Endoscope comprising a system with multiple cameras for use in minimal-invasive surgery
The present invention concerns an endoscope for minimally invasive surgery, especially for use within a surgical robotic system, which comprises a main support device ( 4 ), which basically extends over the entire length of the endoscope from the outside to the interior of the body, and which comprises at its distal end at least one illumination unit ( 15, 16 ) and two imaging devices ( 12 a, 13 a, 14 a, 12 b, 13 b, 14 b; 12 c ), wherein each of the imaging devices ( 12 a, 13 a, 14 a, 12 b, 13 b, 14 b; 12 c ) is basically arranged in such a way that it can be rotated to the outside on the same level as the main support device ( 4 ), a trocar ( 1 ), by means of which the endoscope can enter the body, and an additional support device ( 3 ), which is provided at the trocar ( 1 ) and/or the main support device ( 4 ), wherein the additional support device ( 3 ) comprises at its distal end an additional imaging device ( 8, 9, 10, 11 ), which can be rotated from the additional support device ( 3 ) to the outside and wherein the additional imaging device ( 7, 8, 9, 10 ) comprises an additional illumination unit ( 10, 11 ) and at least an additional image sensor ( 8, 9 ), which comprises a monitoring area, which encompasses the two monitoring areas of the imaging devices ( 12 a, 13 a, 14 a, 12 b, 13 b, 14 b; 12 c ) of the main support device ( 4 ).
1. An endoscope, comprising a main support device, which basically extends over an entire length of the endoscope, wherein a distal end of the main support device comprises at least one lighting unit and two imaging devices to detect two monitoring areas, wherein each of the two imaging devices is basically arranged in such a way that it can be rotated to the outside of the main support device,
a trocar, by means of which the endoscope can enter a human body,
and an additional support device, which is provided at the trocar or the main support device, wherein a distal end of the additional support device comprises an additional imaging device, wherein the additional imaging device is spaced apart in a longitudinal direction of the endoscope from the two imaging devices, and wherein the additional imaging device can be rotated to the outside of the additional support device, and wherein the additional imaging device comprises an additional lighting unit and at least an additional image sensor, wherein the additional image sensor comprises a further monitoring area, wherein the further monitoring area encompasses the two monitoring areas of the two imaging devices of the main support device, wherein the additional support device is located between the trocar and the main support device, resting directly at the main support device, wherein the main support device and the additional support device have a cylindrical design and wherein each of the two imaging devices is arranged in such a way that it can be tilted by means of separate joints about separate rotation axis, as well as about a further pivot axis, in an orthogonal direction relative to a longitudinal extension of the main support device, wherein the rotation axis and the further pivot axis are also orthogonal to one another and wherein rotary movements about the separate rotation axes are decoupled independently of one another, and the separate rotation axes are also decoupled independently of one another.
2. The endoscope according to claim 1 , characterized in that the additional image sensor comprises a wide-angle lens located near a distal end of the trocar when the additional image sensor is pivoted.
3. The endoscope according to claim 1 , characterized in that each of the two imaging devices can be rotated about a rotation axis at the distal end of the main support device, wherein the rotation axes are aligned in a plane parallel to one another.
4. A surgical robot system having at least one robotic arm on which at least one endoscope can be arranged, which
comprises a main support device that basically extends over an entire length of the endoscope, wherein a distal end of the main support device comprises at least one lighting unit and two imaging devices to detect two monitoring areas, wherein each of the two imaging devices is basically arranged in such a way that it can be rotated to the outside of the main support device,
a trocar, by means of which the endoscope can enter a human body,
an additional support device, which is provided at the trocar or the main support device, wherein a distal end of the additional support device comprises an additional imaging device, wherein the additional imaging device is spaced apart in a longitudinal direction of the endoscope from the two imaging devices, and wherein the additional imaging device can be rotated to the outside of the additional support device, and wherein the additional imaging device comprises an additional lighting unit and at least an additional image sensor, wherein the additional image sensor comprises a further monitoring area, wherein the further monitoring area encompasses the two monitoring areas of the two imaging devices of the main support device,
and an image processing unit and a visualization unit, wherein the image processing unit is connected with the two imaging devices and the additional image sensor, and wherein the visualization unit is configured to show 2D image data or 3D image data of the two imaging devices or the additional image sensor, or of the two imaging devices together with the additional image sensor, wherein the additional support device is located between the trocar and the main support device, optionally resting directly at the main support device, wherein optionally the main support device and the additional support device have a cylindrical design and wherein each of the two imaging devices is arranged in such a way that it can be tilted by means of separate joints about separate rotation axis, as well as about a further pivot axis, in an orthogonal direction relative to a longitudinal extension of the main support device, wherein the rotation axis and the further pivot axis are also orthogonal to one another and wherein rotary movements about the separate rotation axes are decoupled independently of one another, and the separate rotation axes are also decoupled independently of one another.
5. The surgical robot system according to claim 4 , characterized in that the additional image sensor comprises a wide-angle lens located near a distal end of the trocar when the additional image sensor is pivoted.
6. The surgical robot system according to claim 4 , characterized in that the two imaging devices are arranged at the distal end of the main support device, respectively, in such a manner that they can be rotated about a rotation axis, wherein each rotation axis is aligned in a plane parallel to one another.