WO2015171732A1 - Éclairage d'endoscope comportant plusieurs éléments de visualisation et illuminateurs - Google Patents

Éclairage d'endoscope comportant plusieurs éléments de visualisation et illuminateurs Download PDF

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Publication number
WO2015171732A1
WO2015171732A1 PCT/US2015/029421 US2015029421W WO2015171732A1 WO 2015171732 A1 WO2015171732 A1 WO 2015171732A1 US 2015029421 W US2015029421 W US 2015029421W WO 2015171732 A1 WO2015171732 A1 WO 2015171732A1
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WO
WIPO (PCT)
Prior art keywords
lens
illuminators
actuatable
viewing element
illumination
Prior art date
Application number
PCT/US2015/029421
Other languages
English (en)
Inventor
Yuri Gershov
Leonid Krivopisk
Original Assignee
Endochoice, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Endochoice, Inc. filed Critical Endochoice, Inc.
Publication of WO2015171732A1 publication Critical patent/WO2015171732A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00181—Optical arrangements characterised by the viewing angles for multiple fixed viewing angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096—Optical elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00188—Optical arrangements with focusing or zooming features
    • A61B1/0019—Optical arrangements with focusing or zooming features characterised by variable lenses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0625—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for multiple fixed illumination angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0655—Control therefor
    • 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
    • G02B23/2423—Optical details of the distal end
    • 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
    • G02B23/2461—Illumination
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B3/00—Simple or compound lenses
    • G02B3/12—Fluid-filled or evacuated lenses
    • G02B3/14—Fluid-filled or evacuated lenses of variable focal length
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/023—Mountings, adjusting means, or light-tight connections, for optical elements for lenses permitting adjustment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0607—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for annular illumination
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0615—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for radial illumination

Definitions

  • the present application relates to United States Patent Application Number 14/603,137, entitled “Image Capture and Video Processing Systems and Methods for Multiple Viewing Element Endoscopes", filed on January 22, 2015, which relies on United States Provisional Patent Application Number 61/930,101, entitled “Daisy Chain Multi-Sensor Endoscopic System” and filed on January 22, 2014 and United States Provisional Patent Application Number 61/948,012, entitled “Parallel Illuminating Systems” and filed on March 4, 2014.
  • the present application also relates to United States Patent Application Number 13/655,120, entitled “Multi-Viewing Element Endoscope”, and filed on October 18, 2012.
  • the present application also relates to United States Patent Application Number 13/992,014, entitled “Flexible Electronic Circuit Board for a Multi-Camera Endoscope", filed on June 6, 2013, which is a 371 National Stage Entry of PCT Application Number PCT/ILl 1/050049, of the same title, and filed on December 8, 2011, which, in turn, relies upon United States Provisional Patent Application Number 61/421,238, filed on December 9, 2010.
  • the invention relates generally to endoscopy systems and, in particular, to image capture and video processing systems and methods in multiple -illuminator endoscope systems.
  • Such tip sections typically include a plurality of cameras, a plurality of optical systems, a plurality of illuminators, a flexible electronic circuit board configured to support and encapsulate the components and a working channel configured for the injection of fluids and for the insertion of miniscule surgery tools.
  • An optical system for a tip section of a multiple sensor endoscope comprising a front- pointing camera sensor, a front objective lens system, a side -pointing camera-sensor, and a side objective lens system is disclosed in United States Patent Application Number 13/882,004, entitled “Optical Systems for Multi-Sensor Endoscopes” and filed on May 23, 2013, which is herein incorporated by reference in its entirety.
  • a flexible electronic circuit board for a multiple camera endoscope tip section is disclosed in Patent Cooperation Treaty Application Number PCT/IL2011/050049, entitled “Flexible Electronic Circuit Board for a Multi-Camera Endoscope” and filed on December 8, 2011, which is herein incorporated by reference in its entirety.
  • the circuit board comprises: a front camera surface configured to carry a forward looking camera; a first side camera surface configured to carry a first side looking camera; a second side camera surface configured to carry a second side looking camera; one or more front illuminator surfaces configured to carry one or more front illuminators; and, one or more side illuminators surfaces configured to carry one or more side illuminators.
  • the flexible circuit board is connected to the central control unit via a multi-wire cable.
  • the multi-wire cable is welded on the board in a designated location, freeing additional space within the tip section assembly and adding flexibility to the cable access.
  • a multiple sensor or multiple viewing elements endoscope tip section comprising a front-pointing camera and two or more side -pointing cameras positioned at or in proximity to a distal end of the tip section and a working channel configured for insertion of a surgical tool is disclosed in United States Patent Application Number 13/655,120, entitled “Multi -Camera Endoscope” and filed on October 18, 2012, which is herein incorporated by reference in its entirety, and assigned to the Applicant of the present specification.
  • the field of view (FOV) of each camera sensor in a multiple sensor endoscope is illuminated by two or more illuminators that are light emitting diodes (LEDs).
  • multiple sensor endoscopes' tips that include a right pointing camera or viewing element, a front pointing camera or viewing element and a left pointing camera or viewing element may include a minimum of 9 or more LEDs. Since the FOVs' depth in different orientations, for example in a patient's colon, can vary significantly during a colonoscopy procedure, illuminating all LEDs with a fixed illumination intensity is sub -optimal, may be too weak in some orientations for example and may drive the camera sensor arrays beyond their dazzle limits due to light reflection from a nearby wall in other orientations.
  • One approach for controlling the illumination of a multiple illuminator endoscope system may be provided by dynamically controlling the emitted light intensities.
  • multiple illuminator endoscope systems may include 10 or more illuminators, controlling the light intensity of each illuminator independent of the other illuminators dynamically may be a difficult task.
  • Another approach for controlling the illumination of multiple illuminator endoscope systems is provided by dynamically actuating electro and/or electro-mechanical actuatable lenses.
  • the present specification discloses a lens actuation system for an endoscope, the system comprising: at least one viewing element configured to capture images; a plurality of illuminators configured to illuminate a plurality of fields of view (FOVs) associated with the at least one viewing element; a controller; and at least one actuatable lens positioned in front of one of the plurality of illuminators, wherein the at least one actuatable lens is configured to dynamically change an illumination direction of the one of the plurality of illuminators based upon a signal from said controller.
  • FOVs fields of view
  • the lens actuation system comprises a front viewing element with at least two front illuminators and a side viewing element with at least two side illuminators, wherein an actuatable lens is positioned in front of each of the two front illuminators and the two side illuminators to dynamically change an illumination direction of one or both illuminators of the front and side illuminators based upon a signal from the controller.
  • the lens actuation system comprises a front viewing element with at least two front illuminators and a side viewing element with at least two side illuminators, wherein an actuatable lens is positioned in front of the front and side viewing elements to dynamically change direction of incoming light beams to the front and side viewing elements based upon a signal from said controller.
  • the present specification also discloses a lens actuation system for an endoscope, the system comprising: at least one viewing element configured to capture images; a plurality of illuminators configured to illuminate a plurality of fields of view (FOVs) associated with the at least one viewing element; a controller; and an actuatable lens positioned in front of the at least one viewing element, wherein the actuatable lens is configured to dynamically change direction of incoming light beams, from the plurality of FOVs to the at least one viewing element, based upon a signal from the controller.
  • FOVs fields of view
  • the present specification also discloses a lens actuation system for an endoscope, the system comprising: at least one viewing element configured to capture images; a plurality of illuminators configured to illuminate a plurality of fields of view (FOVs) associated with the at least one viewing element; a controller; and actuatable lenses positioned in front of the at least one viewing element and in front of at least one of the plurality of illuminators, wherein, based upon a signal from the controller, the actuatable lenses are configured to dynamically change one or both of a) an illumination direction of said at least one of said plurality of illuminators, and b) a direction of incoming light beams to said at least one viewing element.
  • FOVs fields of view
  • the plurality of FOVs may partially overlap.
  • An actuatable lens may be positioned in front of each of the plurality of illuminators, or an actuatable lens (or lenses) may be positioned in front of more than one of the plurality of illuminators,
  • the actuatable lens is a stiff lens positioned proximate to a plurality of electro actuators configured to move the stiff lens.
  • the actuatable lens is a flexible lens positioned proximate to a plurality of actuators configured to deform the flexible lens.
  • the flexible lens is a silicon lens and the deformation of the flexible lens is selected from a group consisting of: contracting, expanding, pulling, pushing and combinations thereof.
  • the actuatable lens (or lenses) may be coated with an electro responsive material that changes its local light refraction index in response to an applied electric field.
  • the electro responsive coating material is selected from a group consisting of: a liquid crystal, an electro responsive polymer, inorganic crystals, metamaterials or combinations thereof.
  • the electric field is applied by a plurality of electrodes.
  • the actuatable lens dynamically changes an illumination direction by rotating or translating or a combination thereof.
  • the at least one actuatable lens is configured to dynamically redirect illumination from at least one of the plurality of illuminators in order to reduce light intensity at the certain FOV.
  • the at least one actuatable lens is configured to dynamically redirect illumination from at least one of the plurality of i lluminators in order to increase light intensity at the certain FOV.
  • the at least one actuatable lens may be actuated based on a detection of bright and/or dark areas in the plurality of FOVs.
  • a user interface is configured to allow a user to manually actuate the at least one actuatable lens according to desired light intensity of images presented on a display.
  • a user interface is configured to allow a user to actuate the at least one actuatable lens in order modify a blooming effect, saturation effect, underexposure effect, or overexposure effect.
  • the present specification also discloses a method of controlling illumination of an endoscope tip, the method comprising: providing, at the endocope tip, at least one viewing element configured to capture images, a plurality of illuminators configured to illuminate a plurality of field of views (FOVs) associated with the at least one viewing element and at least one actuatable lens positioned in front of at least one of the plurality of illuminators: receiving, from the at least one viewing element, images of a plurality of FOVs illuminated by the plurality of illuminators; and dynamically redirecting illumination by actuating the at least one actuatable lens in order to reduce light intensity of a too bright captured image or increase light intensity of a too dark captured image.
  • FOVs field of views
  • Figure 1 illustrates an exemplary tip section of an endoscope that includes a plurality of viewing elements and a parallel illuminating systems, according to certain embodiments of the present specification
  • Figure 2 shows a multiple illuminator and viewing elements endoscopy system, according to some embodiments
  • Figure 3 A is a block diagram showing an LED, an actuatable lens and piezoelectric actuators, according to certain embodiments of the present specification
  • Figure 3B is a block diagram of a multiple illuminator endoscope system that includes at least one viewing element, at least one illuminator, optical assemblies and a control unit, according to certain embodiments of the present specification;
  • Figure 4A illustrates an exemplary tip section of an endoscope, showing a bright central illumination FOV, according to certain embodiments of the present specification
  • Figure 4B illustrates the tip section of Figure 4A, showing a redirection of the illumination FOV of at least one illuminator, via lens actuation, according to certain embodiments of the present specification;
  • Figure 5 illustrates a stiff lens actuation system as used in a multiple illuminator endoscope, according to some embodiments of the present specification
  • Figure 6 illustrates a flexible lens actuation system as used in a multiple illuminator endoscope, according to some embodiments of the present specification
  • Figure 7 illustrates an electro -responsive coated lens actuation system, as used in a multiple illuminator endoscope, according to some embodiments of the present specification
  • Figure 8 is a flow chart illustrating a plurality of exemplary steps of a method of controlling distribution of illumination or brightness for a multiple illuminator endoscopic tip of the present specification, in accordance with an embodiment.
  • each of the words “comprise”, “include”, and “have”, and forms thereof, are not necessarily limited to members in a list with which the words may be associated.
  • FIG. 1 illustrates an exemplary endoscope tip section 100 comprising a plurality of viewing elements, also referred to as cameras, sensors or camera sensors, and a parallel illuminating system comprising a plurality of illuminators associated with the plurality of viewing elements, according to certain embodiments.
  • the parallel illuminating system comprises a side pointing viewing element 103 and two associated side pointing illuminators 101 and 102 respectively illuminating an upper right field of view (FOV) 121 and a lower right FOV 123 (the FOVs 121 and 123 may partially overlap in various embodiments) to together illuminate a right FOV 130; a front pointing viewing element 108 and four associated front pointing illuminators 104, 105, 106 and 107 (the FOVs of the four front pointing illuminators may partially overlap in various embodiments), which together illuminate a front FOV 125; and another side pointing viewing element 111 and two associated side pointing illuminators 109 and 110 (the FOVs 109, 110 may partially overlap in various embodiments), which respectively illuminate a lower left FOV portion 127 and an upper left FOV portion 128, together illuminating a left FOV 135.
  • FOV field of view
  • viewing elements, cameras or sensors 103, 108 and 111 are Charge Coupled Device (CCD) or Complementary Metal Oxide Semiconductor (CMOS) image sensor arrays.
  • CCD Charge Coupled Device
  • CMOS Complementary Metal Oxide Semiconductor
  • front illuminators 104, 105, 106, 107 and side illuminators 101, 102, 109, 111 are, in an embodiment, discrete illuminators and include a light-emitting diode (LED), which may be a white light LED, an infrared light LED, a near infrared light LED, an ultraviolet light LED or any other LED.
  • LED light-emitting diode
  • discrete refers to an illumination source, which generates light locally and internally, in contrast to a non- discrete illuminator, which may be, for example, a fiber optic merely transmitting light generated remotely.
  • the endoscope tip section 100 includes a working channel, having an opening positioned on the front face 140 that is configured to inject fluids or gases and to insert surgical tools, a plurality of optical systems that may include front and side objective lens systems, a flexible electronic circuit board configured to carry the front and side viewing elements along with the associated illuminators, the wiring connections between these components and a cable connecting the parallel illuminating system of the endoscopic tip 100 to an endoscope handle, to an external control unit and to a display.
  • a working channel having an opening positioned on the front face 140 that is configured to inject fluids or gases and to insert surgical tools
  • a plurality of optical systems that may include front and side objective lens systems
  • a flexible electronic circuit board configured to carry the front and side viewing elements along with the associated illuminators
  • the wiring connections between these components and a cable connecting the parallel illuminating system of the endoscopic tip 100 to an endoscope handle, to an external control unit and to a display.
  • System 200 includes a multiple viewing elements endoscope 202.
  • the multiple viewing elements endoscope 202 includes a handle 204, from which an elongated shaft 206 emerges. Elongated shaft 206 terminates with a tip section 100 (as shown in Figure 1) which is turnable by way of a bending section 210.
  • the handle 204 is used for maneuvering elongated shaft 206 within a body cavity.
  • the handle 204 includes one or more buttons, knobs and/or switches 205 which control bending section 210 as well as functions such as fluid injection and suction.
  • Handle 204 further includes at least one working channel opening 212 through which surgical tools may be inserted. In some embodiments, the handle 204 also includes one or more side service channel openings for one or more side service channels provided in the tip section 100.
  • a utility cable 214 also referred to as an umbilical tube, connects between the handle 204 and a Main Control Unit 299.
  • Utility cable 214 includes therein one or more fluid channels and one or more electrical channels.
  • the electrical channel(s) include at least one data cable for receiving video signals from the front and side -pointing viewing elements, as well as at least one power cable for providing electrical power to the viewing elements and to the discrete illuminators (that is, to the parallel illuminating system).
  • the main control unit 299 contains the controls required for displaying the images and/or videos of internal organs captured by the endoscope 202.
  • the main control unit 299 governs power transmission to the endoscope's 202 tip section 100, such as for the tip section's viewing elements and illuminators.
  • the main control unit 299 further controls one or more fluid, liquid and/or suction pump(s) which supply corresponding functionalities to the endoscope 202.
  • One or more input devices 218, such as a keyboard, a touch screen and the like is connected to the main control unit 299 for the purpose of human interaction with the main control unit 299.
  • the main control unit 299 comprises a screen/display 225 for displaying operation information concerning an endoscopy procedure when the endoscope 202 is in use.
  • the screen 225 is configured to display images and/or video streams received from the viewing elements of the multiple viewing element endoscope 202.
  • the screen 225 may further be operative to display a user interface for allowing a human operator to set various features of the endoscopy system.
  • the parallel illuminating system illustrated in Figure 1
  • the parallel illuminating system may have varying number of illuminators.
  • such varying number of illuminators may be associated with a front viewing element and only one side viewing element in various embodiments.
  • similar parallel illuminating systems may be used in automotive industry, large display screens, in office and home illuminating systems and the like.
  • Illuminator 301 comprises an LED 301A, an associated actuatable lens 301B, piezoelectric actuators 301C and 30 ID and brackets 30 IE that, in various embodiments, are flexible brackets or supports of silicon or rubber, for example.
  • Each illuminator, of the parallel illuminating system shown in Figure 1 includes the components shown in Figure 3A that are actuated by a central or main control unit (such as the main control unit 299 shown in Figure 2).
  • FIG. 3B illustrates a block diagram of a multiple illuminator endoscope that includes at least one viewing element or camera, at least one illuminator, optical assemblies and control unit, according to certain embodiments.
  • Multiple illuminator endoscope system 390 comprises at least one viewing element or camera sensor 303A that includes actuatable or fixed lens 303B.
  • the camera sensor 303A is configured to capture images received through lens 303B and to transmit, via line 320, the sampled images converted to digital pixel data to control unit 230.
  • the figure also illustrates, as an example, the illuminator 301 along with its components described with reference to Figure 3 A.
  • the control unit 330 is a central control unit (similar to the main control unit 299 of Figure 2) configured to control a plurality of viewing elements or camera sensors, such as the viewing element 303 A, and a plurality of illuminators along with the associated piezoelectric actuators, such as 301C, by control line 340, and 301D by control line 342.
  • the control unit 330 is configured to control the LED 301 A and lens 303B where the camera lens 303B is an actuatable lens.
  • the actuating devices or systems may vary depending upon the type of actuatable lens.
  • the actuating devices could be piezoelectric actuators, electrodes, other miniature electromechanical actuators, such as but not limited to, linear step motors or step motors with miniature gears or electromagnets or micro electro mechanical systems (MEMS), which include electromechanical mechanisms controlled by electrostatic field.
  • MEMS micro electro mechanical systems
  • the viewing elements that are typically CCD or CMOS image sensors, have phenomena such as saturation and blooming that affect both their quantitative and qualitative imaging characteristics.
  • saturation refers to the condition where the well becomes filled.
  • the amount of charge that can be accumulated in a single pixel is determined largely by its area.
  • due to the nature of the potential well, which holds charge within a pixel there is less probability of trapping an electron within a well that is approaching saturation. Therefore, as a well approaches its limit, the linear relationship between light intensity and signal degrades. As a result, the apparent responsivity of a saturated pixel drops. At saturation, pixels lose their ability to accommodate additional charge.
  • the outgoing illumination or FOVs of a plurality of illuminators of a multi illuminator endoscopic tip are maneuverable for dynamic redirection.
  • a lens of at least one viewing element of the multi illuminator endoscope tip is also moveable or maneuverable to dynamically redirect incoming light beams from a plurality of FOVs to the viewing element.
  • FIG. 4A illustrates a bright central FOV 430, according to certain embodiments.
  • the FOV 430 may encompass a wall of a patient's colon, for example, illuminated by the overlapping FOVs of the two illuminators 401 and 402.
  • the combined illumination of illuminators 401 and 402, in the region of the overlapping FOV 430, may generate too bright a reflection (causing parts of an acquired image or video to be over exposed) captured by the viewing element 403.
  • overlapping FOV 430 may over expose the viewing element or camera sensor 403 and other images that may appear in FOV 424 or 426 may be missed, partially or completely, due to the overly bright, over exposed, over lighted, saturated or bloomed reflection of overlapping FOV 430.
  • Figure 4B illustrates dynamically redirecting, by lens actuating or maneuvering, the illumination of at least one of the illuminators, according to certain embodiments.
  • the actuatable lens of the illuminator 402 is maneuvered or actuated such that the associated illumination or FOV 426 of the illuminator 402 is redirected to the right lower side of endoscope tip 100.
  • This causes the FOVs 424 and 426 to not overlap thereby lowering or evenly distributing the illumination intensity of the two illuminators 401, 4102 across the combined FOVs 424, 426.
  • the images captured by the viewing element 403 are evenly illuminated by the illuminators 401, 402.
  • a lens actuation system is used to dynamically redirect the illumination or FOV of at least one of the illuminators and / or of the lens of at least one viewing element, of a multi illuminator endoscopic tip.
  • the lens actuation system comprises an actuatable lens and piezoelectric actuators associated with an illuminator and / or with a lens of a viewing element.
  • the lens actuation system of the LED 301 A comprises the actuatable lens 30 IB and piezoelectric actuators 301C, 301D.
  • the lens 303B of the viewing element 303 may also be actuatable in addition to the actuatable lens 301 B of the illuminator 301.
  • FIG. 5 illustrates a lens actuation system 500 in accordance with an embodiment.
  • the lens actuation system 500 comprises a stiff lens 502 connected to a plurality of brackets, or holding or retaining elements, 520 that are further connected to devices capable of manipulating, deforming, or otherwise moving the lens, such as piezoelectric devices 504, 506, 508 and 510, other miniature electromechanical actuators, linear step motors, step motors with miniature gears, electromagnets, or MEMS.
  • piezoelectric devices 504, 506, 508 and 510 other miniature electromechanical actuators, linear step motors, step motors with miniature gears, electromagnets, or MEMS.
  • Each piezoelectric device 504, 506, 508 and 510 includes more than one piezoelectric device such that, upon electrical stimulation of one or more of the piezoelectric device 504, 506, 58, 510, each bracket 420 and therefore the connected stiff lens 502 may be moved or shifted in any one or more of the X, Y and Z directions 530 (the X, Y and Z directions being mutually orthogonal).
  • movements of the stiff lens 502 comprise rotations, translations or a combination thereof in any one or more of the three dimensions.
  • the lens actuation system 500 is associated with a stiff lens of at least one illuminator, such as the lens 301B of the illuminator 301 of Figure 3B, to dynamically redirect the outgoing illumination or FOV of the illuminator.
  • the lens actuation system 500 is associated with a stiff lens of at least one viewing element, such as the lens 303B of the viewing element 303 of Figure 3B, to dynamically redirect incoming light beams from a plurality of FOVs to the at least one viewing element.
  • the lens actuation system 500 is associated with a stiff lens of at least one illuminator as well as of at least one viewing element.
  • FIG. 6 illustrates a lens actuation system 600 in accordance with another embodiment.
  • the lens actuation system 600 comprises a flexible lens 602 connected to a plurality of miniature electromechanical actuators such as piezoelectric devices 604, 606, 608 and 610.
  • Each piezoelectric device 604, 606, 608 and 610 includes more than one piezoelectric device such that, upon electrical stimulation of one or more of the piezoelectric device 604, 606, 608, 610, the flexible lens 602 may be deformed in any one or more of the X, Y and Z directions 630 (the X, Y and Z directions being mutually orthogonal) by the actuating piezoelectric devices 604, 606, 608 and 610.
  • the flexible lens 602 is a silicon lens. Deformation of the flexible lens 602 comprises contracting, expanding, pulling and pushing of the flexible lens 602 in any one or more of the X, Y and Z directions 630.
  • the lens actuation system 600 is associated with a flexible lens of at least one illuminator, such as the lens 301B of the illuminator 301 of Figure 3B, to dynamically redirect the outgoing illumination or FOV of the illuminator.
  • the lens actuation system 600 is associated with a flexible lens of at least one viewing element, such as the lens 303B of the viewing element 303 of Figure 3B, to dynamically redirect incoming light beams from a plurality of FOVs to the at least one viewing element.
  • the lens actuation system 600 is associated with a flexible lens of at least one illuminator as well as with at least one viewing element.
  • FIG. 7 illustrates a lens actuation system 700 in accordance with yet another embodiment.
  • the lens actuation system 700 comprises an electro responsive coated lens 702 in electrical contact with a plurality of electrodes 701 to 708.
  • Electrodes 701 to 708 are configured to apply an electric field onto the electro responsive coated lens 702 thereby varying, locally, the surface or volume refraction or attenuation index of the coated lens 702.
  • the applied electric field in voltage or voltage per meter, is used to dynamically redirect incoming or outgoing light beams through the coated lens 702 as a result of the modified refraction or attenuation index of the coated lens 702.
  • the electro responsive coating material may be liquid crystal, an electro- responsive polymer, an inorganic crystal, a meta-material and combinations thereof. As used herein, meta-materials are artificial materials engineered to have properties that may not be found in nature.
  • the lens actuation system 700 is associated with an electro responsive coated lens of at least one illuminator, such as the lens 30 IB of the illuminator 301 of Figure 3B, to dynamically redirect the outgoing illumination or FOV of the illuminator.
  • the lens actuation system 600 is associated with an electro responsive coated lens of at least one viewing element, such as the lens 303B of the viewing element 303 of Figure 3B, to dynamically redirect incoming light beams from a plurality of FOVs to the at least one viewing element.
  • the lens actuation system 600 is associated with an electro responsive coated lens of at least one illuminator as well as with at least one viewing element.
  • the video controller or the controller circuit board of the main control unit 299 operatively connects with the endoscope 202 and the display units 225.
  • the controller circuit board comprises elements for processing the video obtained from at least one viewing element, as well as other elements for system monitoring and control.
  • the elements for processing the video are at least one DSP (to correspondingly process the image or video capture by the at least one viewing element) and an FPGA (Field Programmable Gate Array) that performs a plurality of logic tasks related to video stream or image processing - one of which includes detecting level of brightness such as under exposure and over exposure or blooming.
  • the FPGA calculates the total average brightness of an image frame acquired by a viewing element.
  • the FPGA around every luminance pixel sample arriving from the viewing element calculates a Gaussian (averaging process using Gaussian weighing) of its neighborhood pixels.
  • the Gaussian is the local brightness around the luminance pixel sample.
  • the image processing to determine the total average or Gaussian local brightness, is performed by a software program or by hardware processors such as an ASIC processor or a micro-controller and the like processing the data received from a viewing element.
  • a local blooming control module that calculates and uses a Gaussian local brightness to control blooming is described in United States Provisional Patent Application Number 62/093,871, entitled “System and Method for Processing Video Images Generated By A Multiple Viewing Elements Endoscope” and filed on December 18, 2014, which is herein incorporated by reference in its entirety.
  • the total average brightness or the Gaussian local brightness, of an image or video frame is compared with an upper threshold brightness level and a lower threshold brightness level. If the total average brightness or the Gaussian local brightness, of an image or video frame, is above the upper threshold brightness level it is indicative of an over exposed, over lighting, saturation or blooming regions within an image while if this is below the lower threshold brightness then it is indicative of under exposed, under lighted, too dark or dim regions.
  • the upper and lower threshold brightness levels are pre-set by default (based on empirically determined optimal brightness preferences of a representative universal set of physicians).
  • the range of acceptable brightness, as defined by the upper and lower thresholds is further customizable by the physician depending upon his/her visual preference.
  • areas or regions of an image or video frame having a Gaussian local brightness higher than the upper threshold brightness, intensity or luminance level are identified or segmented as being too bright, saturated or over exposed.
  • areas or regions of the image or video frame having, for example, Gaussian local brightness lower than the lower threshold brightness, intensity or luminance level are identified or segmented as being too dim or under exposed.
  • the main control unit automatically maneuvers the plurality of actuating devices associated with the plurality of illuminators that are used to illuminate the FOV of the viewing element.
  • the main control unit electrically stimulates the relevant actuating devices associated with the actuatable lens of at least one of the two illuminators so as to redirect the illumination FOV of one illuminator away with reference to the other illuminator till the Gaussian local brightness level of the identified over exposed region falls within the range defined by the upper and lower threshold brightness levels.
  • the actuatable lens of at least one illuminator that illuminates the FOV of the viewing element responsible for capturing the image
  • the actuatable lens of at least one illuminator is maneuvered to move the FOV of the at least one illuminator towards the under exposed region till the Gaussian local brightness level of the under exposed region falls within the range defined by the upper and lower threshold brightness levels.
  • the actuatable lenses of one or more concerned illuminators are manipulated to ensure that the brightness or intensity levels of none of the regions or segments of the image or video frame fall outside the defined or acceptable upper and lower threshold brightness levels.
  • the duration and extent of electrical stimulation of the plurality of actuating devices or sensors and the resultant direction and type of movement of the actuatable lens of the illuminator(s) is determined based on at least a) the identified region or segment, b) the brightness level (such as the Gaussian local brightness) of the identified region or segment and c) the type of actuatable lens (stiff, flexible or coated) of the concerned illuminator(s) that need to be manipulated.
  • the actuatable lens can be manipulated in one or any combination of X, Y and Z mutually orthogonal directions.
  • the actuatable lenses of the illuminators are maneuvered manually by the physician using a plurality of buttons or switches available on the handle of the endoscope (such as the buttons 205 on the handle 204 of the endoscope 202 of Figure 2).
  • FIG 8 is a flow chart illustrating a plurality of exemplary steps of a method of controlling distribution of illumination or brightness for a multiple illuminator endoscopic tip of the present specification, in accordance with an embodiment.
  • an endoscope of the present specification (such as the endoscopic tip 100 of Figure 1) is obtained that has a tip section comprising at least one viewing element, a plurality of illuminators associated with the at least one viewing element and configured to illuminate a FOV of the at least one viewing element, wherein at least one of the plurality of illuminators includes an actuatable lens maneuverable using a plurality of transducers (such as piezoelectric transducers or sensors, electrodes, etc.) connected thereto.
  • transducers such as piezoelectric transducers or sensors, electrodes, etc.
  • the endoscope is controlled by a central main control unit.
  • the at least one viewing element acquires images or videos of a body cavity during an endoscopic procedure while the plurality of associated illuminators lighten up the FOV of the at least one viewing element.
  • the main control unit processes the image or video frame data acquired by the at least one viewing element such that, in one embodiment, around every luminance pixel sample arriving from the at least one viewing element, a Gaussian (averaging process using Gaussian weighing) of its neighborhood pixels is calculated.
  • the Gaussian is the local brightness around the luminance pixel sample.
  • the Gaussian local brightness values or levels of the acquired image or video frame are compared with an upper threshold brightness level and a lower threshold brightness level. This comparison is used to identify or segment those areas or regions of the acquired image or video frame having Gaussian local brightness levels above the upper threshold brightness level and / or below the lower threshold brightness level. Thus, at step 835, if the Gaussian local brightness level of a region or area is determined to be above the upper threshold brightness level then the region is identified or segmented as being too bright, saturated or over exposed.
  • the main control unit causes at least one of the plurality of transducers to maneuver the at least one actuatable lens so as to redirect the illumination FOV of the at least one illuminator with reference to the other illuminators till the Gaussian local brightness level of the identified over exposed region falls within the range defined by the upper and lower threshold brightness levels.
  • the main control unit causes at least one of the plurality of transducers to maneuver the at least one actuatable lens so as to redirect the illumination FOV of the at least one illuminator with reference to the other illuminators till the Gaussian local brightness level of the identified under exposed region falls within the range defined by the upper and lower threshold brightness levels.

Abstract

La présente invention concerne un système d'actionnement de lentille pour un endoscope comprenant au moins un élément de visualisation conçu pour capturer des images, une pluralité d'illuminateurs conçus pour éclairer une pluralité de champs de vision associés à l'élément ou aux éléments de visualisation, une unité de commande, et des lentilles pouvant être actionnées placées devant un ou plusieurs illuminateurs de la pluralité d'illuminateurs et/ou devant le ou les éléments de visualisation. Les lentilles pouvant être actionnées sont conçues pour changer dynamiquement a) une direction d'éclairage d'un ou de plusieurs illuminateurs de la pluralité d'illuminateurs, et/ou b) une direction de faisceaux lumineux entrants vers le ou les éléments de visualisation.
PCT/US2015/029421 2014-05-07 2015-05-06 Éclairage d'endoscope comportant plusieurs éléments de visualisation et illuminateurs WO2015171732A1 (fr)

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