CN103006170B - Medical endoscope three-dimensional imaging device - Google Patents

Abstract

The invention discloses a three-dimensional imaging device for medical endoscope, which comprises a casing, on which a CCD camera and an image light processing system are installed, and the CCD camera can sequentially receive images through the image light processing system. One of the two incident image rays acquired by the optical imaging acquisition part. Beneficial effects of the present invention: 1. The endoscope three-dimensional imaging device of the present invention can realize the acquisition of three-dimensional images only by using one CCD image sensor. Under the premise of ensuring the same function, compared with similar products on the market, the cost is relatively low Low. 2. The present invention is simple in structure, easy to use, easy to maintain and replace, and is suitable for three-dimensional image acquisition and real-time feedback of minimally invasive surgical operations in clinical practice, bringing convenience to surgeons and assistants.

Description

A three-dimensional imaging device for medical endoscope

technical field

The invention relates to a medical electronic endoscope imaging device, in particular to a medical endoscope three-dimensional imaging device.

Background technique

Endoscopic imaging technology is a relatively typical imaging technology applied in the medical field, and has extremely high utilization value in medical diagnosis and surgical navigation. Minimally invasive surgery based on endoscopic imaging technology is one of the important development directions in the field of medical surgery since the 20th century, and it is widely used in clinical applications. Minimally invasive surgery has high requirements for visual feedback. The endoscope must reflect the surgical scene in real time and be able to accurately describe the movement information of surgical tools to achieve consistency and synchronization of surgical operations. In traditional minimally invasive surgery, because general endoscopes can only provide two-dimensional images, they cannot perceive the real scene information of the depth and distance of the surgical site and the relative positions of the endoscope and surgical tools in the operating space. During the process, multiple attempts to touch the surface of the tissue to grasp the depth information, or rely on personal experience to make judgments, thus increasing the probability of surgical accidents such as tissue injury caused by misoperation, and resulting in a decrease in the accuracy of the surgical operation. Therefore, accurate 3D visualization scene information is of great significance for increasing the flexibility of surgical operations, reducing the risk of misoperation, and increasing the positioning accuracy of surgical tools, so that doctors can perform many difficult operations, and the safety factor of operations is also greatly improved. .

Contents of the invention

The purpose of the present invention is to overcome the defects of two-dimensional imaging technology widely used in minimally invasive surgical endoscopes at present, and provide a three-dimensional image acquisition and real-time feedback capable of minimally invasive surgical operations clinically, with strong compatibility and low cost. A lower three-dimensional imaging device for a medical endoscope.

A medical endoscope three-dimensional imaging device of the present invention comprises a housing on which a CCD camera and an image light processing system are installed, and the CCD camera can sequentially rotate through the image light processing system to receive optical One of the two incident image rays acquired by the imaging acquisition part.

Advantages of the present invention:

Compared with the prior art, a medical endoscope three-dimensional imaging device of the present invention has the following beneficial effects:

1. The endoscopic three-dimensional imaging device of the present invention can realize the acquisition of three-dimensional images by using only one CCD image sensor, and the cost is lower compared with similar products on the market under the prerequisite of ensuring the same function.

2. The present invention is simple in structure, easy to use, easy to maintain and replace, and is suitable for three-dimensional image acquisition and real-time feedback in minimally invasive surgical operations clinically, bringing convenience to surgeons and assistants.

3. The image display device used with this device can be a time-division stereoscopic display device commonly used in the market, and there is no need to use a specially customized display device, and the compatibility is strong.

Description of drawings

Fig. 1 is the application schematic diagram of a kind of medical endoscope three-dimensional imaging device of the present invention;

Fig. 2 is a structural schematic diagram of a first three-dimensional imaging method of a medical endoscope three-dimensional imaging device of the present invention used in an endoscope;

Fig. 3 is the enlarged schematic view of the internal structure of the device of the present invention shown in Fig. 2;

Figure 4-1 and Figure 4-2 are schematic diagrams of the optical path principle of the device shown in Figure 3;

Fig. 5 is a schematic structural diagram of a second three-dimensional imaging method of a medical endoscope three-dimensional imaging device used in an endoscope according to the present invention;

Figure 6 is an enlarged schematic view of the internal structure of the device of the present invention shown in Figure 5;

Figure 7-1 and Figure 7-2 are schematic diagrams of the principle of the optical path of the device shown in Figure 6 .

Detailed ways

The present invention is described in detail below in conjunction with accompanying drawing and embodiment:

FIG. 1 is a schematic diagram showing the application of a medical endoscope three-dimensional imaging device of the present invention, which consists of three main parts: an endoscope 1 , a monitoring system control part 2 and a display system 3 . The imaging mainly depends on the miniature image sensor CCD (charge-coupled device) equipped at the front end of the endoscope body. After the captured image is processed by the processor, it is displayed on the screen of the monitor 3b of the monitoring system control part 2. The doctor wears the stereo The glasses 3a obtain the three-dimensional stereo vision information of the operation site. The endoscope is composed of an optical imaging acquisition part 4 , an illumination part 5 and a three-dimensional imaging part 6 .

A medical endoscope three-dimensional imaging device 6 of the present invention includes a housing on which a CCD camera and an image light processing system are mounted, and the CCD camera can receive images sequentially through the image light processing system. One of the two incident image rays acquired by the optical imaging acquisition part.

As an embodiment of the present invention, as shown in FIGS. 2 and 3 , the image light processing system includes a first prism 602 and a second prism 603 installed on both sides of the casing 601, and the first prism , The middle position between the second prisms is equipped with a double-sided reflector 604, the first prism is arranged on an optical path of the two incident image rays acquired by the optical imaging acquisition part, and the second prism is arranged on the optical imaging acquisition part On the other optical path of the two incident image rays acquired, the first prism and the second prism are respectively used to reflect the two incident image rays to form the first reflected light and the second reflected light perpendicular to the two image rays. Reflecting light, the double-sided reflective mirror is arranged on the optical path of the first reflected light and the second reflected light, and one side of the double-sided reflective mirror is used to reflect the first reflected light to form a third reflected light vertically arranged with the first reflected light. Reflected light, the other side of the double-sided mirror is used to reflect the second reflected light to form a fourth reflected light that is consistent with the position of the third reflected light, and the CCD camera is set on the optical path of the third and fourth reflected light , the side wall of the double-sided reflector is installed with a cross-shaped shutter, the double-sided mirror 604 is connected to the rotary drive device, and the four cross ends of the shutter can be rotated The drive of the driving device is arranged correspondingly to the light-emitting end of a photoelectric sensor 608 installed in the housing in turn. The CCD camera 609 is connected with the photoelectric sensor to receive the trigger signal from the photoelectric sensor. The image light from the optical imaging acquisition part can be sequentially It is reflected to the CCD camera through one of the two prisms and one side of the double-sided mirror in turn. The rotary driving device includes a motor, and a driving bevel gear 606 is mounted on the rotating shaft of the motor 605, and the driving bevel gear 606 meshes with a passive bevel gear 607 mounted on the double-sided reflector. Of course, the rotary driving device can also be in the form of wire drive, chain drive or belt drive.

In this device, the first prism 602 is used to reflect the light captured by the lens 401 , and the second prism 603 is used to reflect the light captured by the lens 402 . The motor 605 fixedly connected to the casing 601 provides the motive force and drives a pair of gears 606 and 607 to keep the double-sided mirror 604 in a continuous motion of rotating in one direction. The photoelectric sensor 608 installed on the housing 601 is used as a trigger signal detection element. Every time the shading point on the photoelectric sensor is shaded by one of the four cross ends of the shading device, the control signal is triggered, and the control system reacts immediately to start the electronic The shutter causes the CCD camera 609 to record the image at this moment.

Figures 4-1 and 4-2 show the image acquisition principle of the first technical solution. As shown in FIG. 4-1 , assume that light A is captured by the lens 401 and reflected by the first prism 602 to the reflector 604 ; light B is captured by the lens 402 and reflected by the second prism 603 to the reflector 604 . The reflective mirror 604 keeps rotating clockwise. When it turns to an angle of -45° with the optical path, only light A is reflected by the reflective mirror to the CCD camera 609. At the same time, the photoelectric sensor 608 is triggered, and the control system sends an instruction to start the electronic shutter to make the CCD Camera 609 intercepts an image captured by lens 401 and sends it to the image processing system. At this time, light B does not enter the CCD camera through reflection; at the next moment, as shown in Figure 4-2, when the mirror rotates to an angle of 45° with the optical path °, only the light B is reflected to the CCD camera 609 by the mirror, and the photoelectric sensor 607 is triggered at the same time, and the control system sends an instruction to start the electronic shutter to make the CCD camera 609 capture an image captured by the lens 402 and send it to the image processing system. Ray A enters the CCD camera 609 without reflection. The image processing system processes the images sent twice to form a frame of three-dimensional image and transmits it to the display 3 through the transmission device. Set the motor 605 to drive the reflector 604 to rotate at a speed of 1/15 second per revolution, and the CCD609 captures a picture every 45° of rotation, so the reflector rotates once, and the CCD609 sends two groups of pictures to the processor (two for each group) , and finally two frames of three-dimensional images are displayed on the monitor, and the surgeon can watch a three-dimensional operation scene played at a speed of 30 frames per second.

5 and 6 are schematic diagrams of the internal structure of the second technical solution of the present invention; the image light processing system includes a first polarizer 902 and a second polarizer 903 installed on both sides of the housing 901, in the A first prism 904 is installed behind and between the first polarizer, a second prism 905 is installed behind and between the second polarizer, and in the middle between the first prism and the second prism A third prism 906 is installed at the position, and a liquid crystal filter 907, a third polarizer 908, and a CCD camera 909 are successively installed at intervals behind the third prism, and the first polarizer and the first prism are sequentially arranged on the optical On the optical path of one incident image ray acquired by the imaging acquisition part, the second polarizer and the second prism are sequentially arranged on the optical path of another incident image ray acquired by the optical imaging acquisition part, and the first prism, the second prism The two prisms are respectively used to reflect the two incident image rays to form a first reflected ray and a second reflected ray perpendicular to the two incident image rays, the third prism is arranged on the optical path of the first reflected ray and the second reflected ray, and the second prism One side of the triangular prism is used to reflect the first reflected light to form the third reflected light, and the other side of the third prism is used to reflect the second reflected light to form the fourth reflected light. The liquid crystal filter 907 and the third polarizer 908 The CCD camera 909 is arranged on the optical path of the third reflected light and the fourth reflected light, and the liquid crystal filter is connected with the excitation device. The image light from the optical imaging acquisition part can sequentially pass through the first polarizer, the first prism, the third prism, the liquid crystal filter, and the third polarizer to enter the CCD camera or pass through the second polarizer, the second prism, and the third prism in sequence , liquid crystal filter, and the third polarizer enter the CCD camera.

The two groups of light captured by the lenses 701 and 702 first pass through the first polarizer 902 and the second polarizer 903 fixedly connected to the endoscope housing 901 to form unidirectional polarized light (the polarization phases of the two are perpendicular to each other), and then pass through Reflected by the first prism 904 , the second prism 905 and the third prism 906 , pass through the liquid crystal filter 907 and reach the polarizer 908 . When the liquid crystal filter 907 is not excited by an analog signal, the two groups of light pass through the filter without any change, and finally the light with the same polarization phase as the third polarizer 908 is captured by the CCD camera 909 . At the next moment, when the liquid crystal filter 907 is excited by an analog signal, its internal crystal phase changes, so that the polarization directions of the two groups of light passing through the filter are exactly opposite to those before passing through the filter, and finally the same as the third The light with the same polarization direction by the polarizer 908 is captured by the CCD camera 909 . The images captured by the CCD camera at the two acquisition moments before and after come from two different lenses.

Figure 7-1 and Figure 7-2 show the image acquisition principle of the second technical solution. As shown in Figure 7-1, assume that light C is captured by the lens 701, passes through the first polarizer 902 and becomes unidirectionally polarized light (assuming that the polarization direction is transverse), and is reflected by the first prism 904 and the third prism 906 before being transmitted. Pass through the liquid crystal filter 907 and reach the third polarizer 908; assume that the light D is captured by the lens 702, and after passing through the second polarizer 903, it becomes unidirectionally polarized light (assuming that the polarization direction is vertical), and passes through the second prism 905, After being reflected by the third prism 906 , it passes through the liquid crystal filter 907 and reaches the third polarizer 908 . The polarization directions of the first polarizer 902 and the third polarizer 908 are the same (both transverse), and opposite to the polarization direction of the second polarizer 903 . When the liquid crystal filter 907 is not excited by an analog signal, because the polarization direction of the light C is the same as that of the third polarizer 908, it can be captured by the CCD camera 909 through the third polarizer 908 and sent to the image processing system. Light D is filtered because the polarization direction is vertical to the polarization direction of the third polarizer 908, that is, what the CCD camera captures at this moment is the image from the lens 701; The phase changes, causing the polarization directions of the light rays C and D to be opposite to the original ones (the polarization direction of the light C is changed from horizontal to vertical, and the polarization direction of the light D is changed from vertical to horizontal). At this time, the polarization direction of the light D is the same as The consistency of the third polarizer 908 can pass through the third polarizer 908 and finally be captured by the CCD camera 909 and sent to the image processing system, while the light C is filtered out because the polarization direction is perpendicular to the polarization direction of the third polarizer 908, That is, what the CCD camera captures at this moment is the image from the lens 702 . The image processing system receives two consecutive images from the CCD camera 909, and after processing, forms a frame of three-dimensional image and transmits it to the display 3 through the transmission device. The control system controls the analog signal at a frequency of 1/30 second each time to perform repeated excitation actions of "start-stop-start-stop" on the liquid crystal filter 907, and at the same time, the two consecutive pictures captured by the CCD camera 909 After processing, it will be displayed as a frame of three-dimensional image by the monitor, and the surgeon can watch the operation scene with three-dimensional effect played at a speed of 30 frames per second.

The above schematically describes the present invention and its implementation, which is not restrictive, and what is shown in the drawings is only one of the implementations of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by it, without departing from the inventive concept of the present invention, adopt other forms of transmission, driving devices and connection methods without creatively designing structural methods and embodiments similar to the technical solution , should belong to the protection scope of the present invention.

Claims (1)

1. a medical endoscope three-dimensional image forming apparatus, it comprises housing, it is characterized in that: CCD camera and image light processing system are installed on described housing, described CCD camera can receive optical imagery acquisition unit by the rotation of image light processing system order and divide the two-way incident image light Zhong obtaining mono-road incident image light, described image light processing system comprises the first prism and the second prism that is arranged on housing both sides, at the first described prism, centre position between the second prism is provided with double-surface mirror reflector, the first described prism is arranged on optical imagery acquisition unit and divides in a light path of the two-way incident image light obtaining, the second prism is arranged on optical imagery acquisition unit and divides in another light path in the two-way incident image light obtaining, the first described prism, the second prism is respectively used to two-way incident image light reflection to form and vertically disposed the first reflection ray of two-way incident image light, the second reflection ray, double-surface mirror reflector is arranged on the first described reflection ray, in the light path of the second reflection ray, the one side of double-surface mirror reflector is for reflecting to form the first reflection ray and vertically disposed the 3rd reflection ray of the first reflection ray, the another side of double-surface mirror reflector is for reflecting to form the second reflection ray the 4th reflection ray with the 3rd consistent setting in reflection ray position, described CCD camera is arranged on the 3rd, in the light path of four reflection rays, on the sidewall of described double-surface mirror reflector, be provided with and be the chopper that cross arranges, described double-surface mirror reflector is connected 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 arranged on the photoelectric sensor in housing, described CCD camera is connected to receive the triggering signal from photoelectric sensor with photoelectric sensor.