CN109793576A - A kind of Intelligent visible device and visual operation instrument - Google Patents
A kind of Intelligent visible device and visual operation instrument Download PDFInfo
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- CN109793576A CN109793576A CN201811502671.2A CN201811502671A CN109793576A CN 109793576 A CN109793576 A CN 109793576A CN 201811502671 A CN201811502671 A CN 201811502671A CN 109793576 A CN109793576 A CN 109793576A
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Abstract
The present invention provides a kind of Intelligent visible device, comprising: supporting part, the supporting part are equipped with image acquisition device；Air guide component, the air guide component include gas port, gas-guide tube, negtive-pressure implement, and the gas port, gas-guide tube, negtive-pressure implement are sequentially connected, and the gas port is located on the outer wall of the supporting part.On the one hand it can increase the angular field of view of wound by image acquisition device, the smog generated in surgical procedure can be exported and be gone by another aspect air guide component, prevent the camera lens and sight of smog blurred picture collector.It further include the above-mentioned Intelligent visible device being set on the surgical instrument ontology the present invention also provides a kind of visual operation instrument, including surgical instrument ontology.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of Intelligent visible device and include Intelligent visible dress
The visual operation instrument set.
Background technique
Currently, the edge of a knife is opened small by surgical operation as far as possible in order to reduce the pain of patient and realize the beauty of operation shape,
I.e. surgical operation realizes minimally invasive that Minimally Invasive Surgery makes medical staff only with visually during operation for the feelings in mouth since the edge of a knife is small
Condition understanding is not comprehensive, increases the operation difficulty and risk of operation.In addition, smog can be generated in surgical procedure, hand also will affect
The operation sight of art.
In conclusion needing a kind of surgical instrument, the visual range of wound on the one hand can be increased with assist personnel, separately
On the one hand the smog generated in surgical procedure can be exported and is gone.
Summary of the invention
Present invention seek to address that at least one technical problem existing in the prior art, for this purpose, the present invention provides one kind
Intelligent visible device, comprising: supporting part, the supporting part are equipped with image acquisition device；Air guide component, the air guide component include
Gas port, gas-guide tube, negtive-pressure implement, the gas port, gas-guide tube, negtive-pressure implement are sequentially connected, and the gas port is located on described hold
The outer wall in load portion.On the one hand it can increase the angular field of view of wound by image acquisition device, another aspect air guide component can incite somebody to action
The smog export generated in surgical procedure is gone, and the camera lens and sight of smog blurred picture collector are prevented.
In order to achieve the above objectives, provided by the invention the specific technical proposal is:
A kind of Intelligent visible device characterized by comprising
Supporting part, the supporting part are equipped with image acquisition device.
It preferably, further include air guide component, the air guide component includes gas port, gas-guide tube, negtive-pressure implement, the air guide
Hole, gas-guide tube, negtive-pressure implement are sequentially connected, and the gas port is located on the outer wall of the supporting part；
It further include lamp, the lamp is surrounded on the periphery of described image collector.
Preferably, further includes:
Microcontroller center, including master control borad, communication module, the master control borad respectively with described image collector, communicate mould
Block is connected；
Intelligent terminal, the intelligent terminal are connected by the communication module with the master control borad；
Image acquisition device is set to the end of the supporting part.
Preferably, described image collector is wide-angle camera, the communication module is WIFI module, and the lamp is LED
Lamp, the intelligent terminal are one of mobile phone, PC, projector, plate or a variety of；
The master control borad is any one of ARM plate, single-chip microcontroller, PLC plate, Arduino plate.
Preferably, the intelligent terminal is equipped with image processing system, and described image processing system includes views selection mould
Block, video flowing presentation mode module, the view selection module include 2D display unit, 3D display unit, the views selection
Module is for selecting 2D or 3D mode that image is presented；The video flowing presentation mode module includes image pause unit, image
Storage unit, video recording start unit, video recording end unit, and described image pause unit shows current for making image freeze
Frame, described image storage unit are used to save the present frame of display, and the video recording starts unit and currently arrives terminal for recording
Data frame, the video recording end unit start for saving video recording to current data frame, the video flowing presentation mode module
For being presented to revised image.
It preferably, further include aspect sensor, the aspect sensor is for acquiring current azimuth information, described image
Processing system is corrected image reversal according to azimuth information.
It preferably, further include image correction module, described image correction module includes correction azimuth computing unit, parallax spy
Extraction unit, orientation adjustment unit, parallax map unit are levied, the correction azimuth computing unit is used for the aspect sensor
The correction orientation of the azimuth information of acquisition is calculated, and the parallax feature extraction unit is for extracting parallax feature, the side
For being adjusted according to the correction orientation to image, the parallax map unit is used for the parallax is special position adjustment unit
Sign is mapped on image adjusted to be modified to it；When selecting 2D display unit in the view selection module, institute
Correction azimuth computing unit in image correction module is stated to calculate behind correction orientation directly by the orientation adjustment unit according to institute
Correction orientation is stated to be adjusted image；When selecting 3D display unit in the view selection module, described image straightening die
After correction azimuth computing unit in block calculates correction orientation, parallax feature is first extracted by the parallax feature extraction unit, is connect
Image is adjusted according to the correction orientation by the orientation adjustment unit, finally by the parallax map unit according to
The parallax feature is modified image adjusted.
Preferably, the image acquisition device is located at the end of supporting part, supporting part end array be equipped with one
Or multiple mirrors that add lustre to (101), the mirror (101) that each adds lustre to are corresponding at least one optical fiber (102)；
In the optical fiber, at least one connect with light source, for the illumination of acquisition position；
The fiber optic bundle (103) of multifiber composition is located in supporting part, is equipped with acquisition in the other end of fiber optic bundle (103)
Portion；
After acquisition portion carries out from edge to the correction of intermediate deformation the image of every collecting fiber, it is spliced into panorama sketch
Picture.
A kind of visual operation instrument, including surgical instrument ontology further include the power being set on the surgical instrument ontology
Benefit requires the described in any item Intelligent visible devices of 1-8.
Preferably, the Intelligent visible device is detachable or is fixedly arranged on the surgical instrument ontology.
The technical effect that above-mentioned technical proposal generates are as follows:
1, it on the one hand can increase the angular field of view of wound by image acquisition device, another aspect air guide component can be by hand
The smog export generated during art is gone, and the camera lens and sight of smog blurred picture collector are prevented.
2, lamp can carry out light compensation to the range of visibility during operation.
3, image is shown by intelligent terminal, the multi-expert consultation of doctors may be implemented.
4, image acquisition device can increase angular field of view using wide-angle camera, and communication module can be realized using WIFI module
The wireless transmission of data.
5, intelligent terminal is equipped with image processing system, convenient for users to independently selecting the presentation side of image from terminal
Formula.
6, further include aspect sensor and image correction module, can be led to by the collected azimuth information of aspect sensor
Image correction module is crossed to be corrected image, it is unstable, no to solve the image that the shake of surgical instrument in surgical procedure generates
Clear problem.
It further include being set to the surgical device the present invention also provides a kind of visual operation instrument, including surgical instrument ontology
Intelligent visible device described in any of the above embodiments on tool ontology.Surgical instrument ontology is equipped with Intelligent visible device, Ke Yifu
Medical staff is helped preferably to complete to perform the operation.
The Intelligent visible device is detachable as a preferred embodiment of the above solution, or is fixedly arranged at the surgical instrument sheet
On body.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of Intelligent visible Installation practice 1 provided by the invention；
Fig. 2 is that a kind of signal of Intelligent visible Installation practice 2 provided by the invention connects block diagram；
Fig. 3 is a kind of structural schematic diagram of Intelligent visible Installation practice 2 provided by the invention；
Fig. 4 is a kind of structural schematic diagram of Intelligent visible Installation practice 4 provided by the invention；
Fig. 5 is a kind of structural schematic diagram of Intelligent visible Installation practice 5 provided by the invention；
Fig. 6 is that a kind of single optical fiber image of Intelligent visible Installation practice 5 provided by the invention corrects schematic diagram；
Fig. 7 is a kind of signal of multiple optical fiber images correction splicing of Intelligent visible Installation practice 5 provided by the invention
Figure；
Fig. 8 is a kind of image correcting step flow chart of Intelligent visible Installation practice 4 provided by the invention；
Fig. 9 is a kind of image correcting step flow chart of Intelligent visible Installation practice 6 provided by the invention.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical solution of the present invention is clearly and completely described, it is clear that institute
The embodiment of description is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to the present invention
The range of protection.
Embodiment 1
As shown in Figure 1, the present embodiment provides a kind of Intelligent visible devices, comprising:
(1) supporting part 6, the supporting part are equipped with image acquisition device, and preferred described image collector is wide-angle imaging
First 1 or fiber optic bundle 103；
(2) optionally, it is additionally provided with air guide component, the air guide component includes gas port 4, gas-guide tube, negtive-pressure implement, described to lead
Stomata is set in the surgical instrument, and the gas port, gas-guide tube, negtive-pressure implement are sequentially connected.
Embodiment 2
As shown in Figure 2 and Figure 3, the present embodiment provides a kind of Intelligent visible devices, comprising:
(1) supporting part 6, the supporting part are equipped with image acquisition device, and described image collector is wide-angle camera 1；
(2) microcontroller center, including master control borad 2, communication module 3, the master control borad respectively with described image collector, logical
Believe that module is connected, the master control borad is Arduino plate, and the communication module is WIFI module；Microcontroller center in this example is set
It sets in the position far from 6 end of supporting part, to avoid the spatial position for occupying supporting part 6.
(3) intelligent terminal, the intelligent terminal are connected by the communication module with the master control borad；
(4) air guide component, the air guide component include gas port 4, gas-guide tube, negtive-pressure implement, and the gas port is set to institute
It states in surgical instrument, the gas port, gas-guide tube, negtive-pressure implement are sequentially connected；
(5) LED light 5, the LED light 5 are surrounded on the periphery of described image collector 1；
The LED light and image acquisition device are set on the supporting part by fixed plate 7, and the gas port 4 is located on
The outer wall of the supporting part 6, the master control borad, communication module are set to handle or separate supporting part 6 except the supporting part
On other operating members of end.
Embodiment 3
The hardware device of Intelligent visible device in the present embodiment can be the technical solution in embodiment 2, the intelligence
Terminal is equipped with image processing system, and described image processing system includes view selection module, video flowing presentation mode module, institute
Stating view selection module includes 2D display unit, 3D display unit, and the view selection module is for selecting 2D or 3D mode
Image is presented；The video flowing presentation mode module includes image pause unit, image storing unit, video recording beginning unit, record
As end unit, described image pause unit shows present frame for making image freeze, and described image storage unit is for protecting
The present frame of display is deposited, the video recording starts unit and is used to record the current data frame for arriving terminal, and the video recording end unit is used
Start in saving video recording to current data frame, the video flowing presentation mode module for being in revised image
It is existing.
Embodiment 4
Intelligent visible device in the embodiment is also wrapped using the image acquisition device in a set of embodiment 3, microcontroller center
1 aspect sensor 8 is included, the aspect sensor is gyro sensor, and the gyro sensor is for acquiring real-time position
Angle α, as shown in figure 4, described image processing system further includes image correction module, described image correction module includes hardware configuration
Correction angle computing unit, angle adjusting, the correction angle computing unit are used for the position acquired to the aspect sensor
The correction angle of information is calculated, and the angle adjusting is for being adjusted image according to the correction angle.This implementation
Example is shown for carrying out 2D to image using a camera, as shown in figure 8, the specific steps of image rectification are as follows: camera obtains
2D image src is taken, gyro sensor acquires the real-time parallactic angle α of surgical instrument, and the correction angle computing unit is used for the top
The correction angle γ of the real-time parallactic angle α of spiral shell instrument sensor acquisition is calculated, specially γ=alpha-beta (wherein β is standard parallactic angle),
The angle adjusting is adjusted image according to the correction angle γ, and specially the spin matrix of calculating correction angle is to figure
As being adjusted, i.e. dst=src × A (spin matrix that A is correction angle γ), intelligent terminal shows image dst, as adjusts
Image afterwards.More specifically, the purpose of the program is, when image acquisition device is fixed in surgical instrument, the image of setting
Correction module rotate the image obtained will not with the rotation of surgical instrument, that is, the image obtained is in image correction module
Under effect, generally remain always in one direction, in order to guided operation operation.
Embodiment 5
On the basis of embodiment 1 and 4, disadvantage based on camera in volume, in this example such as using preferred scheme
In Fig. 5, the image acquisition device is located at the end of supporting part, adds lustre in the end array of supporting part equipped with one or more
Mirror 101, the mirror 101 that each adds lustre to are corresponding at least one optical fiber 102；The mirror 101 that adds lustre in this example contains at least one convex lens
Mirror, to obtain the image of biggish light-inletting quantity and wide-angle, it is further preferred that convex lens uses aspherical convex lens, it is non-at this
In spherical convex lens, the curvature at edge is lower than the curvature at middle part.
In the optical fiber, at least one connect with light source, for being played a role in lighting at this to the illumination of acquisition position
The end of optical fiber, equipped with the coating for preventing light leakage, it is further preferred that the end of optical fiber by gradually expanding structure with add lustre to
Mirror 101 connects, while providing illumination, to avoid the light source of outgoing from polluting neighbouring acquisition optical fiber；It is further preferred that holding
The end in load portion is at bulb or the head of smoothed curve outwardly convex；
The fiber optic bundle 103 of multifiber composition is located in supporting part, in the other end of fiber optic bundle 103, is equipped with acquisition portion；It is excellent
Choosing, acquisition portion is multiple in this example, and each acquisition portion is corresponding with an optical fiber by optical module；The end of supporting part is straight
Diameter is 1~10 times of 103 diameter of fiber optic bundle, to obtain the image of enough clarity.It is further preferred that the cross section of supporting part
For circle, ellipse, semicircle, half elliptic, orthogonal rectangle, round rectangle or triangle, to adapt to different surgical instruments.
The acquisition portion is CCD or CMOS optically detecting component, preferred to use monochrome CCD optically detecting component.By above-mentioned side
Case, image acquisition device of the invention can be suitable for more narrow surgery location, such as blood vessel.
Since the image of collecting fiber is wide angle picture, as shown in Figure 6, acquisition portion to the image of every collecting fiber into
After the correction that row is squeezed and deformed from edge to centre, it is spliced into panoramic picture in Fig. 7, then by the layout of fiber array, thus
Obtain the high-definition image of operative site.Bigger advantage also resides in this example, by selecting the different mirrors 101 that adds lustre to, matches combined array
The acquisition structure of column optical fiber, can obtain it is super it is near-sighted away from panoramic high-definition image, for be difficult to visually and narrow location operation behaviour
Author provides reliable guide.
Embodiment 6
The embodiment increases a set of image acquisition device, microcontroller center, gyro sensor on the basis of embodiment 4,
Described image correction module further includes parallax feature extraction unit, parallax map unit, the parallax on the basis of embodiment 4
For extracting parallax feature, the parallax map unit is used for the parallax Feature Mapping to adjusted feature extraction unit
To be modified to it on image.The present embodiment carries out 3D display to image using 2 cameras, as shown in figure 9, image rectification
Specific steps are as follows: two cameras obtain left and right visual angle figure src1, src2 of 3D rendering respectively, and gyro sensor acquires hand
The real-time parallactic angle α of art instrument, the correction for the real-time parallactic angle α that the correction angle computing unit is used to acquire the gyro sensor
Angle γ is calculated, specially γ=alpha-beta (wherein β is standard parallactic angle), and the parallax feature extraction unit extracts src1, src2
The parallax feature X of left and right visual angle figure, the angle adjusting are adjusted image according to the correction angle γ, specially count
The spin matrix for calculating correction angle is adjusted image, i.e. dst1=src1 × A (spin matrix that A is correction angle γ),
Dst2*=src2 × A (spin matrix that A is correction angle γ), finally by the parallax map unit according to the parallax feature X
Image adjusted is modified, LOOK RIGHT image dst2** is specially generated according to X with dst1, then compared with dst2*
Dst2** corrects to obtain dst2, finally obtains revised LOOK LEFT image dst1, LOOK RIGHT image dst2.
Embodiment 7
The present embodiment provides a kind of visual operation instrument, including surgical instrument ontology and Intelligent visible device, the operations
Instrument body is electric knife, and the Intelligent visible device is any one of embodiment 1-5, and the Intelligent visible device is fixed or detachably
Ground is set on the electric knife.
Embodiment 8
The present embodiment provides a kind of visual operation instrument, including surgical instrument ontology and Intelligent visible device, the operations
Instrument body is diathermy forceps, and the Intelligent visible device is embodiment 5 or 6, and the Intelligent visible device is fixedly or removably
It is set on the diathermy forceps, a set of image acquisition device is respectively set on two stabilizer blades of diathermy forceps, for the knot in embodiment 6
Structure is additionally provided with microcontroller center, gyro sensor.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of Intelligent visible device characterized by comprising
Supporting part, the supporting part are equipped with image acquisition device.
2. Intelligent visible device according to claim 1, which is characterized in that
It further include air guide component, the air guide component includes gas port, gas-guide tube, negtive-pressure implement, and the gas port, is born gas-guide tube
Depressor is sequentially connected, and the gas port is located on the outer wall of the supporting part；
It further include lamp, the lamp is surrounded on the periphery of described image collector.
3. Intelligent visible device according to claim 2, which is characterized in that further include:
Microcontroller center, including master control borad, communication module, the master control borad respectively with described image collector, communication module phase
Even；
Intelligent terminal, the intelligent terminal are connected by the communication module with the master control borad；
Image acquisition device is set to the end of the supporting part.
4. Intelligent visible device according to claim 3, which is characterized in that described image collector be wide-angle camera,
The communication module is WIFI module, and the lamp is LED light, and the intelligent terminal is mobile phone, PC, projector, one in plate
Kind is a variety of；
The master control borad is any one of ARM plate, single-chip microcontroller, PLC plate, Arduino plate.
5. Intelligent visible device according to claim 3, which is characterized in that the intelligent terminal is equipped with image procossing system
System, described image processing system includes view selection module, video flowing presentation mode module, and the view selection module includes 2D
Display unit, 3D display unit, the view selection module is for selecting 2D or 3D mode that image is presented；The video flowing is in
Existing mode module includes image pause unit, image storing unit, video recording beginning unit, video recording end unit, and described image is temporary
Stop unit for making image freeze to show present frame, described image storage unit is used to save the present frame of display, the record
It is used to record the current data frame for arriving terminal as starting unit, the video recording end unit starts for saving video recording to current
Data frame, the video flowing presentation mode module is for being presented revised image.
6. the Intelligent visible device according to claim 3 or 5, which is characterized in that it further include aspect sensor, the orientation
For acquiring current azimuth information, described image processing system is corrected image reversal according to azimuth information sensor.
7. Intelligent visible device according to claim 6, which is characterized in that further include image correction module, described image
Correction module includes correction azimuth computing unit, parallax feature extraction unit, orientation adjustment unit, parallax map unit, described
The correction orientation for the azimuth information that correction azimuth computing unit is used to acquire the aspect sensor calculates, the parallax
Feature extraction unit is for extracting parallax feature, and the orientation adjustment unit is for adjusting image according to the correction orientation
It is whole, the parallax map unit be used for by the parallax Feature Mapping to image adjusted to be modified to it；Work as institute
When stating selection 2D display unit in view selection module, the correction azimuth computing unit in described image correction module calculates correction
Directly image is adjusted according to the correction orientation by the orientation adjustment unit behind orientation；When the view selection module
When middle selection 3D display unit, after the correction azimuth computing unit in described image correction module calculates correction orientation, first by institute
State parallax feature extraction unit extract parallax feature, then by the orientation adjustment unit according to the correction orientation to image into
Row adjustment, is finally modified image adjusted according to the parallax feature by the parallax map unit.
8. Intelligent visible device according to claim 1 or claim 7, which is characterized in that the image acquisition device is located at carrying
The end in portion, supporting part end array be equipped with one or more add lustre to mirror (101), each add lustre to mirror (101) at least
A piece optical fiber (102) is corresponding；
In the optical fiber, at least one connect with light source, for the illumination of acquisition position；
The fiber optic bundle (103) of multifiber composition is located in supporting part, is equipped with acquisition portion in the other end of fiber optic bundle (103)；
After acquisition portion carries out from edge to the correction of intermediate deformation the image of every collecting fiber, it is spliced into panoramic picture.
9. a kind of visual operation instrument, including surgical instrument ontology, which is characterized in that further include being set to the surgical instrument sheet
The described in any item Intelligent visible devices of claim 1-8 on body.
10. visual operation instrument according to claim 9, which is characterized in that the Intelligent visible device is detachable or solid
Surely it is set on the surgical instrument ontology.
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| CN103514450A (en) * | 2012-06-29 | 2014-01-15 | 华为技术有限公司 | Image feature extracting method and image correcting method and equipment |
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