CN102090879A - Three-dimensional hard electronic cholecystoscope system and using method thereof - Google Patents
Three-dimensional hard electronic cholecystoscope system and using method thereof Download PDFInfo
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- CN102090879A CN102090879A CN201110033346.8A CN201110033346A CN102090879A CN 102090879 A CN102090879 A CN 102090879A CN 201110033346 A CN201110033346 A CN 201110033346A CN 102090879 A CN102090879 A CN 102090879A
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- A61B1/307—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 for the urinary organs, e.g. urethroscopes, cystoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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Abstract
本发明属于医用器械领域，具体公开三维立体硬质电子胆囊镜系统，其包括硬质电子胆囊镜，所述硬质电子胆囊镜包括硬质工作端部、内镜主体部分，所述硬质工作端部上设有能对胆囊腔进行三维立体扫描拍摄、显示全景三维立体图像并对胆囊腔进行三维立体重构的多CCD阵列模块，所述多CCD阵列模块包括至少一置于硬质工作端部先端部前端面的端面CCD阵列模块，及至少一置于硬质工作端部先端部外圆表面的圆周面CCD阵列模块。本发明通过至少两个部分的CCD阵列模块配合内窥镜的纵深运动，所得到的所有关于胆囊内的图像资料和和测距器测出的距离数据传输到处理主机进行集中处理重构，重现胆囊的立体环境，帮助医护人员更为清楚地了解胆囊腔内病变状况，为制定处理方案提供更好的图像依据，具有重要的实际意义。
The invention belongs to the field of medical equipment, and specifically discloses a three-dimensional rigid electronic cholecystoscope system, which includes a rigid electronic cholecystoscope, the rigid electronic cholecystoscope includes a hard working end and an endoscope main body, and the hard working The end is provided with a multi-CCD array module capable of performing three-dimensional scanning and shooting of the gallbladder cavity, displaying a panoramic three-dimensional image, and performing three-dimensional reconstruction of the gallbladder cavity. The multi-CCD array module includes at least one An end face CCD array module on the front end face of the head portion, and at least one peripheral surface CCD array module placed on the outer circular surface of the hard working end portion. In the present invention, through at least two parts of the CCD array module and the deep movement of the endoscope, all the obtained image data about the gallbladder and the distance data measured by the range finder are transmitted to the processing host for centralized processing and reconstruction. Realizing the three-dimensional environment of the gallbladder can help medical staff understand the lesion in the gallbladder cavity more clearly, and provide better image basis for formulating treatment plans, which is of great practical significance.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of 3 D stereo hard electronic cholecystoscope 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 eyepiece quantity 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, at present some stereo endoscopes, what use is the binocular structure, its endoscope distal end can be an optical lens or two optical lens, 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 the gallbladder mirror, therefore,, that many ccd array technology and the bonded endoscopic technic of gallbladder mirror is extremely urgent in order to obtain clearly 3 D stereoscopic image of gallbladder intracavity.
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 gallbladder mirror is proposed, this 3 D stereo hard electronic gallbladder mirror can carry out stereoscopic three-dimensional reconstruct to the gallbladder chamber in operation process, help medical personnel to understand the intracavity lesion situation, formulate processing scheme the better pictures foundation is provided.
In order to realize the deficiency of above-mentioned technology, the present invention is achieved by the following technical solutions:
3 D stereo hard electronic cholecystoscope system of the present invention, comprise hard electronic gallbladder mirror and the cold light source main frame that is connected with hard electronic gallbladder mirror, described hard electronic gallbladder mirror 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 the gallbladder chamber, show its panorama three-dimensional image and many ccd array module of the gallbladder chamber being carried out stereoscopic image 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.Described have that many array modules can be carried out the 3 D stereo scanning shoot to the gallbladder chamber, shown the panorama three-dimensional image, hard electronic gallbladder mirror that stereoscopic image reconstruct is carried out in the gallbladder chamber is referred to as 3 D stereo hard electronic gallbladder mirror.
In the present invention, also be connected with external stability support, processing host, light source main frame, work station assembly etc. on the described 3 D stereo hard electronic gallbladder mirror.
3 D stereo hard electronic gallbladder mirror of the present invention, according to whether having passage (function that promptly has treatment) and whether with handles, can be divided into and have passage 3 D stereo hard electronic gallbladder mirror with handles, have passage not have the 3 D stereo hard electronic gallbladder mirror of handle, with handles, tape channel 3 D stereo hard electronic gallbladder mirror totally four kinds of versions of not having a handle not in tape channel not, specific as follows:
First kind, have the 3 D stereo hard electronic gallbladder mirror that passage does not have handle, it comprises hard work end, scope main part, data connector end, cold light source joint, instrument channel, intake tunnel and exhalant canal.
Second kind, have passage 3 D stereo hard electronic gallbladder mirror with handles, it comprises hard work end, scope main part, handle portion and integrated interface and cold light source joint, instrument channel, intake tunnel and exhalant canal.
The third, the tape channel does not have the 3 D stereo hard electronic gallbladder mirror of handle, and its structure comprises hard work end, scope main part, data connector end and cold light source joint.
The 4th kind, tape channel 3 D stereo hard electronic gallbladder mirror with handles not, its structure comprises hard work end, scope main part, handle portion and integrated interface or data connector end and cold light source joint.
The hard work end of the 3 D stereo hard electronic gallbladder mirror of tape channel of the present invention, its length 250～300mm, external diameter is smaller or equal to 12mm, its front end 9～15mm is first end, and the design of first end has many ccd array module, optical fibers part, instrument channel outlet and Inlet and outlet water channel outlet.
The hard work end of the 3 D stereo hard electronic gallbladder mirror of not tape channel of the present invention, its length 250～300mm, external diameter are smaller or equal to 12mm, and its front end 9～15mm is first end, and the design of first end has many ccd array module, optical fibers part.
Many ccd array module of the present invention comprises the ccd array and the range finder of tip end surface, the ccd array and the range finder thereof of first end outer round surface.
Among the present invention, the described end face ccd array module of tip end surface that places comprises end face ccd array and end face range finder, described end face ccd array, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged, and the corresponding one group of optical lens of each CCD can be simultaneously to the imaging of same intracavity part, at least 90 ° of the angles of visual field of every group of optical lens, ccd array have per second at least and take 5 speed.Described range finder utilizes the principle of reflection of laser or sound wave etc., and cavity distance, the degree of depth are measured.The operating frequency of range finder is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.
Among the present invention, the described periphery ccd array module of first end outer round surface that places comprises periphery ccd array and periphery range finder, described periphery ccd array comprises one group of ccd array at least, every group of ccd array comprises at least 2 CCD elements and corresponding optical lens, can be simultaneously to the imaging of same gallbladder intracavity part, at least 90 ° of the angles of visual field of every group of optical lens, ccd array have per second at least and take 5 speed.Range finder of appropriate location configuration of one group of ccd array, its operating frequency is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to carry out stereo reconstruction.Ccd array is installed on the annulus carrier that can rotate with main shaft, the CCD filming image that can be rotated cavity, the speed of annulus carrier rotation and the movement velocity of external stability support are proportional, to guarantee that the intravital image energy in chamber 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 gallbladder mirror, 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 3 D stereo hard electronic gallbladder mirror that has passage of the present invention, its instrument channel internal diameter is smaller or equal to 3.0mm, and intake tunnel and exhalant canal are respectively smaller or equal to 1.0mm.
External stability support of the present invention, its effect are to cooperate 3 D stereo hard electronic gallbladder mirror to carry out the ccd array scanning of cavity, and many ccd array rotation sweep shooting speed of its translational speed and 3 D stereo hard electronic gallbladder mirror elder generation end is proportional.Its structure comprises stationary fixture, support, mobile device.Stationary fixture is used for closely the fixedly scope main part of 3 D stereo hard electronic gallbladder mirror, 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 gallbladder mirror returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction 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.), 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 cholecystoscope system, its clinical using method and system connect as follows: the doctor extracts patient's gallbladder to stomach wall, fixing gallbladder, do miniature incision in the gallbladder bottom, and importing 3 D stereo hard electronic gallbladder mirror, by 3 D stereo hard electronic gallbladder mirror gallbladder being injected normal saline makes gallbladder full, the scope main part of 3 D stereo hard electronic gallbladder mirror is fixed on the external stability support, the external processing host of data connector end of 3 D stereo hard electronic gallbladder mirror, cold light source joint external light source main frame, work station is connected by data wire with the external stability support with processing host.The gallbladder chamber is carried out to keep the in stable condition of gallbladder in the process of 3 D stereo scanning as far as possible, start the many ccd array module and the external stability support of 3 D stereo hard electronic gallbladder mirror 3 D stereo hard electronic gallbladder mirror simultaneously, when many ccd array module is carried out the scanning shoot of straight line and rotation to the gallbladder chamber, 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 gallbladder wall or gallbladder wall 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 gallbladder mirror 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 cavities is carried out stereoscan shooting and stereo reconstruction first, processing by processing host, obtain the stereoscopic image of gallbladder chamber cavity tract, the stereo-picture of gallbladder 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 gallbladder mirror 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 the system schematic of 3 D stereo hard electronic gallbladder mirror of the present invention.
Fig. 2 a, Fig. 2 b are the structure charts (comprising two kinds of forms not with handles and with handles) of tape channel of the present invention 3 D stereo hard electronic gallbladder mirror.
Fig. 3 a is a tape channel 3 D stereo hard electronic gallbladder mirror elder generation end structural representation (corresponding to above-mentioned Fig. 2 a, Fig. 2 b) among the present invention.
Fig. 2 c, Fig. 2 d are the structure charts (comprising two kinds of forms not with handles and with handles) of not tape channel of the present invention 3 D stereo hard electronic gallbladder mirror.
Fig. 3 b is a tape channel 3 D stereo hard electronic gallbladder mirror elder generation end structural representation (corresponding to above-mentioned Fig. 2 c, Fig. 2 d) among the present invention.
Fig. 4 is first end many ccd array module generalized section of 3 D stereo hard electronic gallbladder mirror of the present invention.
Fig. 5 is the external stability supporting structure sketch map of not tape channel of the present invention 3 D stereo hard electronic cholecystoscope system.
Fig. 6 is the clinical practice sketch map of not tape channel of the present invention 3 D stereo hard electronic cholecystoscope system.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
Be illustrated in figure 1 as the system schematic of 3 D stereo hard electronic gallbladder mirror of the present invention.3 D stereo hard electronic cholecystoscope system comprises: 3 D stereo hard electronic gallbladder mirror 1, external stability support 2, processing host 3, light source main frame 5, work station assembly, the work station assembly comprises work station main frame 4, control assembly 6, monitor 7 and external equipment 8.
Whether 3 D stereo hard electronic gallbladder mirror of the present invention has passage and whether have handle according to it can be divided into following form, specifically:
Be depicted as the structure chart of tape channel of the present invention 3 D stereo hard electronic gallbladder mirror 1 as Fig. 2 a, Fig. 2 b.Tape channel 3 D stereo hard electronic gallbladder mirror 1 has at least two kinds of forms:
First kind is 3 D stereo hard electronic gallbladder mirror not with handles, and shown in Fig. 2 a, it comprises hard work end 11, scope main part 10, data connector end 15, cold light source joint 12, instrument channel 17, intake tunnel 13 and exhalant canal 14 etc.
Second kind is 3 D stereo hard electronic gallbladder mirror with handles, shown in Fig. 2 b, it comprises hard work end 11, scope main part 10, handle portion 18, integrated interface 19, instrument channel 17, intake tunnel 13 and exhalant canal 14 etc., wherein integrated interface 19 is integrated with the effect of cold light source joint and data connector end, and design is in handle portion 18 inside.
Among the present invention, the hard work end 11 of the 3 D stereo hard electronic gallbladder mirror 1 of tape channel, its length 250～300mm, external diameter is smaller or equal to 12mm, its front end 10mm is first end 111, shown in Fig. 3 a, first end 111 designs of described hard work end 11 have end face ccd array module and periphery ccd array module, optical fibers part 121, instrument channel outlet 171 and Inlet and outlet water channel outlet 131,141, optical fibers part 121 provide stereoscopic three-dimensional electronics gallbladder mirror 1 front end and circular end surface to observe necessary brightness.By end face ccd array module, periphery ccd array module the 3 D stereo scanning shoot is carried out in the gallbladder chamber, show the panorama three-dimensional image in gallbladder chamber and stereoscopic image reconstruct is carried out in the gallbladder chamber.
Be depicted as the not structure chart of tape channel 3 D stereo hard electronic gallbladder mirror 1 of the present invention as Fig. 2 c, Fig. 2 d.Tape channel 3 D stereo hard electronic gallbladder mirror 1 does not have two kinds of forms at least yet:
First kind is not with handles, 3 D stereo hard electronic gallbladder mirror 1, and shown in Fig. 2 c, it comprises hard work end 11, scope main part 10, data connector end 12, cold light source joint 15 etc.
Second kind is 3 D stereo hard electronic gallbladder mirror 1 with handles, shown in Fig. 2 d, it comprises hard work end 11, scope main part 10, handle portion 18, integrated interface 19, integrated interface 19 is integrated with the effect of cold light source joint and data connector end 12, and design is in handle portion 18 inside.
Above-mentioned two kinds of hard work ends 11 of the 3 D stereo hard electronic gallbladder mirror 1 of tape channel not, its length 250～300mm, external diameter is smaller or equal to 12mm, its front end 10mm is first end 111, shown in Fig. 3 b, elder generation's end 111 design has end face ccd array module and periphery ccd array module, optical fibers part 121, and optical fibers part 121 provides stereoscopic three-dimensional electronics gallbladder mirror 1 front end and circular end surface to observe necessary brightness.
Shown in Fig. 3 a, 3b, the described end face ccd array module that places the tip end surface comprises end face ccd array 151 and end face range finder 152.Described end face ccd array 153, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged, the corresponding one group of optical lens of each CCD, can be simultaneously to the imaging of same intracavity part, 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 152 utilizes the principle of reflection of laser or sound wave etc., and cavity distance, the degree of depth are measured.The operating frequency of end face range finder 152 is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.
The described periphery ccd array module of first end outer round surface that places comprises periphery ccd array 153 and periphery range finder 154.Described periphery ccd array 153, 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 same intracavity part, and at least 90 ° of the angles of visual field of every group of optical lens, described periphery ccd array 153 have per second at least and take 5 speed.And periphery range finder 154 of the appropriate location of one group of ccd array configuration, described periphery range finder 154 operating frequencies are consistent with the operating frequency of periphery ccd array 153, guarantee data sync, are beneficial to carry out stereo reconstruction.As seen from the figure, ccd array 153 is installed on the annulus carrier 155 that can rotate with hard work end 11 main shafts, the CCD filming image that can be rotated cavity, the speed of annulus carrier 155 rotations and the movement velocity of external stability support 2 are proportional, carry out the seamless combination of multi-angle to guarantee the intravital image energy in chamber.
As shown in Figure 4, described end face ccd array 151 and end face range finder 152 directly are fixed on the endface position of first end, minimum 90 ° of the angle of visual field of end face ccd array 151, and its effect mainly is a 3-D view of taking the scope front end.
What described circular surfaces ccd array 153 and periphery range finder 154 were installed in scope elder generation end 111 can be on the annulus carrier 155 of scope work end 111 main axis rotation, annulus carrier 155 is fixed on the fixed mechanism 158 of scope inside by cooperation, can carry out level and smooth relative rotary motion with fixed mechanism 158, the data of periphery ccd array 153 and periphery range finder 154 also transfer to processing host 3 by suitable transmission means through data wire 156, the power of annulus carrier 155 comes from the micromotor 157 of scope elder generation end, provides the energy of annulus carrier around fixed mechanism 158 rotations by drive mechanism.
As shown in Figure 5, the effect of external stability support 2 is to cooperate 3 D stereo hard electronic gallbladder mirror 1 to carry out the ccd array scanning of cavity, and the end face ccd array 153 and the periphery ccd array 154 rotation sweep shooting speeds of its translational speed and 3 D stereo hard electronic gallbladder mirror 1 first end are proportional.Described external stability support comprises stationary fixture 23, support 22, mobile device 21.Wherein stationary fixture 23 is used for closely the fixedly scope main part 10 of 3 D stereo hard electronic gallbladder mirror 1, support 22 is used to be 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 processing host 4 unified controls.In the present invention, described 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 cholecystoscope system of the present invention.3 D stereo hard electronic gallbladder mirror 1 connects cold light source main frame 5 and processing host 3, work station assembly (main frame 4, control assembly 6, monitor 7 and external equipment 8) be in normal operating conditions, the miniature incision of hard work end 11 through gallbladder 9 bottoms of 3 D stereo hard electronic gallbladder mirror 1 enters the gallbladder intracavity, need carry out the scanning reconstruct of 3 D stereo to the gallbladder chamber, then can pass through fixedly gallbladder and full normal saline, 3 D stereo hard electronic gallbladder mirror 1 is fixed on the external stability support 2, both are in stable condition, reduce external interference to gallbladder 9 and 3 D stereo hard electronic gallbladder mirror 1 as far as possible, by work station assembly (main frame 4, control assembly 6, monitor 7 and external equipment 8) start the scanning shoot function of many ccd array of 3 D stereo hard electronic gallbladder mirror 1, start the mobile device 21 of external stability support 2 simultaneously, the rotary speed of the annulus carrier 155 of the first end of its translational speed and 3 D stereo hard electronic gallbladder mirror 1 is proportional, carry out the 3 D stereo reconstruction to guarantee image quality and to help processing host, 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 gallbladder of 3 D stereo hard electronic gallbladder mirror chamber 9 is scanned, can clearly demonstrate the panorama graphics in gallbladder chamber 9, the deep layer situation of understanding gallbladder 9 for the doctor provides more detailed foundation.After the 3 D stereoscopic image in gallbladder chamber 9 was rebuild, the doctor can use the 1 pair of gallbladder intracavity lesion of 3 D stereo hard electronic gallbladder mirror that has passage to handle according to 3-D view.
Claims (11)
1. 3 D stereo hard electronic cholecystoscope system, comprise hard electronic gallbladder mirror and the cold light source main frame that is connected with hard electronic gallbladder mirror, described hard electronic gallbladder mirror 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 the gallbladder chamber, show its panorama three-dimensional image, and to the gallbladder chamber carry out stereoscopic image 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 cholecystoscope system according to claim 1, it is characterized in that: whether described hard electronic gallbladder mirror has passage and whether with handles according to it, can be divided into and have passage hard electronic gallbladder mirror with handles, have passage not have the hard electronic gallbladder mirror of handle, with handles, tape channel hard electronic gallbladder mirror totally four kinds of versions of not having a handle not in tape channel not.
3. 3 D stereo hard electronic cholecystoscope system according to claim 1 is characterized in that: the hard work end of described hard electronic gallbladder mirror, and its length 250～300mm, external diameter are smaller or equal to 12mm, and 9～15mm of its front end is first end.
4. 3 D stereo hard electronic cholecystoscope 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 optics optical lens of each CCD element, the angle of visual field of every group of optics optical lens is 90 ° at least.
5. 3 D stereo hard electronic cholecystoscope 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 cholecystoscope 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 optics optical lens of each CCD element, the angle of visual field of every group of optics optical lens is 90 ° at least.
7. 3 D stereo hard electronic cholecystoscope 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 cholecystoscope 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 body, and described periphery ccd array and periphery range finder are located on this annulus carrier.
9. 3 D stereo hard electronic cholecystoscope system according to claim 8, it is characterized in that: also be fixedly connected with the external stability support on the scope main body of described gallbladder mirror 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 cholecystoscope system according to claim 1, it is characterized in that: described 3 D stereo hard electronic gallbladder mirror 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, 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 gallbladder mirror returns and range finder are formed, various data by the analytical data bag, the gallbladder image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction gallbladder.
11. the using method of 3 D stereo hard electronic cholecystoscope system according to claim 1 is characterized in that:
(1) otch of hard electronic gallbladder mirror bottom gallbladder entered the gallbladder intracavity;
(2) the many ccd array module by placing hard electronic gallbladder mirror hard work end straight line and rotation are carried out in the gallbladder chamber scanning shoot the time promptly the gallbladder chamber is carried out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and stereoscopic image reconstruct is carried out in the gallbladder chamber.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100333468A CN102090879B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional hard electronic cholecystoscope system |
| PCT/CN2011/083095 WO2012103766A1 (en) | 2011-01-31 | 2011-11-29 | 3d electronic rigid cholecystoscope system and method for use thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100333468A CN102090879B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional hard electronic cholecystoscope system |
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| CN102090879A true CN102090879A (en) | 2011-06-15 |
| CN102090879B CN102090879B (en) | 2012-08-15 |
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| WO (1) | WO2012103766A1 (en) |
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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 |
| CN103767667A (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 gallbladder endoscope system |
| CN103767663A (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 colposcope system |
| CN104434016A (en) * | 2014-12-12 | 2015-03-25 | 上海市同济医院 | Laparoscopic two-dimensional bending controllable choledochoscope clamp |
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Also Published As
| Publication number | Publication date |
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| WO2012103766A1 (en) | 2012-08-09 |
| CN102090879B (en) | 2012-08-15 |
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Application publication date: 20110615 Assignee: Guangzhou Tuoming Medical Technology Co.,Ltd. Assignor: GUANGZHOU BAODAN MEDICAL INSTRUMENT TECHNOLOGY Co.,Ltd. Contract record no.: X2022980013469 Denomination of invention: 3D Stereo Rigid Electronic Cholecystoscope System Granted publication date: 20120815 License type: Exclusive License Record date: 20220830 |
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