CN102058381B - Three-dimensional electronic bronchoscope system and use method thereof - Google Patents
Three-dimensional electronic bronchoscope system and use method thereof Download PDFInfo
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- CN102058381B CN102058381B CN2011100334795A CN201110033479A CN102058381B CN 102058381 B CN102058381 B CN 102058381B CN 2011100334795 A CN2011100334795 A CN 2011100334795A CN 201110033479 A CN201110033479 A CN 201110033479A CN 102058381 B CN102058381 B CN 102058381B
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Abstract
The invention belongs to the medical instruments, and in particular relates to a three-dimensional electronic bronchoscope system, which comprises a soft electronic bronchoscope, and a processing host computer, a light source host computer and a working station assembly that are connected with the soft electronic bronchoscope, wherein the soft electronic bronchoscope comprises a soft working end part which is provided with a multi-CCD (Charge Coupled Device) array module used for three-dimensionally scanning and shooting and displaying a full-view three-dimensional image and reconstructing a three-dimensional image of the gastral cavity, and the multi-CCD array module comprises at least one first CCD array arranged at the front end face of the first end part of the soft working end part and at least one second CCD array arranged on the surface of the excircle of the first end part of the soft working end part. In the invention, image information in the bronchus is obtained, data is transmitted to the processing host computer for centrally processing and reconstructing so that the three-dimensional environment in the bronchus is reproduced, and the three-dimensional image of the bronchus has valuable significance on formulating the most reasonable and effective processing scheme for the doctors to observe the internal pathological changes of the bronchus in a multi-angle manner and researching the environment of the bronchus.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of 3 D stereo electronics bronchoscope system that utilizes many ccd array to carry out stereoscopic image reconstruct.
Background technology
CCD (Charge-Coupled Device, charge-coupled image sensor) is a kind of important component part that can be used for stereoscopic camera.It is a kind of photosensitive semiconductor device, and the photosensitive unit on it converts the light that receives into the quantity of electric charge, and quantity of electric charge size is directly proportional with the incident light intensity.The technology of ccd image sensor is very ripe, can be spliced into the array of Any shape as required.Company of Fuji in 1999 releases super CCD technology, with the situation of common CCD equal area and photosensitive unit number under, its resolution raising 60%; Dynamic range improves 130%; Color reproducibility improves 40%, and energy consumption descends 40%, has further improved the function of CCD.The photosensitive unit size of CCD is constantly reducing; At present there has been the photosensitive unit size of report to be merely 0.5 μ m; Got into the submicron epoch, CCD will further develop round aspects such as high-resolution, high reading speed, low cost, microminiaturization, structure optimization, multispectral application and 3D photograph.But the area array CCD sensed image that the photosensitive unit of arranged constitutes.CCD is widely used in digital camera and the DV now, also in astronomical telescope, scanner and barcode reader, application is arranged simultaneously." Chang'e-2 " uses 96 line ccd array that same target is sampled, and all adds up signal at last.The target that very dark target, resolution are very high, " Chang'e-2 " can both break forth, and its resolution can reach 1 meter.
Present employed endoscope; Can be divided into monocular and binocular, monocular endoscope is by an optical system imaging, and the doctor can directly use eyes to observe through the eyepiece end; But owing to be monocular instrumnent; Can only obtain the image of an angle of object, just as using single eyes to see the effect of object, object lacks third dimension and distance perspective.The doctor uses monocular endoscope to undergo surgery, because monocular instrumnent becomes planar image, lacks spatial perception, so need to rely on doctor's technical merit.
Some stereo endoscope, use be the binocular structure, its endoscope distal end can be a camera lens or two camera lenses; The image of object is through the output of two eyepieces, and the doctor can observe the stereoscopic image with the human eye similar object through binocular, also can be through connecting particular processing main frame and display; Processing through processing host; Can in display, show spatial image, but this image also is single angle, has certain limitation.Though the binocular stereo endoscope can obtain the stereoperception of similar eye-observation object; But because the limitation of human body cavity; The three-dimensional overall picture that can not reflect the whole surgery zone three-dimensionally; So the doctor will receive visual restriction when using existing scope to undergo surgery, for the cure rate of carrying out and improve disease of performing the operation certain restriction is arranged.
In the prior art, also the ccd array notion is not combined application with bronchoscope, therefore,, design a kind of that many ccd array technology are extremely urgent with the bonded endoscopic technic of bronchoscope in order to obtain in the bronchial lumen 3 D stereoscopic image clearly.
Summary of the invention
The present invention has overcome shortcoming of the prior art; A kind of 3 D stereo electronics bronchoscope system is provided; Can in operation process, carry out stereoscopic three-dimensional reconstruct, help medical personnel to understand the intracavity lesion situation, the better pictures foundation is provided for formulating processing scheme to bronchial.
In order to solve the problems of the technologies described above, the present invention realizes through following technical scheme:
A kind of 3 D stereo electronics bronchoscope system; Comprise soft electronics bronchoscope and connected processing host, light source main frame, work station assembly; Said soft electronics bronchus comprises soft work end; Said soft work end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image; And many ccd array module that gastral cavity is carried out stereoscopic image reconstruct, said many ccd array module comprises at least one first ccd array of being located at this soft work end tip portion front end face, and at least one second ccd array of being located at soft work end tip portion outer round surface.
Further, the first end outer circumference surface of said soft work end is arranged with the rotating ring carrier, and said second ccd array is located on this rotating ring carrier, and the front end face of said first end and rotating ring carrier are provided with range finder.
Further, said first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
Further, said CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
Further, said second ccd array comprises one group of ccd array at least, and one group of ccd array comprises at least 2 CCD elements and corresponding camera lens.
Further, the external diameter of said soft work end is smaller or equal to 15mm, and its tip minister degree is 8-12mm.
Further, said soft work end is provided with air bag, and the maximum gauge of said air bag work is smaller or equal to 200mm.
Further, also comprise the external stability support, this external stability support comprises accurate mobile device, support and stationary fixture, and this precision mobile device is through motor-driven, and this precision mobile device is affixed through support, stationary fixture and said soft work end.
Further, said work station assembly is connected through data wire with processing host, and the work station assembly comprises monitor, work station main frame and control assembly.
Further; High speed central processing unit and high-performance video card are adopted in the core of said processing host; Be used to receive and handle the packet that the data of image information that soft electronics bronchoscope returns and range finder are formed; Through the various data of analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
Further, the method for using of 3 D stereo electronics bronchoscope system:
(1) the soft work end of soft electronic gastroscope imports in patient's mouth, slowly gets into bronchial;
(2) scanning shoot that through many ccd array module bronchial is carried out straight line and rotation promptly carries out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and bronchial is carried out stereoscopic image reconstruct bronchial simultaneously.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention obtains the image document in the bronchial; And transfer of data focused on reconstruct to handling main frame; Reappear the three-dimensional environment in the bronchial; The stereo-picture of bronchial is observed its intrinsic pathological changes and is studied its environment with multi-angle for the doctor, formulates rational and effective processing scheme, has practical significance.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further detailed explanation.
Fig. 1 is the clinical practice sketch map of 3 D stereo electronics bronchoscope of the present invention system;
Fig. 2 a is the bronchoscopic structure chart of soft electronics of the present invention;
Fig. 2 b is an air bag sketch map of the present invention;
Fig. 3 is the bronchoscopic first end of a soft electronics of the present invention sketch map;
Fig. 4 is the bronchoscopic first end of soft electronics of the present invention many ccd array module generalized section;
Fig. 5 is an external stability supporting structure sketch map of the present invention.
The specific embodiment
As shown in Figure 1; 3 D stereo electronics bronchoscope of the present invention system comprises: soft electronics bronchoscope 1, external stability support 2, processing host 3, light source main frame 5, respirator 9, work station assembly etc.; The work station assembly comprises work station main frame 4; Control assembly 6, monitor 7 and external equipment 8 (external storage, printer etc.) etc.
High speed central processing unit and high-performance video card are adopted in the core of processing host 3; Be used to receive and handle the packet that the data of image information that soft electronics bronchoscope 1 returns and range finder are formed; Various data through the analytical data bag; The cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.Inner motion control card is used for accurately controlling 2 motions of external stability support.
Work station assembly and processing host 3 are connected through data wire, and the function of work station assembly is the three-dimensional image of display process main frame 3 outputs, analysis, storage data and printing related data etc.
Be depicted as the structure chart of soft electronics bronchoscope 1 like Fig. 2 a.Soft electronics bronchoscope 1; Its structure comprises soft work end 11, control handgrip part 13, data connector end 15, instrument channel 12 and oxygen supply passage 16 etc.; Its instrument channel internal diameter is smaller or equal to 3.0mm, and optical fibers part 159 provides the delivery optics of enough light sources for the work of soft electronics bronchoscope 1, and its outlet is divided into two parts at least; The front end that part is first end provides light source, and the scope that part is 360 ° of first end circumference provides light source.The soft fibre material manufacture is adopted in the soft work end 11 of soft electronics bronchoscope 1, and its front end has initiatively crooked function, and control assembly 131 is arranged on control handgrip part 13.Certain gripping pressure can be born in soft work end 11; The stationary fixture 23 of external stability support 2 cooperates with soft work end 11; Can control soft work end 11 with certain speed motion, cooperate many ccd array module (151,152,153,154) of first end to carry out the scanning shoot of bronchial 9.The soft work end 11 of soft electronics bronchoscope 1; External diameter is smaller or equal to 6mm; Its front end 10mm is first end, and first end is designed with many ccd array module (151,152,153,154), optical fibers part 159, instrument channel outlet 131 and oxygen supply passage 161.Consult Fig. 2 b, first end is designed an air bag 14 at the back, and the diameter of air bag 14 work is smaller or equal to 100mm, and its effect is the fixing position of soft electronics bronchoscope 1 in bronchial 9, for the scanning shoot that carries out bronchial 9 creates conditions.
Be illustrated in figure 3 as the first end sketch map of soft electronics bronchoscope 1.The first end of soft electronics bronchoscope 1 is designed with many ccd array module (151,152,153,154), optical fibers part 159 instrument channel outlet 121, oxygen supply channel outlet 161 and air bag 14; Optical fibers part 159 provides soft electronics bronchoscope 1 front end and circular end surface to observe necessary brightness, and the maximum gauge after air bag 14 inflations is smaller or equal to 100mm.
Like Fig. 4, in conjunction with the first end sketch map of soft electronics bronchoscope 1 shown in Figure 3, many ccd array module comprises first ccd array 151 and range finder 152 of tip end surface, second ccd array 153 and the range finder 154 thereof of first end outer round surface.First ccd array 151 of tip end surface, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged; The corresponding set of shots of each CCD; Can partly form images to same intracavity simultaneously, at least 90 ° of the angles of visual field of every set of shots, ccd array has per second at least and takes 5 speed.Range finder 152 utilizes the principle of reflection of laser or sound wave etc., and cavity distance, the degree of depth are carried out Determination of distance.The operating frequency of range finder 152 is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.Second ccd array 153 of described first end outer round surface; At least comprise one group of ccd array; One group of ccd array comprises at least 2 CCD elements and corresponding camera lens; Can partly form images to same intracavity simultaneously, at least 90 ° of the angles of visual field of every set of shots, ccd array has per second at least and takes 5 speed.Range finder of appropriate location configuration of one group of ccd array, its operating frequency is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to carry out stereo reconstruction.Second ccd array 153 is installed on the rotating ring carrier 155 that can rotate with soft work end 11 main shafts; The CCD filming image that can be rotated cavity; The speed of rotating ring carrier 155 rotations and the movement velocity of external stability support 2 are proportional, carry out the seamless combination of multi-angle to guarantee the intravital image energy in chamber.First ccd array 151 of tip end surface is a fixed form with range finder 152, minimum 90 ° of the angle of visual field of first ccd array 151, and its effect mainly is a 3-D view of taking the scope front end; What second ccd array 153 and the range finder 154 of elder generation's end outer round surface was installed in scope elder generation end can be on the rotating ring carrier 155 of scope work end main axis rotation; Rotating ring carrier 155 is through the fixed mechanism 158 of matching and fixing in scope inside; Can carry out level and smooth relative rotary motion with fixed mechanism 158; The data of second ccd array 153 and range finder 154 also transfer to processing host through suitable transmission means through data wire 156; The power of rotating ring carrier 155 comes from the micromotor 157 of scope elder generation end, through drive mechanism the energy of rotating ring carrier 155 around fixed mechanism 158 rotations is provided.
Be illustrated in figure 5 as the structure diagram of external stability support 2 of the present invention.The effect of external stability support 2 is to cooperate soft electronics bronchoscope 1 to carry out the ccd array scanning of cavity, and second ccd array, the 153 rotation sweep shooting speeds of its translational speed and soft electronics bronchoscope 1 first end are proportional.Its structure comprises stationary fixture 23, support 22, accurate mobile device 21.Stationary fixture 23 is used for the scope main part 10 of closely fixing soft electronics bronchoscope 1; Support 22 connects stationary fixture 23 and accurate mobile device 21; Accurate mobile device 21 uses high performance motor-driven, and the movement velocity of motor is by the 4 unified controls of work of treatment station host.Accurate mobile device 21 kinds of drive are not limit, and can adopt screw mandrel transmission or guide rail transmission, and accurate mobile device 21 is fixed on the rigid platfor.
Consult Fig. 1; The process of clinical application of 3 D stereo electronics bronchoscope of the present invention system is: the data connector 15 of soft electronics bronchoscope 1 connects cold light source main frame 5 and processing host 3; Oxygen supply passage 16 connects respirator 9, and work station assembly (4,6,7,8) is in normal operating conditions, and the soft work end 11 of soft electronics bronchoscope 1 imports in patient's mouth; Slowly get into bronchial 9; To carry out the scanning shoot of 3 D stereo to bronchial 9, then need fix first end, can make first end be fixed on bronchial 9 mid portions through swelling gasbag 14; Soft work end 11 is fixed on the stationary fixture 23 of external stability support 2; External processing host of data connector 15 ends of soft electronics bronchoscope 13 and light source main frame 5, respirator 9 connects oxygen supply passages 16, and work station 4 and processing host 3 and external stability support 2 are connected through data wire.Bronchial 9 is carried out to keep the in stable condition of bronchial 9 in the process of 3 D stereo scanning as far as possible; Start bronchoscopic many ccd array module of soft electronics (151,152,153,154) and external stability support 2 simultaneously; When many ccd array module (151,152,153,154) is carried out the scanning shoot of straight line and rotation to bronchial 9; External stability support 2 is done moving at the uniform velocity; The ratio that is rotated into of its speed and second ccd array 153; Range finder will be measured the accurate distance of ccd array and bronchial 9 tissues of first end in real time, the packet of many ccd array module (151,152,153,154) and range finder through data wire transfer to processing host 3, work station main frame 4 carries out computing, the monitor 7 that transfers to the work station assembly carries out the demonstration of three-dimensional image.
The present invention is not limited to above-mentioned embodiment; If various changes of the present invention or distortion are not broken away from the spirit and scope of the present invention; If these changes and distortion belong within claim of the present invention and the equivalent technologies scope, then the present invention also is intended to comprise these changes and distortion.
Claims (9)
1. 3 D stereo electronics bronchoscope system; Comprise soft electronics bronchoscope and the connected processing host of difference, light source main frame, work station assembly; Said soft electronics bronchoscope comprises soft work end; It is characterized in that: said soft work end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image; And many ccd array module of bronchial being carried out stereoscopic image reconstruct; Said many ccd array module comprises at least one first ccd array of being located at this soft work end tip portion front end face, and at least one second ccd array of being located at soft work end tip portion outer round surface, and the first end outer circumference surface of said soft work end is arranged with the rotating ring carrier; Said second ccd array is located on this rotating ring carrier, and the front end face of said first end and rotating ring carrier are provided with range finder.
2. 3 D stereo electronics bronchoscope according to claim 1 system, it is characterized in that: said first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
3. 3 D stereo electronics bronchoscope according to claim 2 system is characterized in that: said CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
4. 3 D stereo electronics bronchoscope according to claim 2 system, it is characterized in that: said second ccd array comprises one group of ccd array at least, one group of ccd array comprises at least 2 CCD elements and corresponding camera lens.
5. 3 D stereo electronics bronchoscope according to claim 2 system, it is characterized in that: the external diameter of said soft work end is smaller or equal to 15mm, and its tip minister degree is 8-12mm.
6. 3 D stereo electronics bronchoscope according to claim 1 system, it is characterized in that: said soft work end is provided with air bag, and the maximum gauge of said air bag work is smaller or equal to 200mm.
7. according to each described 3 D stereo electronics bronchoscope system of claim 1 to 6; It is characterized in that: also comprise the external stability support; This external stability support comprises accurate mobile device, support and stationary fixture; This precision mobile device is through motor-driven, and this precision mobile device is affixed through support, stationary fixture and said soft work end.
8. 3 D stereo electronics bronchoscope according to claim 1 system, it is characterized in that: said work station assembly is connected through data wire with processing host, and the work station assembly comprises monitor, work station main frame and control assembly.
9. 3 D stereo electronics bronchoscope according to claim 1 system; It is characterized in that: high speed central processing unit and high-performance video card are adopted in the core of said processing host; Be used for receiving and handle packet, the image information that said packet is returned by soft electronics bronchoscope and the data of range finder are formed, through the various data of analytical data bag; The cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
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| CN2011100334795A CN102058381B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional electronic bronchoscope system and use method thereof |
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| CN2011100334795A CN102058381B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional electronic bronchoscope system and use method thereof |
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| CN102058381A CN102058381A (en) | 2011-05-18 |
| CN102058381B true CN102058381B (en) | 2012-07-25 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058387B (en) * | 2011-01-31 | 2012-05-30 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic choledochoscope system and use method thereof |
| CN102727166B (en) * | 2012-06-21 | 2015-06-24 | 黄维宁 | Three-dimensional panoramic colour video laryngendoscope |
| CN103767663A (en) * | 2012-10-18 | 2014-05-07 | 广州宝胆医疗器械科技有限公司 | Hard multichannel three-dimensional colposcope system |
| CN104434012B (en) * | 2014-12-16 | 2016-09-28 | 刘志勇 | Side-looking virtual endoscope system and detection method |
| CN105640485A (en) * | 2016-03-29 | 2016-06-08 | 广州医科大学附属第医院 | Airway environment monitoring device |
| CN106344175B (en) * | 2016-08-04 | 2018-12-07 | 中国人民解放军第三军医大学第三附属医院 | Bronchoscope fixes device |
| CN110151118B (en) * | 2018-03-01 | 2022-03-11 | 中国人民解放军第四军医大学 | Gastroscope device convenient for omnibearing detection |
| CN116509312A (en) * | 2018-08-16 | 2023-08-01 | 广州雪利昂生物科技有限公司 | Bronchoscope with compound eye lens |
| CN110064113A (en) * | 2019-04-25 | 2019-07-30 | 江西诺捷科技股份有限公司 | A kind of disposable sterilized tracheal catheter visually imports external member |
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|---|---|---|---|---|
| CN2636816Y (en) * | 2003-09-02 | 2004-09-01 | 申屠裕华 | Three-dimensional stereo laparoscope |
| US6933962B2 (en) * | 2000-12-26 | 2005-08-23 | Pentax Corporation | Electronic endoscope with three-dimensional image capturing device |
| CN201968652U (en) * | 2011-01-31 | 2011-09-14 | 广州宝胆医疗器械科技有限公司 | Three-dimensional electronic bronchoscope system |
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2011
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6933962B2 (en) * | 2000-12-26 | 2005-08-23 | Pentax Corporation | Electronic endoscope with three-dimensional image capturing device |
| CN2636816Y (en) * | 2003-09-02 | 2004-09-01 | 申屠裕华 | Three-dimensional stereo laparoscope |
| CN201968652U (en) * | 2011-01-31 | 2011-09-14 | 广州宝胆医疗器械科技有限公司 | Three-dimensional electronic bronchoscope system |
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