CN103006170A - Medical endoscope three-dimensional imaging device - Google Patents
Medical endoscope three-dimensional imaging device Download PDFInfo
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- CN103006170A CN103006170A CN201210543252XA CN201210543252A CN103006170A CN 103006170 A CN103006170 A CN 103006170A CN 201210543252X A CN201210543252X A CN 201210543252XA CN 201210543252 A CN201210543252 A CN 201210543252A CN 103006170 A CN103006170 A CN 103006170A
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- 238000003384 imaging method Methods 0.000 title abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 19
- 230000003287 optical effect Effects 0.000 claims description 17
- 239000004973 liquid crystal related substance Substances 0.000 claims description 16
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract 1
- 238000012634 optical imaging Methods 0.000 abstract 1
- 230000010287 polarization Effects 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 7
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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Abstract
The invention discloses a medical endoscope three-dimensional imaging device. The medical endoscope three-dimensional imaging device comprises a casing; a CCD (charge coupled device) camera and an image light processing system are arranged on the casing; and the CCD camera can sequentially and alternatively receive one path of incidence image light of two paths of incidence image light acquired by an optical imaging acquiring part through the image light processing system. The medical endoscope three-dimensional imaging device has the beneficial effects that 1, by the endoscope three-dimensional imaging device, three-dimensional images can be obtained by only one CCD image sensor; and under the condition of ensuring the same function, the endoscope three-dimensional imaging device is low in cost compared with the similar product on market; and 2, the endoscope three-dimensional imaging device is simple in structure, convenient to use, convenient to maintain and replace, and suitable for acquiring and feeding back the three-dimensional images of clinically minimally invasive surgery in real time, and the endoscope three-dimensional imaging device brings convenience for surgeons and assistants.
Description
Technical field
The present invention relates to a kind of medical electronic endoscope imaging device, relate in particular to a kind of medical endoscope three-dimensional image forming apparatus.
Background technology
The endoscopic imaging technology is a kind of comparatively typical imaging technique that is applied to medical domain, all has high value aspect medical diagnosis and the surgical navigational.Be one of important development direction of medical surgery field of surgery since 20th century based on the micro-wound surgical operation of endoscopic imaging technology, be present in the clinical practice widely.Micro-wound surgical operation is very high to the requirement of visual feedback, and endoscope is the reflection surgical scene in real time, and movable information that can the accurate description operation tool is to reach the consistent of operation technique with synchronously.In the tradition micro-wound surgical operation, because general endoscope can only provide two dimensional image, real scene information and endoscope and the relative position of operation tool in the operation technique space that can't perception operative site depth distance, the doctor often need to repeatedly carry out tentative touching tissue surface to grasp depth information in operation process, or rely on the personal experience to judge, thereby the occurrence probability of the accident surgeries such as the tissue accidental injury that has increased maloperation and caused, and cause the reduction of operation technique precision.Therefore, accurate three-dimensional visualization scene information is significant for aspects such as the motility that increases operation technique, reduction maloperation risk and the accurate positionings of increase operation tool, the doctor can implement a lot of highly difficult operations by this, and the safety coefficient of operation also improves greatly.
Summary of the invention
The objective of the invention is to be to overcome the defective of the two-dimensional imaging technology that is widely used at present micro-wound surgical operation endoscope, a kind of three-dimensional image acquisition that can carry out clinically micro-wound surgical operation and Real-time Feedback, compatible strong, lower-cost a kind of medical endoscope three-dimensional image forming apparatus are provided.
A kind of medical endoscope three-dimensional image forming apparatus of the present invention, it comprises housing, at described housing CCD camera and image light processing system are installed, described CCD camera can receive sequentially by turns the optical imagery acquisition unit by the image light processing system and divide road incident image light in the two-way incident image light that obtains.
Advantage of the present invention:
A kind of medical endoscope three-dimensional image forming apparatus of the present invention compared with prior art has following beneficial effect:
1. endoscope of the present invention three-dimensional image forming apparatus only uses a ccd image sensor can realize obtaining of 3-D view, under the precondition that guarantees same function, compares with like product on the market, and cost is lower.
2. the present invention is simple in structure, easy to use, is convenient to maintenance and changes, and is applicable to carry out clinically three-dimensional image acquisition and the Real-time Feedback of micro-wound surgical operation, for operative doctor and assistant bring convenience.
3. the image display that cooperates this device to use can be selected on the market general time division type stereoscopic display device, need not to use the display device of custom-made, and is compatible strong.
Description of drawings
Fig. 1 is the application sketch map of a kind of medical endoscope three-dimensional image forming apparatus of the present invention;
Fig. 2 is the structural representation that a kind of medical endoscope three-dimensional image forming apparatus of the present invention is used for the first three-dimensional imaging mode of endoscope;
Fig. 3 is the internal structure enlarged diagram of apparatus of the present invention shown in Figure 2;
Fig. 4-1 and Fig. 4-2 is the light path principle sketch map of device shown in Figure 3;
Fig. 5 is the structural representation that a kind of medical endoscope three-dimensional image forming apparatus of the present invention is used for the second three-dimensional imaging mode of endoscope;
Fig. 6 is the internal structure enlarged diagram of apparatus of the present invention shown in Figure 5;
Fig. 7-1 and Fig. 7-2 is the light path principle sketch map of device shown in Figure 6.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail:
Figure 1 shows that the application signal of a kind of medical endoscope three-dimensional image forming apparatus of the present invention, formed by endoscope 1, surveillance control section 2 and 3 three major parts of display system.Imaging mainly depends on the miniature image sensor CCD(charge coupled cell of endoscope's shank head end equipment), after will catching the processing of image process processor, be presented on the screen of monitor 3b of surveillance control section 2, the doctor obtains the 3 d stereoscopic visual information of operative site by wearing anaglyph spectacles 3a.Endoscope obtains part 4, illumination section 5 and three-dimensional imaging part 6 by optical imagery and consists of.
A kind of medical endoscope three-dimensional image forming apparatus 6 of the present invention, it comprises housing, at described housing CCD camera and image light processing system are installed, described CCD camera can receive sequentially by turns the optical imagery acquisition unit by the image light processing system and divide road incident image light in the two-way incident image light that obtains.
As one embodiment of the present invention, such as Fig. 2, shown in 3, described image light processing system comprises the first prism 602 and the second prism 603 that is installed in housing 601 both sides, at described the first prism, centre position between the second prism is equipped with double-surface mirror reflector 604, described the first prism is arranged on the optical imagery acquisition unit and divides on the light path of the two-way incident image light that obtains, the second prism is arranged on the optical imagery acquisition unit and divides on another light path in the two-way incident image light that obtains, described the first prism, the second prism is respectively applied to two-way incident image light reflection is formed and vertically disposed the first reflection ray of two-way image light, the second reflection ray, double-surface mirror reflector is arranged on described the first reflection ray, on the light path of the second reflection ray, the one side of double-surface mirror reflector is used for the first reflection ray is reflected to form and vertically disposed the 3rd reflection ray of the first reflection ray, the another side of double-surface mirror reflector is used for the second reflection ray is reflected to form the 4th reflection ray with the 3rd consistent setting in reflection ray position, described CCD camera is arranged on the 3rd, on the light path of four reflection rays, sidewall at described double-surface mirror reflector is equipped with the chopper that is the cross setting, described double-surface mirror reflector 604 links to each other with rotating driving device, four cross ends of described chopper can be by rotating driving device drive successively with a corresponding setting of luminous end that is installed in the photoelectric sensor 608 in the housing, described CCD camera 609 links to each other to receive the triggering signal from photoelectric sensor with photoelectric sensor, the image light that obtains part from optical imagery can be sequentially successively by a prism in two prisms, one side in the double-surface mirror reflector reflexes to described CCD camera place.Described rotating driving device comprises motor, at the rotating shaft of described motor 605 driving bevel gear 606 is installed, described driving bevel gear 606 and passive bevel gear 607 engagement fit that are installed on the double-surface mirror reflector.Certainly, rotating driving device also can be for silk transmission, chain transmission or with the form of transmission.
The first prism 602 is used for the light that reflection is caught from camera lens 401 in this device, and the second prism 603 is used for the light that reflection is caught from camera lens 402.The motor 605 that is connected on the housing 601 provides motive power, drives the serial movement that a pair of gear 606,607 makes double-surface mirror reflector 604 keep a direction rotation.Be installed in photoelectric sensor 608 on the housing 601 as the triggering signal detecting element, chopping point on the photoelectric sensor is every by the end shading in four cross ends of chopper once, Trig control signal, control system is made a response at once, starts electronic shutter and makes this image constantly of CCD camera 609 records.
Fig. 4-1 and 4-2 have shown the Image Acquisition principle of the first technical scheme.Shown in Fig. 4-1, establish light A and caught by camera lens 401 and reflex to illuminator 604 places by the first prism 602; Light B is caught by camera lens 402 and is reflexed to illuminator 604 places by the second prism 603.Illuminator 604 keeps clockwise rotation, when going to when being-45 ° with the light path angle, only have light A to be reflexed to CCD camera 609 places by illuminator, photoelectric sensor 608 triggers simultaneously, control system sends instruction and starts electronic shutter and make the piece image that CCD camera 609 intercepting camera lenses 401 catch and be sent to image processing system, and this moment, light B did not enter the CCD camera by reflection; Next is constantly shown in Fig. 4-2, when the illuminator rotation extremely is 45 ° with the light path angle, only have light B to be reflexed to CCD camera 609 places by illuminator, photoelectric sensor 607 triggers simultaneously, control system sends instruction and starts electronic shutter and make the piece image that CCD camera 609 intercepting camera lenses 402 catch and be sent to image processing system, and this moment, light A did not enter CCD camera 609 by reflection.The image that image processing system comes twice transmission is processed rear formation one frame 3-D view and is sent to display 3 by transmission equipment.Set motor 605 and drive illuminator 604 with the speed rotation of 1/15 second every circle, 45 ° of CCD609 of every rotation catch a width of cloth picture, so revolving, illuminator turns around, CCD609 sends two picture group sheets (every group of two width of cloth) to processor, and finally show two frame 3-D views by display, then operative doctor can be watched the surgical scene with three-dimensional stereo effect of playing with the speed of 30 frame per seconds.
Fig. 5,6 is depicted as the internal structure sketch map of the second technical scheme of the present invention; Described image light processing system comprises the first polaroid 902 and the second polaroid 903 that is installed in housing 901 both sides, the first prism 904 is installed the interval with it at described the first polaroid rear, the second prism 905 is installed the interval with it at described the second polaroid rear, at described the first prism, centre position between the second prism is equipped with prism 906, rear at described prism is equipped with liquid crystal filter 907 in the interval successively, the 3rd polaroid 908 and CCD camera 909, described the first polaroid and the first prism are successively set on the optical imagery acquisition unit and divide on the light path of the road incident image light that obtains, described the second polaroid and the second prism are successively set on the optical imagery acquisition unit and divide on the light path of another road incident image light that obtains, described the first prism, the second prism is respectively applied to two-way incident image light reflection is formed and vertically disposed the first reflection ray of two-way incident image light, the second reflection ray, prism is arranged on the first reflection ray, on the light path of the second reflection ray, the one side of prism is used for the first reflection ray is reflected to form the 3rd reflection ray, the another side of prism is used for the second reflection ray is reflected to form the 4th reflection ray, described liquid crystal filter 907, the 3rd polaroid 908 and CCD camera 909 are arranged on the light path of the 3rd reflection ray and the 4th reflection ray, and described liquid crystal filter links to each other with exciting bank.The image light that obtains part from optical imagery can order enter the CCD camera or enter the CCD camera by the second polaroid, the second prism, prism, liquid crystal filter, the 3rd polaroid successively by the first polaroid, the first prism, prism, liquid crystal filter, the 3rd polaroid successively.
Two groups of light of catching from camera lens 701,702 are at first through forming unidirectional polarized light (the two polarization phase is mutually vertical) behind the first polaroid 902 of being connected mutually with endoscope housing 901, the second polaroid 903, through the first prism 904, the second prism 905 and prism 906 reflections, by liquid crystal filter 907 rear arrival polaroids 908 places.When liquid crystal filter 907 encouraged without analogue signal, two groups of light saw through optical filter any variation do not occur, and the final light identical with the 3rd polaroid 908 polarization phases is caught by CCD camera 909.Next constantly, when liquid crystal filter 907 after analogue signal excitation, change has occured in its inner crystalline phase, so that by two groups of light polarization directions separately of optical filter with by just in time opposite before the optical filter, finally the light identical with the 3rd polaroid 908 polarization directions is caught by CCD camera 909.The image that former and later two collection moment CCD cameras are caught comes from two different camera lenses.
Fig. 7-1 and Fig. 7-2 is depicted as the Image Acquisition principle of the second technical scheme.Shown in Fig. 7-1, if light C is caught by camera lens 701, by becoming unidirectional polarized light (supposition polarization direction for laterally) behind the first polaroid 902, and arrive the 3rd polaroid 908 places through seeing through liquid crystal filter 907 after the first prism 904, prism 906 reflections; If light D is caught by camera lens 702, by becoming unidirectional polarized light (supposition polarization direction for vertically) behind the second polaroid 903, and arrive the 3rd polaroid 908 places through seeing through liquid crystal filter 907 after the second prism 905, prism 906 reflections.The first polaroid 902 identical with the polarization direction of the 3rd polaroid 908 (being laterally) is opposite with the polarization direction of the second polaroid 903.When liquid crystal filter 907 encourages without analogue signal, because of the polarization direction of light C identical with the polarization direction of the 3rd polaroid 908, so can be caught and be sent to image processing system by CCD camera 909 by the 3rd polaroid 908, and light D is filtered with the polarization direction of the 3rd polaroid 908 is vertical owing to the polarization direction, and namely this moment, the CCD camera was caught is image from camera lens 701; Next constantly, liquid crystal filter encourages through analogue signal, its inner crystalline phase changes, cause light C, separately polarization direction was with original opposite (polarization direction of light C is vertical by laterally becoming after D passed through, the polarization direction of light D is by vertically becoming laterally), this moment light D polarization direction and the 3rd polaroid 908 consistent, thereby can finally be caught and be sent to image processing system by CCD camera 909 by the 3rd polaroid 908, and light C is filtered with the polarization direction of the 3rd polaroid 908 is vertical owing to the polarization direction, and namely this moment, the CCD camera was caught is image from camera lens 702.Image processing system receives two width of cloth images that CCD camera 909 transmits continuously, forms after treatment a frame 3-D view and is sent to display 3 by transmission equipment.Control system is being done the repeatability excitation action of " opening-stop-open-stop " with 1/30 second each FREQUENCY CONTROL analogue signal to liquid crystal filter 907, simultaneously CCD camera 909 is caught and be shown as a frame 3-D view by display after continuous two width of cloth pictures that get are processed, then operative doctor can be watched the surgical scene with three-dimensional stereo effect of playing with the speed of 30 frame per seconds.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing also is one of embodiments of the present invention, and actual structure is not limited to this.So; if those skilled in the art is enlightened by it; in the situation that does not break away from the invention aim; adopt transmission, driving device and the connected mode of other form without creationary design frame mode and the embodiment similar to this technical scheme, all should belong to protection scope of the present invention.
Claims (3)
1. medical endoscope three-dimensional image forming apparatus, it comprises housing, it is characterized in that: at described housing CCD camera and image light processing system are installed, described CCD camera can receive sequentially by turns the optical imagery acquisition unit by the image light processing system and divide road incident image light in the two-way incident image light that obtains.
2. medical endoscope three-dimensional image forming apparatus according to claim 1, it is characterized in that: described image light processing system comprises the first prism and the second prism that is installed in the housing both sides, at described the first prism, centre position between the second prism is equipped with double-surface mirror reflector, described the first prism is arranged on the optical imagery acquisition unit and divides on the light path of the two-way incident image light that obtains, the second prism is arranged on the optical imagery acquisition unit and divides on another light path in the two-way incident image light that obtains, described the first prism, the second prism is respectively applied to two-way incident image light reflection is formed and vertically disposed the first reflection ray of two-way incident image light, the second reflection ray, double-surface mirror reflector is arranged on described the first reflection ray, on the light path of the second reflection ray, the one side of double-surface mirror reflector is used for the first reflection ray is reflected to form and vertically disposed the 3rd reflection ray of the first reflection ray, the another side of double-surface mirror reflector is used for the second reflection ray is reflected to form the 4th reflection ray with the 3rd consistent setting in reflection ray position, described CCD camera is arranged on the 3rd, on the light path of four reflection rays, sidewall at described double-surface mirror reflector is equipped with the chopper that is the cross setting, described double-surface mirror reflector links to each other with rotating driving device, four cross ends of described chopper can be by rotating driving device drive successively with a corresponding setting of luminous end that is installed in the photoelectric sensor in the housing, described CCD camera links to each other to receive the triggering signal from photoelectric sensor with photoelectric sensor.
3. medical endoscope three-dimensional image forming apparatus according to claim 1, it is characterized in that: described image light processing system comprises the first polaroid and the second polaroid that is installed in the housing both sides, the first prism is installed the interval with it at described the first polaroid rear, the second prism is installed the interval with it at described the second polaroid rear, at described the first prism, centre position between the second prism is equipped with prism, rear at described prism is equipped with liquid crystal filter in the interval successively, the 3rd polaroid and CCD camera, described the first polaroid and the first prism are successively set on the optical imagery acquisition unit and divide on the light path of the road incident image light that obtains, described the second polaroid and the second prism are successively set on the optical imagery acquisition unit and divide on the light path of another road incident image light that obtains, described the first prism, the second prism is respectively applied to two-way incident image light reflection is formed and vertically disposed the first reflection ray of two-way incident image light, the second reflection ray, prism is arranged on the first reflection ray, on the light path of the second reflection ray, the one side of prism is used for the first reflection ray is reflected to form the 3rd reflection ray, the another side of prism is used for the second reflection ray is reflected to form the 4th reflection ray, described liquid crystal filter, the 3rd polaroid and CCD camera are arranged on the light path of the 3rd reflection ray and the 4th reflection ray, and described liquid crystal filter links to each other with exciting bank.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210543252.XA CN103006170B (en) | 2012-12-16 | 2012-12-16 | Medical endoscope three-dimensional imaging device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210543252.XA CN103006170B (en) | 2012-12-16 | 2012-12-16 | Medical endoscope three-dimensional imaging device |
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| CN103006170A true CN103006170A (en) | 2013-04-03 |
| CN103006170B CN103006170B (en) | 2014-08-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019075922A1 (en) * | 2017-10-20 | 2019-04-25 | 苏敏 | Single-lens horizontal-scroll stereoscopic endoscope system |
| CN116841032A (en) * | 2023-05-31 | 2023-10-03 | 极限人工智能有限公司 | Endoscope lens, electronic endoscope and image acquisition method |
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| WO2007132378A2 (en) * | 2006-05-09 | 2007-11-22 | Koninklijke Philips Electronics N. V. | Imaging system for three-dimensional imaging of the interior of an object |
| CN101518438A (en) * | 2009-03-27 | 2009-09-02 | 南开大学 | Binocular endoscope operation visual system |
| CN102186405A (en) * | 2008-10-24 | 2011-09-14 | 韩商未来股份有限公司 | Laparoscope and setting method thereof |
| US20120002956A1 (en) * | 2010-07-02 | 2012-01-05 | Mcdowall Ian | Dual optical path prism and camera in a minimally invasive surgical system |
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2012
- 2012-12-16 CN CN201210543252.XA patent/CN103006170B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4924853A (en) * | 1989-05-22 | 1990-05-15 | Medical Dimensions, Inc. | Stereoscopic medical viewing device |
| US5613936A (en) * | 1995-02-22 | 1997-03-25 | Concurrent Technologies Corp. | Stereo laparoscope apparatus |
| WO2007132378A2 (en) * | 2006-05-09 | 2007-11-22 | Koninklijke Philips Electronics N. V. | Imaging system for three-dimensional imaging of the interior of an object |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019075922A1 (en) * | 2017-10-20 | 2019-04-25 | 苏敏 | Single-lens horizontal-scroll stereoscopic endoscope system |
| CN116841032A (en) * | 2023-05-31 | 2023-10-03 | 极限人工智能有限公司 | Endoscope lens, electronic endoscope and image acquisition method |
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| CN103006170B (en) | 2014-08-13 |
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