CN102058375A - Three-dimensional hard electronic hysteroscope system and use method thereof - Google Patents
Three-dimensional hard electronic hysteroscope system and use method thereof Download PDFInfo
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Abstract
The invention specifically discloses a three-dimensional hard electronic hysteroscope system, belonging to the technical field of medical appliance. A hard electronic hysteroscope comprises a hyseroscope endoscope part and a hyseroscope sheath part, wherein the hyseroscope endoscope part comprises a hard working end and an endoscope body part; the hard working end is provided with a multiple CCD (charge coupled device) array module, wherein the multiple CCD array module three-dimensionally scans and shoots a uterine cavity, displays the panorama three-dimensional image of the uterine cavity and carries out three-dimensional reconstruction to the uterine cavity; and the multiple CCD array module comprises at least one end-surface CCD array module and at least one circular surface CCD array module, wherein the end-surface CCD array module is arranged on the front end surface of the tip part of the hard working end, and the circular surface CCD array module is arranged on the excircle surface of the tip part of the hard working end. The CCD arrays of at least two parts are matched with the depth movement of the endoscope, and all obtained image data in the uterine cavity and distance data measured by a range finder are transmitted to a processing host to carry out intensive processing and reconstruction, thus reproducing the three-dimensional environment of the uterine cavity. The three-dimensional image of the uterine cavity has an important practical meaning for doctors to observe intrinsic lesion of the uterine cavity from multiple angles, research lesion formation cause and formulate the most effective and reasonable processing scheme.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of 3 D stereo hard electronic hysteroscope system that utilizes many ccd array to carry out stereoscopic image reconstruct.
Prior art
Endoscope is planar or spatial image by its imaging, it can be divided into plane endoscope and stereo endoscope.
Present employed endoscope can also be divided into monocular and binocular by the quantity of the eyepiece of its use:
The first, monocular endoscope is by an optical system imaging, the doctor can directly use eyes to observe by the eyepiece end, but owing to be monocular instrumnent, can only obtain the image of an angle of object, just as using single eyes to see the effect of object, object lacks third dimension and distance perspective.
The second, for stereo endoscope, what use is the binocular structure, its endoscope distal end can be a camera lens or two camera lenses, the image of object is by two eyepiece outputs, the doctor can observe stereoscopic image with the similar object of human eye by binocular, also can be by connecting particular processing main frame and display, processing by processing host, can in display, show spatial image, but this image also is single angle, have certain limitation, the stereo laparoscope of this structure occurred using at present.But other applications also do not occur.
The doctor because monocular instrumnent becomes planar image, lacks spatial perception when using monocular endoscope to undergo surgery, so rely on doctor's technical merit.Though and the binocular stereo endoscope can obtain the stereoperception of similar eye-observation object, but because the limitation of human body cavity, the three-dimensional overall picture that can not reflect the whole surgery zone three-dimensionally, so the doctor is when using existing scope to undergo surgery, all to be subjected to visual restriction, certain restriction be arranged for the cure rate of carrying out and improve disease of performing the operation.
CCD (Charge-Coupled Device, charge-coupled image sensor) is a kind of important component part that can be used for stereoscopic camera.It is a kind of photosensitive semiconductor device, and the photosensitive unit on it is converted to the quantity of electric charge with the light that receives, and quantity of electric charge size is directly proportional with the incident light intensity.The technology of ccd image sensor is very ripe, can be spliced into the array of Any shape as required.Company of Fuji released super CCD technology in 1999, with the situation of common CCD equal area and photosensitive unit number under, its resolution improves 60%, dynamic range improves 130%, color reproducibility improves 40%, and energy consumption descends 40%, has further improved the function of CCD.The photosensitive unit size of CCD is constantly reducing, at present the photosensitive unit size of report having been arranged only is 0.5 μ m, entered the submicron epoch, CCD will further develop round aspects such as high-resolution, high reading speed, low cost, microminiaturization, structure optimization, multispectral application and 3D photograph.But the area array CCD sensed image that the photosensitive unit that matrix is arranged constitutes.CCD is widely used in digital camera and the DV now, also in astronomical telescope, scanner and barcode reader application is arranged simultaneously." Chang'e-2 " uses 96 line ccd array that same target is sampled, and at last signal all added up.The target that very dark target, resolution are very high, " Chang'e-2 " can both break forth, and its resolution can reach 1 meter.
In the prior art, also the ccd array notion is not combined application with hysteroscope, therefore,, that many ccd array technology and the bonded endoscopic technic of hysteroscope is extremely urgent in order to obtain in the uterine cavity clearly 3 D stereoscopic image.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of 3 D stereo hard electronic hysteroscope is proposed, this 3 D stereo hard electronic hysteroscope can carry out stereoscopic three-dimensional reconstruct to uterine cavity in operation process, help medical personnel to understand pathological changes situation in the uterine cavity, formulate processing scheme the better pictures foundation is provided.
In order to realize above-mentioned technical purpose, the present invention is achieved by the following technical solutions:
3 D stereo hard electronic hysteroscope system of the present invention, comprise hard electronic hysteroscope and the cold light source main frame that is connected with the hard electronic hysteroscope, processing host, the work station assembly, described hard electronic hysteroscope comprises hysteroscope endoscope part and mirror sheath part, described hysteroscope endoscope part comprises hard work end, the scope main part, described hard work end is provided with and can carries out the 3 D stereo scanning shoot to uterine cavity, show its panorama three-dimensional image, and many ccd array module of uterine cavity being carried out 3 D stereo reconstruct, described many ccd array module comprises at least one end face ccd array module that places hard work end tip portion front end face, and at least one periphery ccd array module that places hard work end tip portion outer round surface.Use many ccd array that uterine cavity is carried out the 3 D stereo scanning shoot, show the panorama three-dimensional image of uterine cavity.Described have many array modules and can carry out the 3 D stereo scanning shoot to uterine cavity, show the panorama three-dimensional image and the hard electronic hysteroscope that uterine cavity carries out 3 D stereo reconstruct is referred to as 3 D stereo hard electronic hysteroscope.
3 D stereo hard electronic hysteroscope of the present invention, described mirror sheath partly enters the diameter of work end of human body smaller or equal to 15mm, the long 250～300mm in end, and the first end of mirror sheath part is designed to blunt type, prevent to damage tissue, mirror sheath part comprises a passage at least.
The endoscope part of 3 D stereo hard electronic hysteroscope of the present invention by its with handles and passage whether, can be divided into following four kinds of forms at least:
First kind of form is with handles, the 3 D stereo hard electronic hysteroscope of tape channel, and it specifically comprises hard work end, scope main part, handle portion, integrated interface, instrument channel.
Second kind of form is not with handles, the 3 D stereo hard electronic hysteroscope of tape channel, and it specifically comprises hard work end, scope main part, data connector end, cold light source joint, instrument channel.
The third form is with handles, the 3 D stereo hard electronic hysteroscope of tape channel not, and it specifically comprises hard work end, scope main part, handle portion, integrated interface.
The 3 D stereo hard electronic hysteroscope of the not with handles and passage of the 4th kind of form, it specifically comprises hard work end, scope main part, data connector end, cold light source joint.
The hard work end of the endoscope part of 3 D stereo hard electronic hysteroscope of the present invention, its front end is first end, the endoscope part of 3 D stereo hard electronic hysteroscope is with after the mirror sheath partly cooperates, the mirror sheath end 10mm at least that partly works is stretched out in its hard work end, is beneficial to the scanning shoot that many ccd array module is carried out the uterine cavity cavity.Described first end design has many ccd array module, optical fibers part or instrument channel outlet.
End face ccd array module of the present invention comprises end face ccd array and end face range finder; And described end face ccd array, it is inner minimumly to comprise 2 CCD elements, and the CCD element linear is arranged, the corresponding one group of optical lens of each CCD, can be simultaneously to the imaging of the inner branch of same uterine cavity, at least 90 ° of the angles of visual field of every group of optical lens, ccd array has per second at least and takes 5 speed.Described end face range finder utilizes the principle of reflection of laser or sound wave etc., and distance, the degree of depth of uterine cavity are measured.The operating frequency of end face range finder is consistent with the operating frequency of end face ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.
Described periphery ccd array module comprises periphery ccd array and the periphery range finder that places first end outer round surface.Described periphery ccd array, at least comprise one group of ccd array, one group of ccd array comprises at least 2 CCD elements and corresponding optical lens, can be simultaneously to the imaging of the inner branch of same uterine cavity, at least 90 ° of the angles of visual field of every set of shots, ccd array have per second at least and take 5 speed.Periphery range finder of appropriate location configuration of one group of ccd array, the operating frequency of described periphery range finder is consistent with the operating frequency of periphery ccd array, guarantees data sync, is beneficial to carry out stereo reconstruction.In addition, in the present invention, described periphery ccd array is installed on the annulus carrier that can rotate with main shaft, the CCD filming image that can be rotated uterine cavity, the speed of annulus carrier rotation and the movement velocity of external stability support are proportional, to guarantee that intrauterine image energy carries out the seamless combination of multi-angle, significant to 3 D stereo reconstruct.
Optical fibers part of the present invention, it is the transmission light path that enough light sources are provided for the work of 3 D stereo hard electronic hysteroscope, its outlet is divided into two parts at least, and part provides light source for the front end of first end, and part provides light source for the scope of 360 ° of first end circumference.
The endoscope part of 3 D stereo hard electronic hysteroscope of the present invention, its instrument channel internal diameter is smaller or equal to 3.0mm.
External stability support of the present invention, its effect are to cooperate 3 D stereo hard electronic hysteroscope to carry out the ccd array scanning of uterine cavity, and many ccd array rotation sweep shooting speed of its translational speed and 3 D stereo hard electronic hysteroscope elder generation end is proportional.Its structure comprises stationary fixture, support, mobile device.Stationary fixture is used for closely the fixedly endoscope part of 3 D stereo hard electronic hysteroscope, and support is connected and fixed anchor clamps and mobile device, and mobile device uses high performance motor-driven, and the movement velocity of motor is by the unified control of processing host.The mobile device kind of drive is not limit, and can adopt screw mandrel transmission or guide rail transmission, and mobile device is fixed on the rigid platfor.
Processing host of the present invention, high speed central processing unit and high-performance video card are adopted in its core, be used to receive and handle the packet that the data of image information that 3 D stereo hard electronic hysteroscope returns and range finder are formed, various data by the analytical data bag, the uterine cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction uterine cavity.Inner motion control card is used for accurately controlling the motion of external stability support.
Described work station assembly is connected by data wire with processing host, and the work station assembly comprises monitor, work station main frame, control assembly (keyboard and mouse etc.) and external equipment (external storage, printer etc.).The function of work station assembly is the three-dimensional image of display process main frame output, analysis, storage data and printing related data etc.
Described 3 D stereo hard electronic hysteroscope system, its clinical using method and system connect as follows: the patient gets calculi position, routine disinfection pudendum and vagina, use vaginal dilator to enlarge vagina, verify the uterine cavity degree of depth and direction, with glucose solution or the swollen palace of normal saline, the mirror sheath of 3 D stereo hard electronic hysteroscope partly cooperates the mirror core slowly to enter from vagina, cooperate suitable maneuver, after entering uterine cavity, take out the mirror core, insert the endoscope part of 3 D stereo hard electronic hysteroscope, observe earlier, in the time of need carrying out the full-view stereo reconstruction of uterine cavity, then need to use the external stability support to fix the endoscope part of 3 D stereo hard electronic hysteroscope, fix support, stablize patient simultaneously as far as possible, make scope and uterine cavity reduce interference as far as possible, after ready, open scan function, external stability carriage drive scope even speed moves outward.When many ccd array module is carried out the scanning shoot of straight line and rotation to uterine cavity, the external stability support is done moving at the uniform velocity, the ratio that is rotated into of its speed and ccd array, range finder will be measured the ccd array of first end and the accurate distance of uterine cavity inner tissue in real time, the packet of many ccd array module and range finder transfers to processing host by data wire and carries out computing, and the monitor that transfers to the work station assembly carries out the demonstration of three-dimensional image.
Compared with prior art, beneficial effect of the present invention:
3 D stereo hysteroscope of the present invention is with reference to the related notion and the principle of the CCD stereoscopic camera on the Chang'e-2 circumlunar satellite, use many ccd array that body cavity body cavity road is carried out stereoscan shooting and stereo reconstruction first, processing by processing host, obtain the stereoscopic image of uterine cavity, the stereo-picture of uterine cavity is observed its intrinsic pathological changes and the research pathological changes origin cause of formation for the doctor with multi-angle, formulate rational and effective processing scheme, have important and practical meanings.Therefore, 3 D stereo hysteroscope of the present invention makes things convenient for the doctor by the processing that can undergo surgery under the guidance of spatial image, the research of clinical and scientific research such as disease research, doctor's operation custom is incorporated into spatial aspect from the plane, the operation means have been reformed, the treatment effeciency of raising disease and accuracy rate etc.
Description of drawings
Fig. 1 is a 3 D stereo hard electronic hysteroscope system structural representation of the present invention.
Fig. 2 a, Fig. 2 b are the structure charts (two kinds of forms with handles and not with handles) of tape channel of the present invention 3 D stereo hard electronic hysteroscope.
Fig. 3 a is the 3 D stereo hard electronic hysteroscope elder generation end structural representation (corresponding to above-mentioned Fig. 2 a, Fig. 2 b) of tape channel among the present invention.
Fig. 2 c, Fig. 2 d are the structure charts of not tape channel of the present invention 3 D stereo hard electronic hysteroscope.
Fig. 3 b is the 3 D stereo hard electronic hysteroscope of a tape channel elder generation end structural representation (corresponding to above-mentioned Fig. 2 c, Fig. 2 d) not among the present invention.
Fig. 4 is first end many ccd array module generalized section of 3 D stereo hard electronic hysteroscope of the present invention.
Fig. 5 is the external stability supporting structure sketch map of 3 D stereo hard electronic hysteroscope system of the present invention.
Fig. 6 is the clinical practice sketch map of 3 D stereo hard electronic hysteroscope system of the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
As Fig. 1,3 D stereo hard electronic hysteroscope system of the present invention comprises: 3 D stereo hard electronic hysteroscope 1, external stability support 2, processing host 3, light source main frame 5, work station assembly etc., the work station assembly comprises work station main frame 4, control assembly 6, monitor 7 and external equipment 8 etc.
Fig. 2 a, Fig. 2 b are the structure chart of the 3 D stereo hard electronic hysteroscope 1 of first and second kinds of forms having passage among the present invention.
As seen from the figure, the structure of described 3 D stereo hard electronic hysteroscope 1 is divided into mirror sheath part 11 and endoscope part 12, the structure of mirror sheath part 11 comprises hard work end 111, at least one passage 112 and is connected bayonet socket 113, connecting bayonet socket 13 is closely connected with endoscope part 12, the external diameter of the work end 111 of its mirror sheath part 11 is smaller or equal to 15mm, working end minister 250～300mm.Whether the described 3 D stereo hard electronic hysteroscope 1 that has passage has handle according to it also can be divided into following two kinds of forms:
First kind of form is 3 D stereo hard electronic hysteroscope 1 with handles, shown in Fig. 2 a, the endoscope part 12 of this 3 D stereo hard electronic hysteroscope 1 comprises hard work end 121, scope main part 122, handle portion 123, integrated interface 124, instrument channel 125 etc., described integrated interface 124 is integrated with the effect of cold light source joint and data connector end, and design is in handle portion 123 inside.
Second kind of form is 3 D stereo hard electronic hysteroscope not with handles, shown in Fig. 2 b, the endoscope part 12 of this 3 D stereo hard electronic hysteroscope 1 comprises hard work end 11, main part 122, data connector end 127, cold light source joint 126, instrument channel 125 etc.
The hard work end 121 of the 3 D stereo hard electronic hysteroscope 1 of above-mentioned two kinds of forms, shown in Fig. 3 a, first end 1211 designs of described hard work end 121 have many ccd array module (comprising end face ccd array module and periphery ccd array module), optical fibers part 1243, instrument channel outlet 1251, and optical fibers part 1243 provides stereoscopic three-dimensional electronic hysteroscope 1 front end and circular end surface to observe necessary brightness.
Be the structure chart of the 3 D stereo hard electronic hysteroscope 1 of tape channel not among the present invention as Fig. 2 c, 2d.The structure of 3 D stereo hard electronic hysteroscope 1 is divided into mirror sheath part 11 and endoscope part 12, the structure of mirror sheath part 11 comprises work end 111, at least one passage 112 and is connected bayonet socket 113, connecting bayonet socket 13 is closely connected with endoscope part 12, the external diameter of the work end 111 of its mirror sheath part 11 is smaller or equal to 15mm, working end minister 250～300mm.
Whether the 3 D stereo hysteroscope 1 of described not tape channel has handle by it, also can be divided into following two kinds of forms, specifically:
First kind of form, the 3 D stereo hard electronic hysteroscope of not tape channel with handles, shown in Fig. 2 c, its endoscope part 12 comprises hard work end 121, main part 122, handle portion 123, integrated interface 124 etc., integrated interface 124 is integrated with the effect of cold light source joint and data connector end, and design is in handle portion 123 inside.
Second kind of form, the 3 D stereo hard electronic hysteroscope of not tape channel not with handles, shown in Fig. 2 d, its endoscope part 12 comprises hard work end 121, main part 122, data connector end 127, cold light source joint 126 etc.
Above-mentioned two kinds of hard work ends 121 of the 3 D stereo hard electronic hysteroscope 1 of tape channel not, shown in Fig. 3 b, its first end 1211 designs have many ccd array module (comprising end face ccd array module and periphery ccd array module), optical fibers part 1243, optical fibers part 1243 to provide stereoscopic three-dimensional electronic hysteroscope 1 front end and circular end surface to observe necessary brightness.
Shown in Fig. 3 a, 3b, described end face ccd array module, comprise end face ccd array 1241 and end face range finder 1242, described end face ccd array 1241, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged, the corresponding set of shots of each CCD, can be simultaneously to the part imaging of same uterine cavity wall, at least 90 ° of the angles of visual field of every set of shots, ccd array has per second at least and takes 5 speed.Described end face range finder 1242 utilizes the principle of reflection of laser or sound wave etc., and uterine cavity distance, the degree of depth are carried out Determination of distance.And the operating frequency of this end face range finder 1242 is consistent with the operating frequency of end face 1241CCD array, guarantees data sync, is beneficial to and carries out stereo reconstruction.
In the present invention, the periphery ccd array module that first end outer round surface is set comprises periphery ccd array 1244 and periphery range finder 1245, described periphery ccd array 1244, at least comprise one group of ccd array, one group of ccd array comprises at least 2 CCD elements and corresponding camera lens, can be simultaneously to the imaging of the inner branch of same uterine cavity, at least 90 ° of the angles of visual field of every set of shots, this periphery ccd array 1244 has per second at least and takes 5 speed.And periphery range finder 1245 of appropriate location configuration of each group periphery ccd array 1244, the operating frequency of this periphery range finder 1245 is consistent with the operating frequency of described periphery ccd array 1244, guarantees data sync, is beneficial to carry out stereo reconstruction.
Fig. 4 is first end many ccd array module generalized section of 3 D stereo hard electronic hysteroscope 1 of the present invention.The end face ccd array 1241 of the first end 1211 of endoscope part 12 and end face range finder 1242 directly are fixed on the end face of first end 1211, minimum 90 ° of the angle of visual field of end face ccd array 1241, and its effect mainly is the 3-D view that is used to take the scope front end; What the periphery ccd array 1244 of described first end 1211 outer round surface and periphery range finder 1245 were installed in scope elder generation end 1211 can be on the annulus carrier 12 46 of scope work end 121 main axis rotation, the CCD filming image that can be rotated uterine cavity, the speed of annulus carrier 12 46 rotations and the movement velocity of external stability support 2 are proportional, carry out the seamless combination of multi-angle to guarantee intrauterine image energy.Described annulus carrier 12 46 is fixed on the fixed mechanism 1249 of scope inside by cooperation, can carry out level and smooth relative rotary motion with fixed mechanism 1249, the data of periphery ccd array 1244 and periphery range finder 1245 also transfer to processing host 3 by suitable transmission means through data wire 1247, the power of annulus carrier 12 46 comes from the micromotor 1248 of scope elder generation end 1211, provides the energy of annulus carrier around fixed mechanism 1249 rotations by drive mechanism.
Be illustrated in figure 5 as the structure diagram of external stability support 2 of the present invention.The effect of external stability support 2 is to cooperate 3 D stereo hard electronic hysteroscope 1 to carry out the ccd array scanning of uterine cavity, and many ccd array (comprising end face ccd array 1241, periphery ccd array 1244) rotation sweep shooting speed of its translational speed and 3 D stereo hard electronic hysteroscope 1 first end is proportional.Described outer not fixed support comprises stationary fixture 23, support 22, mobile device 21.Stationary fixture 23 is used for closely the fixedly main part 122 of the endoscope part 12 of 3 D stereo hard electronic hysteroscope 1, support 22 is connected and fixed anchor clamps 23 and mobile device 21, mobile device 21 uses high performance motor-driven, and the movement velocity of motor is by main frame 4 unified controls.Mobile device 21 kinds of drive are not limit, and can adopt screw mandrel transmission or guide rail transmission, and mobile device 21 is fixed on the rigid platfor.
Be illustrated in figure 6 as the clinical practice sketch map of 3 D stereo hard electronic hysteroscope system of the present invention.3 D stereo hard electronic hysteroscope 1 connects cold light source main frame 5 and processing host 3, the work station assembly (comprises work station main frame 4, control assembly 6, monitor 7 and external equipment 8) be in normal operating conditions, the patient gets calculi position, routine disinfection pudendum and vagina, use vaginal dilator 91 to enlarge vagina 92, verify uterine cavity 9 degree of depth and direction, with glucose solution or the swollen palace of normal saline, the mirror sheath part 11 of 3 D stereo hard electronic hysteroscope 1 cooperates the mirror core slowly to enter from vagina 92, cooperate suitable maneuver, after entering uterine cavity 9, take out the mirror core, insert the endoscope part 12 of 3 D stereo hard electronic hysteroscope 1, observe earlier, in the time of need carrying out the full-view stereo reconstruction of uterine cavity 9, the endoscope part 12 of 3 D stereo hard electronic hysteroscope 1 is fixed on the external stability support 2, both are in stable condition, reduce external interference to uterine cavity road 9 and 3 D stereo hard electronic hysteroscope 1 as far as possible, (comprise work station main frame 4 by the work station assembly, control assembly 6, monitor 7 and external equipment 8) start the scanning shoot function of many ccd array of 3 D stereo hard electronic hysteroscope 1, start the mobile device 21 of external stability support 2 simultaneously, the rotary speed of the annular carrier 1246 of the endoscope part 12 first ends 1211 of its translational speed and 3 D stereo hard electronic hysteroscope 1 is proportional, carry out the 3 D stereo reconstruction to guarantee image quality and to help processing host 3, the main frame 4 that transfers to the work station assembly after all data are handled by processing host 3 further calculates synthetic, be reconstructed into 3 D stereoscopic image, be presented at monitor 7.After 1 pair of whole uterine cavity 9 of 3 D stereo hard electronic hysteroscope scans, can clearly demonstrate the panorama graphics of uterine cavity 9, the deep layer situation of understanding uterine cavity 9 for the doctor provides more detailed foundation.After the 3 D stereoscopic image of uterine cavity 9 was rebuild, the doctor can formulate best operation plan and handle according to 3-D view.
Claims (11)
1. 3 D stereo hard electronic hysteroscope system, comprise hard electronic hysteroscope and the cold light source main frame that is connected with the hard electronic hysteroscope, described hard electronic hysteroscope comprises hysteroscope endoscope part and mirror sheath part, described hysteroscope endoscope part comprises hard work end, the scope main part, it is characterized in that: described hard work end is provided with and can carries out the 3 D stereo scanning shoot to uterine cavity, show its panorama three-dimensional image and to uterine cavity carry out 3 D stereo reconstruct many ccd array module, described many ccd array module comprises at least one end face ccd array module that places hard work end tip portion front end face, and at least one periphery ccd array module that places hard work end tip portion outer round surface.
2. 3 D stereo hard electronic hysteroscope system according to claim 1, it is characterized in that: whether described hard electronic hysteroscope has passage and whether with handles according to it, can be divided into and have passage hard electronic hysteroscope with handles, have passage not have the hard electronic hysteroscope of handle, not tape channel hard electronic hysteroscope with handles and tape channel hard electronic hysteroscope totally four kinds of versions of not having a handle not.
3. 3 D stereo hard electronic hysteroscope system according to claim 1, it is characterized in that: the work end that the mirror sheath of described hard electronic hysteroscope partly enters human body be the diameter of mirror sheath work end smaller or equal to 15mm, mirror sheath working end minister 250～300mm.
4. 3 D stereo hard electronic hysteroscope system according to claim 1, it is characterized in that: described end face ccd array module comprises the end face ccd array and the end face range finder of hard work end tip portion, it comprises that at least two are linearly aligned CCD element described end face ccd array, and the corresponding one group of optical lens of each CCD element, the angle of visual field of every group of optical lens is 90 ° at least.
5. 3 D stereo hard electronic hysteroscope system according to claim 4 is characterized in that: described end face ccd array has per second at least and takes 5 speed, and the operating frequency of described end face range finder is consistent with the operating frequency of end face ccd array.
6. 3 D stereo hard electronic hysteroscope system according to claim 1, it is characterized in that: described periphery ccd array module comprises the periphery ccd array and the periphery range finder of hard work end tip portion, it comprises that at least two are linearly aligned CCD element described periphery ccd array, and the corresponding one group of optical lens of each CCD element, the angle of visual field of every group of optical lens is 90 ° at least.
7. 3 D stereo hard electronic hysteroscope system according to claim 6, it is characterized in that: described periphery ccd array has per second at least and takes 5 speed, and the operating frequency of described periphery range finder is consistent with the operating frequency of periphery ccd array.
8. 3 D stereo hard electronic hysteroscope system according to claim 7, it is characterized in that: the first end of described hard work end is equipped with an annulus carrier that can rotate with the main shaft of scope main part, and described periphery ccd array and periphery range finder are located on this annulus carrier.
9. 3 D stereo hard electronic hysteroscope system according to claim 8, it is characterized in that: also be fixedly connected with the external stability support on the scope main part of described hysteroscope endoscope part, this external stability support comprises and is connected and fixed anchor clamps, support and mobile device successively that described mobile device is fixed on the rigid platfor and by drive motors and drives.
10. 3 D stereo hard electronic hysteroscope system according to claim 1, it is characterized in that: described hard electronic hysteroscope also is connected with the processing host that deal with data is used, and work station assembly, described work station assembly is connected by data wire with processing host, and the work station assembly comprises monitor, work station main frame, control assembly and external equipment; Described processing host, high speed central processing unit and high-performance video card are adopted in its core, be used to receive and handle the packet that the data of image information that 3 D stereo hard electronic hysteroscope returns and range finder are formed, various data by the analytical data bag, the uterine cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction uterine cavity.
11. the using method of 3 D stereo hard electronic hysteroscope system according to claim 1 is characterized in that: (1) takes out the mirror core after partly cooperating the mirror core slowly to enter uterine cavity from urethral orifice in the mirror sheath of hard electronic hysteroscope;
(2) endoscope part of insertion hard electronic hysteroscope;
(3) promptly uterine cavity is carried out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and uterine cavity is carried out stereoscopic image reconstruct in the time of the scanning shoot that uterine cavity carried out straight line and rotation by many ccd array module.
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| CN2011100333063A Expired - Fee Related CN102058375B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional hard electronic hysteroscope system and use method thereof |
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| WO2012103766A1 (en) * | 2011-01-31 | 2012-08-09 | 广州宝胆医疗器械科技有限公司 | 3d electronic rigid cholecystoscope system and method for use thereof |
| WO2014053649A1 (en) * | 2012-10-05 | 2014-04-10 | Centre National De La Recherche Scientifique (Cnrs) | Multi-view imaging system for laparoscopic surgery |
| CN103732120A (en) * | 2011-08-18 | 2014-04-16 | 恩多卓斯创新中心有限公司 | Multi-viewing element endoscope |
| CN103767657A (en) * | 2012-10-18 | 2014-05-07 | 广州宝胆医疗器械科技有限公司 | Hard multichannel three-dimensional hysteroscope system |
| US9402533B2 (en) | 2011-03-07 | 2016-08-02 | Endochoice Innovation Center Ltd. | Endoscope circuit board assembly |
| CN106033541A (en) * | 2015-03-10 | 2016-10-19 | 青岛通产软件科技有限公司 | Electronic number rubbing device and electronic number rubbing method for motor vehicle |
| US9554692B2 (en) | 2009-06-18 | 2017-01-31 | EndoChoice Innovation Ctr. Ltd. | Multi-camera endoscope |
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| US9560954B2 (en) | 2012-07-24 | 2017-02-07 | Endochoice, Inc. | Connector for use with endoscope |
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| US9655502B2 (en) | 2011-12-13 | 2017-05-23 | EndoChoice Innovation Center, Ltd. | Removable tip endoscope |
| US9706903B2 (en) | 2009-06-18 | 2017-07-18 | Endochoice, Inc. | Multiple viewing elements endoscope system with modular imaging units |
| US9713417B2 (en) | 2009-06-18 | 2017-07-25 | Endochoice, Inc. | Image capture assembly for use in a multi-viewing elements endoscope |
| US9814374B2 (en) | 2010-12-09 | 2017-11-14 | Endochoice Innovation Center Ltd. | Flexible electronic circuit board for a multi-camera endoscope |
| US9872609B2 (en) | 2009-06-18 | 2018-01-23 | Endochoice Innovation Center Ltd. | Multi-camera endoscope |
| US9901244B2 (en) | 2009-06-18 | 2018-02-27 | Endochoice, Inc. | Circuit board assembly of a multiple viewing elements endoscope |
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| US10070774B2 (en) | 2011-02-07 | 2018-09-11 | Endochoice Innovation Center Ltd. | Multi-element cover for a multi-camera endoscope |
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| US11471028B2 (en) | 2009-06-18 | 2022-10-18 | Endochoice, Inc. | Circuit board assembly of a multiple viewing elements endoscope |
| US11278190B2 (en) | 2009-06-18 | 2022-03-22 | Endochoice, Inc. | Multi-viewing element endoscope |
| US10912445B2 (en) | 2009-06-18 | 2021-02-09 | Endochoice, Inc. | Compact multi-viewing element endoscope system |
| US10799095B2 (en) | 2009-06-18 | 2020-10-13 | Endochoice, Inc. | Multi-viewing element endoscope |
| US10791910B2 (en) | 2009-06-18 | 2020-10-06 | Endochoice, Inc. | Multiple viewing elements endoscope system with modular imaging units |
| US9492063B2 (en) | 2009-06-18 | 2016-11-15 | Endochoice Innovation Center Ltd. | Multi-viewing element endoscope |
| US9554692B2 (en) | 2009-06-18 | 2017-01-31 | EndoChoice Innovation Ctr. Ltd. | Multi-camera endoscope |
| US10791909B2 (en) | 2009-06-18 | 2020-10-06 | Endochoice, Inc. | Image capture assembly for use in a multi-viewing elements endoscope |
| US10165929B2 (en) | 2009-06-18 | 2019-01-01 | Endochoice, Inc. | Compact multi-viewing element endoscope system |
| US9642513B2 (en) | 2009-06-18 | 2017-05-09 | Endochoice Inc. | Compact multi-viewing element endoscope system |
| US10092167B2 (en) | 2009-06-18 | 2018-10-09 | Endochoice, Inc. | Multiple viewing elements endoscope system with modular imaging units |
| US9706903B2 (en) | 2009-06-18 | 2017-07-18 | Endochoice, Inc. | Multiple viewing elements endoscope system with modular imaging units |
| US9713417B2 (en) | 2009-06-18 | 2017-07-25 | Endochoice, Inc. | Image capture assembly for use in a multi-viewing elements endoscope |
| US9901244B2 (en) | 2009-06-18 | 2018-02-27 | Endochoice, Inc. | Circuit board assembly of a multiple viewing elements endoscope |
| US10080486B2 (en) | 2010-09-20 | 2018-09-25 | Endochoice Innovation Center Ltd. | Multi-camera endoscope having fluid channels |
| US9986892B2 (en) | 2010-09-20 | 2018-06-05 | Endochoice, Inc. | Operational interface in a multi-viewing element endoscope |
| US9560953B2 (en) | 2010-09-20 | 2017-02-07 | Endochoice, Inc. | Operational interface in a multi-viewing element endoscope |
| US11543646B2 (en) | 2010-10-28 | 2023-01-03 | Endochoice, Inc. | Optical systems for multi-sensor endoscopes |
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| US11497388B2 (en) | 2010-12-09 | 2022-11-15 | Endochoice, Inc. | Flexible electronic circuit board for a multi-camera endoscope |
| US11889986B2 (en) | 2010-12-09 | 2024-02-06 | Endochoice, Inc. | Flexible electronic circuit board for a multi-camera endoscope |
| US10898063B2 (en) | 2010-12-09 | 2021-01-26 | Endochoice, Inc. | Flexible electronic circuit board for a multi camera endoscope |
| US9814374B2 (en) | 2010-12-09 | 2017-11-14 | Endochoice Innovation Center Ltd. | Flexible electronic circuit board for a multi-camera endoscope |
| US10182707B2 (en) | 2010-12-09 | 2019-01-22 | Endochoice Innovation Center Ltd. | Fluid channeling component of a multi-camera endoscope |
| WO2012103766A1 (en) * | 2011-01-31 | 2012-08-09 | 广州宝胆医疗器械科技有限公司 | 3d electronic rigid cholecystoscope system and method for use thereof |
| US10070774B2 (en) | 2011-02-07 | 2018-09-11 | Endochoice Innovation Center Ltd. | Multi-element cover for a multi-camera endoscope |
| US9402533B2 (en) | 2011-03-07 | 2016-08-02 | Endochoice Innovation Center Ltd. | Endoscope circuit board assembly |
| CN103732120A (en) * | 2011-08-18 | 2014-04-16 | 恩多卓斯创新中心有限公司 | Multi-viewing element endoscope |
| US10470649B2 (en) | 2011-12-13 | 2019-11-12 | Endochoice, Inc. | Removable tip endoscope |
| US11291357B2 (en) | 2011-12-13 | 2022-04-05 | Endochoice, Inc. | Removable tip endoscope |
| US9655502B2 (en) | 2011-12-13 | 2017-05-23 | EndoChoice Innovation Center, Ltd. | Removable tip endoscope |
| US9560954B2 (en) | 2012-07-24 | 2017-02-07 | Endochoice, Inc. | Connector for use with endoscope |
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| WO2014053649A1 (en) * | 2012-10-05 | 2014-04-10 | Centre National De La Recherche Scientifique (Cnrs) | Multi-view imaging system for laparoscopic surgery |
| CN103767657A (en) * | 2012-10-18 | 2014-05-07 | 广州宝胆医疗器械科技有限公司 | Hard multichannel three-dimensional hysteroscope system |
| US11793393B2 (en) | 2013-03-28 | 2023-10-24 | Endochoice, Inc. | Manifold for a multiple viewing elements endoscope |
| US10925471B2 (en) | 2013-03-28 | 2021-02-23 | Endochoice, Inc. | Fluid distribution device for a multiple viewing elements endoscope |
| US10905315B2 (en) | 2013-03-28 | 2021-02-02 | Endochoice, Inc. | Manifold for a multiple viewing elements endoscope |
| US11925323B2 (en) | 2013-03-28 | 2024-03-12 | Endochoice, Inc. | Fluid distribution device for a multiple viewing elements endoscope |
| US9993142B2 (en) | 2013-03-28 | 2018-06-12 | Endochoice, Inc. | Fluid distribution device for a multiple viewing elements endoscope |
| US9986899B2 (en) | 2013-03-28 | 2018-06-05 | Endochoice, Inc. | Manifold for a multiple viewing elements endoscope |
| US10499794B2 (en) | 2013-05-09 | 2019-12-10 | Endochoice, Inc. | Operational interface in a multi-viewing element endoscope |
| CN106033541A (en) * | 2015-03-10 | 2016-10-19 | 青岛通产软件科技有限公司 | Electronic number rubbing device and electronic number rubbing method for motor vehicle |
| CN111467048B (en) * | 2020-04-08 | 2023-09-01 | 重庆医科大学附属第二医院 | Whole-course visual 3D hysteroscope operation device |
| CN111467048A (en) * | 2020-04-08 | 2020-07-31 | 重庆医科大学附属第二医院 | Whole-course visible 3D hysteroscopic surgery device |
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