A kind of laparoscopically optical system of hard pipe typeTechnical field
The present invention relates to a kind of optical system, and in particular to a kind of laparoscopically optical system of hard pipe type.
Background technology
The existing over one hundred year developing history of hard pipe type laparoscope, has formed so far many brand products of different class.It is existingBy hard pipe type laparoscope be made up of the eyepiece of the image-forming objective lens of end, the relay system in stage casing and near-end, wherein image-forming objective lensConclusive effect is played to laparoscopically imaging performance.The big visual field of laparoscope requirement and thin footpath, and medical diagnosis and operationThe imaging high-resolution of endoscope and low distortion are required again, and this just proposes high wanting to objective of endoscope imaging system and relay systemAsk.For example show electronic device for the high definition of existing 768*1024, it is desirable to which the optical system of endoscope can correspondingly reachHigh-resolution imaging in the range of full filed；More accurate focus diagnosis and operation then requires that the distortion of optical system is low.
Existing endoscope optical system have plenty of by plano-concave negative lens, convex-concave negative lens, parallel flat, turn to prism,Planoconvex spotlight, follow-up balsaming lens composition, it is the optimization design correction system using the first negative lens and the second negative lensDistortion, but do not provide achieved relative distortion value；Have plenty of and designed using the endoscope lens of sapphire material, it isIt is made up of two planoconvex lens, greatest optical distortion is 20%.
To sum up existing endoscope optical system, all can not well correct big visual field optical distortion and ensure to regard entirely simultaneouslyOptics high definition imaging in.In consideration of it, be badly in need of a kind of big visual field rigid pipe endoscope optical system of research and development, it have low distortion andThe characteristics of high definition is imaged in full filed.
The content of the invention
It is an object of the invention to provide a kind of optical imagery performance with high-resolution resolution ratio and distortion less than 0.5%The laparoscopically optical system of hard pipe type, to overcome the deficiencies in the prior art.
In order to achieve the above object, the technical scheme is that：A kind of laparoscopically optical system of hard pipe type, including edgeThe light direction of propagation is followed successively by objective system, relay mirror system and eyepiece system, the objective system, relay mirror system and eyepieceCascade System connects, and relay mirror system is located between objective system and eyepiece system；Its innovative point is：
The objective system is anti-long distance structure, and objective system includes that successively mutually the first of gluing is protected along the light direction of propagationWindow, plano-concave mirror, the first aperture diaphragm, the first bent moon convex lens, the second bent moon convex lens, first pair of glued convex lens and second pair of gluing are convexMirror；The surface of the side of the plano-concave mirror of the objective system and close first aperture diaphragm is non-spherical structure；
The relay mirror system includes the relaying microscope group of n groups, and per group of relaying microscope group is double telecentric structure, and it is by two double glueClose rod-like mirror symmetric arrays to constitute, and the center between two double gluing rod-like mirrors is provided with aperture diaphragm, double gluing rodsShape mirror is formed by bar-shaped concave mirror and convex lens gluing, wherein, n is odd number；The outer surface of the convex lens of double gluing rod-like mirrors is non-Spherical structure；
The eyepiece system is object space telecentric structure, and eyepiece system includes that the double gluings mutually glued along the light direction of propagation are convexMirror, Second Protection Window and the second aperture diaphragm；
The glued convex lens of second pair of the objective system is located at the outside of the bar-shaped concave mirror of relay mirror system one end, eyepiece systemDouble glued convex lens are located at the outside of the bar-shaped concave mirror of the relay mirror system other end.
In above-mentioned technical proposal, the first aperture diaphragm of the objective system is located at the front focal plane of the first bent moon convex lensPlace constitutes telecentric beam path in image space.
In above-mentioned technical proposal, it is described first protection window, plano-concave mirror, the first aperture diaphragm, the first bent moon convex lens, secondBent moon convex lens, first pair of glued convex lens and second pair of glued convex lens pass sequentially through ultraviolet light-sensitive emulsion either methyl alcohol glue or optics ringOxygen glue glued adhesion.
In above-mentioned technical proposal, the bar-shaped concave mirror and convex lens ultraviolet light-sensitive emulsion or methyl alcohol of double gluing rod-like mirrorsGlue or optical epoxy glue glued adhesion.
In above-mentioned technical proposal, double gluing convex lens, Second Protection Window and the second aperture diaphragm pass sequentially through ultravioletLight-sensitive emulsion either methyl alcohol glue or optical epoxy glue glued adhesion.
In above-mentioned technical proposal, the first protection window of the objective system is quartz glass or sapphire.
In above-mentioned technical proposal, the Second Protection Window of the eyepiece system is quartz glass or sapphire.
The good effect that has of the present invention is：After the laparoscopically optical system of hard pipe type using the present invention, due to thisIt is anti-long distance structure to invent the objective system, and including along the light direction of propagation mutually glued successively the first protection window, plano-concaveMirror, the first aperture diaphragm, the first bent moon convex lens, the second bent moon convex lens, first pair of glued convex lens and second pair of glued convex lens, it is describedThe surface of the side of the plano-concave mirror of objective system and close first aperture diaphragm is non-spherical structure, and the objective system of the present invention is adoptedAspheric optimization design is used, the imaging of high-resolution in 75 ° of full fileds and low distortion can be so obtained；Again due to describedRelay mirror system includes the relaying microscope group of n groups, and per group of relaying microscope group is double telecentric structure, and it is by two double gluing rod-like mirrorsSymmetric arrays are constituted, and the center between two double gluing rod-like mirrors is provided with aperture diaphragm, and double gluing rod-like mirrors are by rodShape concave mirror and convex lens gluing are formed, wherein, n is odd number；The outer surface of the convex lens of double gluing rod-like mirrors is non-spherical structure,This way it is ensured that the correction of relay mirror system aberration and high-light-energy transmitance；Again because the eyepiece system is object space telecentricity knotStructure, and eyepiece system includes pair gluing convex lens, Second Protection Window and the second aperture diaphragm along light direction of propagation phase gluing；InstituteSecond pair of glued convex lens of objective system is stated positioned at the outside of the bar-shaped concave mirror of relay mirror system one end, double gluings of eyepiece systemConvex lens is located at the outside of the bar-shaped concave mirror of the relay mirror system other end；Because objective system of the present invention is anti-long distance structure,Eyepiece system is object space telecentric structure, to ensure and the pupil of relay mirror system is connected, and according to directly by eyepiece observing instituteRequirement of the visual field and rear end camera chain of needs to visual field, determines the focal length of eyepiece group；Present invention has the advantage that：
First, laparoscope is big visual field system, and a piece of plano-concave mirror is adopted in the objective system of the present invention, is set by aspheric optimizationMeter so that the optical distortion of object lens is less than 0.5 %, while the imaging of 768*1024 high-resolutions is realized in full filed, it is asphericalFor rotational symmetric quadratic surface, reduce it is aspherical processing, detect, debug in difficulty；
2nd, the relay system of endoscope requires aberration and the high-light-energy transmitance for not inducing one new, and the present invention is using duplicateThe relay mirror system that HOPKINS rod-like mirrors are constituted reaches this purpose, and rod-like mirror is double glued constructions, introduces aspheric design, axleEliminated well to aberration；The rod-like mirror of two Striking symmetry arrangements constitutes one group of double telecentric optical system, and hang down axial aberrationCorrected well.Using identical HOPKINS rod-like mirror, be conducive to the processing and manufacturing of element.
Description of the drawings
Fig. 1 is the structural representation of the laparoscopically optical system of hard pipe type of the present invention；
Fig. 2 is the structural representation of the objective system of the present invention；
Fig. 3 is the structural representation of the relay mirror system of the present invention；
Fig. 4 is the eyepiece system schematic diagram of the present invention；
Fig. 5 is the MTF curve figure of the laparoscopically optical system of hard pipe type of the present invention；
Fig. 6 is the distortion curve figure of the laparoscopically optical system of hard pipe type of the present invention；
Fig. 7 is the illuminance of image plane curve map of the laparoscopically optical system of hard pipe type of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing and the embodiment for being given, the present invention is further illustrated, but is not limited thereto.
As shown in Fig. 1,2,3,4,5,6,7, a kind of laparoscopically optical system of hard pipe type, including along the light direction of propagation according toIt is secondary for objective system 1, relay mirror system 2 and eyepiece system 3, the objective system 1, relay mirror system 2 and eyepiece system 3 are connectedConnection, and relay mirror system 2 is positioned between objective system 1 and eyepiece system 3；
The objective system 1 is anti-long distance structure, and objective system 1 includes that successively mutually the first of gluing protects along the light direction of propagationThe glued convex lens 15 of shield window 10, plano-concave mirror 11, the first aperture diaphragm 12, the first bent moon convex lens 13, the second bent moon convex lens 14, first pairWith second pair of glued convex lens 16；The surface of the side of the plano-concave mirror 11 of the objective system 1 and close first aperture diaphragm 12 isNon-spherical structure；
The relay mirror system 2 includes the relaying microscope group of n groups, and per group of relaying microscope group is double telecentric structure, and it is double by twoGlued rod-like mirror symmetric arrays are constituted, and the center between two double gluing rod-like mirrors is provided with aperture diaphragm, described double gluedRod-like mirror is formed by the bar-shaped concave mirror 21 for correcting axial aberration and the gluing of convex lens 22 for undertaking focal power, wherein, n is odd number；InstituteThe outer surface for stating the convex lens 22 of double gluing rod-like mirrors is non-spherical structure；
The eyepiece system 3 is object space telecentric structure, and eyepiece system 3 includes that the double gluings mutually glued along the light direction of propagation are convexMirror 31, the aperture diaphragm 33 of Second Protection Window 32 and second；
The glued convex lens 16 of second pair of the objective system 1 is located at the outside of the bar-shaped concave mirror 21 of the one end of relay mirror system 2, eyepieceDouble gluing convex lens 31 of system 3 are located at the outside of the bar-shaped concave mirror 21 of the other end of relay mirror system 2.
As shown in Fig. 2 on the one hand the design of objective system of the present invention 1 is beneficial to the correction of 75 ° of Off-axis aberrations, separatelyOn the one hand increased the back work distance of camera lens from；First aperture diaphragm 12 of the objective system 1 is located at the first bent moon convex lens 13Front focal plane constitute telecentric beam path in image space, it is ensured that the pupil of the uniform relay mirror system with double telecentric structure of illuminance of image planeHole is connected.For the laparoscope of different length specification requirement, relay mirror system 2 can be made up of the above-mentioned relaying microscope group of odd number group.
As shown in Fig. 2 the rear surface of the plano-concave mirror 11 of objective system of the present invention 1 is quadratic surface so that distortionSymbol invert, because the overall distortion of rear group of convex lens is on the occasion of the barrel distortion of aspherical generation ensure that systematical distortionCorrection, that is to say, that aspheric optimization design ensure that high-resolution and less than 0.5% distortion optical imagery；Rotation is rightThe quadratic surface of title reduces the aspherical difficulty in processing, detection and dress school.
As shown in figure 3, the double gluing rod-like mirrors of each of the relay mirror system 2 of the present invention are by the rod for correcting axial aberrationShape concave mirror is formed with the convex lens gluing for undertaking focal power, and the outer surface of convex lens 22 is designed for quadratic surface, and aspheric design is protectedThe correction of rod-like mirror axial aberration is demonstrate,proved.
As shown in figure 4, eyepiece system of the present invention 3 is designed as object space telecentric structure, to ensure and front end relay lens systemThe pupil linking of system 2, and requirement of the visual field and rear end camera chain according to required for directly being observed by eyepiece to visual field, reallyThe focal length of heliostat group.The angle of visual field of eyepiece system of the present invention 3, the mm of exit pupil diameter 2.3, distance of exit pupil 13mm。
First protection window 10 of the present invention, plano-concave mirror 11, the first aperture diaphragm 12, the first bent moon convex lens 13, second are curved14, first pair of glued convex lens 15 of moon convex lens and second pair of glued convex lens 16 pass sequentially through ultraviolet light-sensitive emulsion either methyl alcohol glue or lightLearn epoxy glue glued adhesion.
The bar-shaped concave mirror 21 of double gluing rod-like mirror of the present invention and the ultraviolet light-sensitive emulsion of convex lens 22 either methyl alcohol glue orOptical epoxy glue glued adhesion.
Double gluing convex lens 31 of the present invention, the aperture diaphragm 33 of Second Protection Window 32 and second pass sequentially through ultraviolet light-sensitive emulsionEither methyl alcohol glue or optical epoxy glue glued adhesion.
First protection window 10 of objective system of the present invention 1 is quartz glass or sapphire.
The Second Protection Window 32 of eyepiece system of the present invention 3 is quartz glass or sapphire.
As shown in figure 1, the laparoscopically optical system of the hard pipe type of the present invention includes being followed successively by object lens along the light direction of propagationSystem 1, relay mirror system 2 and eyepiece system 3, because laparoscopically imaging surface is minimally invasive surface, in order to avoid the surface of a wound from stickingVisual observation when performing the operation and operation are even affected, air-blowing process need to be done, therefore object plane is set to spherical arc.
It is the aspherical laparoscopically MTF curve of direct viewing type, distortion curve, illuminance of image plane curve map as shown in Fig. 5,6,7,The invention discloses a kind of external diameter is the laparoscopically optical system of hard pipe type of 6 mm and 75 ° of visual fields, with high-resolution resolution ratioWith optical imagery performance of the distortion less than 0.5 %.Endoscopic system by the objective system using aspheric design, be based onThe relay mirror system of HOPKINS rods mirror and aspheric design, the eyepiece system of 75 ° of angle of visual field object space telecentricities are combined.It is describedThe first surface of the plano-concave mirror of objective system is rotational symmetric quadratic surface, by the optimization design to it, is corrected wellThe distortion of system and it is imaged there is provided the high-resolution in full filed.Described HOPKINS rod-like mirror relay systems, by odd number groupHOPKINS bar-shaped microscope groups composition, single double gluing rod-like mirrors form by bar-shaped concave mirror and convex lens gluing, the appearance of convex lensFace is designed for quadratic surface, and axial aberration has been corrected well；Two symmetrically arranged rod-like mirrors constitute one group of double telecentric structureRelaying microscope group.The eyepiece system be object space telecentric structure, according to the requirement of rear end camera chain, meet the ω of the angle of visual field 2=15.19°.Therefore, the laparoscopically optical system of hard pipe type of the invention has the optical imagery of high-resolution, low distortion, 75 ° of visual fieldsPerformance.