CN103040430A - Three-dimensional endoscope apparatus - Google Patents
Three-dimensional endoscope apparatus Download PDFInfo
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- CN103040430A CN103040430A CN 201310027653 CN201310027653A CN103040430A CN 103040430 A CN103040430 A CN 103040430A CN 201310027653 CN201310027653 CN 201310027653 CN 201310027653 A CN201310027653 A CN 201310027653A CN 103040430 A CN103040430 A CN 103040430A
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- 238000007689 inspection Methods 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 claims 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 claims 1
- 230000000644 propagated effect Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000001839 endoscopy Methods 0.000 abstract 1
- 239000000835 fiber Substances 0.000 description 12
- 238000003745 diagnosis Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011846 endoscopic investigation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000004441 surface measurement Methods 0.000 description 1
- 208000037816 tissue injury Diseases 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
本发明目的是提供一种可实现内窥镜三维测量的装置，其特征在于通过光纤维束（7）可将空间结构光照射到待检测部位上，根据图像传感器（5）同步采集的结构光反射图像，计算单元（6）可计算出待检测区域的三维结构信息，所获得的三维数据既可显示在图像显示器上供医生观察，也可与患者的其他三维数据进行配准供手术导航使用。此外，该装置也可通过控制空间光调制器（10）投射稳定的均匀光照，实现标准的二维内窥镜检查。
The purpose of the present invention is to provide a device that can realize three-dimensional measurement of endoscope, which is characterized in that the spatial structured light can be irradiated to the part to be detected through the optical fiber bundle (7), and the structured light collected synchronously by the image sensor (5) The reflection image, the calculation unit (6) can calculate the three-dimensional structure information of the area to be detected, and the obtained three-dimensional data can be displayed on the image display for the doctor to observe, and can also be registered with other three-dimensional data of the patient for surgical navigation . In addition, the device can also control the spatial light modulator (10) to project stable and uniform light to realize standard two-dimensional endoscopy.
Description
Technical field
The present invention is a kind of endoscope apparatus of realizing the 3-dimensional digital diagnosis, belongs to go deep into the auxiliary equipment that interior of articles is realized three-dimensional measurement.
Background technology
Endoscope is a kind of Optical devices that interior of articles is realized diagnosis that go deep into, and be can be through the natural duct of human body at medical domain, or the little otch that underwent operative is done enters the medical science auxiliary facilities of carrying out operation technique in the human body.Take endoscopic technique as support, the otch path that the doctor can be minimum and minimum tissue injury finish observation, diagnosis and the treatment to the patient body inner disease foci, and can effectively reduce the generation of postoperative complication, improve patient postoperative rehabilitation speed.Therefore, endoscope micro-wound just progressively becomes the important means of medical diagnosis on disease and treatment.
But because the projection effect of process endoscope optical system, the three-dimensional scenic of real world is mapped as the two dimensional image on the electronographic device, and the doctor can't directly obtain near the three dimensional local information the pathological tissues.This just needs the doctor at first to need to finish the tracking of operating theater instruments position when practical operation and three-dimensional scenic recovers two tasks, could further finish operation technique.Therefore, the doctor must could carry out operation technique safely and reliably through strict long-term training, so that there is certain difficulty in the popularization of endoscope micro-wound.
Summary of the invention
The object of the invention provides a kind of device of realizing endoscope's three-dimensional measurement, its formation mainly comprises endoscope, imageing sensor (5), computing unit (6), fiber optics bundle (7), lighting source (8), spatial light modulator (10) and coupled lens (9) (11) etc. thereof partly consist of, wherein endoscope comprises endoscope group (1) (2), spectroscope (3) and mirror pipe holder (4) thereof consist of, it is characterized in that the lighting fiber that this device adopts is fibre-optic bundle, in computer control spatial light modulator (10) generating structure light image through battery of lens illumination light fiber bundle (7); Fiber optics bundle (7) outgoing end face and imageing sensor (5) all are positioned at the conjugate position of observed objects; Imageing sensor (5) synchronous recording reflection light image is finished decode operation, and is recovered the object dimensional pattern according to principle of stereoscopic vision; The three-dimensional data that obtains can be presented on the image display for the doctor and observe, and also can assist the doctor to finish the three-dimensional surface measurement of the object of Microendoscopic, and the three-dimensional dimension size of assessment inspection area, to finish the operation such as auxiliary positioning.
Compare with other three-dimensional endoscope systems, this system both can provide routine examination, also can provide object objective three-dimensional data information, was conducive to carry out three-dimensional registration with other medical datas, made the doctor obtain the residing three dimensional local information of image.
Description of drawings
For above-mentioned purpose of the present invention, feature and advantage more can be become apparent, an embodiment cited below particularly, and cooperation accompanying drawing are described in detail as follows:
Fig. 1 is system architecture diagram.Summary description device of the present invention and usage example.Wherein (1) (2) are the endoscope groups, (3) be spectroscope, illumination light can be introduced, and the picture of object become to imageing sensor, (4) be the mirror pipe holder of endoscope, (5) be imageing sensor, its output outputs to computing unit through analog digital conversion, and (6) are computing units, can be computer or digital signal processor etc., (7) be the fiber optics bundle, (8) are lighting sources, and (9) are coupled lens, the illumination of lighting source (8) is mapped on the spatial light modulator, (10) be spatial light modulator, (11) are coupled lens, emission or the projection light of spatial light modulator can be coupled on the fiber optics bundle.
Fig. 2 be fiber optics bundle (7) behind spectroscope (3) mirror image with the position relationship of imageing sensor (5), be used for showing the equivalent measuring principle of system.
Three-dimensional endoscope structured flowchart when Fig. 3 is spatial light modulator (10) for projection-type.
Fig. 4 is the three-dimensional endoscope structured flowchart when adopting the direct leaded light of fiber optics bundle (7) to endoscope distal end.
The specific embodiment
Below in conjunction with accompanying drawing and example, the present invention is done further detailed description.At this, illustrative examples of the present invention and explanation thereof are used for explanation the present invention, but not as a limitation of the invention.
The collimated beam through coupled lens (9) of spatial light modulator (10) light source for reflection illumination (8), and formation Gray code, binary code, the coloud coding image, shine on the end face of fiber optics bundle (7) through coupled lens (11), this fiber optics bundle can be transferred to the coded image of irradiation on the outgoing end face, its outgoing end face is consistent with respect to the image distance of endoscope's battery of lens (1) (2) with imageing sensor (5), but lateral displacement and Space Rotating are arranged to form parallax in the vertical optical axis direction, the coding that forms from fiber optics bundle (7) outgoing end face shines image through spectroscope (3) turnover an angle of 90 degrees, and through endoscope group (1) (2) irradiation look-out station, its reflected light is imaged on the imageing sensor (5) behind endoscope group (1) (2) and spectroscope (3), computing unit (6) synchronous decoding coded structured light, fiber optics bundle (7) according to prior demarcation is found the solution the three-dimensional surface structural information of irradiation area with the position and attitude information of imageing sensor (5), and is presented on the display device of computing unit (6).
When the needs ordinary two-dimensional image is observed, can control spatial light modulator (10) and generate the standard white lighting pattern, then imageing sensor (5) can obtain the image of standard endoscope, satisfies doctor's routine examination needs.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201310027653 CN103040430A (en) | 2013-01-24 | 2013-01-24 | Three-dimensional endoscope apparatus |
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| CN 201310027653 CN103040430A (en) | 2013-01-24 | 2013-01-24 | Three-dimensional endoscope apparatus |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103920248A (en) * | 2014-04-29 | 2014-07-16 | 北京理工大学 | Synchronous photodynamic therapy device |
| CN105796044A (en) * | 2016-05-25 | 2016-07-27 | 珠海康弘发展有限公司 | Endoscope and imaging method thereof |
| CN109069009A (en) * | 2016-03-10 | 2018-12-21 | 博迪维仁医疗有限公司 | Method and system for using multiple view pose to estimate |
| CN109478338A (en) * | 2016-07-19 | 2019-03-15 | 松下电器（美国）知识产权公司 | Three-dimensional data production method, transmission method, production device, and transmission device |
| CN110811491A (en) * | 2019-12-05 | 2020-02-21 | 中山大学附属第一医院 | An online disease identification endoscope with 3D reconstruction function |
| CN110811527A (en) * | 2019-12-05 | 2020-02-21 | 中山大学附属第一医院 | An endoscope with the functions of shape prediction and online auxiliary diagnosis of diseases |
| WO2020103822A1 (en) * | 2018-11-19 | 2020-05-28 | 先临三维科技股份有限公司 | Projecting device, acquisition device, and three-dimensional scanning system having same |
| CN112097637A (en) * | 2019-06-18 | 2020-12-18 | 株式会社三丰 | Measuring device |
| CN112099223A (en) * | 2019-06-17 | 2020-12-18 | 沈阳华慧高新技术有限公司 | Endoscope device |
-
2013
- 2013-01-24 CN CN 201310027653 patent/CN103040430A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103920248A (en) * | 2014-04-29 | 2014-07-16 | 北京理工大学 | Synchronous photodynamic therapy device |
| CN103920248B (en) * | 2014-04-29 | 2016-05-25 | 北京理工大学 | A kind of synchronizable optical power therapentic equipment |
| CN109069009A (en) * | 2016-03-10 | 2018-12-21 | 博迪维仁医疗有限公司 | Method and system for using multiple view pose to estimate |
| CN109069009B (en) * | 2016-03-10 | 2022-09-23 | 博迪维仁医疗有限公司 | Method and system for using multi-view pose estimation |
| CN105796044A (en) * | 2016-05-25 | 2016-07-27 | 珠海康弘发展有限公司 | Endoscope and imaging method thereof |
| CN109478338A (en) * | 2016-07-19 | 2019-03-15 | 松下电器（美国）知识产权公司 | Three-dimensional data production method, transmission method, production device, and transmission device |
| WO2020103822A1 (en) * | 2018-11-19 | 2020-05-28 | 先临三维科技股份有限公司 | Projecting device, acquisition device, and three-dimensional scanning system having same |
| US12209855B2 (en) | 2018-11-19 | 2025-01-28 | Shining3d Technology Co., Ltd. | Projection apparatus, collection apparatus, and three-dimensional scanning system with same |
| CN112099223A (en) * | 2019-06-17 | 2020-12-18 | 沈阳华慧高新技术有限公司 | Endoscope device |
| CN112097637A (en) * | 2019-06-18 | 2020-12-18 | 株式会社三丰 | Measuring device |
| CN110811491A (en) * | 2019-12-05 | 2020-02-21 | 中山大学附属第一医院 | An online disease identification endoscope with 3D reconstruction function |
| CN110811527A (en) * | 2019-12-05 | 2020-02-21 | 中山大学附属第一医院 | An endoscope with the functions of shape prediction and online auxiliary diagnosis of diseases |
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Application publication date: 20130417 |