Stereoscopic endoscope with virtual reality viewing

• US 6,139,490 A
• Filed: 11/10/1997
• Issued: 10/31/2000
• Est. Priority Date: 02/22/1996
• Status: Expired due to Term

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Precision Optics Corporation
• Inventors: Forkey, Richard E., Smith, Jack, Breidenthal, Robert S., Volk, Brian E.
• Primary Examiner(s): Leubecker, John P.
• Application Number:
  US08/966,827
• Time in Patent Office: 1,086 Days
• Field of Search: 600/111, 600/166, 600/109, 348/45, 359/434
• US Class Current: 600/111
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/002 having rod-lens arrangements A61B1/055 takes precedence
• CPC Class Codes: G02B 23/2415 Stereoscopic endoscopes
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
• CPC Class Codes: H04N 13/10 Processing, recording or transmission of stereoscopic or multi-view image signals
• CPC Class Codes: H04N 13/161 Encoding, multiplexing or demultiplexing different image signal components for multi-view video sequence encoding H04N19/597
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• 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 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/341 using temporal multiplexing
• CPC Class Codes: H04N 13/344 with head-mounted left-right displays
• CPC Class Codes: H04N 13/398 Synchronisation thereof; Control thereof

Abstract

A stereoscopic endoscope system for producing images that can be perceived in three dimensions. An endoscope apparatus includes a sheath carrying a light source and two independent fixed lens endoscopes. Collimated light from the proximal ends of each endoscope are directed along folded optical paths to independent video cameras. The images generated by the video cameras energize monitors in a virtual reality display device that can be positioned proximate an observer'"'"'s eyes. Adjustable mirrors and the provision of the rotation of at least one of the video cameras on its axis facilitate the alignment of the images for maximum effect.

Claims

1. A stereoscopic endoscope system comprising:

A) first and second endoscopes, each endoscope having an objective lens at the distal end thereof and means for transferring an image along an image transfer axis formed by said objective lens to the proximal end of said endoscope,

B) means for supporting said first and second endoscopes with said image transfer axes in a parallel relationship,

C) first and second video means at the proximal end of said first and second endoscopes, respectively, for converting optical images into video signals,

D) first and second means forming folded optical paths having at least one adjustable reflective surface for conveying an image from the proximal end of each said endoscope to a corresponding one of said video means along corresponding video axes,

E) virtual reality means connected to said first and second video means for providing a stereoscopic view of the image, said virtual reality means including first and second video monitors connected to said first and second video means, each of said monitors projecting an image from a respective one of said first and second video means,

F) first means for positioning each of said reflective surfaces to superimpose the images produced by said first and second video means thereby to present two images in register that are perceived in three dimensions, and

G) second means for rotating at least one of said video means about its video axis thereby to enable angular alignment of the superimposed images.

2. An endoscope as recited in claim 1 wherein said endoscope support means includes a tubular sheath having first and second lumens for said first and second endoscopes and a third lumen and wherein said endoscope additionally comprises a light transmission means carried in said third lumen for conveying light from a source at the proximal end to the object being imaged.

3. An endoscope as recited in claim 2 wherein each of said endoscopes includes:

i. image transfer means in said sheath intermediate said proximal and distal ends for optically transferring an image from the distal end to the proximal end, and

ii. objective lens means including a plurality of optical components at said distal end having, as the most distal of said optical components, a spherical objective lens for forming an image of an object along an optical axis for transfer through said image transfer means.

4. An endoscope as recited in claim 3 wherein said objective lens means includes a plurality of lens elements intermediate said spherical objective lens and said image transfer means, certain of said lens elements directing the image along the image transfer axis.

5. An endoscope as recited in claim 4 wherein said image transfer means in each of said first and second endoscopes comprises at least one relay lens.

6. An endoscope as recited in claim 5 wherein the image transfer axes of said first and second endoscopes lie in an endoscope plane and each of said endoscopes is characterized by a field of view extending along a field-of-view axis, said field-of-view axes lying in a field-of-view plane that is oblique to the endoscope plane.

7. An endoscope as recited in claim 6 wherein said field-of-view plane intersects said endoscope plane at an angle that is greater than 0°

and less than 90°

.

8. An endoscope as recited in claim 6 wherein said field-of-view plane intersects said endoscope plane at an angle of approximately 30°

.

9. An endoscope as recited in claim 6 wherein said field-of-view plane intersects said endoscope plane at an angle of approximately 45°

.

10. An endoscope as recited in claim 1 wherein said virtual reality means includes a headset that supports said first and second monitors for stereoscopic viewing of the images displayed thereby.

11. An endoscope as recited in claim 10 wherein each of said folded optical paths includes means for redirecting the images from said image transfer means along first and second transverse axes and first and second mirrors for directing the images 90°

from said redirecting means to said first and second video means.

12. A stereoscopic endoscope system for viewing an object comprising:

A) endoscope apparatus extending between proximal and distal ends, said endoscope apparatus including;

i. a housing at the proximal end,

ii. a tubular sheath extending from one end of said housing to the distal end,

iii. means extending through said housing and said tubular sheath for connection to an external light source at the proximal end for conveying light for projection from the distal end onto an object to be viewed,

iv. first and second endoscopes carried in said tubular sheath along spaced, parallel image transfer axes for imaging the object along different optical axes extending from the distal ends thereof, said endoscopes being positioned about their respective transfer axes such that the optical axes extending from the distal ends thereof intersect at a location to be imaged,

v. folded optical path means supported in said housing for transferring the images from the first and second endoscopes in a proximal direction,

vi. first and second video means supported in said housing along video axes for generating first and second video signals at first and second outputs thereof in response to first and second images from said folded optical path means, said housing including a releasable clamping means for enabling at least one of said video means to be rotated about its video axis thereby to enable angular alignment of the images transferred from said folded optical path means,

B) a headset to be worn by an individual including first and second monitors for displaying images individually in alignment with the individual'"'"'s first and second eyes, and

C) video controller means connecting said first and second monitors and said first and second outputs whereby the images displayed on said monitors enable an individual to perceive a three dimensional image of the object.

13. A system as recited in claim 12 wherein each of said first and second endoscopes comprises fixed lenses.

14. A system as recited in claim 13 wherein each of said first and second endoscopes comprises a multiple lens objective lens system at the distal end for imaging an object along an optical axis and at least one relay lens system for conveying the image from said objective lens system to said optical path means.

15. A system as recited in claim 14 wherein said folded optical path means includes first surfaces for reflecting the images from said first and second endoscopes, first and second mirrors for receiving the first and second images reflected from said first surfaces onto said first and second video means respectively.

16. A system as recited in claim 15 wherein said folded optical path means additionally includes means for adjusting each of said first and second mirrors about two axes for centering the images on said video means.

17. A system as recited in claim 12 wherein the image transfer axes of said first and second endoscopes lie in an endoscope plane and each of said endoscopes is characterized by a field of view extending along a field-of-view axis, said field-of-view axes lying in a field-of-view plane that is oblique to the endoscope plane.

18. A system as recited in claim 17 wherein said field-of-view plane intersects said endoscope plane at an angle that is greater than 0°

and less than 90°

.

19. A system as recited in claim 18 wherein said field-of-view plane intersects said endoscope plane at an angle of approximately 30°

.