CN102058383A - Three-dimensional electronic duodenoscope system and use method thereof - Google Patents
Three-dimensional electronic duodenoscope system and use method thereof Download PDFInfo
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- CN102058383A CN102058383A CN 201110033417 CN201110033417A CN102058383A CN 102058383 A CN102058383 A CN 102058383A CN 201110033417 CN201110033417 CN 201110033417 CN 201110033417 A CN201110033417 A CN 201110033417A CN 102058383 A CN102058383 A CN 102058383A
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- 238000000034 method Methods 0.000 title claims description 7
- 210000001198 duodenum Anatomy 0.000 claims abstract description 51
- 230000000007 visual effect Effects 0.000 claims description 6
- 210000003238 esophagus Anatomy 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 210000002784 stomach Anatomy 0.000 claims description 3
- 231100000915 pathological change Toxicity 0.000 abstract description 2
- 230000036285 pathological change Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 235000010724 Wisteria floribunda Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The invention belongs to medical instruments, and relates to a three-dimensional electronic duodenoscope system for reconstructing a three-dimensional image by using a multi-CCD (Charge Coupled Device) array, which comprises a soft electronic duodenoscope. The soft electronic duodenoscope comprises a soft working end part, wherein the soft working end part is provided with a multi-CCD 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 duodenum, 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. Image information in the duodenum is obtained, the data is transmitted to a processing host computer for centrally processing and reconstructing so that the three-dimensional environment in the duodenum is reproduced, and the three-dimensional image in the duodenum has valuable significance on formulating the most reasonable effective processing scheme for doctors to observe internal pathological changes of the duodenum in multi-angle manner and research the environment of the duodenum.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of 3 D stereo electronics duodenum mirror 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 is converted to the quantity of electric charge with the light that receives, 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 released super CCD technology in 1999, with the situation of common CCD equal area and photosensitive unit number under, its resolution improves 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 the photosensitive unit size of report having been arranged only is 0.5 μ m, entered 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 that matrix is 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 at last signal all added up.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, the doctor can directly use eyes to observe by 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, what use is the binocular structure, its endoscope distal end can be a camera lens or two camera lenses, the image of object is by the output of two eyepieces, and the doctor can observe stereoscopic image with the human eye similar object by binocular, also can be by connecting particular processing main frame and display, processing by 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 is when using existing scope to undergo surgery, all to be subjected to visual restriction, certain restriction be arranged for the cure rate of carrying out and improve disease of performing the operation.
In the prior art, also the ccd array notion is not combined application with duodenoscope, therefore, in order to obtain duodenum intracavity 3 D stereoscopic image clearly, design a kind of that many ccd array technology and the bonded endoscopic technic of duodenoscope is extremely urgent.
Summary of the invention
The present invention has overcome shortcoming of the prior art, a kind of 3 D stereo electronics duodenum mirror system is provided, can in operation process, carry out stereoscopic three-dimensional reconstruct, help medical personnel to understand the intracavity lesion situation, provide the better pictures foundation for formulating processing scheme to the duodenum road.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
A kind of 3 D stereo electronics duodenum mirror system, comprise soft electronics duodenoscope, described soft electronics duodenoscope comprises soft work end, described soft work end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image, and many ccd array module of duodenum being carried out stereoscopic image reconstruct, described 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 described soft work end is arranged with the rotating ring carrier, and described second ccd array is located on this rotating ring carrier, and the front end face of described first end and rotating ring carrier are provided with range finder.
Further, described first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
Further, described CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
Further, described 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 described soft work end is smaller or equal to 15mm, and its tip minister degree is 8-12mm.
Further, described soft work end is provided with air bag, and the maximum gauge of described 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 by motor-driven, and this precision mobile device is affixed by support, stationary fixture and described soft work end.
Further, described soft electronics duodenoscope also is connected with the processing host that deal with data is used, and the work station assembly, and described work station assembly is connected by 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 described processing host, be used to receive and handle the packet that the data of image information that soft electronics duodenoscope returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
Further, the using method of 3 D stereo electronics duodenum mirror system:
(1) the soft work end of soft electronics duodenoscope imports in patient's mouth, slowly enters esophagus to stomach, turns into the duodenum road;
(2) scanning shoot that duodenum is carried out straight line and rotation by many ccd array module promptly carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image and duodenum is carried out stereoscopic image weighing to the duodenum road simultaneously.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention obtains about the image document in the duodenum road, and transfer of data focused on reconstruct to handling main frame, reappear the three-dimensional environment in the duodenum road, the stereo-picture in duodenum road is observed its intrinsic pathological changes and is studied its environment with multi-angle for the doctor, formulate rational and effective processing scheme, have practical significance.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is a system schematic of the present invention;
Fig. 2 a is the structure chart of soft electronics duodenoscope of the present invention;
Fig. 2 b is an air bag sketch map of the present invention;
Fig. 3 is the first end sketch map of soft electronics duodenoscope of the present invention;
Fig. 4 is first end many ccd array module generalized section of soft electronics duodenoscope of the present invention;
Fig. 5 is the external stability supporting structure sketch map of 3 D stereo electronics duodenum mirror system of the present invention;
Fig. 6 is the clinical practice sketch map of 3 D stereo electronics duodenum mirror system of the present invention.
The specific embodiment
As shown in Figure 1,3 D stereo electronics duodenum mirror system of the present invention, comprise soft electronics duodenoscope 1, external stability support 2, processing host 3, light source main frame 5, work station assembly etc., the work station assembly comprises work station main frame 4, control assembly 6, monitor 7 and external equipment 8 etc.Work station assembly and processing host 3 are connected by data wire, the work station assembly comprises monitor, main frame, control assembly (keyboard and mouse etc.), external equipment (external storage, printer etc.), the function of work station assembly is the three-dimensional image of display process main frame output, analysis, storage data and printing related data 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 duodenoscope returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
Fig. 2 a is the structure chart of soft electronics duodenoscope of the present invention, its structure comprises soft work end 11, control handgrip part 13, data connector end 15, instrument channel 12 etc., the instrument channel internal diameter is smaller or equal to 3.0mm, the optical fibers part provides the transmission light path of enough light sources for the work of soft electronics duodenoscope 1, its outlet is divided into two parts at least, part provides light source for the front end of first end, and part provides light source for the scope of 360 ° of first end circumference.The soft fibre material manufacture is adopted in the soft work end 11 of soft electronics duodenoscope 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 the motion of certain speed, cooperate many ccd array module (151,152,153,154) of first end to carry out the scanning shoot in duodenum road 9.The soft work end 11 of soft electronics duodenoscope 1, external diameter are smaller or equal to 15mm, and its front end 10mm is first end, and the design of first end has many ccd array module (151,152,153,154), optical fibers part 159, instrument channel outlet 131.Consult Fig. 2 b, air bag 14 of back, first end design, the diameter of air bag 14 work are smaller or equal to 200mm, and its effect is the fixing position of soft electronics duodenoscope 1 in duodenum road 9, for the scanning shoot that carries out duodenum road 9 creates conditions.
Fig. 3 is the first end sketch map of soft electronics duodenoscope, and the first end design of soft electronics duodenoscope 1 has many ccd array module, optical fibers part 159 and air bag 14, and the maximum gauge after air bag 14 inflations is smaller or equal to 200mm.Optical fibers part 159 provides soft electronics duodenoscope 1 front end and circular end surface to observe necessary brightness, its outlet is divided into two parts at least, part provides light source for the front end of first end, and part provides light source for the scope of 360 ° of first end circumference.
Fig. 4 is first end many ccd array module generalized section of soft electronics duodenoscope of the present invention, many ccd array module comprises first ccd array 151 and the 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 be simultaneously to the imaging of same intracavity part, 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 elder generation's 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 be simultaneously to the imaging of same intracavity part, at least 90 ° of the angles of visual field of every set of shots, ccd array have per second at least and take 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 and the range finder 152 of tip end surface are fixed form, 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 of elder generation's end outer round surface and range finder 154 were 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 fixed on the fixed mechanism 158 of scope inside by cooperation, 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 by suitable transmission means through data wire 156, the power of rotating ring carrier 155 comes from the micromotor 157 of scope elder generation end, provides the energy of rotating ring carrier 155 around fixed mechanism 158 rotations by drive mechanism.
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 duodenoscope 1 to carry out the ccd array scanning of cavity, and second ccd array 153 and the range finder 154 rotation sweep shooting speeds thereof of its translational speed and soft electronics duodenoscope 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 of closely fixing soft electronics duodenoscope 1, support 22 is connected and fixed anchor clamps 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.
Be illustrated in figure 6 as the clinical practice sketch map of 3 D stereo electronics duodenum mirror system of the present invention.Soft electronics duodenoscope 1 connects cold light source main frame 5 and processing host 3, work station assembly (4,6,7,8) be in normal operating conditions, the soft work end 11 of soft electronics duodenoscope 1 imports in patient's mouth, slowly enter esophagus to stomach, turn into duodenum road 9, to carry out the scanning shoot of 3 D stereo to duodenum road 9, then need to fix first end, can make first end be fixed on duodenum road 9 mid portions by swelling gasbag 14, soft work end 11 is fixed on the stationary fixture 23 of external stability support 2, the external processing host 3 of data connector 15 ends and the light source main frame 5 of soft electronics duodenoscope 1, work station 4 and processing host 3 and external stability support 2 are connected by data wire.Duodenum road 9 is carried out to keep the in stable condition of duodenum road 9 in the process of 3 D stereo scanning as far as possible, start many ccd array module (151 of 3 D stereo electronics duodenoscope simultaneously, 152,153,154) and external stability support 2, in many ccd array module (151,152,153, when 154) duodenum road 9 being carried out the scanning shoot of straight line and rotation, 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 first ccd array 151 of first end and the accurate distance of duodenum road 9 tissues in real time, many ccd array module (151,152,153,154) and the packet of range finder transfer to processing host 3 by data wire, work station 4 carries out computing, and 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 (11)
1. 3 D stereo electronics duodenum mirror system, comprise soft electronics duodenoscope, described soft electronics duodenoscope comprises soft work end, it is characterized in that: described soft work end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image, and many ccd array module of duodenum being carried out stereoscopic image reconstruct, described 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.
2. 3 D stereo electronics duodenum mirror system according to claim 1, it is characterized in that: the first end outer circumference surface of described soft work end is arranged with the rotating ring carrier, described second ccd array is located on this rotating ring carrier, and the front end face of described first end and rotating ring carrier are provided with range finder.
3. 3 D stereo electronics duodenum mirror system according to claim 1, it is characterized in that: described first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
4. 3 D stereo electronics duodenum mirror system according to claim 3 is characterized in that: described CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
5. 3 D stereo electronics duodenum mirror system according to claim 1, it is characterized in that: described 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.
6. 3 D stereo electronics duodenum mirror system according to claim 1 is characterized in that: the external diameter of described soft work end is smaller or equal to 15mm, and its tip minister degree is 8-12mm.
7. 3 D stereo electronics duodenum mirror system according to claim 1 is characterized in that: described soft work end is provided with air bag, and the maximum gauge of described air bag work is smaller or equal to 200mm.
8. according to each described 3 D stereo electronics duodenum mirror system of claim 1 to 7, 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 by motor-driven, and this precision mobile device is affixed by support, stationary fixture and described soft work end.
9. 3 D stereo electronics duodenum mirror system according to claim 1, it is characterized in that: described soft electronics duodenoscope also is connected with the processing host that deal with data is used, and work station assembly, described work station assembly is connected by data wire with processing host, the work station assembly comprises monitor, work station main frame and control assembly.
10. 3 D stereo electronics duodenum mirror system according to claim 9, it is characterized in that: high speed central processing unit and high-performance video card are adopted in the core of described processing host, be used to receive and handle the packet that the data of image information that soft electronics duodenoscope returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
11. the using method of 3 D stereo electronics duodenum mirror system according to claim 1 is characterized in that:
(1) the soft work end of soft electronics duodenoscope imports in patient's mouth, slowly enters esophagus to stomach, turns into the duodenum road;
(2) scanning shoot that duodenum is carried out straight line and rotation by many ccd array module promptly carries out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and duodenum is carried out stereoscopic image reconstruct the duodenum road simultaneously.
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| CN2011100334174A CN102058383B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional electronic duodenoscope system and use method thereof |
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| CN2011100334174A CN102058383B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional electronic duodenoscope system and use method thereof |
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| CN106596557A (en) * | 2016-11-07 | 2017-04-26 | 东南大学 | Three-dimensional scanning mobile type platform carrying Kinect and method thereof |
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