated direction until said determining system determines that said detected position is within said allowed range.

7. The stereoscopic endoscope according to claim 3, said pair of secondary optical systems being housed inside an observing portion of said stereoscopic endoscope, said adjusting system comprising:

a frame for holding said pupil dividing system;

a first screw fitted into said holding frame;

a first gear which meshes with said first screw, said first gear rotating about an axis;

a second screw fitted into a mounting member attached to said observing portion; and

a second gear which meshes with said second screw, said second gear rotating about another axis,

said second screw comprising a nut through which said first screw is threaded, and

wherein said holding frame is moved in a first plane in response to a rotation of said first gear, and said holding frame is moved in a second plane in response to a rotation of said second gear, said first plane being substantially perpendicular to said second plane.

8. The stereoscopic endoscope according to claim 7, said stereoscopic endoscope adjusting system further comprising:

a first motor for rotating said first gear; and

a second motor for rotating said second gear, wherein said first motor controls a rotation of said first gear in response to said amount and direction of movement calculated by said calculating system and said second motor controls a rotation of said second gear in response to said amount and direction of movement calculated by said calculating means.

9. The stereoscopic endoscope according to claim 7, wherein said single primary optical system is housed within an insertion portion of said stereoscopic endoscope, and said pupil dividing system is housed within an observing portion of said endoscope, said insertion portion being attached to said observing portion using a cylindrical adapter.

10. The stereoscopic endoscope according to claim 9, wherein said mounting member is attached to said observing portion by three screws.

11. The stereoscopic endoscope according to claim 3, further comprising:

a system that processes said output image signals to produce left and right video signals;

a system that alternately displays said left and right video signals with a predetermined timing pattern; and

a system that enables viewing said alternately displayed left and right video signals, said viewing system controlling a timing of viewing of said left and right video signals synchronously with said predetermined timing pattern.

12. The stereoscopic endoscope according to claim 11, each of said calculating system and said processing system having a common housing.

13. The stereoscopic endoscope according to claim 11, each of said calculating system and said processing system having a separate housings.

14. The stereoscopic endoscope according to claim 3, said calculating system being located within a housing of said stereoscopic endoscope.

15. The stereoscopic endoscope according to claim 3, further comprising an indicator, said indicator indicating said calculated amount of movement and said calculated direction of movement.

16. The stereoscopic endoscope according to claim 3, wherein said single primary optical system is housed within an insertion portion of said stereoscopic endoscope, and said pupil dividing system is housed within an observing portion of said endoscope, said insertion portion being attached to said observing portion using a cylindrical adapter.

17. The stereoscopic endoscope according to claim 16, wherein said adjusting system adjusts said position of said pupil dividing system relative to said adapter.

18. The stereoscopic endoscope according to claim 17, wherein said cylindrical adapter is attached to said observing portion using said adjusting system, said adjusting system adjusting a position of said insertion portion relative to said observing unit.

19. The stereoscopic endoscope according to claim 18, said adjusting system comprising:

a first set of screws oriented along a first direction, said first set of screws adjusting a position of said adapter relative to said observing portion along said first direction; and

a second set of screws oriented along a second direction, said second set of screws adjusting a position of said adapter relative to said observing portion along said second direction, said second direction being substantially perpendicular to said first direction.

20. The stereoscopic endoscope according to claim 19, said adjusting system further comprising:

a first motor for rotating said first set of screws; and

a second motor for rotating said second set of screws, said position of said adapter relative to said observing portion being adjusted in response to a driving of said first motor and a driving of said second motor.

21. The stereoscopic endoscope according to claim 1, each of said imaging devices being a portion of a single imaging device, wherein said image formed by one of said secondary optical systems is formed in a first area of said single imaging device, and said image formed by the other of said secondary optical systems is formed in a second area of said single imaging device, said first area and said second area of said single imaging device not overlapping each other.

22. The stereoscopic endoscope according to claim 1, each of said imaging devices being a portion of a single imaging device, wherein said image formed by one of said secondary optical systems is formed in a first area of said single imaging device, and said image formed by the other of said secondary optical systems is formed in a second area of said single imaging device, said first area and said second area of said single imaging device overlapping each other.

23. The stereoscopic endoscope according to claim 22, further comprising:

a first light transmitting system; and

a second light transmitting system,

wherein when said first image is formed on said single imaging device by said one of said secondary optical systems, said second light transmitting system prohibits transmission of light for forming said second image on said single imaging device, and

wherein when said second image is formed on said single imaging device by said other of said secondary optical systems, said first light transmitting system prohibits transmission of light for forming said first image on said single imaging device.

24. The stereoscopic endoscope according to claim 23, wherein said first light transmitting system and said second light transmitting system are liquid crystal shutters.

25. A stereoscopic endoscope comprising:

a single primary optical system for transmitting light, reflected by an object located near a first end of said single primary optical system, to a second end of said single primary optical system;

a pupil dividing system that divides said light transmitted to an exit pupil of said single primary optical system into two light beams;

a pair of secondary optical systems, each of said secondary optical systems comprising an imaging device, each of said secondary optical systems receiving one of said two light beams divided by said pupil dividing system and forming an image of said object on one of said imaging devices, wherein each of said imaging devices outputs an image signal;

a system that adjusts a position of said pupil dividing system relative to an optical axis and the exit pupil of said primary optical system; and

a system that detects a position of said pupil dividing system in accordance with each of said output image signals;

wherein said detecting system detects a position of said pupil dividing system using a brightness of a predetermined number of areas of each of said images formed on said imaging devices.

26. A stereoscopic endoscope comprising:

a single primary optical system for transmitting light, reflected by an object located near a first end of said single primary optical system, to a second end of said single primary optical system;

a pupil dividing system that divides said light transmitted to an exit pupil of said single primary optical system into two light beams;

a pair of secondary optical systems, each of said secondary optical systems comprising an imaging device, each of said secondary optical systems receiving one of said two light beams divided by said pupil dividing system and forming an image of said object on one of said imaging devices, wherein each of said imaging devices outputs an image signal;

a system that adjusts a position of said pupil dividing system relative to an optical axis and the exit pupil of said primary optical system; and

a system that detects a position of said pupil dividing system in accordance with each of said output image signals;

wherein said pupil dividing system comprises a mirror block comprising two reflective surfaces perpendicular to each other, with each of said mirrors arranged at a 45°

angle to an optical axis of said single primary optical system.

27. A stereoscopic endoscope comprising:

a single primary optical system for transmitting light, reflected by an object located near a first end of said single primary optical system, to a second end of said single primary optical system;

a pair of secondary optical systems, each of said secondary optical systems forming an image of said object;

a pupil dividing system that includes a first reflecting surface that reflects a portion of said light transmitted to an exit pupil of the single primary optical system towards one of said secondary optical systems and a second reflecting surface that reflects another portion of said light transmitted to the exit pupil of the single primary optical system towards the other of said secondary optical systems;

an adjusting system that adjusts a position of said first reflecting surface relative to a position of said second reflecting surface;

wherein said adjusting system further adjusts said position of said first reflecting surface and said position of said second reflecting surface simultaneously, relative to an exit pupil and an optical axis of said single primary optical system;

said pair of secondary optical systems being housed inside an observing portion of said stereoscopic endoscope, said adjusting system comprising;

a mounting frame;

a first screw fitted into said mounting frame;

a first gear which meshes with said first screw, said first gear rotating about a first axis;

a second screw fitted into a mounting portion of said observing portion;

a second gear which meshes with said second screw, said second gear rotating about a second axis, said second screw comprising a nut through which said first screw is threaded;

a third screw fitted into said mounting frame;

a third gear which meshes with a center of said third screw, said third gear rotating about a third axis;

a first support for supporting said first reflecting surface, said first support being threaded onto a first portion of said third screw; and

a second support for supporting said second reflecting surface, said second support being threaded onto a second portion of said third screw,

wherein said mounting frame is moved in a first plane in response to rotation of said first gear, said mounting frame being moved in a second plane in response rotation of said second gear, said first plane being substantially perpendicular to said second plane, and

wherein said first support is moved in a first direction along a central axis of said third screw and said second support is moved in a second direction along said central axis of said third screw, in response to a rotation of said third gear said second direction being opposite to said first direction.

28. The stereoscopic endoscope according to claim 27, wherein said single primary optical system is housed within an insertion portion of said stereoscopic endoscope, and said first reflecting surface and said second guiding means are housed within an observing portion of said endoscope, said insertion portion being attached to said observing portion using an adapter.

29. The stereoscopic endoscope according to claim 28, each of said secondary optical systems comprising an eyepiece lens for viewing said image.

30. The stereoscopic endoscope according to claim 28, each of said secondary optical systems comprising an imaging device for detecting said images formed by said secondary optical systems, said imaging devices outputting image signals.

31. The stereoscopic endoscope according to claim 30, each of said secondary optical systems comprising:

an eyepiece lens for viewing said image; and

a half mirror, each of said half mirrors reflecting a fraction of said light to said imaging device and transmitting another fraction of said light to said eyepiece lens.

32. The stereoscopic endoscope according to claim 27, each of said secondary optical systems comprising an eyepiece lens for viewing said image.

33. The stereoscopic endoscope according to claim 27, each of said secondary optical systems comprising an imaging device for detecting said images formed by said secondary optical systems, said imaging devices outputting image signals.

34. The stereoscopic endoscope according to claim 33, each of said secondary optical systems comprising:

an eyepiece lens for viewing said image; and

a half mirror, each of said half mirrors reflecting a fraction of said light to said imaging device and transmitting another fraction of said light to said eyepiece lens.

48. The stereoscopic endoscope according to claim 27, each of said first and second reflecting surfaces being inclined with respect to an optical axis of said single primary optical system by an angle of 45°

, said adjusting system maintaining said angle constant while adjusting positions of said first reflecting surface.

35. A stereoscopic endoscope comprising:

a single optical system for transmitting light, reflected by an object located near a first end of said single optical system, to a second end of said single optical system;

a pair of first and second image forming systems comprising a pair of first and second separator lenses, said pair of first and second separator lenses located in an exit pupil of said single optical system, said first image forming system receiving a portion of said transmitted light through said first separator lens, said second image forming system receiving another portion of said transmitted light through said second separator lens; and

a system that adjusts a position of said first image forming system relative to a position of said second image forming system.

36. The stereoscopic endoscope according to claim 35, said first image forming system and said second image forming system comprising imaging devices that receive images formed by said first and second separator lenses, said imaging devices outputting image signals.

37. The stereoscopic endoscope according to claim 36, wherein said single optical system is housed within an insertion portion of said stereoscopic endoscope, and said first image forming system and said second image forming system are housed within an observing portion of said endoscope, said insertion portion being attached to said observing portion using an adapter.

38. The stereoscopic endoscope according to claim 35, further comprising an imaging device, said imaging device outputting an image signal,

wherein said first image forming system forms an image on a first area of said imaging device, and

said second image forming system forms an image on a second area of said imaging device, said first area being separate from said second area.

39. The stereoscopic endoscope according to claim 35, said first and second imaging system being housed inside an observing portion of said stereoscopic endoscope, said adjusting system comprising:

a screw;

a gear which measures with a center of said screw, said gear rotating about an axis;

a first support for supporting said first image forming system, said first support being threaded onto a first portion of said screw; and

a second support for supporting said second image forming system, said second support being threaded onto a second portion of said screw,

wherein said first support is moved in a first direction along an axis of said screw and said second support is moved in a second direction along said axis of said screw, in response to a rotation of said sphere, said second direction being opposite to said first direction.

40. A method of adjusting a position of a pupil dividing mechanism of a stereoscopic endoscope to a predetermined position, in which light from an object having a uniform brightness is transmitted by a single primary optical system of said stereoscopic endoscope to said pupil dividing mechanism, said pupil dividing mechanism dividing the light directed by said single primary optical system to an exit pupil of said single primary optical system into two light beams, each of said light beams divided by the pupil dividing mechanism being incident on an imaging device, said method comprising:

detecting a brightness pattern of an image formed on each of said imaging devices;

determining a direction and an amount of movement required to position said pupil dividing mechanism at said predetermined position, in response to said detected brightness pattern of each of said images;

adjusting said position of said pupil dividing mechanism in accordance with said determined direction and said determined amount of movement;

said adjusting comprising driving said pupil dividing mechanism to said determined position;

said determining comprising;

calculating a direction of movement of said pupil driving mechanism;

comparing a position of said pupil dividing mechanism with said predetermined position; and

driving said pupil dividing mechanism by a fixed amount,

wherein said directing said determining and said adjusting are repeated until said determining determines that said position of said pupil dividing mechanism is at said predetermined position.

41. The method according to claim 40, further comprising indicating said determined distance.

42. The method according to claim 40, further comprising indicating said determined amount of movement.

43. The method according to claim 40, said determining further comprises obtaining a value corresponding to said brightness value detected by said detecting, wherein said calculating calculates said direction of movement in accordance with said value.

44. The method according to claim 40, said determining comprises calculating a direction of movement and an amount of movement of said pupil dividing mechanism,

wherein said driving drives said pupil dividing mechanism by said calculated amount.

45. The method according to claim 44, said determining further comprises obtaining a value corresponding to said brightness value detected by said detecting, wherein said calculating calculates said direction of movement and said amount of movement in accordance with said value.

46. A method of adjusting a position of a pupil dividing mechanism of a stereoscopic endoscope to a predetermined position, in which light from an object having a uniform brightness is transmitted by a single primary optical system of said stereoscopic endoscope to said pupil dividing mechanism, said pupil dividing mechanism dividing the light directed by said single primary optical system to an exit pupil of said single primary optical system into two light beams, each of said light beams divided by the pupil dividing mechanism being incident on an imaging device, said method comprising:

detecting a brightness pattern of an image formed on each of said imaging devices;

determining a direction and an amount of movement required to position said pupil dividing mechanism at said predetermined position, in response to said detected brightness pattern of each of said images; and

adjusting said position of said pupil dividing mechanism in accordance with said determined direction and said determined amount of movement;

wherein said detecting detects a brightness of a predetermined number of areas of each of said images formed on said imaging devices.

47. A stereoscopic endoscope comprising:

a primary optical system for transmitting light, reflected by an object located near a first end of said primary optical system, to a second end of said primary optical system;

a dividing system that divides said light transmitted to said second end of said primary optical system into two light beams;

a pair of secondary optical systems, each of said secondary optical systems comprising an imaging device, each of said secondary optical systems receiving one of said two light beams and forming an image of said object on one of said imaging devices, wherein each of said imaging devices outputs an image signal;

a system that adjusts the position of said light dividing system relative to an optical axis and an exit pupil of said primary optical system; and

a system that detects a position of said light dividing system in accordance with each of said output image signals,

wherein said detecting system detects said position of said dividing system in accordance with a distribution of brightness of said images formed on each of said imaging devices by an object having a uniform brightness.