CN104683757B - Hand-held Minimally Invasive Surgery Real-time video transmission system and method - Google Patents
Hand-held Minimally Invasive Surgery Real-time video transmission system and method Download PDFInfo
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- CN104683757B CN104683757B CN201410816715.4A CN201410816715A CN104683757B CN 104683757 B CN104683757 B CN 104683757B CN 201410816715 A CN201410816715 A CN 201410816715A CN 104683757 B CN104683757 B CN 104683757B
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Abstract
The invention discloses a kind of hand-held Minimally Invasive Surgery Real-time video transmission system and method, including image front-end, handle and high definition output cord, image front-end includes positioning pipe, stainless steel tube is provided with outside the positioning pipe, the image sensor of light source, optical image module and low-light (level) is installed, the light source is LED lamp module in the positioning pipe；Handle is provided with button, and keypad is provided with handle, with by key connection, being additionally provided with image procossing mainboard in handle, the image procossing mainboard is connected by image transmission line with image sensor.Present invention employs the CMOS technology of low-light (level) and high-brightness LED technology, in conjunction with image processing algorithm, it is achieved thereby that miniaturization and the low cost of the full HD system of Minimally Invasive Surgery.
Description
Technical field
The present invention relates to endoscopic video transmission field, more particularly to a kind of novel hand-held Minimally Invasive Surgery video to pass in real time
Defeated system and method.
Background technology
Medical endoscope clinical technology be in minimally invasive medical technology time of occurrence earliest, the most ripe technology of development it
One.Endoscope micro-wound has the characteristics that wound is small, operating time is short, postoperative rehabilitation is fast, enjoys the favor of doctor and patient.
Traditional thoracoscope and laparoscope are mainly made up of optical camera front end, handle, vision processor and cold light source.
Whole system power consumption is big, and general total power consumption is in more than 100w.Conventional laparoscopic uses tower laminated construction, and volume is big, and part is more,
System operatio is complicated, and maintenance cost is big.Current Minimally Invasive Surgery camera system is mainly controlled by foreign producer, mainly there is Olympic bar
This, Shi Saike and wolf board etc..Selling price is expensive generally in 60 ten thousand to 120 ten thousand RMB, substantially increases hospital and trouble
The cost of person.Therefore, market in urgent need one kind is simple in construction, easy to operate, lower-cost Minimally Invasive Surgery Video transmission system.
At present, in the market product on sale is mainly that cold light source provides light filling by optical fiber for camera lens, and camera lens passes through optics
Imaging is handling on the image sensor and processor of image transmission to rear end.Therefore cold light source and optical imagery is needed to transmit
Pipeline, increase the volume of system.
The content of the invention
The technical problem to be solved in the present invention is, valency big for endoscopic video transmission product volume of the prior art
The defects of lattice costliness, there is provided a kind of simple in construction, small volume, cheap hand-held Minimally Invasive Surgery Real-time video transmission system
And method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of hand-held Minimally Invasive Surgery Real-time video transmission system, including image front-end, handle and high definition output line are provided
Cable, image front-end include positioning pipe, are provided with stainless steel tube outside the positioning pipe, light source, optical image are provided with the positioning pipe
The image sensor of module and low-light (level), the light source are LED lamp module；Handle is provided with button, and keypad is provided with handle,
With by key connection, being additionally provided with image procossing mainboard in handle, the image procossing mainboard passes through image transmission line and image sensor
Connection.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, the light source is annular or hemispherical
LED lamp module.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, the optical image module includes image
Eyeglass, light transmission piece, Forward End Cap, heat dissipation supporting frame and optical lens, image lens and light transmission piece are placed in front of LED lamp module, and
It is fixed on Forward End Cap, optical lens passes through LED lamp module, and is fixed by heat dissipation supporting frame, the heat dissipation supporting frame and institute
Stainless steel tube is stated directly to contact.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, the image lens are all-transparent glass
Glass.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, the system also include image support seat and
Jacking block, fix the optical image module and image sensor.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, temperature control can be also provided with the light source
Device processed, realize the self-protection of excessive temperature.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, the optical lens includes being sequentially arranged
Four camera lenses, diaphragm is wherein provided between second and third two camera lenses, the 4th camera lens rear is provided with bandpass filter.
In hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention, in the image sensor of the low-light (level)
Including A/D converter, it is connected with image procossing mainboard, the image of acquisition is converted into data signal, is then forwarded to image procossing
Mainboard.
Present invention also offers a kind of hand-held Minimally Invasive Surgery realtime video transmission method, based on above-mentioned system, including
Following steps：
S1, LED lamp module provide light beam for optical image module, and the LED lamp module is placed in image front-end, before the image
End is inserted in patient's body；
S2, optical image module are by high definition optical lens by image sensing of the image transmitting of patient's body to low-light (level)
Device；
The image that S3, A/D converter obtain image sensor is converted to data signal, and is transferred to image procossing mainboard
Processing；
S4, image procossing mainboard are handled data signal, and the signal after processing is sent by image transmission line
To display end.
In hand-held Minimally Invasive Surgery realtime video transmission method of the present invention, A/D converter is integrated in image sensing
In device.
In hand-held Minimally Invasive Surgery realtime video transmission method of the present invention, in step S2, high definition optical lens leads to
Cross lens to collect light and carry out shaping to light beam, eliminate preceding group of aberration of whole optical imaging system, and limit by diaphragm
The bore of imaging beam, arranged by the high lens on light Shu Jinhang of focal power and form imaging capability, eliminate whole optics into
As the off-axis aberration organized after system；Again by organizing residual achromatic aberration before the whole optical imaging system of lens correction, whole optics is balanced
The focal power distribution of imaging system；Filtered finally by bandpass filter.
The beneficial effect comprise that：The hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention employs low
The high definition image sensor of illumination, the LED of high brightness small size is used in image front-end, in conjunction with the image procossing in handle
The processing of mainboard, realizes the real-time output of full HD image, and image front-end can be inserted directly into patient when carrying out Minimally Invasive Surgery
In vivo, because LED is placed in image front-end, image procossing mainboard is all integrated in handle so that whole system small volume, lightly
It is convenient；It is cost-effective and whole system is low in energy consumption, safeguard simple.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the overall perspective of hand-held Minimally Invasive Surgery Real-time video transmission system of the embodiment of the present invention；
Fig. 2 is the external view of hand-held Minimally Invasive Surgery Real-time video transmission system of the embodiment of the present invention；
Fig. 3 a are the overall perspectives one of hand-held Minimally Invasive Surgery Real-time video transmission system of the embodiment of the present invention；
Fig. 3 b are the overall perspectives two of hand-held Minimally Invasive Surgery Real-time video transmission system of the embodiment of the present invention；
Fig. 4 is the enlarged diagram of Fig. 1 part A in one embodiment of the invention；
Fig. 5 is the enlarged diagram of Fig. 1 part A in another embodiment of the present invention；
Fig. 6 is the explosive view of the image front-end of one embodiment of the invention；
Fig. 7 is the explosive view of the image front-end of another embodiment of the present invention；
Fig. 8 is the schematic diagram of annular LED lamp module of the embodiment of the present invention；
Fig. 9 is the schematic diagram of semi-circular LED lamp module of the embodiment of the present invention；
Figure 10 is the index path of the optical lens of the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
The hand-held Minimally Invasive Surgery Real-time video transmission system of the embodiment of the present invention, available for abdominal operation, thoracic surgery,
The field such as prostatectomy and gynaecology and obstetrics operation, the present invention is by taking the operation video frequency RTTS of fujinon electronic video endoscope as an example.Such as
Shown in Fig. 1 and Fig. 2, including image front-end a, handle b and high definition output cord c.Image front-end a and handle b is connected by connector
Connect, high definition output cord c is picked out by handle b end.As in Figure 3-5, image front-end a includes positioning pipe 10, the positioning
The outside of pipe 10 is provided with stainless steel tube 11.Positioning pipe 10 is used to position whole image front-end a.Stainless steel tube 11 is medical stainless steel
Pipe, provides protection, and be easy to disinfection for whole optical system.Image front-end a can be designed as the shadow permanently used
As front end, image front-end can be connected with handle by the customization buckle-type connector of water proof type, and the connector needs to ensure at a high speed
The transmission of signal, the structure can carry out autoclave sterilization.Disposable image front-end is may be designed in, so as to be doctor
Raw disinfection offers convenience and safety.
Light source 4, optical image module and image sensor 6 are installed in the positioning pipe 10；Handle b is provided with button, hand
Keypad 13 is provided with handle b, with by key connection, being additionally provided with image procossing mainboard 14 in handle b, the image procossing mainboard 14 passes through
Image transmission line 9 is connected with image sensor 6-3.Light source 4 provides the light beam needed, optical image module to optical image module
It may include the full HD optical lens of a 1080p, the high definition optical lens is by sense of the image transmitting to the image sensor of low-light (level)
Light window, image sensor can integrate A/D converters, the optical imagery of acquisition is digitized into processing, then by processing
Digital data transmission is to image procossing mainboard 14.
Keypad 13 is also connected with image procossing mainboard 14.The fujinon electronic video endoscope sets 4 buttons, be white balance respectively by
Key, menu key, menu rolling selection key（Or freezing key）With the brightness regulation button of lamp.White balance button is used for manual
White balance is carried out, Menu key is used for selecting menu interface parameter setting and electron mirror mode of operation, rolls selection key（Or freeze
Key, realize freezing for more current pictures）Content according to Menu key is selected into the function and the setting that need, needed in elected
When content and function, Menu key is pressed again, activates the function of choosing.Brightness regulation key is used for adjusting high-brightness LED module
Brightness.Button can be extended, such as can increase power switch key etc..
Light source 4 is annular or hemispheric LED.LED power dissipation ratio is relatively low, belongs to environment-friendly light source.As Fig. 3 b,
4th, shown in 7,9, light source 4 is semiorbicular LED lamp module.As shown in Fig. 3 a, 5,6,8, light source 4 is annular LED lamp module.Figure
LED in 8 and Fig. 9 is represented with square frame.The LED lamp module of high brightness can be made up of several LED lamps, and each LED lamp module can be with
It is arranged to 2 ~ 4 high-brightness LEDs according to demand.Plurality of LEDs can be arranged in a manner of annular or be semiorbicular, to form semi-ring
The LED lamp module of shape or annular.The brightness of LED lamp module can be adjusted by PWM according to the actual requirements.Such as Fig. 3 a and Fig. 3 b
Shown, LED lamp module is connected by connecting line 12 with image procossing mainboard 14, and driving and control are provided by image procossing mainboard 14
System.
As shown in Fig. 4,5,6 and 7, the optical image module of the embodiment of the present invention include image lens 1, light transmission piece 2,
Forward End Cap 3, heat dissipation supporting frame 5, optical lens 6-1 and camera lens Supporting cover 6-2, image lens 1 and light transmission piece 2 are placed in LED mould
The front of block, and be fixed on Forward End Cap 3, Forward End Cap 3 is mainly used to stabilized image eyeglass 1 and light transmission piece 2, and corrects image
Eyeglass 1 and light transmission piece 2 obtain the angle of image.Image lens 1 can be selected full transparent glass, it is loss-free image transmitting is given after
The optical lens 6-1 in face, light transmission piece 2 are mainly used to the light that light source 4 below is sent uniformly to project on object.Optics
Camera lens passes through LED, and is fixed by heat dissipation supporting frame 5, and the heat dissipation supporting frame 5 directly contacts with the stainless steel tube 11, will
LED heat is quickly transmitted to stainless steel tube 11.
In present pre-ferred embodiments, the external diameter of stainless steel tube 11 is 10mm, internal diameter 9.5mm.Optical lens 6-1's is outer
Footpath is 5mm or 4.5mm.The length of stainless steel tube 11 is 35 ~ 40cm.CMOS passes through MIPI（CSI-2）Bus
Image information is transferred to image procossing mainboard 14.The image that image procossing mainboard 14 exports is 1080p, 30 ~ 60 frames, and output connects
Mouth is HDMI or DVI.
If selecting the LED lamp module of annular, the Breadth Maximum of its annulus is 2.5mm, and LED can be made up of several lamps, and
Can be with Integrated Temperature Contriver Circuit on LED.LED brightness can be adjusted by PWM according to the actual requirements.When temperature is too high,
Temperature controller can notify system to reduce electric current or close lamp source.
Full HD camera lens can be selected in optical lens 6-1, and the image information that camera lens obtains passes through newest low-light (level) below
CMOS（Ov 27xx series or Toshiba T4K7x etc.）Complete image processing to image, then by FPC or
Person's high definition transmission line is transmitted to the image procossing mainboard 14 of rear end（TI Leonardo da Vinci's series, such as DM388 etc. or Freescale
I.MX6 etc.）, image procossing mainboard 14 handled by software programming, and high definition realtime graphic is passed through HDMI or DVI interface
Export to using display.
As shown in Figure 10, optical lens 6-1 employs the design of uniqueness, and general camera lens is 6 mirrors, and the present invention is implemented
Using the structure of 5 mirrors, including camera lens 61,62,63,64, and bandpass filter 66, wherein camera lens 62 and camera lens 63 in example
Between set diaphragm 65.
Lens 61 are placed on the foremost of camera lens, light are collected for creating big visual field using the negative lens of H-Lak7 glass；
Lens 62 can use cemented doublet to carry out shaping, and the preceding group of aberration that disappear to light beam；
Diaphragm 65：For limiting the bore of optical system imaging light beam；
Lens 63 have higher focal power, and light beam is arranged and forms imaging capability, eliminate group after whole system
Off-axis aberration；
Lens 64 can use cemented doublet, and positive lens is thin and negative lens is thick, and residual achromatic aberration is organized before correcting optical system, put down
Balance system focal power is distributed, and finally realizes good imaging effect.
Bandpass filter 66（Bandpass filter, i.e. parallel flat）, for being coated with bandpass filters, system is limited
The imaging band specified is scheduled on, 450nm~650nm spectral regions may be selected for Medical imaging systems, in practice it has proved that the wave band
Be advantageous to the discriminating of health tissues and pathological tissues, be also easy to carry out matching and the ratio of image with the diagnostic result of Other Instruments
Compared with.
In systems, other lens in addition to bandpass filter 66 plate multilayer antireflective film, improve system to luminous energy
The raising of utilization rate, centered on diaphragm, system is divided into front and rear two groups, and preceding group is primarily used to form big visual field, before rear group correction
The aberration of group and whole system, bandpass filter 66 is arranged afterwards, to limit system imaging spectral region, and reserved certain sky
Between install CMOS picture pick-up devices.
The embodiment of the present invention select optical lens parameter be mainly：Focal length 3.09mm, focus free, depth of field 2.5mm
~ 10mm, optics ultimate resolution 240lp/mm, minimum 120lp/mm；Visual field：±45°；Wave band：0.48mm~0.62mm；F#
Number：6；Peripheral field（±45°）Distortion：15%, during ± 27 ° of visual fields distortion be less than 10%；Diameter of lens：4.5mm~5.5mm.
The optical image of acquisition by light path, is transmitted to image sensor 6-3 and carries out analog-to-digital conversion and place by optical lens 6-1
Reason, image sensor 6-3 is low-light (level) image sensor, and the initial data of image is transmitted into handle by image transmission line 9
In image procossing mainboard 14 handled.
The hand-held Minimally Invasive Surgery Real-time video transmission system of the present invention also includes image support seat 7 and jacking block 8, for solid
Determine optical image module and image sensor 6.
Present invention also offers a kind of hand-held Minimally Invasive Surgery realtime video transmission method, what it is based on above-described embodiment is
System, comprises the following steps：
S1, LED lamp module provide light beam for optical image module, and the LED lamp module is placed in image front-end, before the image
End is inserted in patient's body；
S2, optical image module are by high definition optical lens by image sensing of the image transmitting of patient's body to low-light (level)
Device；
The image that S3, A/D converter obtain image sensor is converted to data signal, and is transferred to image procossing mainboard
Processing；
S4, image procossing mainboard are handled data signal, and the signal after processing is sent by image transmission line
To display end.
In hand-held Minimally Invasive Surgery realtime video transmission method of the present invention, A/D converter is integrated in image sensing
In device.
In hand-held Minimally Invasive Surgery realtime video transmission method of the present invention, in step S2, high definition optical lens leads to
Cross lens to collect light and carry out shaping to light beam, eliminate preceding group of aberration of whole optical imaging system, and limit by diaphragm
The bore of imaging beam, arranged by the high lens on light Shu Jinhang of focal power and form imaging capability, eliminate whole optics into
As the off-axis aberration organized after system；Again by organizing residual achromatic aberration before the whole optical imaging system of lens correction, whole optics is balanced
The focal power distribution of imaging system；Filtered finally by bandpass filter.
The present invention uses newest imaging technique and light source, the processing of image can be directly realized in front end, it is not necessary to cold
Light source and optical imagery transmission pipeline, so as to reduce the volume of whole system.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (8)
1. a kind of hand-held Minimally Invasive Surgery Real-time video transmission system, it is characterised in that defeated including image front-end, handle and high definition
Go out cable；
Image front-end includes positioning pipe, is provided with stainless steel tube outside the positioning pipe, light source, optical image are provided with the positioning pipe
The image sensor of module and low-light (level), the light source are LED lamp module；
Handle is provided with button, and keypad is provided with handle, with by key connection, being additionally provided with image procossing mainboard in handle, the figure
As processing main plate is connected by image transmission line with image sensor；
The optical image module includes image lens, light transmission piece, Forward End Cap, heat dissipation supporting frame and optical lens, image lens
It is placed in front of LED lamp module, and is fixed on Forward End Cap with light transmission piece, optical lens passes through LED lamp module, and passes through the branch that radiates
Support is fixed, and the heat dissipation supporting frame directly contacts with the stainless steel tube；
The optical lens includes four camera lenses being sequentially arranged, including negative lens, cemented doublet, high-power lens and double
Diaphragm is provided between balsaming lens, wherein second and third two camera lenses, the 4th camera lens rear is provided with bandpass filter.
2. hand-held Minimally Invasive Surgery Real-time video transmission system according to claim 1, it is characterised in that the light source is
Annular or hemispheric LED lamp module.
3. hand-held Minimally Invasive Surgery Real-time video transmission system according to claim 1, it is characterised in that the image mirror
Piece is full transparent glass or glass lens.
4. hand-held Minimally Invasive Surgery Real-time video transmission system according to claim 1, it is characterised in that the system is also wrapped
Include image support seat and jacking block, fixed optical image module and image sensor.
5. hand-held Minimally Invasive Surgery Real-time video transmission system according to claim 1, it is characterised in that the low-light (level)
Image sensor include A/D converter, be connected with image procossing mainboard, the image of acquisition be converted into data signal, then
It is sent to image procossing mainboard.
A kind of 6. hand-held Minimally Invasive Surgery realtime video transmission method, based on the system described in claim 1, it is characterised in that
Comprise the following steps：
S1, LED lamp module provide light beam for optical image module, and the LED lamp module is placed in image front-end, and the image front-end is inserted
In patient's body；
S2, optical image module are by high definition optical lens by image sensor of the image transmitting of patient's body to low-light (level)；
The image that S3, A/D converter obtain image sensor is converted to data signal, and is transferred at image procossing mainboard
Reason；
S4, image procossing mainboard are handled data signal, and the signal after processing are sent to by image transmission line aobvious
Show end.
7. hand-held Minimally Invasive Surgery realtime video transmission method according to claim 6, it is characterised in that A/D converter
It is integrated in image sensor.
8. hand-held Minimally Invasive Surgery realtime video transmission method according to claim 6, it is characterised in that in step S2,
High definition optical lens collects light by lens and carries out shaping to light beam, eliminates preceding group of aberration of whole optical imaging system,
And the bore of imaging beam is limited by diaphragm, arranged by the high lens on light Shu Jinhang of focal power and form imaging capability,
Eliminate the off-axis aberration organized after whole optical imaging system；Again by organizing remaining color before the whole optical imaging system of lens correction
Difference, balance the focal power distribution of whole optical imaging system；Filtered finally by bandpass filter.
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