CN116236144B - Double-view panoramic medical endoscope camera shooting system and panoramic implementation method - Google Patents

Abstract

The invention discloses a double-view panoramic medical endoscope camera system and a panoramic implementation method, wherein the system comprises an image processor, a display module and a camera module, the camera module comprises a surgical field camera and a panoramic camera, the display module comprises a local display module and a global display module, the surgical field camera is used for shooting a surgical field local space in a surgical part, the panoramic camera is used for shooting a large-scale space in a cavity, the local display module is used for displaying a video image shot by the surgical field camera, and the global display module is used for displaying the video image shot by the panoramic camera. This scheme provides two camera complex modes, and the operation field camera still is the same with original system, proposes another be used for simultaneously with operation field camera complex panorama camera, can make up operation field camera field of vision scope and narrow the limited defect in visual space that leads to, guarantees that the operation field of vision still is shot and is shown by pertinence when reaching the enlarged visual field effect, ensures the operation effect.

Description

Double-view panoramic medical endoscope camera shooting system and panoramic implementation method

Technical Field

The invention belongs to the technical field of endoscope imaging systems, and particularly relates to a double-view panoramic medical endoscope imaging system.

Background

Minimally invasive surgery, i.e., minimally invasive surgery, refers to surgery performed using modern medical instruments such as endoscopes and related equipment. The camera system is an indispensable device for medical staff to observe the internal condition of a human body in the minimally invasive surgery process, and is a key device in the minimally invasive surgery process.

The endoscope camera system mainly comprises four parts: the endoscope, the camera, the treater, the display, the camera is located the end of endoscope, and the endoscope stretches into in the human body through the puncture ware, and internal picture is transmitted to its terminal camera through the endoscope, then the camera conveys the picture of gathering to the treater, and the picture of shooing by the display demonstration camera at last. Medical staff looks at the display to perform the operation during the operation.

The conventional camera system is mainly configured as above, and in the operation process, the display displays the picture shot by the camera, and in the actual operation process, the camera can shoot only a small picture, namely a small picture of the operation area, so that the display also displays the small picture.

For traditional open surgery, because the open surgery is a large-mouth surgery, and the abdominal surgery is taken as an example, the medical staff can grasp the whole abdominal situation at high risk. Under the minimally invasive surgery, medical staff can only see a small operation area, and compared with the traditional surgery, the problem of visual blind areas is more likely to occur. Therefore, the current camera system has the problem of too small visual field, medical staff cannot timely find and process other conditions beyond the current visual field, and the risk degree of minimally invasive surgery is increased intangibly.

In order to solve the foregoing problems, a continuous search is being conducted, and at present, a method of expanding the field of view by using 2 or even more cameras is proposed, for example, chinese patent discloses a dynamic field endoscope CN107529960a, in which several schemes are proposed, for example, a plurality of cameras are provided in the endoscope, for example, one or several cameras are provided in an angle-convertible form at the same time as a plurality of cameras are provided. In any mode, the number of cameras or the directions of the cameras at the endoscope are improved, the effect of expanding the field of view can be achieved, but the setting positions of the cameras are always on the endoscope, the endoscope is required to change positions along with the operation actions of medical staff in the operation process of the medical staff, namely, the original camera is completely followed by the shooting space of the camera, the cameras still completely follow the endoscope, the shooting space of the camera only is the mode of the cameras, the field of view of the whole system is enlarged, dynamic and static combination cannot be achieved, and the partial panoramic fit of the shooting effect cannot be achieved. In addition, the plurality of cameras in the scheme are not divided into primary and secondary parts, the view is enlarged, and the shooting and display effects of the operation view are also influenced, namely, the improvement can influence the shooting and display of the current operation view space, so that medical staff cannot concentrate on the operation part better.

Disclosure of Invention

The invention aims to solve the problems and provide a double-view panoramic matching medical endoscope imaging system and a double-view matching method.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

The utility model provides a two visual field panorama medical endoscope camera system, includes image processor, and connect in image processor's display module and camera module, its characterized in that, camera module include operation field camera and panorama camera, display module include local display module and global display module, operation field camera be used for shooting operation field local space including the operation position, panorama camera be used for shooting the cavity in a large scale space, local display module be used for showing the video image that operation field camera shot, global display module be used for showing the video image that panorama camera shot. The scheme provides two camera matched modes, and the operation field camera is still the same as the original system and is used for shooting the operation local space and displaying by using a display. The panoramic camera is used for being matched with the surgical field camera, the shooting video global display module of the panoramic camera and the shooting video of the surgical field camera are respectively displayed, the defect that the visual space is limited due to the fact that the visual field range of the surgical field camera is too narrow can be overcome, the visual field is enlarged in a supplementary mode, any influence on the surgical visual field is avoided, the visual field effect is enlarged, meanwhile, the surgical visual field is guaranteed to be shot and displayed in a targeted mode, and the surgical effect is guaranteed.

In the double-view panoramic medical endoscope imaging system, the surgical field camera is positioned at the medical endoscope and is connected with the image processor in a wireless or wired manner through a data wire;

In the working state, the shooting view of the surgical field camera moves along with the movement of the endoscope;

Under the operating condition, the panoramic camera is located the cavity top, and the camera lens sets up in order to acquire the shooting image in the cavity in a large scale space down. It should be noted that the lens is not downward in the full sense, but only tends to be downward, so that the viscera can be photographed, for example, the lens is downward and forms an included angle smaller than 45 degrees with the gravity line. For example, in two schemes proposed later, the magnetic attraction scheme can be in a fully-oriented state, and a panoramic camera realized by using the puncture outfit has a certain angle with the gravity line.

In the above-mentioned dual-view panoramic medical endoscope image pickup system, the panoramic camera is internally provided with a first wireless module and a power supply module which are connected with the image pickup element, the image processor is connected with a second wireless module, and the panoramic camera is wirelessly connected with the image processor through the first wireless module and the second wireless module;

Or the panoramic camera is connected to the image processor in a wired way through a data line.

In the double-view panoramic medical endoscope imaging system, a light supplementing lamp is embedded beside a lens of the panoramic camera;

the local display module and the global display module respectively correspond to one display, and a video image shot by the surgical field camera and a video image shot by the panoramic camera are respectively displayed at the corresponding displays;

Or the local display module and the global display module share one display, and the display is provided with a main display area and an auxiliary display area, wherein the main display area is used for displaying video images shot by the operation field camera, and the auxiliary display area is used for displaying video images shot by the panoramic camera.

In the double-view panoramic medical endoscope camera system, the panoramic camera is internally provided with a magnetic attraction structure, and the camera system also comprises a magnetic attraction block; the camera can be fixed on the magnetic material,

The magnetic attraction block is used for placing the surface of the skin; the panoramic camera is used for being placed at the position corresponding to the magnetic suction block on the inner wall of the body cavity through the puncture outfit, and the panoramic camera is attached to the inner wall of the body cavity through the adsorption force of the magnetic suction block. When the panoramic camera works, the panoramic camera can shoot the intra-abdominal space of almost the whole abdominal cavity under the high position.

In the double-view panoramic medical endoscope imaging system, the panoramic camera is movably arranged on the outer wall of the insertion rod of the puncture outfit;

When the puncture outfit penetrates into the cavity through the cavity opening, the panoramic camera is in a radially inward-retracted state with the shooting direction facing the insertion rod, and the panoramic camera is inserted into the cavity along with the insertion of the puncture outfit insertion rod; the ideal state that the included angle between the shooting direction in the adduction state and the radial direction of the puncture outfit is smaller than 5 degrees is that the shooting direction of the panoramic camera is consistent with the radial direction

Under the operating condition, the panoramic camera is shooting direction towards the expansion state on insert pole top. The shooting direction of the panoramic camera and the radial direction of the puncture outfit are at an included angle which is more than or equal to 30 degrees and less than or equal to 90 degrees.

In the double-view panoramic medical endoscope imaging system, the outer wall of the insertion rod of the puncture outfit is provided with a dynamic unfolding structure, and the panoramic camera is arranged at the dynamic unfolding structure; the dynamic unfolding structure is in an adduction state in a non-working state so that the panoramic camera faces the radial direction of the puncture outfit insertion rod; under the operating condition, the dynamic unfolding structure is in an unfolding state so that the panoramic camera faces the top end direction of the insertion rod.

In the above-mentioned dual-view panoramic medical endoscope camera system, the dynamic unfolding structure comprises a movable sleeve and a fixed sleeve which are sleeved on the outer wall of the insertion rod, the fixed sleeve is closer to the top end of the puncture outfit than the movable sleeve, one end of the movable sleeve, which is far away from the top end of the puncture outfit, is connected with a poking block through a push rod, and when the puncture outfit is inserted into the cavity, the poking block is positioned outside the cavity, and the poking block is operated to drive the movable sleeve to axially move;

The movable sleeve is connected with the fixed sleeve through a plurality of bendable shaping strips which are circumferentially arranged, the bendable parts are positioned between the two ends of each shaping strip, one end of each bendable shaping strip is connected with the movable sleeve, the other end of each bendable shaping strip is connected with the fixed sleeve, when the movable sleeve is pushed to the fixed sleeve, the bendable parts of the bendable shaping strips are in an unfolding state when being bent, and when the movable sleeve is pulled far away from the fixed sleeve, the bendable parts are straightened and the dynamic unfolding structure is in an adduction state. The dynamic unfolding structure can be used for preventing the puncture outfit inserted into the body cavity from being pulled out in the process of replacing surgical instruments by medical staff, can be used for shooting panoramic operation videos, and has compact and simple structure and strong clinical practicability.

In the double-view panoramic medical endoscope shooting system, the panoramic camera is embedded at a section of the bendable shaping strip connecting and fixing sleeve, so that the panoramic camera faces to the top end direction of the insertion rod when the dynamic unfolding structure is in an unfolding state;

One, two or all puncture outfits used in the operation process are provided with the dynamic unfolding structure and a panoramic camera;

When at least two panoramic cameras are arranged, the image processor performs splicing processing on video data of the at least two panoramic cameras to generate a whole video image, and the whole video image is displayed in the global display module.

A panoramic implementation method based on the double-view panoramic medical endoscope camera system comprises the following steps:

after the carbon dioxide in the cavity is filled, placing the magnetic attraction block on the surface of the skin inflated by the carbon dioxide filling;

Using a grasping surgical instrument to send the panoramic camera into a body cavity through a puncture outfit;

attaching the panoramic camera to the inner wall of the cavity to enable the panoramic camera to be mutually adsorbed with the external magnetic attraction block;

after the panoramic camera is placed, the holding surgical instrument leaves the puncture outfit.

Then, the operation can be started, the panoramic camera shoots the panoramic video of the intracavity operation, and the operation field camera on the endoscope shoots the local space video of the operation.

The invention has the advantages that: the novel camera system is provided, wherein two groups of cameras are adopted in the camera system, one group is an original operation field camera, the shooting space is changed along with operation actions, the other group is arranged at a position capable of shooting the internal space in a large range, one group is used for shooting the operation local space of medical staff through the cooperation of the two groups of cameras, and the other group is used for shooting in a large range area, so that the double-view shooting effect of the local panoramic cooperation can be realized only by a simple structure;

when medical staff hopes to observe the situation of the external position outside the operation space, the overall display module can be directly observed without transferring the endoscope to other places needing to be observed, the overall observation is realized, the operation vision is prevented from being influenced, and the operation is prevented from being influenced;

In one scheme, the panoramic camera is arranged on the side wall of the puncture outfit by utilizing the position characteristics of the puncture outfit, the association degree between the shooting work of the panoramic camera and the action of an endoscope is low, the puncture outfit can be kept in a certain moving range of the endoscope, and the panoramic field of view of the operation process is realized by utilizing the position characteristics of the puncture outfit; the panoramic camera is installed by utilizing the dynamic unfolding structure of the puncture outfit, the initial state of the panoramic camera is attached to the side wall of the puncture outfit, the working state is in the unfolding state, the abdominal cavity operation opening is not required to be enlarged for the camera, and meanwhile, after the puncture outfit stretches into the inner space of the cavity, the panoramic camera can be enabled to face towards organs in the body cavity to realize panoramic-like video image shooting through the dynamic unfolding structure;

In another scheme, a magnetic suction structure is utilized, a magnetic suction block is placed on the surface of skin, a panoramic camera is placed in the inner wall of the cavity, and the panoramic camera can be adsorbed on the top of the inner abdomen in a magnetic suction mode, so that panoramic view shooting from top to bottom is realized;

The double-view combining mode can enable medical staff to observe the condition of the non-operation area at any time, such as local hemorrhage, gauze carry-over, tracheal state and the like of the non-operation area, and can achieve overall and local consideration.

Drawings

FIG. 1 is a block diagram of a system architecture of a dual-view panoramic medical endoscopic imaging system of the present invention;

FIG. 2 is a schematic view of a panoramic view implemented in accordance with a first embodiment of the invention;

FIGS. 3-6 are schematic diagrams of the positional relationship of the primary and secondary display areas on the display;

FIG. 7 is a diagram of a panoramic view implemented in a second embodiment of the invention;

FIG. 8 is a schematic diagram of a dynamic deployment structure in an retracted state according to a second embodiment of the present invention;

Fig. 9 is a schematic structural view of a dynamic deployment structure in a deployment state according to a second embodiment of the present invention. The specific embodiment is as follows: an image processor 1; a surgical field camera 2; a panoramic camera 3; a local display module 4; a global display module 5; a puncture outfit 6; an insertion rod 61; a dynamic deployment structure 7; a movable sleeve 71; a stationary sleeve 72; a push rod 73; toggle block 74; bendable molding strip 75; a magnetic suction block 8; the abdominal cavity 9; an endoscope 10.

Detailed Description

The invention will be described in further detail with reference to the drawings and the detailed description.

Example 1

The scheme provides a double-view panoramic medical endoscope image pickup system, which comprises an image processor 1, and a display module and an image pickup module which are connected with the image processor 1.

Specifically, as shown in fig. 1, in this scheme, the camera module includes a surgical field camera 2 and a panoramic camera 3, the display module includes a local display module 4 and a global display module 5, the surgical field camera 2 is used for shooting a surgical field local space including a surgical site, the panoramic camera 3 is used for shooting a large-scale space in a cavity, the local display module 4 is used for displaying a video image shot by the surgical field camera 2, and the global display module 5 is used for displaying a video image shot by the panoramic camera 3.

The surgical field camera 2 is located at the medical endoscope, e.g. still at the end of the endoscope, and is connected to the image processor 1 in a wireless manner or is connected to the image processor 1 by a data line wire. The key point of the scheme is that the panoramic camera, the installation position, the installation mode and other characteristics of the surgical field camera can be selected according to the needs by a person skilled in the art based on the prior art, and the panoramic camera is not limited in particular.

The surgical field camera 2 is consistent with the prior art, and in a working state, the shooting field of view of the surgical field camera 2 moves along with the movement of the endoscope.

Unlike the prior art, this scheme has proposed the panoramic camera, and under operating condition, panoramic camera 3 is located the intracavity top all the time, and the camera lens is directed downwards, and the shooting object is the viscera organ of below promptly, can acquire the shooting image in intracavity wide range space.

Specifically, the manner of implementing the panoramic camera in this embodiment is:

the panoramic camera 3 is internally provided with a magnetic attraction structure, and the camera system also comprises a magnetic attraction block 8.

The magnetic suction block 8 is used for being placed on the surface of the skin and is attached to the surface of the skin; the panoramic camera 3 is used for being placed in the corresponding position of the inner wall of the cavity and the magnetic attraction block 8 through the puncture outfit 6, and the panoramic camera 3 is attached to the inner wall of the cavity through the attraction force of the magnetic attraction block 8. When the panoramic camera 3 works, the panoramic camera can shoot an almost panoramic internal space under the high position.

The scheme is more suitable for laparoscope, so that the implementation method of panoramic vision is introduced by taking laparoscopic surgery as an example:

In the preparation stage of the operation, carbon dioxide is introduced into the abdominal cavity to make the abdominal cavity in a bulge state for the operation. After filling the abdominal cavity with carbon dioxide, the abdominal cavity is bulged, and as shown in fig. 2, the magnetic block 8 is placed on the skin surface, and the magnetic block 8 can be fixed on the top end of the belly by some measures so as not to be affected by the operation of a doctor. Then using grasping medical instruments such as grasping and embedding, tweezers and the like to send the panoramic camera into the cavity through the puncture outfit 6, and attaching the panoramic camera to the inner wall of the cavity to enable the panoramic camera to be mutually adsorbed with the external magnetic attraction block 8; after the panoramic camera is placed, the grasping surgical instrument leaves the puncture outfit 6. The operation can then be started, and the panoramic camera 3 at the top shoots the space video in the abdominal cavity 9 to realize the intracavity panoramic video shooting, and the coverage of the dotted line in fig. 2 shows the shooting view of the panoramic camera 3. The surgical field camera at the endoscope shoots a local space video of the surgical site, double-view panoramic shooting is achieved, the acquisition of the surgical field space image is not hindered at present, the global view of the surgical process can be acquired, the view effect similar to that of the traditional surgery is achieved, and the risk brought by limiting the view to the surgical site in the surgical process is effectively reduced.

In the operation process, if the object is shielded, the position of the panoramic camera in the cavity can be moved in a mode of moving the adsorption block.

Specifically, the panoramic camera 3 may be connected to the image processor 1 by a wired manner, or may be connected to the image processor 1 by a wireless manner. If a wired mode is adopted, the two are directly connected by using a data line, the panoramic camera 3 transmits video data to the image processor 1 through the data line, and the power is obtained from the image processor 1. If the panoramic camera 2 is connected wirelessly, the panoramic camera 2 has a first wireless module and a power supply module connected to the imaging element, the image processor 1 is connected with a second wireless module, and the panoramic camera 3 is connected wirelessly to the image processor 1 through the first wireless module and the second wireless module.

Further, a light filling lamp is embedded beside the lens of the panoramic camera 3 to fill light into the shooting space of the panoramic camera, and if the panoramic camera 3 is connected with the image processor 1 in a wired manner, the light filling lamp is also connected with the image processor 1 through a data line, and electricity is taken from the image processor 1. If the panoramic camera 3 is in wireless connection with the image processor 1, the light supplementing lamp is connected with the power supply module, and electricity is obtained from the power supply module.

In addition, the local display module 4 and the global display module 5 respectively correspond to one display, and the video image shot by the surgical field camera 2 and the video image shot by the panoramic camera 3 are respectively displayed at the corresponding displays.

Or the local display module 4 and the global display module 5 share one display, and the display is provided with a main display area and an auxiliary display area, wherein the main display area is used for displaying video images shot by the operation field camera 2, and the auxiliary display area is used for displaying video images shot by the panoramic camera 3. As shown in fig. 3-6, which are schematic diagrams of four positional relationships of the main display area and the auxiliary display area, respectively, the partial image is displayed in the middle, and the global image can be placed at any four corners.

Example two

The present embodiment is similar to the embodiment in that another mode is adopted to realize panoramic view photographing which does not cause any influence on photographing and display of a conventional endoscopic surgical field image:

In this embodiment, the panoramic camera 3 is movably mounted on the outer wall of the insertion rod 61 of the puncture outfit 6.

Still taking abdominal cavity as an example, in general minimally invasive surgery, two to three openings are formed in the abdominal cavity, one opening is used for inserting an endoscope to shoot operation visual field video of the surgery, and the other opening or openings are used for enabling surgical instruments to extend into the body cavity to perform the surgery.

The piercer 6 for the surgical procedure may have only one, or two, or all panoramic cameras 3. When there are at least two panoramic cameras 3, the image processor 1 performs stitching processing on the video data of the at least two panoramic cameras 3 to generate a complete video image, and the complete video image is displayed in the global display module 5. The assembly of a plurality of video data into a complete video is a mature prior art, and three steps of brightness difference adjustment, image registration and image fusion are generally adopted for the assembly of video data, and of course, other modes can be adopted, so that the specific modes are not repeated here.

In the practical use process, the medical staff can choose to use only one puncture outfit 6 with the panoramic camera 3, and can also choose to use two or three puncture outfits 6 with the panoramic camera 3, generally, although the smaller operation field range of the traditional endoscope causes that the medical staff cannot directly observe when looking for the condition of the adjacent area, the medical staff needs to move the endoscope, in the practical operation process, one operation process is concentrated in one area, the endoscope is operated in the limited area, only the panoramic field of view relative to the operation area is needed, and in general, the field of view range of one panoramic camera is enough, and in the practical operation process, the puncture outfit is always kept at a higher position when penetrating into the cavity, so that a larger shooting field of view is also available. The photographing range is approximately the area shown in a in fig. 7. The endoscope is close to the operation region because it needs to acquire an image of the operation field space more clearly, and the imaging range is approximately the region shown in fig. 7B. The operation space of one field of surgery is approximately the space shown in fig. 7C, so that the panoramic camera can achieve panoramic-like view acquisition in the process of operating tools such as an endoscope and a surgical instrument by medical staff. Of course, when put into use, some operations may have a larger operation area, and may exceed the space indicated by C, but although the puncture outfit is not affected by the small-range movement of the endoscope or other instruments in the operation process, it can be seen from the figure that if the puncture outfit moves in a large range, the angle of the puncture outfit will also change, and at this time, the puncture outfit 6 can still achieve the shooting of the panoramic view field covering the operation field space. The panorama referred to in this scheme is for the operation space, and does not mean the whole field of view in the cavity in absolute terms, and the acquisition of the whole field of view in the cavity is not significant for clinic.

Therefore, the panoramic camera is realized by using the puncture outfit, the shooting of the panoramic field of view which is complementary with the space of the operation field can be realized, and the flexible and automatic panoramic field of view adjustment can be realized according to the operation characteristics.

Specifically, as shown in fig. 8, when the puncture outfit 6 penetrates into the cavity through the cavity opening, the panoramic camera 3 is in a retracted state in which the photographing direction is directed radially toward the insertion rod 61, and the panoramic camera 3 is inserted into the human body cavity along with the insertion of the puncture outfit 6 into the rod 61. Here, the direction of shooting in the retracted state is not limited to be completely consistent with the radial direction of the puncture outfit 6, and due to structural characteristics, production process, material characteristics and the like, a small angle may exist, and it is generally guaranteed that the included angle between the shooting direction and the radial direction is smaller than 5 degrees, and the ideal state is that the shooting direction of the panoramic camera 3 is consistent with the radial direction.

As shown in fig. 9, in the operating state, the panoramic camera 3 is in an extended state in which the photographing direction is toward the tip of the insertion lever 61. Likewise, the shooting direction of the panoramic camera 3 is not limited to be completely consistent with the two directions toward the top end of the insertion rod 61, and the possibility that the two directions are completely consistent is smaller due to the structural feature of the dynamic unfolding structure 7 adopted in the scheme, only the included angle of more than or equal to 30 degrees, preferably more than or equal to 60 degrees, which is formed by the panoramic camera 3 and the puncture device 6 in the radial direction toward the top end of the puncture device 6 is ensured, so that the panoramic camera can face the internal organs in the cavity.

Specifically, the outer wall of the insertion rod 61 of the puncture outfit 6 is provided with a dynamic unfolding structure 7, and the panoramic camera 3 is installed at the dynamic unfolding structure 7; in the non-operating state, the dynamic unfolding structure 7 is in an adduction state so as to enable the panoramic camera 3 to be inserted into the radial direction of the rod 61 towards the puncture outfit 6; in the operating state, the dynamic expansion structure 7 is in an expanded state so that the panoramic camera 3 faces the tip direction of the insertion rod 61.

The dynamic unfolding structure 7 comprises a movable sleeve 71 and a fixed sleeve 72 which are sleeved on the outer wall of the insertion rod 61, the fixed sleeve 72 is closer to the top end of the puncture outfit 6 than the movable sleeve 71, one end, far away from the top end of the puncture outfit 6, of the movable sleeve 71 is connected with a poking block 74 through a push rod 73, and when the puncture outfit 6 is inserted into a human body cavity, the poking block 74 is positioned outside the human body, and the poking block 74 is operated to drive the movable sleeve 71 to axially move.

The movable sleeve 71 and the fixed sleeve 72 are connected through a plurality of bendable shaping strips 75 which are circumferentially arranged, the bendable parts are positioned between two ends of each shaping strip, one end of each bendable shaping strip 75 is connected with the movable sleeve 71, the other end is connected with the fixed sleeve 72, when the movable sleeve 71 is pushed to the fixed sleeve 72, the bendable parts of the bendable shaping strips 75 are bent to form a dynamic unfolding structure 7 in a unfolding state, and when the movable sleeve 71 is pulled far away from the fixed sleeve 72, the bendable parts are straightened to form the dynamic unfolding structure 7 in an adduction state. As shown in fig. 9, the panoramic camera 3 is embedded in a section of a bendable shaping strip 75 connected with the fixing sleeve 72, so that the panoramic camera 3 faces or tends to be inserted into the top end direction of the rod 61 when the dynamic unfolding structure 7 is in a unfolded state. The width of the bendable molding strip 75 embedded with the panoramic camera 3 is larger than or equal to that of the panoramic camera 3. All of the bendable molding strips 75 may have the same structure, i.e., the same length, width, thickness, and length at both ends of the bendable portion.

In the figure, the panoramic camera 3 protrudes out of the outer surface of the bendable molding strip 75, and when in actual manufacturing, the panoramic camera can be flush with the outer surface of the bendable molding strip 75.

As can be seen from fig. 7, in the actual operation process, the puncture outfit is usually located at a higher position, so that the puncture outfit is easily pulled out in the operation process, especially, the medical staff is careful in the process of replacing the surgical instruments, the dynamic unfolding structure of the scheme can also prevent the puncture outfit from being pulled out, and the accident that the puncture outfit is pulled out in the operation process is ensured. In the operation, the puncture outfit 6 is inserted into the opening of the human body, and the endoscope 10 is inserted into the puncture outfit 6, as shown in fig. 7. The endoscope is much longer than the inserted bar of puncture ware 6, and the medical personnel operation is the endoscope in the operation process, and puncture ware 6 is not the operation object, so can regard the operation field camera of endoscope department as dynamic camera, shoot the dynamic small-scope local operation field space of operation process, panoramic camera can be regarded as static camera, shoot the static extensive panoramic space of operation process, and this extensive panoramic space is not absolute static, when operation area is great, it can follow operation action transfer static extensive panoramic space. The dynamic and static combination can be realized, and the static space can be flexibly adjusted to obtain the double-view panoramic image.

Compared with the scheme of installing the panoramic camera by the puncture outfit in the second embodiment, the magnetic attraction scheme in the first embodiment has wider field of view and complete static effect. In the case of using one panoramic camera, the view range is smaller than that of the first embodiment, but for most operations, the excessive intra-cavity panorama is not needed, and only the relative panorama for each operation is needed, so the two schemes for realizing the double-view panorama have thousands of years.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (5)

1. The double-view panoramic medical endoscope camera system comprises an image processor (1), and a display module and a camera module which are connected with the image processor (1), and is characterized in that the camera module comprises a surgical field camera (2) and a panoramic camera (3), the display module comprises a local display module (4) and a global display module (5), the surgical field camera (2) is used for shooting a surgical field local space in a surgical site, the panoramic camera (3) is used for shooting a large-scale space in a cavity, the local display module (4) is used for displaying video images shot by the surgical field camera (2), and the global display module (5) is used for displaying video images shot by the panoramic camera (3);

the panoramic camera (3) is movably arranged on the outer wall of an insertion rod (61) of the puncture outfit (6);

when the puncture outfit (6) penetrates into the cavity through the cavity opening, the panoramic camera (3) is in a radially inward-retracted state with the shooting direction facing the insertion rod (61), and the panoramic camera (3) is inserted into the cavity along with the insertion of the puncture outfit (6) insertion rod (61);

In the working state, the panoramic camera (3) is in an unfolding state that the shooting direction faces the top end of the insertion rod (61);

the outer wall of an insertion rod (61) of the puncture outfit (6) is provided with a dynamic unfolding structure (7), and the panoramic camera (3) is arranged at the dynamic unfolding structure (7); in a non-working state, the dynamic unfolding structure (7) is in an adduction state so as to enable the panoramic camera (3) to face the radial direction of the insertion rod (61) of the puncture outfit (6); in the working state, the dynamic unfolding structure (7) is in an unfolding state so that the panoramic camera (3) faces the top end direction of the inserting rod (61);

The dynamic unfolding structure (7) comprises a movable sleeve (71) and a fixed sleeve (72) which are sleeved on the outer wall of the insertion rod (61), the fixed sleeve (72) is closer to the top end of the puncture outfit (6) than the movable sleeve (71), one end, far away from the top end of the puncture outfit (6), of the movable sleeve (71) is connected with a poking block (74) through a push rod (73), and when the puncture outfit (6) is inserted into the cavity, the poking block (74) is positioned outside the cavity, and the poking block (74) is operated to drive the movable sleeve (71) to axially move;

The movable sleeve (71) is connected with the fixed sleeve (72) through a plurality of bendable shaping strips (75) which are circumferentially arranged, the bendable parts are positioned between two ends of each shaping strip, one end of each bendable shaping strip (75) is connected with the movable sleeve (71), the other end is connected with the fixed sleeve (72), when the movable sleeve (71) is pushed to the fixed sleeve (72), the bendable parts of the bendable shaping strips (75) are bent, the dynamic expansion structures (7) are in expansion states, and when the movable sleeve (71) is pulled far away from the fixed sleeve (72), the bendable parts are straightened, and the dynamic expansion structures (7) are in adduction states;

The panoramic camera (3) is embedded in a section of the bendable shaping strip (75) connected with the fixed sleeve (72), so that the panoramic camera (3) faces to the top end direction of the inserting rod (61) when the dynamic unfolding structure (7) is in an unfolding state.

2. The double-view panoramic medical endoscope imaging system according to claim 1, wherein the surgical field camera (2) is located at the medical endoscope and is connected to the image processor (1) wirelessly or by a data line;

In the working state, the shooting view of the surgical field camera (2) moves along with the movement of the endoscope;

under the operating condition, panoramic camera (3) are located the cavity top, and the camera lens sets up in order to acquire the shooting image in the cavity in a large scale space downwards.

3. The dual-view panoramic medical endoscope camera system according to claim 2, wherein the panoramic camera (3) is internally provided with a first wireless module and a power supply module which are connected with the camera element, the image processor (1) is connected with a second wireless module, and the panoramic camera (3) is wirelessly connected with the image processor (1) through the first wireless module and the second wireless module;

Or the panoramic camera (3) is connected with the image processor (1) through a data wire in a wired way.

4. A dual-view panoramic medical endoscope camera system according to claim 3, characterized in that a light supplement lamp is embedded beside the lens of the panoramic camera (3);

The local display module (4) and the global display module (5) respectively correspond to one display, and the video image shot by the operation field camera (2) and the video image shot by the panoramic camera (3) are respectively displayed at the corresponding displays;

Or the local display module (4) and the global display module (5) share one display, and the display is provided with a main display area and an auxiliary display area, wherein the main display area is used for displaying video images shot by the surgical field camera (2), and the auxiliary display area is used for displaying video images shot by the panoramic camera (3).

5. The dual-view panoramic medical endoscopic imaging system of claim 4, wherein,

One, two or all puncture outfits (6) used for the operation process are provided with the dynamic unfolding structure (7) and the panoramic camera (3);

When the panoramic camera (3) is arranged, the image processor (1) performs splicing processing on video data of the at least two panoramic cameras (3) to generate a complete video image, and the complete video image is displayed in the global display module (5).