CN101836852A - Medical endoscope containing structured light three-dimensional imaging system - Google Patents
Medical endoscope containing structured light three-dimensional imaging system Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0605—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for spatially modulated illumination
Abstract
The invention provides a medical endoscope containing a structured light three-dimensional imaging system, which relates to a medical endoscope, solves the problem that the conventional three-dimensional observing technology can not be directly applied to the medical endoscope due to space limit in the brain surgery of nasal cavity expansion. The medical endoscope comprises a working scope tube, a computing and processing module and a structured light channel, wherein the working scope tube comprises an imaging channel and an illuminating channel; illuminating optical fibers are arranged in the illuminating channel; the signal input end of the computing and processing module is connected with the electric signal output end of the imaging channel; the structured light channel is arranged in the illuminating channel; the light beam outputted from the tail end of the illuminating optical fiber is received by the structured light channel; the light beam generates structured light after passing through the structured light channel; and the structured light is outputted out of the illuminating channel through the structured light channel. The invention overcomes the defects of the prior art and can be applied to the brain surgery of nasal cavity expansion.
Description
Technical field
The present invention relates to a kind of medical endoscope.
Background technology
The endoscopic imaging technology is a kind of typical medical imaging technology, is all bringing into play important effect at aspects such as medical diagnosis and surgical navigationals.Along with the pay attention to day by day of people to diagnosis and surgical navigational precision, the application of three-dimensional imaging technology in medical endoscope is also increasing.With the cerebroma operation is example, in traditional cerebroma Therapeutic Method, adopts incision patient's the skull or the modus operandi of facial skeleton as craniotomy, tends to badly damaged patient's appearance, and needs the long post-operative recovery phase.Recently, (EEN ExpandedEndonasalNeurosurgery) has obtained very big concern to the nasal cavity expansion cerebral surgery operation in the cerebroma clinical treatment.This operation plan imports nasal cavity with miniature endoscope and surgical device, and the exact position that finds out cerebroma is also excised.The smooth implementation of EEN operation needs effective guide of scope image navigation system, and the performance of navigation system can directly have influence on the accurate positioning and the operating susceptiveness of cerebroma.General main two subsystems that comprise of image navigation system of endoscope: (1) is used for obtaining in real time the endoscopic imaging system of operative site image; (2) be used for position with surgical apparatus and be mapped to navigation system on preoperative CT or the MRI data.Fig. 1 is the structural representation of a typical rigid body endoscope, as shown in Figure 1, there are two passages in endoscope at internal work mirror tube portion: imaging passage 0-4 and illumination channel 0-6, and wherein imaging passage 0-4 is used for the organ surface imaging, and illumination channel 0-6 then is used for output beam.The optical element (counting from end) of imaging passage 0-4 comprises the object lens 0-3 that disperses camera lens 0-5, is used to focus that is used to observe big field-of-view angle, bar-shaped conducting parts 0-2 and the magnification eyepiece 0-7 that is used for converted image; Illumination channel only comprises lighting fiber 0-1, is used to be connected to the light source place.0-4 compares with the imaging passage, and it is much simple that the structure of illumination channel 0-6 is wanted.
The image navigation system of endoscope that is applied to EEN operation at present still has very big unsound property, owing to can not restore the three-dimensional scenic certain deviation (maximum deviation can reach about 2cm) of appearance that causes navigating from the image that obtains or video.If lack the necessary three-dimensional scene information of operative site, the doctor often needs to attempt the contact tissue surface experiencing depth distance, or relies on the personal experience to make subjective judgment.Thereby accurate three-dimensional visualization scene will significantly improve the susceptiveness and the localized accuracy of cerebroma of surgeon's operation technique, has great technology and medical application and is worth.
Recent years, the dimensional Modeling Technology of endoscopic images has obtained development to a certain degree and has obtained preliminary achievement in research.Yet because the endoscope that uses in the EEN operation must arrive the skull bottom section so that can pass nasal cavity very for a short time, stereopsis technology that some are conventional such as multi-eye stereo vision often can not directly be used owing to spatial constraints.Up to now, the report that does not occur feasible EEN three dimensional structure modeling technique aspect both at home and abroad as yet.
Summary of the invention
The objective of the invention is to solve in the nasal cavity expansion cerebral surgery operation, can not directly apply to the problem of medical endoscope because conventional stereopsis technology is subjected to spatial constraints, a kind of medical endoscope that comprises structured light three-dimensional imaging system is provided.
The medical endoscope that comprises structured light three-dimensional imaging system, it comprises work mirror pipe, described work mirror pipe comprises imaging passage and illumination channel, described illumination channel internal illumination optical fiber, it also comprises the computing module, and the signal input part of described computing module connects into the electrical signal of picture passage;
It also comprises the structured light passage, described structured light passage places in the illumination channel, the light beam of the end output of lighting fiber is received by the structured light passage, produce structured light behind this light beam process structured light passage to, and described structured light is exported outside the illumination channel by the structured light passage.
The medical endoscope that comprises structured light three-dimensional imaging system of the present invention, by in the illumination channel of medical endoscope, setting up structured light passage, and comprehensive the use, and can be applied in the nasal cavity expansion cerebral surgery operation based on the structural light three-dimensional method for reconstructing of grid deformation and based on the three-dimensional shape information that three-dimensional rebuilding method obtains medical tissue and organ surface that defocuses of method of geometry; 3-D view of the present invention realizes there is not the occupying volume external space by the structural light three-dimensional method for reconstructing.
Description of drawings
Fig. 1 is the structural representation of typical rigid body endoscope; Fig. 2 is the structural representation of medical endoscope of the present invention; Fig. 3 is the structural representation of the structured light passage in the medical endoscope of the present invention; Fig. 4 is the generalized section of medical endoscope of the present invention.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 2 and Fig. 3 present embodiment is described, the medical endoscope that comprises structured light three-dimensional imaging system of present embodiment, it comprises work mirror pipe, described work mirror pipe comprises imaging passage 1 and illumination channel 2, described illumination channel 2 internal illumination optical fiber 3, it also comprises computing module 4, and the signal input part of described computing module 4 connects into the electrical signal of picture passage 1;
It also comprises structured light passage 5, described structured light passage 5 places in the illumination channel 2, the light beam of the end output of lighting fiber 3 is received by structured light passage 5, and this light beam produces structured light through structured light passage 5 backs, and described structured light is exported to outside the illumination channel 2 by structured light passage 5.Above structure can be referring to Fig. 2.
The diameter of lighting fiber 2 is about 10 microns (mm), uses the reason of thin optic fibre bundle to be that it can be approximated to be a point source.
Endoscope as shown in Figure 2 comprises imaging passage 1 and illumination channel 2.Imaging passage 1 comprises and is used to observe dispersing camera lens, the object lens that are used to focus, being used for the bar-shaped conducting parts and the magnification eyepiece of converted image of big field-of-view angle; Illumination channel 2 internal illumination optical fiber 3, lighting fiber 3 is connected to the light source place.Structured light passage 5 is set in the illumination channel 2, is used for generating structure light.Wherein Target is a target.
With expansion intranasal cerebral surgery operation is example, owing to endoscope need be inserted from nasal cavity, so endoscope's size must be small and exquisite as far as possible.As shown in Figure 4, about 4 millimeters of the diameter of rigid body endoscope, about 2.8 millimeters of imaging passage 1 diameter, about 1 millimeter of structured light passage 5 diameters.
Referring to Fig. 3, described structured light passage 5 can be made up of amasthenic lens group 51, miniature grid screen 52 and projection lens group 53, through amasthenic lens group 51, miniature grid screen 52 and projection lens group 53 after, export successively by generating structure light for the light beam of the end output of lighting fiber 3.
Make b1 represent the distance of miniature grid screen 52, make b2 represent the distance of miniature grid screen 52, then can make 1 to projection lens group 53 equivalent photocentres to the equivalent photocentre of amasthenic lens group 51
:3〉b1
:B2〉1
:5.
The light beam of described structured light passage 5 outputs is structured light, because endoscope's size and structural limitations can't produce complicated structure light coding pattern, and can only produce single raster mode.
When projection lens group 53 can be similar to thin camera lens module, distance b 2 is determined by two factors, described two factors are respectively the equivalent photocentre of projection lens group 53 to the amplification R apart from Z2 and projection lens group 53 between the target, b2=Z/R is promptly arranged, its middle distance Z2 can be according to the statistical study of EEN Clinical symptoms is estimated, Z2 is 10 ~ 20mm as to the conchoscope imaging time, and amplification R is by the light source decision of being adopted.
Described amasthenic lens group 51 can be made up of first planoconvex lens 511 and second planoconvex lens 512, and the convex surfaces of the convex surfaces of first planoconvex lens 511 and second planoconvex lens 512 is staggered relatively, the plane surface of first planoconvex lens 511 is as the light input end of amasthenic lens group 51, and the plane surface of second planoconvex lens 512 is as the light output end of amasthenic lens group 51.
Described first planoconvex lens 511 and second planoconvex lens 512 all can adopt the two and lens of achromatism.
In the present embodiment, the inner cold light of xenon or metal halide generation that uses of endoscope is as light source, consider the wide spectrum of light source, can adopt achromatic doublet, the not normal minimum of aberration that the camera lens variations in refractive index about optical wavelength is caused as amasthenic lens.
Make d1 represent the focal length of first planoconvex lens 511, make d2 represent the focal length of second planoconvex lens 512, then the distance between the photocentre of the photocentre of first planoconvex lens 511 and second planoconvex lens 512 can be d1+d2.
Described projection lens group 53 can be made up of the 3rd planoconvex lens 531 and Siping City's convex lens 532, and the convex surfaces of the 3rd planoconvex lens 531 and the convex surfaces of Siping City's convex lens 532 are staggered relatively, the plane surface of the 3rd planoconvex lens 531 is as the light input end of amasthenic lens group 51, and the plane surface of Siping City's convex lens 532 is as the light output end of amasthenic lens group 51.
Make d3 represent the focal length of the 3rd planoconvex lens 531, make d4 represent the focal length of Siping City's convex lens 532, then the distance between the photocentre of the photocentre of the 3rd planoconvex lens 531 and Siping City's convex lens 532 can be d3+d4.
Distance D between the terminal and miniature grid screen 52 of lighting fiber 3 can determine that described distance D need satisfy following constraints according to the raster resolution standard:
Wherein H represents the radius of structured light passage 5, and L represents the radius in optical fibre illumination zone, and Z represents the distance between miniature grid screen 52 and the target.
Satisfying under the situation of above-mentioned constraints, selecting bigger D value, can guarantee to obtain higher raster resolution.
Described computing module 4 is used for the image that imaging passage 1 obtains is carried out three-dimensional reconstruction, obtains the 3-D view of described image.
The detailed process that the image that 4 pairs of imaging passages of computing module 1 obtain carries out three-dimensional reconstruction is:
For clear area in the target,, and utilize the surface three dimension shape of rebuilding described clear area based on the structural light three-dimensional method for reconstructing of grid deformation by the method for extraction grid angle point;
For fuzzy region in the target, adopt the surface three dimension shape that three-dimensional rebuilding method is rebuild described fuzzy region that defocuses based on method of geometry.
The detailed process of described three-dimensional rebuilding method based on grid deformation can be with reference to following process:
For any 1 P on the object, its coordinate in world coordinate system is
, at the coordinate of photographing unit reference frame be
, at the coordinate of projection lens reference frame be
The initial point of photographing unit reference frame is defined in the photocentre of the CCD lens of the interior photographing unit of imaging passage (1), and the initial point of projection lens reference frame is defined in the photocentre of structured light passage (5) inner projection lens group (53), camera images coordinate system
Initial point be defined in the center of CCD
, the projection lens image coordinate system
Initial point be defined in the center of projection lens group (53)
Be the focal length of CCD lens,
It is the focal length of projection lens group (53);
The world coordinates of spatial point P
With the photographing unit reference coordinate
There is following transformational relation:
Consider the inclination deformation situation of image.When so-called inclination deformation just was meant imaging, the X-axis and the Y-axis of image were non-orthogonal, though in most cases X-axis and Y-axis are orthogonal, may cause X-axis and Y-axis non-orthogonal when optical axis and the incomplete quadrature of imaging plane.
The inclination deformation angle of supposing X-axis and Y-axis is
, obtain:
Wherein
Be the focal length of CCD lens U direction,
Focal length for CCD lens V direction;
So:
With the inner parameter matrix and the external parameter matrix abbreviation of photographing unit, and order
, obtain:
In like manner because projector can be regarded as the inversion of photographing unit, so can obtain:
Cancellation
With
, obtain:
After the image that is obtained by photographing unit was handled through decoding, each code value can be mapped to the relevant position of the coding pattern that projection lens group (53) throwed, and promptly has a kind of corresponding relation between them:
，
The concrete form of following formula is by the coded system decision of being adopted, and different coded system correspondences different concrete forms;
For a structured light system of demarcating, the inside and outside parameter of photographing unit and projector is all known.If can implementation space point in the coupling (Correspondence) of picture point on the photographing unit and the subpoint on the projector, promptly determine corresponding relation, then can obtain the coordinate of spatial point P, thereby realize three-dimensional reconstruction.Because endoscope's size and structural limitations, can't produce complicated structure light coding pattern, can only produce single raster mode, by extracting the grid angle point and utilizing the 3D shape that the trigonometric ratio method can reconstructed surface.
The described process that defocuses three-dimensional rebuilding method based on method of geometry is as follows:
Step 1, generation at random
TImage focal planes such as the width of cloth
r j , obtain image focal planes such as every width of cloth and equal in object distance
zThe light distribution of the out-of-focus image at 0 place
I 1,
j , obtain object distance simultaneously and equal
zThe light distribution of the out-of-focus image of 1 image focal planes such as every width of cloth
I 2,
j Wherein,
,
, 
Step 3, according to the minimum principle of inequality, have
Wherein,
Represent the restorative image focal plane of Denging,
The depth information estimation of presentation video,
The expression degree of depth is
SThe time correspondence linearity defocus transformation operator;
Step 4, to each degree of depth rank
SFind the solution the linear operator of a correspondence
, make
Minimum, thus each degree of depth rank obtained
SCorresponding linear operator
Wherein
Represent that a degree of depth is
SOut-of-focus image right;
The detailed process of the described content of step 4 is:
To each degree of depth rank
SFind the solution the linear operator of a correspondence
, make
Minimum, wherein
Represent that a degree of depth is
SOut-of-focus image right;
Make up a large-spacing learning planning problem and learn linear operator
:
Order
,
If I
j Corresponding depth information is
S, then
, otherwise
Wherein,
, be the compromise parameter;
Utilize the gradient descent method on the Stiefel stream shape, find the solution the acquisition linear operator
Operation principle of the present invention is:
Structured light passage in the endoscope is launched the light of AD HOC, after projecting organ surface, catch the organ surface image by the camera in the imaging passage, by the deformation data of computing module, utilize the structural light three-dimensional method for reconstructing to extract the 3D shape of organ then by light in the analysis image.
The medical endoscope that comprises structured light three-dimensional imaging system of the present invention, by in the illumination channel of rigidity medical endoscope, setting up a pipeline, focus lens group, miniature grid screen and projection lens group are set in pipeline, and realize a structured light generation system in conjunction with the fibre bundle that utilizes endoscope, the comprehensive use based on the structural light three-dimensional method for reconstructing of grid deformation and based on the three-dimensional shape information that three-dimensional rebuilding method obtains medical tissue and organ surface that defocuses of method of geometry.
Claims (9)
1. the medical endoscope that comprises structured light three-dimensional imaging system, it comprises work mirror pipe, described work mirror pipe comprises imaging passage (1) and illumination channel (2), described illumination channel (2) internal illumination optical fiber (3), it also comprises computing module (4), and the signal input part of described computing module (4) connects into the electrical signal of picture passage (1);
It is characterized in that, it also comprises structured light passage (5), described structured light passage (5) places in the illumination channel (2), the light beam of the end output of lighting fiber (3) is received by structured light passage (5), this light beam produces structured light through structured light passage (5) back, and described structured light is exported to outside the illumination channel (2) by structured light passage (5).
2. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 1, it is characterized in that described structured light passage (5) shields (52) by amasthenic lens group (51), miniature grid and projection lens group (53) is formed, after the light beam of the end output of lighting fiber (3) passes through amasthenic lens group (51), miniature grid screen (52) and projection lens group (53) successively, the output of generating structure light.
3. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 2, it is characterized in that described amasthenic lens group (51) is made up of first planoconvex lens (511) and second planoconvex lens (512), and the convex surfaces of the convex surfaces of first planoconvex lens (511) and second planoconvex lens (512) is staggered relatively, the plane surface of first planoconvex lens (511) is as the light input end of amasthenic lens group (51), and the plane surface of second planoconvex lens (512) is as the light output end of amasthenic lens group (51).
4. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 2, it is characterized in that described projection lens group (53) is made up of the 3rd planoconvex lens (531) and Siping City's convex lens (532), and the convex surfaces of the 3rd planoconvex lens (531) and the convex surfaces of Siping City's convex lens (532) are staggered relatively, the plane surface of the 3rd planoconvex lens (531) is as the light input end of amasthenic lens group (51), and the plane surface of Siping City's convex lens (532) is as the light output end of amasthenic lens group (51).
5. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 2, it is characterized in that the distance D between the end of described lighting fiber (3) and the miniature grid screen (52) determines that according to the raster resolution standard described distance D need satisfy following constraints:
，
Wherein H represents the radius of structured light passage (5), and L represents the radius in optical fibre illumination zone, and Z represents the distance between miniature grid screen (52) and the target.
6. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 2 is characterized in that described computing module (4) is used for the image that imaging passage (1) obtains is carried out three-dimensional reconstruction, obtains the 3-D view of described image.
7. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 6 is characterized in that the detailed process that image that computing module (4) obtains imaging passage (1) carries out three-dimensional reconstruction is:
For clear area in the target,, and utilize the surface three dimension shape of rebuilding described clear area based on the structural light three-dimensional method for reconstructing of grid deformation by the method for extraction grid angle point;
For fuzzy region in the target, adopt the surface three dimension shape that three-dimensional rebuilding method is rebuild described fuzzy region that defocuses based on method of geometry.
8. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 7 is characterized in that the described process that defocuses three-dimensional rebuilding method based on method of geometry is as follows:
Step 1, generation at random
TImage focal planes such as the width of cloth
r j , obtain image focal planes such as every width of cloth and equal in object distance
zThe light distribution of the out-of-focus image at 0 place
I 1,
j , obtain object distance simultaneously and equal
zThe light distribution of the out-of-focus image of 1 image focal planes such as every width of cloth
I 2,
j Wherein,
,
, 
Step 2, based on (
I 1,
j ,
I 2,
j ) |
Make up training sample set, it is right to introduce image
I j =(
I 1,
j ,
I 2,
j );
Step 3, according to the minimum principle of inequality, have
Wherein,
Represent the restorative image focal plane of Denging,
The depth information estimation of presentation video,
The expression degree of depth is
SThe time correspondence linearity defocus transformation operator;
Step 4, to each degree of depth rank
SFind the solution the linear operator of a correspondence
, make
Minimum, thus each degree of depth rank obtained
SCorresponding linear operator
Wherein
Represent that a degree of depth is
SOut-of-focus image right;
Step 5, when endoscopic imaging, adjust camera and obtain two width of cloth images
I=(
I 1,
I 2), utilize step 4 to obtain
, according to formula
, obtain the depth information of image, and then realize three-dimensional reconstruction image.
9. the medical endoscope that comprises structured light three-dimensional imaging system according to claim 8 is characterized in that the detailed process of the described content of step 4 is:
To each degree of depth rank
SFind the solution the linear operator of a correspondence
, make
Minimum, wherein
Represent that a degree of depth is
SOut-of-focus image right;
Make up a large-spacing learning planning problem and learn linear operator
:
Order
,
If I
j Corresponding depth information is
S, then
, otherwise
Wherein,
, be the compromise parameter;
Utilize the gradient descent method on the Stiefel stream shape, find the solution the acquisition linear operator
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| CN108388070A (en) * | 2017-02-03 | 2018-08-10 | 深圳奥比中光科技有限公司 | Fibre-optical projector and apply its depth camera |
| CN110426837A (en) * | 2019-07-19 | 2019-11-08 | 青岛智能产业技术研究院 | More mesh three-dimensional endoscopic imaging systems based on simple lens |
| US10512508B2 (en) | 2015-06-15 | 2019-12-24 | The University Of British Columbia | Imagery system |
| CN110613510A (en) * | 2018-06-19 | 2019-12-27 | 清华大学 | Self-projection endoscope device |
| CN112577458A (en) * | 2019-09-27 | 2021-03-30 | 沈阳华慧高新技术有限公司 | Three-dimensional scanning endoscope device, calibration method and use method thereof |
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| CN103765159A (en) * | 2011-09-02 | 2014-04-30 | 皇家飞利浦有限公司 | Rapid dense point cloud imaging using probabilistic voxel maps |
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| US10512508B2 (en) | 2015-06-15 | 2019-12-24 | The University Of British Columbia | Imagery system |
| CN105996961A (en) * | 2016-04-27 | 2016-10-12 | 安翰光电技术（武汉）有限公司 | 3D stereo-imaging capsule endoscope system based on structured light and method for same |
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| CN110613510A (en) * | 2018-06-19 | 2019-12-27 | 清华大学 | Self-projection endoscope device |
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| CN110426837A (en) * | 2019-07-19 | 2019-11-08 | 青岛智能产业技术研究院 | More mesh three-dimensional endoscopic imaging systems based on simple lens |
| CN112577458A (en) * | 2019-09-27 | 2021-03-30 | 沈阳华慧高新技术有限公司 | Three-dimensional scanning endoscope device, calibration method and use method thereof |
| CN112577458B (en) * | 2019-09-27 | 2024-02-02 | 沈阳华慧高新技术有限公司 | Three-dimensional scanning endoscope device, calibration method and use method thereof |
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