US20040249247A1 - Endoscope with panoramic view - Google Patents

Abstract

An endoscope capable of capturing images of an in-vivo area behind a distal end of the endoscope's tube. The endoscope may have an imaging unit that may, for example, include a reflective surface that reflects an image of an area surrounding such tube onto an image sensor. Other optical systems may be used for imaging behind one end of an endoscope or imaging device.

Description

CROSS REFERENCE TO RELATED APPLICATIONS
• This application claims benefit from U.S. provisional application Ser. No. 60/466,729, filed on May 1, 2003, entitled “CIRCULAR FIELD-OF-VIEW IMAGING DEVICE” which is incorporated in its entirety by reference herein.[0001]
FIELD OF THE INVENTION
• The invention relates to an endoscope, and more specifically, to an endoscope capable of capturing panoramic images of areas of a body lumen surrounding a tube of such endoscope.[0002]
BACKGROUND OF THE INVENTION
• Endoscopes, such as that depicted in FIG. 1, may be used for visual examination of a body lumen and may generally include a[0003]flexible tube12 that may be inserted into a body lumenSuch tube12 may include anend10 that may be for example flat, rounded or dully pointed. Suchdistal end10 may include for example alens16 connected to an imaging sensor, anilluminating device18 for illuminating an in-vivo area to be viewed by the image sensor, and atool channel14 through which various tools, such as for example a biopsy tool, or other elements such as water or air, may be passed into an in-vivo area. Other items may terminate or be situated on adistal end10 of anendoscope tube12. In general an endoscope may capture images of in-vivo areas that are in front of20distal end10 ofau endoscope tube12. In general an endoscope will not capture images of in-vivo areas that are behind22distal end10 and parallel to an endoscope be12.
SUMMARY OF THE INVENTION
• An endoscope and method of endoscopy that may include for example introducing an endoscope tube into a body lumen, such endoscope tube including an imaging unit capable of capturing images of an in-vivo area that are for example behind a distal end of such tube, or that may be for example adjacent to and surrounding an outside perimeter of such tube.[0004]
• The endoscope may include for example a reflector and lenses suitable or capturing images of an in-vivo area onto an image sensor, such in-vivo area surrounding a tube of such endoscope. In addition, corresponding radial illumination may also be used in the present invention.[0005]
BRIEF DESCRIPTION OF THE DRAWINGS
• FIG. 1 depicts a prior aft endoscope;[0006]
• FIG. 2 depicts an endoscope capable of capturing images from in-vivo areas surrounding an endoscope tube in accordance with an embodiment of the invention;[0007]
• FIGS. 3A to[0008]3E are schematic illustrations helpful to understanding some aspects of the operation of an in-vivo imaging device in accordance with embodiments of the invention;
• FIG. 4 is a flow chart of a method in accordance with embodiments of the invention;[0009]
• FIG. 5 is a schematic illustration of an in-vivo imaging device including a rotating mirror in accordance with embodiments of the invention;[0010]
• FIG. 6 is a flow chart of a method of endoscopy in accordance with an embodiment of the invention; and[0011]
• FIG. 7 is a flow chart of a method of reflecting onto an image sensor an image of an in-vivo area behind a distal end of an endoscope and surrounding a perimeter of a tube of the endoscope in accordance with an embodiment of the invention.[0012]
DETAILED DESCRIPTION OF TEE INVENTION
• In the following description, various aspects of the present invention will be described. For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the present invention. However, it will also be apparent to one skilled in the art that the present invention may be practiced without the specific details presented herein. Furthermore, well known features may be omitted or simplified in order not to obscure the present invention.[0013]
• Reference is made to FIG. 2, an endoscope capable of capturing images from in-vivo areas surrounding and/or behind the distal end of an endoscope tube in accordance with an embodiment of the invention.[0014]Endoscope tube200 may include adistal end202 that may be for example flat, rounded or dully pointed. Other suitable shapes or endings may be used In some embodimentsdistal end202 may include a lens, image sensor and illumination units (not shown) that may capture images of in-vivo areas in front of204 suchdistal end202. Behinddistal end202 may be situated animaging unit206 that may include animaging sensor208, one ormore lenses210, one ormore illumination units212 and a possibly one or more reflective surface(s)214.Imaging sensor208 may be, for example a CCD, CMOS or other suitable image device. Along or maintaining up part of an outside perimeter wall oftube200 in the area ofillumination units212, there may be includedtransparent segments216 such as suitable optical windows that may permit light to exit and enter a portion oftube200 and that may make up part of the outside wall oftube200 so thatsuch segments216 oftube200 form a shape of a ring or part of a ring or belt of an outside perimeter oftube200. Other suitable shapes may be used. Thetransparent segments216 may be fashioned from for example plastic, fiberglass or other suitable materials.
• Outside of a patient's body, the endoscopy system may include for example an[0015]image receiver232 that may include aprocessor234, adata storage unit236 and adisplay230. In someembodiments image receiver232 may be connected by wires or wirelessly toendoscope201. In someembodiments image receiver232 may be included in a personal computer or other workstation. In some embodiments,image receiver232 may be part of an endoscope unit. In some embodiments,processor234 may include an image processor or other processor capable of collecting images and displaying such images ondisplay230. In someembodiments processor234 may collect one or more images that make up a panoramic view of an in-vivo area and may display such view ondisplay230.Display230 may be or include a computer screen or other image or video display monitor.Data storage unit236 may be or include a hard drive or other electronic storage medium that may store images or other electronic data
• In an exemplary embodiment of the present invention, an[0016]endoscope201 may be introduced into abody lumen205. One or more illumination unit(s)212 may face outward from a perimeter oftube200 and may illuminate an in-vivo area218 behinddistal end202, such area possibly being adjacent to and surroundingtube200. Light guides, mirrors, or other structures may direct light; in such cases illumination units need not face outward. Light that may be directed outward byillumination unit212 fromtube200 onto one or more in-vivo area(s) or object(s)220A or220B to be observed that is located in an in-vivo area218 behinddistal end202 and adjacent totube200, may be reflected back onto reflectingsurface214. Note while areas orobjects220A and220B are separate in the figure, in one embodiment a contiguous ring or band is imaged; in other embodiments the area imaged need not be a band or ring, but rather one or more distinct areas. Reflectingsurface214 may be curved and/or angled so as to deflect light coming back throughtransparent segments216 throughlens210 and ontoimage sensor208. Other configurations for reflecting surfaces may be used.Image sensor208 may capture images from in-vivo area surrounding anoutside perimeter222 oftube200. In some embodiments,imaging unit206 may capture images of areas substantially perpendicular to and surroundingtube200. In other embodiments, reflecting surface need not be used.
• In one embodiment the area(s) imaged is to the side of the imaging device, and the imager is directed (e.g., via a mirror or by being appropriately positioned) to the side, to image areas adjacent to the device. For example, in FIG. 2, the imager units may be considered to be imaging in a direction perpendicular to the longer axis of the device. While in one embodiment the area imaged is behind the distal tip of the device, in other embodiments the area imaged may include both areas behind the distal tip and in front of the distal tip. For example, the device may be partially forward looking. In such a case, one imager may collect images, the images including both areas behind and in front of the tip. In other embodiments, more than one imager or imaging system may be used, for example one forward looking and one side looking. In some embodiments, a conventional, forward looking imager may also be included.[0017]
• In one embodiment, as[0018]tube200 ofendoscope201 traverses abody lumen205,imaging unit206 may capture images of aslice207 ofbody lumen205. For example, a ring shaped slice of a portion of tissue located behind the distal tip of theendoscope201 may be imaged. The ring shaped slice may encompass a 360 degree view surrounding the circumference of the endoscope.Illumination unit212 may illuminate theslice207 ofbody lumen205. The light from the illuminatedslice207 may be reflected byreflective surface214, focused bylens210, and received byimager208 which may capture an image of theslice207 ofbody lumen205 from anarea surrounding tube200 ofendoscope201. In an embodiment, sincetube200 may includetransparent segments216 in the shape of a ring oftube200, the captured image may include a reflected image of a ring-shapedslice207 ofbody lumen205. It is noted thatlens210 may be configured, placed and/or aligned to filter and/or focus fight frombody lumen205, such that only light from a desired portion ofbody lumen205, for example, a ring-shapedslice207, falls onimage sensor208. The image captured byimage sensor208 may include a substantially complete 360 degrees image of a slice ofbody lumen205. Alternatively slices may include other configurations, for example, a 270 degree image, a 210 degree image, a 180 degree image, or any other number of degrees between 0 and 360.
• In some embodiments, the panoramic image of a[0019]slice207 ofbody lumen205 may be ring-shaped. Such an image may be recorded as or converted into a rectangular image or into other shapes. In one embodiment, the conversion may be performed, for example, by a processor that may be included inendoscope201 or that may be housed in a separate unit. In some embodiments,processor234 or another processor may convert images into a rectangular image. The conversion may be performed, for example, using methods as known in the art to “flatten” a ring-shaped image into a rectangular image. The conversion may be applied to one image, or to a group or a batch of sequential or non-sequential images. In some embodiments, one or more of a series of panoramic images ofslices207 ofbody lumen205 may be connected to form a moving image ofbody lumen205 or a sequential chain of images ofslices207 ofbody lumen205. In some embodiments a video image may be captured. In some embodiments, depending on the configuration of one or more reflecting surfaces, the image as recorded on an imager may be substantially rectangular.
• Additionally or alternatively, images of[0020]slices207 ofbody lumen205, may be placed, aligned and/or combined together, for example, side by side, to create a combined image or several combined images from a plurality of images ofslices207. The combination of images ofslices207 may be performed, for example, by a processor as is discussed herein.
• In some embodiments, one or[0021]more tool channels224 may end, exit or have an opening along an outside wall or perimeter oftube200 at a point closer to a proximate portion oftube200 and belowimaging unit206.
• In one embodiment, in use, a medical practitioner such as, for example, a doctor may introduce[0022]tube200 into a body lumen205 (e.g., the GI tract, circulatory system, abdomen, or other cavity or other lumen) of a human or animal patient. The hand piece of an endoscope (not shown) may remain partially or completely outside the body, and may provide the interface and controls (e.g., pulleys, air/water controls, suction controls) which the medical practitioner may operate. In some embodiments, the hand piece may provide control for external supplies, monitors, or other equipment that may be passed through, for example,tool channel224.
• The[0023]imaging unit206 may include an image sensor, such as a CCD or aCMOS image sensor208.Image sensor208 may capture still or video images of an in-vivo area and transmit such images to adisplay230 outside of the body.Illumination unit212 may be a light such as for example an LED, optical fiber or other suitable illumination device. In some embodiments,illumination unit212 may provide, for example, ultra-violet light, infra-red light, or other desired light or spectral range. In an embodiment,illumination unit212 may include a laser source and/or may provide one or more laser beams. In some embodiments,illumination units212 may be situated around a perimeter oftube200 to illuminate a ring or band ofbody lumen205 in the area surroundingtransparent segments216. Other arrangements ofillumination units212 are possible. One or more mirrors (not shown) such as curved mirrors may be used to reflect light fromillumination units212 onto an in-vivo area.
• [0024]Holder213 may include a suitable structure tobold illumination units212. In some embodiments,holder213 may be formed and/or shaped such that it reduces glare. In some embodiments,holder213 may be formed and/or shaped such that it blocks stray light from reaching and/orflooding image sensor208 with light.
• [0025]Wires226 or a pulley system may be included intube200 to control for example lateral movements of thedistal end202 oftube200.
• In some embodiments,[0026]lens210 may include an optical system of one or more lenses or lens assemblies that may focus lightfirm reflecting surface214 ontoimage sensor208. Other suitable optical elements may be used.
• In embodiments of the invention, imaging unit may provide a broad field of view or panoramic view and may capture images of a body lumen or in-vivo area substantially transverse or perpendicular to the direction of a tubular axis of[0027]tube200.
• [0028]Reflective surface214 may be for example a carved mirror to capture a panoramic view of an in-vivo area. Some embodiments may use a rotating mirror or reflective element to capture a panoramic image.Reflective ice214 may be made of or include a glass, metallic or plastic element or other suitable material. In some embodiments a plurality ofimage sensors208 may be used to capture a broad field of view, for example, by placingmultiple image sensors208 so that they face in different or overlapping directions. In some embodiments,reflective surface214 may be oval, elliptical, spherical, radial or may take on other shapes. It is noted that in some embodiments, reflective she214 may have a shape, size and/or dimensions to allow a desired reflection of light and/or to allow a desired range and/or field-of-view. In an embodiment,reflective surface214 may be manufactured using suitable optical design software and/or ray-tracing software, for example, using “ZEMAX Optical Design Program” software.
• Reflective element may be shaped and/or contoured such that it allows light reflected onto it from a particular area of a body lumen such as for example object[0029]220A to be reflected off ofreflective surface214, throughlens210 and onto a known area ofimage sensor208. In some embodiments, a processor may be able to establish a position, direction or orientation of a subject captured in an image based on the portion ofimage sensor208 that captured the image of theobject220A.
• In some embodiments, an imager in such endoscope may be situated perpendicular to the area being imaged. In some embodiments, an area of a[0030]parent segments216 may be concave, tapered, narrowed or ‘pinched’ so that the imaging portion of the endoscope may have a shape resembling a peanut, Such concave area may for example include transparent ring, segment or viewing window. Though which light may enter and be reflected off ofreflective surface214 onto animage sensor208. In some embodiments,reflective surface214 may be in a parabolic shape, such that for example light rays strikingreflective surface214 from various directions will be reflected towardsimage sensor208. In some embodiments, the peanut shape may minimize the backscatter light that reaches theimage sensor208 directly fromillumination units212 rather than after being reflected off of endo-luminal wall.
• In some embodiments, illumination controls may be added to, for example, avoid dark spots appearing in images of the body lumen. Illumination sources may include, for example, UV light, VIS and IE light, or other suitable sources.[0031]
• FIG. 3A schematically illustrates the combination of a plurality of images of[0032]slices311,312,313,314,315,316,317 and318, into a combinedimage320 in accordance with embodiments of the invention.
• FIG. 3B schematically illustrates the conversion of a plurality of circular slice or ring shaped[0033]images331,332,333,334,335,336 and337 into a plurality of rectangular images ofslices341,342,343,344,345,346 and347 in accordance with embodiments of the invention as described above. FIG. 3B further schematically illustrates the combination of a plurality of rectangular images ofslices341,342,343,344,345,346 and347 into a combinedimage350 in accordance with embodiments of the invention as described above.
• In one embodiment a 3D model of a lumen is created by capturing a plurality of rectangular images of[0034]slices341,342,343,344,345,346 and347.
• In some embodiments,[0035]imaging unit206 may be controlled and/or programmed, for example, to allow capturing a sequential chain of panoramic images depicting abody lumen205. In one embodiment, consecutive images may partially cover one area of thebody lumen205, for example, such that images may partially overlap. In some embodiments, for example, image capture rate may be pre-defined and/or controlled in real-time, to allowimage sensor208 to capture a continuous “chain of images”. In one embodiment, a suitable image correlation technique may be used, for example, to detect and/or process overlapping areas among images, or to combine a plurality of images into a combined image. In some embodiments,image sensor208 may capture video images.
• FIG. 3C schematically illustrates a “chain of images” of[0036]body lumen366 in accordance with some embodiments of the invention. In one embodiment,images361,362,363 and364 may be captured byimage sensor208. As illustrated schematically in FIG. 3C, the images may partially overlap. For example,image362 may include a portion ofbody lumen366 captured inimage361 and/or a portion ofbody lumen366 captured byimage363.Image362 may additionally include an image ofitem367, for example, a body organ, material, blood, a pathology, etc.
• FIG. 3D schematically illustrates an alignment of images in accordance with some embodiments of the invention. For example, in one embodiment, the four[0037]images361,362,363 and364 of FIG. 3C may be processed, correlated and/or aligned, to produce four alignedimages371,372,373 and374, respectively. It is noted that alignedimage372 may include, for example, the image ofitem367.
• FIG. 3E schematically illustrates a combination of images in accordance with some embodiments of the invention. For example, in one embodiment, the four[0038]images361,362,363 and364 of FIG. 3C, and/or the fourimages371,372,373 and374 of FIG. 3D, may be processed, correlated and/or aligned, to produce acombined image380. It is noted that combinedimage380 may include, for example, the image ofitem367.
• It is noted that FIGS. 3A to[0039]3E include exemplary illustrations only, and that the present invention is not limited in this regard. In alternate embodiments, other suitable methods for capturing, converting, combining, matching, aligning, processing, correlating and/or displaying images may be used; for example, a relatively continuous “spiral” image or series of images may be captured and/or displayed, a discontinuous series of “slices” may be captured and/or displayed, etc.
• FIG. 4 is a flow chart diagram of a method of capturing images of an in-vivo area that is behind a distal end of an endoscope in accordance with embodiments of the invention. In an embodiment, and as indicated in[0040]block400,tube200 ofendoscope201 may be introduced into abody lumen205, Adistal end202 of atube200 ofendoscope201 may traversebody lumen205 and, as is indicated inBlock402,image sensor208 may capture images ofslices207 or other portions ofbody lumen205 that are behind the distal end oftube200 ofendoscope201. The images may be processed and/or converted and/or combined, for example using aprocessor234, Other operations or series of operations may be performed. The images may include areas that are not behind the distal end of the endoscope. For example, the images may include an area surrounding a band behind the distal tip of the endoscope and in addition an area in front of the distal tip; for example the device may be partially forward looking.
• Captured images may be received by[0041]receiver232, and images may be transferred toprocessor234. The images may be displayed and/or stored instorage unit236.
• Additionally or alternatively, if desired, a captured image or a plurality of captured images may be converted, for example, from a circular and/or ring shape into a rectangular shape. Additionally or alternatively, if desired, a plurality of captured images and/or converted images may be combined into one or more combined images of[0042]body lumen205.
• Additionally or alternatively other operations may be performed with the captured images, the converted images and/or the combined images, for example, to store such images using various types of storage devices, to print such images using a printer, to perform operations of image manipulation and/or enhancement, to perform operations of video manipulation and/or enhancement, or the like.[0043]
• FIG. 5 is a schematic illustration of an imaging unit near distal end of a tube of an endoscope in accordance with an embodiment of the invention.[0044]Imaging unit503 may be an implementation or variation ofimaging unit206 described in this application, and may be used, for example, in conjunction with the system of FIG. 1. For example,imaging unit503 may be used in conjunction withreceiver232 and/orprocessor234. In an embodiment of the invention,imaging unit503 may include animage sensor506, alens assembly508, amirror510 or reflective device, one ormore illumination sources512, and one ormore holders514. Imaging unit ortube500 ofendoscope501 may further include amotor516 and a shaft518 or another suitable rotation device that may rotatemirror510 or another portion ofimaging unit503.
• A segment of outside wall of[0045]tube500 may be partially or entirely transparent. For example, a portion oftube500 adjacent toimaging unit503 may include one or more areas and/or portions, such as atransparent shell520 or portion, which are transparent and which allow components insideimaging unit503 to have an unobstructed field-of-view of the environment external totube500 behinddistal end502. In alternate embodiments, transparent areas and/or portion may have different shapes.
• [0046]Lens assembly508 may include, for example, one or more lenses or optical systems orlens assembly508 which allow images reflected bymirror510 to be focused onimage sensor506. Additionally or alternatively,lens assembly508 may include a combination of lenses able to zoom in and/or zoom out on an image or on several parts of an image reflected bymirror510.Lens assembly508 may include one or more optical elements, for example, one or more lenses and/or optical filters, to allow or to aid focusing reflected light ontoimage sensor506 and/or performing other light processing operations.
• [0047]Mirror510 may include, for example, a glass and/or metal mirror or any other suitable reflective surface.Mirror510 may be placed, positioned and/or aligned to allow a slice orother portion522 of abody lumen524 to be reflected bymirror510, throughlens assembly508, and ontoimage sensor506. For example,mirror510 may be placed at a 45 degree angle to the plane ofimage sensor506 or to the plane oftransparent shell520. It is noted that other suitable angles may be used to achieve specific functionalities and/or to allow imaging unit503 a broader or narrower field-of-view. Further, in some embodiments, other arrangements and/or series of optical elements may be used, and functionalities, such as reflecting and/or focusing, may be combined in certain units.
• [0048]Illumination sources512 may include one or more illumination sources or light sources to illuminatebody lumen524 and/or aslice522 ofbody lumen524. In one embodiment,illumination sources512 may include one or more Light-Emitting Diodes (LEDs), for example, one or more white LEDs. Such LEDs may be placed, aligned and/or positioned to allow a desired illumination ofbody lumen524, for example, using a ring-shaped arrangement of LEDs able to illuminatebody lumen524 throughtransparent shell520.
• [0049]Motor516 may include an electromechanical motor able to rotate shaft518 which may be attached tomotor516, andmirror510 which may be attached to shaft518. The rotation rate ofmotor516 may be constant or variable. The rotation rate ofmotor516 may be, for example,250 rotations per minute; other constant and/or variable rotation rates may be used. It is noted that whenmotor516 rotates shaft518 andmirror510, the field-of-view ofimage sensor506 may change respectively, such that the instantaneous field-of-view ofimage sensor506 may include a part ofslice522 ofbody lumen524. Additionally or alternatively, in one rotation ofmirror510, the field-of-view ofimage sensor506 may include substantially an entire ring-shapedslice522 ofbody lumen524.Motor516 may be controlled by, for example a controller that may be operatively connected to endoscope.
• In one embodiment, as[0050]tube500 traversesbody lumen524,image unit503 may capture images of aslice522 ofbody lumen524.Illumination sources512 may illuminateslice522 ofbody lumen524 whenslice522 is in the field-of-view ofimage sensor506. The light fromilluminated slice522 may be reflected bymirror510, focused and/or transferred usinglens assembly508, and received byimage sensor506 which may thereby capture an image ofslice522. In alternate embodiments, other suitable methods for capturing images and/or displaying images may be used; for example, a relatively continuous “spiral” image or series of images may be captured, a discontinuous series of “slices” may be captured, etc;
• Reference is made to FIG. 7, a flow chart of a method of reflecting onto an image sensor images of an in-vivo area behind a distal end of an endoscope and surrounding a perimeter of a tube of the endoscope, in accordance with an embodiment of the invention. In[0051]block700, an endoscope may for example be introduced into an in-vivo area. Inblock702, there may be reflected onto an image sensor an image of an in-vivo area that surrounds a tube of the endoscope and that is behind a distal end of the endoscope.
• It will be appreciated by persons skilled in the art that the present invention is not limited to what has been particularly shown and described hereinabove. Alternate embodiments are contemplated which fall within the scope of the invention.[0052]

Claims (28)

I claim:

1. A method of imaging an in-vivo area comprising intruding an endoscope into a body lumen and capturing images of an in-vivo area behind a distal end of said endoscope.

2. The method as inclaim 1, comprising illuminating said in-vivo area.

3. The method as inclaim 1, comprising capturing images reflected from a reflecting surface onto an image sensor.

4. The method as inclaim 1, comprising identifying a position of a subject of said images.

5. The method as inclaim 1, comprising displaying a panoramic image of an in-vivo area.

6. The method as inclaim 1, comprising capturing a plurality of panoramic images and combining said panoramic images into a chain of images depicting a body lumen.

7. A method of endoscopy comprising capturing images from an in vivo area surrounding a tube of an endoscope.

8. The method as inclaim 7, comprising reflecting light from said area onto an imager situated perpendicular to said area.

9. The method as inclaim 7, comprising identifying a direction of a source of said image.

10. The method as inclaim 7, comprising illuminating an area around a perimeter of said tube.

11. The method as inclaim 7, comprising displaying a panoramic image of said area.

12. The method as inclaim 7, comprising passing a tool through a channel ending on said perimeter of said tube.

13. The method as inclaim 7, comprising rotating a mirror within said tube of said endoscope.

14. An endoscope comprising a reflector to reflect onto an image sensor images from an in-vivo area, said in-vivo area surrounding a tube of an endoscope and behind a distal end of said endoscope.

15. The endoscope as inclaim 14, comprising a tool channel with an exit on a perimeter of said endoscope tube.

16. The endoscope ofclaim 14, comprising a reflective surface capable of reflecting images of said area onto an image sensor.

17. The endoscope ofclaim 16, where said reflective element is a curved mirror.

18. The endoscope ofclaim 14, comprising illumination units facing outwards from a perimeter of said tube.

19. The endoscope ofclaim 14, comprising a rotating reflective element.

20. A system comprising an endoscope to capture images of an in-vivo area behind a distal end of said endoscope.

21. A system as inclaim 20, comprising a reflective surface to reflect images onto an image sensor.

22. A system as inclaim 21, wherein said image sensor is to capture panoramic images of an area surrounding an outside perimeter of a tube of said endoscope.

23. A system comprising an endoscope to capture images of an in-vivo area surrounding a tube of said endoscope.

24. The system as inclaim 23, comprising a channel ending on a perimeter of said tube.

25. The system as inclaim 23, comprising a rotating mirror within said tube.

26. A method comprising reflecting onto an image sensor an image of an in-vivo area surrounding a tube of an endoscope and behind a distal end of said endoscope.

27. The method as inclaim 26, comprising illuminating said area with illumination directed outward from a perimeter of said tube.

28. The method as inclaim 26, wherein said reflecting comprises reflecting said image off of a curved mirror.

Images