CN101264002A - Three-dimensional endoscope measuring device and method based on optical grating projection - Google Patents
Three-dimensional endoscope measuring device and method based on optical grating projection Download PDFInfo
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Abstract
The invention relates to a three-dimensional endoscopic measuring unit and a method based on the grating projection, comprising an optical fiber image guide, an amplitude-type transmission grating, a collimating lens, a semiconductor laser light source, a micro CCD sensor array, a transmission line, an image capture card and a computer. The three-dimensional endoscopic measuring unit is characterized in that: the computer comprises a corresponding image processing and three-dimensional profile calculation and reconfiguration software; the amplitude-type transmission grating is projected on the measured surface during endoscopic observation; the grating fringe is modulated by the measured surface, so as to generate deformation; the deformation grating fringe is collected through a CCD imaging system; and the three-dimensional profile information of the measured target is obtained through computer image processing and a three-dimensional profile reconstruction algorithm. The three-dimensional endoscopic measuring unit has the advantages of being able to obtain the three-dimensional profile information of the endoscopic object with fast measurement, higher measuring accuracy and simple way.
Description
Technical field
This patent relates to endoscope, and is particularly a kind of based on the amount of spying out apparatus and method in the three-dimensional of optical grating projection.
Background technology
Endoscope is the bonded accurate Medical Instruments of a kind of ray machine electricity, is used to observe in-vivo tissue and structure, is that medical diagnosis, particularly Minimally Invasive Surgery provide the diagnostic message of science.From initial hard tube endoscope fibrescope and fujinon electronic video endoscope till now, the technical development of endoscope is ripe day by day.
Existing endoscope comprises fibrescope and fujinon electronic video endoscope.Endoscope generally is made up of illuminator and image capturing system.Illuminator mainly is that the illumination light that light source (commonly used as the halogen cold light source) produces is conducted in the body, for tissue to be observed is provided as the picture illumination.The non-structured light source lighting of the many employings of existing illuminator, illumination light field itself can not be carried any encoding information.Image capturing system then is to gather tissue image by optical fiber image guide bundles or CCD, obtains the two-dimensional image information of tested tissue.
The message reflection that this endoscopic picture comprised the two dimensional surface information of tested tissue, Flame Image Process work concentrates on the quality (for example definition and coloured image) that improves existing plane picture and eliminates because the various aberrations of system's generation.The J.F.Rey etc. of France carries out graphical analysis and processing in the computer [referring to technology 1:J.F.Rey formerly with the video signal collective of endoscope's output, etc, al., Electronic Video Endoscopy:Preliminary Resultsof Imaging Modification, Endoscopy, Vol.20,1988:8-10].Gondola S.Guadagni etc. are core with fujinon electronic video endoscope and one 386 computer, fujinon electronic video endoscope Flame Image Process, analytical system have been developed [referring to technology 2:S.Guadagni formerly, etc, al., Imaging in Digestive Videoendoscopy, SPIE, Optic Fibersin Medicine, Vol.1420,1991:178-182].Recently, the appearance of miniature CCD has improved the information quality that plane picture comprised greatly.Good condition has been created in the medical diagnosis that develops into of these technology.
But, existing endoscopic system is because the information that light field comprised is considerably less, can only obtain the planar information of tested tissue, and lose the three-dimensional appearance information of inclusion bulk phase to the degree of depth and lateral dimension, losing to science diagnosis and medical research of this information caused very big restriction.The method that overcomes this shortcoming is to adopt the optical three-dimensional measurement technology, and this technology can effectively combine with the based endoscopic imaging technology, and the 3 d shape of measurement target distributes, and Three-dimension Target pattern information is provided.
Optical 3-dimensional topography measurement technology is the sophisticated measuring technique of a class, is widely used in various fields of measurement, has the precision height, speed is fast and advantage such as untouchable measurement.Wherein a kind of optical 3-dimensional topography measurement technology adopts active optics three-dimensional measurement principle, make illumination light field structureization (point, line, grating fringe etc.), utilize the Structured Illumination testee, the testee three-dimensional surface is modulated the structured light of illumination, makes light field carry the three-dimensional appearance information on testee surface.Take the image of modulated structure light field again by CCD, machine is handled as calculated, by the three-dimensional appearance restructing algorithm, obtains the three-dimensional appearance information of measured target.Especially, utilize the Fourier transform technology of profiling (FTP) of grating fringe as structured light, propose [referring to technology 3:TakedaMitsuo formerly in nineteen eighty-three by people such as Takeda, Mutoh Kazuhiro, " Fourier transform profilometry for the automaticmeasurement of 3-D object shapes ", Applied Optics, Vol.22, Issue.24,1983].This method as the structure light source, by image intensity being distributed image and demodulates information algorithm process such as carrying out Fourier transform, filtering, inverse fourier transform, position phase demodulation, obtains the three-dimensional appearance information of measurement target with the grating fringe light field.
Peep three-dimension measuring system in existing and adopt the laser elevation scanning technique.But, the control structure complexity of this laser scanning system, required time is longer, and embodiment is loaded down with trivial details, and technology is still immature.
Summary of the invention
The present invention will solve the deficiencies such as the problem of losing of above-mentioned prior art endoscope output image three-dimensional information, provide a kind of based on the amount of spying out apparatus and method in the three-dimensional of optical grating projection, peeping the three-dimensional appearance information of object in obtaining, and have that measuring speed is fast, certainty of measurement and the method characteristic of simple.
Technical solution of the present invention is as follows:
A kind of based on the amount of spying out device in the three-dimensional of optical grating projection, its characteristics are by the optical fiber image guide bundles, vibration amplitude type transmission grating, collimating lens, the semiconductor laser light source, miniature area array CCD detector, transmission line, image pick-up card and computer constitute, described computer has corresponding Flame Image Process and three-dimensional appearance calculates reconstruction software, the annexation of each parts is: the laser that described semiconductor laser light source sends is successively through collimating lens, vibration amplitude type transmission grating and optical fiber image guide bundles are radiated at the object under test surface, by miniature area array CCD detector take by the object under test three-dimensional surface shape the projected fringe of synthetic vibration amplitude type transmission grating after transmission line, image pick-up card enters computer.
Utilize the method that the amount of spying out device is measured in the three-dimensional of above-mentioned optical grating projection, comprise the following steps:
1. gather the striped distribution pattern on the reference plane: before the Measuring Object three-dimensional appearance, at first utilize miniature area array CCD detector and image pick-up card to gather grating fringe image on the width of cloth reference plane, be stored in the computer;
2. gather the deformation grating fringe distributed image on the measurement target: the miniature area array CCD detector of peeping three-dimensional measuring apparatus in described is aimed at measurand, adjust the position, make object to be measured blur-free imaging on this miniature area array CCD detector, gather target three-dimensional appearance modulation to be measured and produce the grating fringe image of deformation, be stored in the computer;
3. COMPUTER CALCULATION two width of cloth image bit differ, and the Three-dimension Target pattern is surveyed in reconstruct:
The processing of reference plane stripe pattern: to the reference plane stripe pattern of miniature area array CCD detector shooting, carry out necessary image processing,, reduce picture noise to improve the contrast of image, carry out Fourier transform, fundamental frequency filtering, inverse fourier transform then, obtain
And be stored in the computer;
Processing to the deformation stripe pattern of survey target modulation: same, the deformation stripe pattern of the target modulation of surveying that miniature area array CCD detector is taken, carry out necessary image processing, to improve the contrast of image, reduce picture noise, carry out Fourier transform, fundamental frequency filtering, inverse fourier transform then, obtain
Bringing the result of the result of above-mentioned processing and the plane of reference stripe pattern stored into following formula calculates:
Because the arc-tangent value of COMPUTER CALCULATION is positioned at [π, π], so the phase para-position distributes mutually and has discontinuous transition, carry out phase unwrapping to the phase difference that calculates;
Utilize at last
Reconstruct the Three-dimension Target topographic profile of surveying,
In the above-mentioned formula: r
0(x, y), r (x, y) show respectively reference plane show above-mentioned reference plane and the surface reflectivity heterogeneous of two kinds of situations of the target of surveying, A
nThe weight factor of representing fourier series at different levels,
(x, y) and
(x, y) expression stripe pattern non-modulated distributes f mutually with position under two kinds of situations of ovennodulation
0The fundamental frequency of expression projection grating striped.
The cycle of the amplitude grating that is adopted is 100 μ m, and aperture efficiency is 1: 1, and the grating diameter is no more than 5mm.
Technique effect of the present invention:
The method and apparatus of the amount of spying out in the present invention is applied to the Fourier transform technology of profiling solves technical problems such as sweep unit complexity, the control accuracy requirement is high, Measuring Time is long.The 3 d shape that this measuring method only needs the optical grating projection image of a frame deformation just can calculate object distributes.Compare existing endoscopic system, peep the three-dimensional appearance information of object in it can obtain, and have that measuring speed is fast, certainty of measurement and the method characteristic of simple.
Description of drawings
Fig. 1 is that the present invention adopts the amount of spying out schematic representation of apparatus in the three-dimensional of vibration amplitude type transmission grating projection.
Fig. 2 is the principle schematic of Fourier transform technology of profiling of the present invention.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
See also Fig. 1 earlier, Fig. 1 the present invention is based on the amount of spying out schematic representation of apparatus in the three-dimensional of optical grating projection.It also is the structural representation of the embodiment of the invention.As seen from the figure, the present invention is based on the amount of spying out device in the three-dimensional of optical grating projection, by optical fiber image guide bundles 2, vibration amplitude type transmission grating 3, collimating lens 4, semiconductor laser light source 5, miniature area array CCD detector 6, transmission line 7, image pick-up card 8 and computer 9 constitute, the annexation of each parts is: the laser that described semiconductor laser light source 5 sends is successively through collimating lens 4, vibration amplitude type transmission grating 3 and optical fiber image guide bundles 2 are radiated at the object under test surface, by miniature area array CCD detector 6 take by the object under test three-dimensional surface shape the projected fringe of synthetic vibration amplitude type transmission grating after transmission line 7, image pick-up card 8 enters computer 9, and described computer 9 has corresponding Flame Image Process and three-dimensional appearance calculates reconstruction software.The end face zoomed-in view of 1 expression optical fiber image guide bundles 2 and miniature area array CCD detector 6 among the figure.
Measuring principle involved in the present invention is that the basic physical principle of Fourier transform technology of profiling is as follows:
See also Fig. 2, Fig. 2 is the principle schematic of Fourier transform technology of profiling of the present invention.Light channel structure as shown in Figure 2.The P1P2 presentation video is gathered the optical axis of light path, and L1L2 represents the optical axis of optical grating projection light path.Reference plane are imaginary planes, as to be measured witness mark.(x y) is illustrated in the height of object under test surface D point with respect to reference plane to h, and the d presentation video is gathered the entrance pupil center of light path and the distance between the optical grating projection light path light axis, and after system structure was determined, d was a known quantity.L0 represents the distance of optical grating projection light path entrance pupil and reference plane, is similarly known quantity in system.
On reference plane, promptly h (x, y)=0 o'clock, stripe pattern is initial optical grating projection, does not have deformation, its optical field distribution can be expressed as:
When grating fringe projects to surface to be measured, the height distribution h on surface to be measured (x y) ≠ 0, obtains the stripe pattern of deformation, and its optical field distribution can be expressed as:
Wherein, r
0(x, y), (x y) represents the surface reflectivity heterogeneous of above-mentioned two kinds of situations respectively, A to r
nThe weight factor of representing fourier series at different levels,
(x, y) and
(x, y) expression stripe pattern non-modulated distributes f mutually with position under two kinds of situations of ovennodulation
0The fundamental frequency of expression projection grating striped.
(1) formula is made one dimensional fourier transform along the x axle obtain fourier spectrum, select suitable filter function (filter function commonly used has rectangular window function) that the frequency spectrum that obtains is carried out filtering, remake inverse fourier transform after extracting its fundamental component, can obtain the complex signal of the stripe pattern of reference plane non-modulated:
(2) formula is carried out same processing, obtains the complex signal of deformation stripe pattern:
The result that (3) and (4) formula relatively, institute's object dimensional pattern of surveying are modulated the projection grating striped causes variation having taken place mutually in the complex exponential item, and size is
(x, y):
On the other hand, in Fig. 2, can get by geometrical relationship:
AC/d＝h/(L
0-h)(7)
Calculate by (6), (7) formula, height h to be measured (x, y) and phase difference
(x, y) relation between:
In concrete measuring process, from reference raster image and deformation modulated grating image, calculate phase difference by (5) formula
(x, the three-dimensional appearance that (8) formula of y), bringing into then obtains the object of surveying distributes.
The vibration amplitude type transmission grating that embodiments of the invention adopted is to be 100 μ m in the cycle, aperture efficiency is 1: 1 a chromium optical grating mold plate, the illumination light of described semiconductor laser 5 outputs can be modulated into the structured light of grating fringe shape, from information-theoretical angle, promptly produced the projected light of carrying encoding information.Optical fiber image guide bundles 2 transmits, projects to the object under test surface with the structured light that the chromium grating produces.Miniature area array CCD detector 6 has a small angle with the optical axis of optical fiber image guide bundles 2, and this miniature area array CCD detector 6 is by computer 9 controls, with the situation of change of real-time monitoring projected fringe.
Gather the striped distribution pattern on the reference plane.Before the Measuring Object three-dimensional appearance, at first utilize miniature area array CCD detector 6 and image pick-up card 8 to gather a width of cloth reference plane and (highly be distributed as h (x, y)=0 the grating fringe image), be stored in the computer 9 as basic reference data, so that calculate relative phase difference, the relative altitude of extracting plane to be measured and reference plane distributes.In order to extract three-dimensional appearance information reliably, the distance of set reference plane and miniature area array CCD detector 6 is roughly suitable with the distance of object under test and miniature area array CCD detector 6.
Gather the deformation grating fringe distributed image on the measurement target.The miniature area array CCD detector 6 of peeping three-dimensional measuring apparatus in shown in Figure 1 is aimed on the measurand, adjust the position, make object to be measured blur-free imaging on miniature area array CCD detector 6, collection is subjected to target three-dimensional appearance modulation to be measured and produces the grating fringe image of deformation, is stored in the Flame Image Process for the treatment of next step in the computer 9.
Calculate two width of cloth image bit and differ, the Three-dimension Target pattern is surveyed in reconstruct.Synthetic grating fringe image and reference plane stripe pattern are carried out Flame Image Process.In order to improve the speed of measurement, the processing of reference plane stripe pattern can be handled in advance.Image to miniature area array CCD detector 6 is taken carries out necessary image processing, to improve the contrast of image, reduces picture noise, carries out Fourier transform, fundamental frequency filtering, inverse fourier transform then, and the result who handles is stored in the computer 9.The deformation stripe pattern of the target modulation of surveying is through same Flame Image Process and analysis, and the result that will handle brings following formula into the result of the plane of reference stripe pattern of being stored and calculates again:
Experiment shows, the present invention is based on three dimensional endoscope measurement device and the method for optical grating projection, and it is fast to have a measuring speed, Implementation method is simple, and the higher advantages such as certainty of measurement are arranged, and by the computer fast processing, can dynamically supervise at a high speed Control has important practical value and application prospect.
Claims (3)
1, a kind of based on the amount of spying out device in the three-dimensional of optical grating projection, it is characterized in that by optical fiber image guide bundles (2), vibration amplitude type transmission grating (3), collimating lens (4), semiconductor laser light source (5), miniature area array CCD detector (6), transmission line (7), image pick-up card (8) and computer (9) constitute, the annexation of each parts is: the laser that described semiconductor laser light source (5) sends is successively through collimating lens (4), vibration amplitude type transmission grating (3) and optical fiber image guide bundles (2) are radiated at the object under test surface, by miniature area array CCD detector (6) take by the object under test three-dimensional surface shape the projected fringe of synthetic vibration amplitude type transmission grating after transmission line (7), image pick-up card (8) enters computer (9), and described computer (9) has corresponding Flame Image Process and three-dimensional appearance calculates reconstruction software.
2, the amount of spying out device in the three-dimensional of optical grating projection according to claim 1, the grating cycle that it is characterized in that described vibration amplitude type transmission grating (3) is 100 μ m, and aperture efficiency is 1: 1, and the grating diameter is no more than 5mm.
3, utilize the method that the amount of spying out device is measured in the three-dimensional of the described optical grating projection of claim 1, it is characterized in that comprising the following steps:
1. gather the striped distribution pattern on the reference plane: before the Measuring Object three-dimensional appearance, at first utilize the grating fringe image on miniature area array CCD detector (6) and image pick-up card (8) collection one width of cloth reference plane, be stored in the computer (9);
2. gather the deformation grating fringe distributed image on the measurement target: the miniature area array CCD detector (6) of peeping three-dimensional measuring apparatus in described is aimed at measurand, adjust the position, make object to be measured go up blur-free imaging at this miniature area array CCD detector (6), gather target three-dimensional appearance modulation to be measured and produce the grating fringe image of deformation, be stored in the computer (9);
3. computer (9) calculating two width of cloth image bit differ, and the Three-dimension Target pattern is surveyed in reconstruct:
The processing of reference plane stripe pattern: to the reference plane stripe pattern of miniature area array CCD detector (6) shooting, carry out necessary image processing,, reduce picture noise to improve the contrast of image, carry out Fourier transform, fundamental frequency filtering, inverse fourier transform then, obtain
And be stored in the computer (9);
Processing to the deformation stripe pattern of survey target modulation: same, the deformation stripe pattern of the target modulation of surveying that miniature area array CCD detector (6) is taken, carry out necessary image processing, to improve the contrast of image, reduce picture noise, carry out Fourier transform, fundamental frequency filtering, inverse fourier transform then, obtain
Bringing the result of the result of above-mentioned processing and the plane of reference stripe pattern stored into following formula calculates:
Obtain the relative phase difference of two width of cloth images;
Because the arc-tangent value of COMPUTER CALCULATION is positioned at [π, π], so the phase para-position distributes mutually and has discontinuous transition, carry out phase unwrapping to the phase difference that calculates;
Utilize at last
Reconstruct the Three-dimension Target topographic profile of surveying,
In the above-mentioned formula: r
0(x, y), r (x, y) show respectively reference plane show above-mentioned reference plane and the surface reflectivity heterogeneous of two kinds of situations of the target of surveying, A
nThe weight factor of representing fourier series at different levels,
(x, y) and
(x, y) expression stripe pattern non-modulated distributes mutually with position under two kinds of situations of ovennodulation, and f0 represents the fundamental frequency of projection grating striped.
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