WO2012103766A1

WO2012103766A1 - 3d electronic rigid cholecystoscope system and method for use thereof

Info

Publication number: WO2012103766A1
Application number: PCT/CN2011/083095
Authority: WO
Inventors: 乔铁
Original assignee: 广州宝胆医疗器械科技有限公司
Priority date: 2011-01-31
Filing date: 2011-11-29
Publication date: 2012-08-09
Also published as: CN102090879B; CN102090879A

Abstract

A three-dimensional electronic rigid cholecystoscope system comprises a rigid electronic cholecystoscope (1) comprising a rigid working end (11) and a main endoscopic portion (10); provided upon said rigid working end (11) are multiple CCD array modules able to perform 3D scanning and photography of the gallbladder lumen, to display full 3D images thereof and to reconstruct 3D images thereof. The multiple CCD array modules comprise at least one forward-facing CCD array module (151) disposed on the forward face of the tip (111) of the rigid working end and at least one peripheral-surface CCD array module (153) disposed on the peripheral surface of the tip (111) of the rigid working end. By means of in-depth endoscopy with the at least two CCD array modules, the internal environment of the gallbladder (9) can be reconstructed.

Description

Three-dimensional solid electronic gallbladder mirror system and using method thereof

Technical field

The invention belongs to a medical instrument, and particularly relates to a three-dimensional rigid electronic gallbladder mirror system for reconstructing a stereo image by using a multi-CCD array.

current technology

The endoscope can be divided into a planar endoscope and a stereoscopic endoscope according to whether it is a planar or a stereoscopic image. The endoscopes currently used can be divided into monocular and binoculars according to the number of eyepieces used:

First, the monocular endoscope is imaged by an optical system. The doctor can directly use the eye to observe through the eyepiece end. However, since it is a monocular mirror, it can only obtain an image of an angle of the object, just like using a single eye to see an object. The effect is that the object lacks a sense of three-dimensionality and distance.

Second, some stereo endoscopes currently use a binocular structure. The front end of the endoscope can be an optical lens or two optical lenses. The image of the object is output through two eyepieces. The doctor can observe through the binoculars. A stereoscopic image of an object similar to a human eye can also be displayed in a stereoscopic image by connecting a special processing host and a display, and processing the host computer, but the image is also single-angled and has certain limitations. Sex, a stereoscopic laparoscope using this structure has appeared. But other application areas have not yet appeared.

When doctors use monocular endoscopes for surgery, they lack the stereoscopic perception due to the flat image of the monocular, so they rely on the doctor's skill level. Although the binocular stereo endoscope can obtain the stereoscopic feeling similar to the human eye, but due to the limitation of the human cavity, it can not stereoscopically reflect the stereoscopic whole view of the entire surgical field, so the doctor uses the current endoscope. At the time of surgery, it is subject to visual constraints, which have certain limitations on the development of surgery and the improvement of the cure rate of the disease.

CCD (Charge-Coupled Device) is an important component of stereo cameras. It is a photosensitive semiconductor device in which a photosensitive unit converts received light into an amount of charge, and the amount of charge is proportional to the intensity of incident light. The CCD image sensor technology is extremely mature and can be spliced into an array of any shape as needed. In 1999, Fujifilm introduced super CCD technology. With the same area and number of photosensitive cells as ordinary CCDs, its resolution increased by 60%, dynamic range increased by 130%, color reproduction capability increased by 40%, and energy consumption decreased by 40%. Improve the function of the CCD. The size of the CCD's photosensitive unit is constantly decreasing. The size of the photosensitive unit has been reported to be only 0.5Hm. In the sub-micron era, the CCD will surround high resolution, high readout speed, low cost, miniaturization, and structure. Further developments in optimization, multi-spectral applications and 3D photography. An area array CCD composed of matrix-arranged photosensitive cells can sense images. CCD is now widely used in digital cameras and digital camcorders, It is also used in astronomical telescopes, scanners and barcode readers. "嫦娥2" uses a 96-line CCD array to sample the same target, and finally accumulates all the signals. The very dark target and the high resolution target, "嫦娥二号" can be photographed, and its resolution can reach 1 meter.

In the prior art, the concept of a CCD array has not been combined with a gallbladder mirror. Therefore, in order to obtain a clear three-dimensional image in the bile lumen, endoscopic techniques combining multiple CCD array technology with a gallbladder mirror are imminent. Summary of the invention

The object of the present invention is to overcome the deficiencies of the prior art and to provide a three-dimensional stereoscopic hard electronic gallbladder mirror capable of stereoscopic three-dimensional reconstruction of the gallbladder cavity during the operation to help medical personnel understand the cavity. The internal lesion condition, the development of a treatment plan to provide a better image basis.

In order to achieve the deficiencies of the above techniques, the present invention is achieved by the following technical solutions:

The three-dimensional rigid electronic gallbladder mirror system of the present invention comprises a hard electronic gallbladder mirror and a cold light source host connected with a hard electronic gallbladder mirror, the hard electronic gallbladder mirror comprising a rigid working end portion and an endoscope main body In part, the hard working end portion is provided with a multi-CCD array module capable of performing three-dimensional stereoscopic scanning on the gallbladder cavity, displaying a panoramic three-dimensional stereoscopic image thereof, and performing stereoscopic image reconstruction on the gallbladder cavity, and the multi-CCD array module includes At least one end face CCD array module disposed on the front end face of the rigid working end portion, and at least one circumferential CCD array module disposed on the outer peripheral surface of the hard working end tip end portion. The hard electronic gallbladder mirror with multi-array module capable of performing three-dimensional stereoscopic imaging on the gallbladder cavity, displaying a panoramic three-dimensional stereo image, and reconstructing a stereoscopic image of the gallbladder cavity is called a three-dimensional rigid electronic gallbladder mirror.

In the present invention, the three-dimensional solid electronic gallbladder mirror is also connected with an external fixing bracket, a processing host, a light source host, a workstation component, and the like.

The three-dimensional rigid electronic gallbladder mirror according to the present invention can be divided into a three-dimensional rigid electronic gallbladder mirror with a channel handle and a channel according to whether or not there is a channel (ie, has a therapeutic function) and whether or not a handle is provided. There are four types of three-dimensional rigid electronic gallbladder mirrors without handles, and three-dimensional rigid electronic gallbladder mirrors without channels with handles and without handles without handles. The details are as follows:

The first type, a three-dimensional rigid electronic gallbladder mirror with a channel without a handle, includes a rigid working end, an endoscope main body portion, a data connector end, a cold light source joint, an instrument channel, a water inlet channel, and a water outlet channel.

Second, a three-dimensional rigid electronic gallbladder with a channel with a handle, including a rigid working end, an endoscope body portion, a handle portion and an integrated interface, and a cold light source connector, an instrument channel, a water inlet channel, and Outlet channel.

Third, a three-dimensional rigid electronic gallbladder mirror without a channel without a handle, the structure comprising a rigid working end, an endoscope body portion, a data connector end, and a cold light source connector.

A fourth type, three-dimensional rigid electronic gallbladder mirror without a channel with a handle, the structure comprising a rigid working end, an endoscope body portion, a handle portion and an integrated interface or data connector end and a cold light source connector. The rigid working end of the three-dimensional rigid electronic gallbladder mirror with channel of the invention has a length of 250 to 300 mm, an outer diameter of 12 mm or less, a front end of 9 to 15 mm, and a CCD at the tip end. The array module, the optical fiber portion, the instrument channel outlet, and the inlet and outlet channel outlet.

The rigid working end of the three-dimensional rigid electronic gallbladder mirror without channel has a length of 250~300mm, an outer diameter of 12mm or less, a front end of 9~15 mm, and a front end design. CCD array module, optical fiber part.

The multi-CCD array module of the present invention comprises a CCD array and a range finder of the end face end face, a CCD array of the outer end surface of the tip end portion, and a range finder thereof.

In the present invention, the end face CCD array module disposed on the end face end face includes an end face CCD array and an end face finder, the end face CCD array, the internal structure of which at least includes two CCD components, and the CCD components are linearly arranged, each CCD Corresponding to a set of optical lenses, the same cavity can be imaged at the same time. The angle of view of each group of optical lenses is at least 90 °, and the CCD array has at least 5 frames per second. The range finder uses the reflection principle of laser or sound wave to measure the cavity distance and depth. The working frequency of the range finder is the same as the working frequency of the CCD array, ensuring data synchronization and facilitating stereo reconstruction.

In the present invention, the circumferential CCD array module disposed on the outer peripheral surface of the tip end portion includes a circumferential CCD array and a circumferential surface finder, the circumferential CCD array including at least one set of CCD arrays, each set of CCD arrays including at least Two CCD elements and corresponding optical lenses can simultaneously image the same intracavitary cavity. The optical field of each group of lenses is at least 90 °, and the CCD array has at least 5 frames per second. A range of CCD arrays are equipped with a range finder whose operating frequency is consistent with the operating frequency of the CCD array to ensure data synchronization for dimensional reconstruction. The CCD array is mounted on a ring carrier that can rotate with the main shaft, and can rotate the CCD image of the cavity. The rotation speed of the ring carrier is proportional to the moving speed of the external fixing bracket to ensure the image energy in the cavity. The seamless combination of multiple angles is of great significance for three-dimensional reconstruction.

The optical fiber portion of the present invention is a transmission optical path for providing a sufficient light source for the operation of the three-dimensional solid electronic gallbladder mirror, the outlet of which is divided into at least two parts, one portion providing a light source for the front end of the front end portion, and a portion for the apex A light source is provided in a range of 360 ° around the circumference.

The three-dimensional rigid electronic cholecystoscope with a channel according to the present invention has an inner diameter of the instrument channel of less than or equal to 3. 0 mm, and the water inlet channel and the water outlet channel are respectively less than or equal to 1. 0 mm.

The external fixation bracket of the present invention is used for scanning a CCD array of a cavity with a three-dimensional solid electronic gallbladder mirror, and the moving speed and the multi-CCD array rotation scanning speed of the front end of the three-dimensional solid electronic gallbladder mirror are proportion. The structure includes a fixing fixture, a bracket, and a moving device. The fixing fixture is used for tightly fixing the main body part of the three-dimensional rigid electronic gallbladder mirror, the bracket is connected to the fixing fixture and the mobile device, and the mobile device uses a high-performance motor drive The movement speed of the motor is controlled by the processing host. The mobile device transmission mode is not limited, and the screw drive or the guide rail drive can be adopted, and the mobile device is fixed on the rigid platform.

The processing host of the present invention uses a high-speed central processing unit and a high-performance graphics card for receiving and processing data packets of the three-dimensional solid electronic gallbladder mirror and the data of the range finder. Analyze various data of the data packet, perform stereo reconstruction on the cavity image, and restore the stereoscopic three-dimensional image of the cavity. An internal motion control card is used to precisely control the movement of the external mounting bracket.

The workstation component and the processing host are connected by a data line, and the workstation component includes a monitor, a workstation host, a control component (a keyboard mouse, etc.), an external device (external storage, a printer, etc.). The function of the workstation component is to display the 3D stereo image of the host output, analyze, store and print related data.

The three-dimensional rigid electronic gallbladder mirror system has clinical connection methods and systems connected as follows: The doctor extracts the gallbladder from the patient to the abdominal wall, fixes the gallbladder, makes a small incision at the bottom of the gallbladder, and introduces a three-dimensional solid electronic gallbladder mirror. The three-dimensional rigid electronic gallbladder mirror injects physiological saline into the gallbladder to fill the gallbladder. The main body of the three-dimensional rigid electronic gallbladder mirror is fixed on the external fixation bracket, and the data connector end of the three-dimensional solid electronic gallbladder mirror is externally connected to the processing host. The light source connector is externally connected to the light source host, and the workstation is connected to the processing host and the external fixing bracket through a data line. In the process of three-dimensional scanning of the gallbladder cavity, the state of the gallbladder should be kept as stable as possible, and the multi-CCD array module and the external fixation bracket of the three-dimensional solid electronic gallbladder mirror three-dimensional solid electronic gallbladder mirror are activated at the multi-CCD array module. While the gallbladder cavity is being scanned in a straight line and rotated, the external fixed bracket moves at a constant speed, and its speed is proportional to the rotation of the CCD array. The range finder will measure the accuracy of the CCD array at the tip end and the gallbladder wall or gallbladder wall in real time. The distance, the data packets of the multi-CCD array module and the range finder are transmitted to the processing host through the data line for calculation processing, and transmitted to the monitor of the workstation component to display the three-dimensional image.

Compared with the prior art, the beneficial effects of the invention:

The three-dimensional stereoscopic gallbladder mirror of the present invention refers to the related concepts and principles of the CCD stereo camera on the 绕2nd lunar satellite, and uses the multi-CCD array for stereoscopic scanning and stereo reconstruction of the human body cavity for the first time, and processes the host through processing. The stereoscopic image of the lumen of the gallbladder cavity is obtained. The stereoscopic image of the gallbladder has important practical significance for the doctor to observe the internal lesions and the cause of the disease from multiple angles, and to formulate the most reasonable and effective treatment plan. Therefore, the three-dimensional stereoscopic gallbladder mirror of the present invention is convenient for doctors to carry out surgical treatment, clinical research and other scientific research research under the guidance of stereoscopic images, and introduces doctors' surgical habits from a plane to a three-dimensional level, and has innovated. Surgical methods to improve the treatment efficiency and accuracy of the disease.

DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the system of a three-dimensional rigid electronic gallbladder mirror of the present invention.

2a and 2b are structural views of a three-dimensional rigid electronic gallbladder mirror with a channel of the present invention (including without a handle and Available in two forms).

Fig. 3a is a schematic view showing the structure of the tip end portion of the three-dimensional rigid electronic gallbladder mirror with a channel according to the present invention (corresponding to Fig. 2a and Fig. 2b above).

2c and 2d are structural views of the three-dimensional rigid electronic gallbladder mirror without a channel of the present invention (including two forms without a handle and a handle).

Fig. 3b is a schematic view showing the structure of the tip end portion of the three-dimensional solid electronic gallbladder mirror with a channel in the present invention (corresponding to Fig. 2c and Fig. 2d above).

Fig. 4 is a cross-sectional view showing the tip end multi-CCD array module of the three-dimensional rigid electronic gallbladder mirror of the present invention. Figure 5 is a schematic view showing the structure of an external fixing bracket of the three-dimensional rigid electronic gallbladder mirror system without a channel of the present invention. 6 is a schematic view showing the clinical application of the three-dimensional stereoscopic hard electronic gallbladder mirror system without a channel of the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings:

FIG. 1 is a schematic diagram of a three-dimensional rigid electronic gallbladder mirror according to the present invention. The three-dimensional rigid electronic gallbladder mirror system comprises: a three-dimensional rigid electronic gallbladder mirror 1, an external fixed bracket 2, a processing host 3, a light source host 5, a workstation component, and the workstation component comprises a workstation host 4, a control component 6, a monitor 7 and External device 8.

The three-dimensional rigid electronic gallbladder mirror according to the present invention can be divided into the following forms according to whether or not it has a passage and whether or not it has a handle, specifically:

2a and 2b are structural views of the three-dimensional rigid electronic gallbladder mirror 1 of the present invention. Three-dimensional stereoscopic hard electronic gallbladder with channel 1 has at least two forms:

The first type is a three-dimensional rigid electronic gallbladder mirror without a handle, as shown in Fig. 2a, which comprises a rigid working end portion 11, an endoscope main body portion 10, a data connector end 15, a cold light source connector 12, and an instrument channel 17. , the water inlet channel 13 and the water outlet channel 14 and the like.

The second type is a three-dimensional rigid electronic gallbladder with a handle, as shown in Figure 2b, which includes a rigid working end 11, an endoscope body portion 10, a handle portion 18, an integrated interface 19, an instrument channel 17, and a The water passage 13 and the water outlet passage 14 and the like, wherein the integrated interface 19 integrates the function of the cold light source joint and the data joint end, and is designed inside the handle portion 18.

In the present invention, the rigid working end portion 11 of the three-dimensional rigid electronic gallbladder mirror 1 with a channel has a length of 250 to 300 mm, an outer diameter of 12 mm or less, and a front end portion 10 mm of which is a tip end portion 111, as shown in Fig. 3a. The tip end portion 111 of the hard working end portion 11 is designed with an end face CCD array module and a circumferential CCD array module, an optical fiber portion 121, an instrument channel outlet 171, and inlet and outlet channel outlets 131, 141. The optical fiber portion 121 provides stereoscopic three-dimensional electrons. The front end of the gallbladder mirror 1 and the circular end face observe the necessary brightness. Through the end face CCD array module, the circumferential CCD array module pair The gallbladder cavity is subjected to three-dimensional stereoscopic imaging, which displays a panoramic three-dimensional image of the gallbladder cavity and reconstructs the stereoscopic image of the gallbladder cavity.

2c and 2d are structural views of the three-dimensional rigid electronic gallbladder mirror 1 without a channel according to the present invention. There are at least two forms of three-dimensional rigid electronic gallbladder mirrors without a channel:

The first type is a three-dimensional rigid electronic gallbladder mirror 1 without a handle, as shown in Fig. 2c, which includes a rigid working end portion 11, an endoscope main body portion 10, a data connector end 12, a cold light source connector 15, and the like.

The second type is a three-dimensional hard electronic gallbladder mirror 1 with a handle, as shown in Fig. 2d, which comprises a hard working end portion 11, an endoscope main body portion 10, a handle portion 18, an integrated interface 19, and an integrated interface 19 The function of integrating the cold light source connector and the data connector end 12 is designed inside the handle portion 18.

The hard working end portion 11 of the above three types of three-dimensional hard electronic gallbladder mirrors without a channel has a length of 250 to 300 mm and an outer diameter of 12 mm or less, and the front end 10 is hidden as a tip end portion 111, as shown in FIG. 3b. The tip end portion 111 is designed with an end face CCD array module and a circumferential CCD array module, and an optical fiber portion 121. The optical fiber portion 121 provides the necessary brightness for observing the front end and the circular end face of the stereoscopic three-dimensional electron gallbladder lens 1.

As shown in Figures 3a and 3b, the end face CCD array module disposed at the end face end includes an end face CCD array 151 and an end face finder 152. The end face CCD array 153 has an internal structure including at least two CCD components, and the CCD components are linearly arranged. Each CCD corresponds to a group of optical lenses, and can simultaneously image the same cavity portion, and the optical field angle of each group of optical lenses is at least At 90°, the CCD array has at least 5 shots per second. The end face finder 152 measures the distance and depth of the cavity by the reflection principle of laser or sound wave. The working frequency of the end face finder 152 is consistent with the operating frequency of the CCD array, ensuring data synchronization and facilitating stereo reconstruction.

The circumferential CCD array module disposed on the outer peripheral surface of the tip end includes a circumferential CCD array 153 and a circumferential surface distance measuring device 154. The circumferential CCD array 153 includes at least one set of CCD arrays, and the set of CCD arrays includes at least two CCD elements and corresponding optical lenses, which can simultaneously image the same intracavity portion, and the field of view of each set of optical lenses At least 90°, the circumferential CCD array 153 has at least a speed of 5 shots per second. And a set of CCD arrays are disposed at a suitable position on the circumferential surface finder 154. The working frequency of the circumferential surface finder 154 is consistent with the operating frequency of the circumferential CCD array 153 to ensure data synchronization for facilitating stereo reconstruction. As can be seen from the figure, the CCD array 153 is mounted on a ring carrier 155 capable of rotating the spindle of the hard working end portion 11, and can rotate the CCD image of the cavity, and the rotation speed of the ring carrier 155 and the external fixing bracket The speed of motion is proportional to 2 to ensure that the images in the cavity can be seamlessly combined at multiple angles.

As shown in FIG. 4, the end face CCD array 151 and the end face finder 152 are directly fixed at the end face position of the tip end portion, and the end field CCD array 151 has an angle of view of at least 90°, which is mainly for taking a three-dimensional image of the front end of the endoscope. .

The circular surface CCD array 153 and the circumferential surface distance measuring device 154 are mounted on the endoscope tip portion 111 to be able to surround the endoscope The ring carrier 155 is rotated by the main shaft 111. The ring carrier 155 can be smoothly rotated relative to the fixing mechanism 158 by the fixing mechanism 158 fixed to the inside of the endoscope. The circumferential CCD array 153 and the circumferential surface measurement are performed. The data of the distance 154 is also transmitted to the processing host 3 via the data line 156 by a suitable transmission method. The power of the ring carrier 155 is derived from the micromotor 157 of the endoscope end portion, and the ring carrier is rotated around the fixing mechanism 158 through the transmission structure. energy.

As shown in FIG. 5, the external fixing bracket 2 functions to perform a CCD array scanning of the cavity with the three-dimensional solid electronic gallbladder mirror 1, and the moving speed and the end face CCD array 153 of the three-dimensional hard electronic gallbladder mirror 1 and the tip end portion are The circumferential CCD array 154 is proportional to the rotational scanning speed. The external fixing bracket includes a fixing jig 23, a bracket 22, and a moving device 21. The fixing jig 23 is for closely fixing the endoscope main body portion 10 of the three-dimensional solid electronic cholecystoscope 1, the bracket 22 is for connecting the fixing jig 23 and the moving device 21, and the moving device 21 is driven by a high-performance motor, and the moving speed of the motor It is uniformly controlled by the processing host 4. In the present invention, the moving device 21 is not limited in transmission, and may be driven by a screw drive or a guide rail, and the mobile device 21 is fixed on the rigid platform.

FIG. 6 is a schematic view showing the clinical application of the three-dimensional solid electronic cholecystoscope system according to the present invention. The three-dimensional hard electronic gallbladder mirror 1 is connected to the cold light source host 5 and the processing host 3, and the workstation components (the host 4, the control unit 6, the monitor 7 and the external device 8) are in a normal working state, and the three-dimensional hard electronic gallbladder mirror 1 The hard working end portion 11 enters the gallbladder cavity through the tiny incision at the bottom of the gallbladder 9, and requires three-dimensional scanning reconstruction of the gallbladder cavity, and the three-dimensional rigid electronic gallbladder mirror 1 can be fixed by fixing the gallbladder and filling the physiological saline. Above the external fixing bracket 2, the two states are stable, minimizing the interference of the external connection to the gallbladder 9 and the three-dimensional hard electronic gallbladder mirror 1, and starting through the workstation components (host 4, control unit 6, monitor 7 and external device 8) The scanning and photographing function of the multi-CCD array of the three-dimensional hard electronic gallbladder mirror 1 simultaneously activates the moving device 21 of the external fixing bracket 2, and the moving speed thereof and the rotation of the ring carrier 155 at the tip end portion of the three-dimensional solid electronic gallbladder mirror 1 Proportional speed to ensure image quality and facilitate processing of the host for 3D reconstruction, all The data is processed by the processing host 3 and transmitted to the host of the workstation component 4 for further calculation and synthesis, reconstructed into a three-dimensional stereoscopic image, and displayed on the monitor 7. Three-dimensional rigid electronic cholecystoscope 1 After scanning the entire gallbladder cavity 9, a panoramic three-dimensional view of the gallbladder cavity 9 can be clearly displayed, providing a more detailed basis for the doctor to understand the deep condition of the gallbladder 9. After reconstruction of the three-dimensional image of the gallbladder cavity 9, the doctor can treat the lesions in the gallbladder cavity according to the three-dimensional image using a three-dimensional solid electronic cholecystoscope with a channel.

The inventive concept is not limited to a rigid electronic gallbladder mirror system, but can be widely applied to choledochoscopy systems, cystoscopy systems, anorectal systems, capsule enteroscopy systems, hysteroscopic systems, laryngoscopy systems, esophagoscopy systems, and fallopian tubes. System, ureteroscope system, colposcopy system, bronchoscopy system, ventricle system, duodenoscopy system, gastroscope system, arthroscopy system, etc.

Claims

Claim

A three-dimensional rigid electronic gallbladder mirror system comprising a rigid electronic gallbladder mirror and a cold light source host coupled to a rigid electronic gallbladder mirror, the rigid electronic gallbladder mirror comprising a rigid working end portion and an endoscope main body portion The utility model is characterized in that: the hard working end portion is provided with a multi-CCD array module capable of performing three-dimensional stereoscopic scanning on the gallbladder cavity, displaying a panoramic three-dimensional stereoscopic image, and reconstructing a stereoscopic image of the gallbladder cavity, the multi-CCD The array module includes at least one end face CCD array module disposed on the front end face of the hard working end portion, and at least one circumferential CCD array module disposed on the outer peripheral surface of the hard working end tip end portion.

2 . The three-dimensional rigid electronic gallbladder mirror system according to claim 1 , wherein the rigid electronic gallbladder mirror can be divided into a hard channel with a handle according to whether or not it has a channel and a handle. The electronic gallbladder mirror, the hard electronic gallbladder mirror with a channel without a handle, the hard electronic gallbladder mirror without a channel with a handle, and without a channel without a handle have four structural forms.

The three-dimensional rigid electronic gallbladder mirror system according to claim 1, wherein the hard working end of the hard electronic gallbladder mirror has a length of 250 to 300, and an outer diameter of less than or equal to 12 hidden. The front end of the 9 to 15 is hidden as the apex.

The three-dimensional rigid electronic gallbladder mirror system according to claim 1, wherein: the end face CCD array module comprises an end face CCD array of a hard working end portion and an end face finder, the end face CCD The array includes at least two linearly aligned CCD elements, and each CCD element corresponds to a set of optical optical lenses, each set of optical optical lenses having an angle of view of at least 90°.

The three-dimensional rigid electronic gallbladder mirror system according to claim 4, wherein: the end face CCD array has a speed of at least 5 shots per second, and an operating frequency of the end face finder and an end face CCD array The working frequency is the same.

The three-dimensional rigid electronic gallbladder mirror system according to claim 1, wherein: the circumferential CCD array module comprises a circumferential CCD array and a circumferential surface finder of a hard working end tip portion, The circumferential CCD array includes at least two linearly aligned CCD elements, and each CCD element corresponds to a set of optical optical lenses, each set of optical optical lenses having an angle of view of at least 90°.

The three-dimensional rigid electronic gallbladder mirror system according to claim 6, wherein: the circumferential CCD array has a speed of at least 5 shots per second, and an operating frequency and a circumference of the circumferential surface distance measuring device The operating frequency of the planar CCD array is the same.

8. The three-dimensional rigid electronic gallbladder mirror system according to claim 7, wherein said hard working The tip end portion of the end portion is provided with a ring carrier capable of rotating movement of the main shaft of the endoscope main body, and the circumferential surface CCD array and the circumferential surface distance measuring device are disposed on the ring carrier.

The three-dimensional rigid electronic gallbladder mirror system according to claim 8, wherein an inner fixing body of the endoscope portion of the gallbladder mirror is further fixedly connected with an external fixing bracket, and the external fixing bracket comprises a connection and a fixed connection. A clamp, a bracket and a moving device are fixed to the rigid platform and driven by the drive motor.

The three-dimensional rigid electronic gallbladder mirror system according to claim 1, wherein: the three-dimensional solid electronic gallbladder mirror is further connected with a processing host for processing data, and a workstation component, and the workstation component The processing host is connected by a data line, and the workstation component includes a monitor, a workstation host, a control component, and an external device; the processing host has a high-speed central processing unit and a high-performance graphics card for receiving and processing the three-dimensional hard The data packet composed of the image information returned by the electronic gallbladder mirror and the data of the range finder is used to analyze the various data of the data packet, and stereoscopically reconstruct the gallbladder image to restore the stereoscopic three-dimensional image of the gallbladder.

11. The method of using a three-dimensional rigid electronic gallbladder mirror system according to claim 1, wherein:

(1) inserting a hard electronic gallbladder into the gallbladder cavity through an incision at the bottom of the gallbladder;

(2) Three-dimensional stereoscopic imaging of the gallbladder cavity, simultaneous panoramic three-dimensional image display, and simultaneous scanning of the gallbladder cavity by a multi-CCD array module placed on the hard working end of the rigid electronic gallbladder mirror Stereoscopic image reconstruction of the gallbladder cavity.