CN102058387B - Novel three-dimensional electronic choledochoscope system and use method thereof - Google Patents
Novel three-dimensional electronic choledochoscope system and use method thereof Download PDFInfo
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- CN102058387B CN102058387B CN2011100334418A CN201110033441A CN102058387B CN 102058387 B CN102058387 B CN 102058387B CN 2011100334418 A CN2011100334418 A CN 2011100334418A CN 201110033441 A CN201110033441 A CN 201110033441A CN 102058387 B CN102058387 B CN 102058387B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00096—Optical elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/307—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
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Abstract
The invention belongs to medical instruments, and in particular relates to a novel three-dimensional electronic choledochoscope system for reconfiguring a three-dimensional image by using a multi-CCD (Charge Coupled Device) array, which comprises a soft electronic choledochoscope, a processing host computer, a light source host computer and a work station assembly, wherein the processing host computer, the light source host computer and the work station assembly are connected with the soft electronic choledochoscope; the three-dimensional soft electronic cystoscope enters a gall bladder cavity through a small cut at the bottom of the gall bladder and can enter the biliary tract through a small cut on the bile duct wall, then turns into the bile duct through better flexibility and control, and then enters the common bile duct for detecting the condition of the common bile duct; the multi-CCD array module at the tip part of a choledochoscope working end part is used for finely scanning the common bile duct, even the intrahepatic bile duct to obtain a three-dimensional image of the choledochoscope cavity; and a doctor treats the gall bladder pathological change according to the three-dimensional image.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of novel three-dimensional tridimensional electronic choledochoscope 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 soft choledochoscope, therefore,, design a kind of that many ccd array technology are extremely urgent with the bonded endoscopic technic of fiber endoscopy in order to obtain in the bile duct 3 D stereoscopic image clearly.
Summary of the invention
The present invention has overcome existing choledochoscope shortcomings more of the prior art; A kind of novel three-dimensional tridimensional electronic choledochoscope system is provided; Make soft choledochoscope can get into cystic duct, common bile duct even stones in intrahepatic bile duct; Utilize many ccd array module of its work end tip portion that bile duct is carried out 3 D stereo scanning, obtain spatial image.
In order to solve the problems of the technologies described above, the present invention realizes through following technical scheme:
A kind of novel three-dimensional tridimensional electronic choledochoscope system; Comprise soft electronics choledochoscope, and connected processing host, light source main frame, work station assembly, said soft electronics choledochoscope comprises soft work end; Operating portion and the FPDP that is connected with the outside; This soft work end comprises the first end of controlled deflection, and this elder generation end is connected with said operating portion, and said first end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image; And many ccd array module of the biliary tract chamber being carried out stereoscopic image reconstruct; Said many ccd array module comprises at least one first ccd array of being located at this elder generation's end front end face, and at least one second ccd array of being located at first end outer round surface, and correspondence is provided with range finder on the front end face of said first end and the first end outer round surface.
Further, the diameter of said soft work end is smaller or equal to 6.0mm, and length is smaller or equal to 500mm, and said tip minister degree is 20mm at least.
Further, said soft work end tip portion outer round surface is provided with the rotating ring carrier, and said second ccd array is located on this rotating ring carrier, and said range finder is located on the front end face and rotating ring carrier of first end.
Further, said operating portion is provided with the crooked control wheel in the above-mentioned first end of control, the button and the instrument channel of the fine setting of control image.
Further, be provided with the micromotor of driven in rotation annulus carrier rotation in the said soft work end.
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 at least one group of ccd array, and one group of ccd array comprises at least 2 CCD elements and corresponding camera lens.
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; 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 choledochoscope 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 choledochoscope system:
(1) with the miniature incision entering gallbladder intracavity of soft electronics choledochoscope via the gallbladder bottom; The guide function of the controlled bending of active through soft electronics choledochoscope work end tip portion; Can conveniently find cystic duct and get into cystic duct, and then get into common bile duct through suitable operation technique;
(2) the many ccd array module that is provided with through first end is promptly carried out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and common bile duct, cystic duct is carried out stereoscopic image reconstruct common bile duct, cystic duct.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention carries out annular and linear filming image to bile duct; The integrated treatment of the treated main frame of data that obtains; Obtain the 3 D stereoscopic image of cystic duct, common bile duct or stones in intrahepatic bile duct; The stereo-picture of bile duct 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 system of the present invention and clinical operation sketch map;
Fig. 2 is the structural representation of soft electronics choledochoscope of the present invention;
Fig. 3 is the first end sketch map of soft electronics choledochoscope of the present invention;
Fig. 4 is first end many ccd array module generalized section of soft electronics choledochoscope of the present invention;
Fig. 5 is an external stability supporting structure sketch map of the present invention.
The specific embodiment
As shown in Figure 1; Novel three-dimensional tridimensional electronic choledochoscope according to the invention system comprises soft electronics choledochoscope 1; External stability support 2, and connected processing host 3, light source main frame 5, work station assembly, the work station assembly comprises work station main frame 4; Control assembly 6 (keyboard and mouse etc.), monitor 7 and external equipment 8 (external storage, printer etc.) etc.Described work station assembly is connected through data wire with processing host, 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.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 choledochoscope 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 the motion of external stability support.
Be illustrated in figure 2 as the structural representation of soft electronics choledochoscope 1 of the present invention.The structure of soft electronics choledochoscope 1 comprises soft work end 11 at least, operating portion 12 and the FPDP 13 that is connected external treatment main frame 3 and light source main frame 5.The diameter of its soft work end 11 is smaller or equal to 6.0mm; Effective length is smaller or equal to 500mm, before its soft work end 11 at least 20mm be the controlled deflection part, be called first end; Elder generation end 111 is provided with many ccd array module (131 of carrying out the 3 D stereo scanning shoot, showing the panorama three-dimensional image simultaneously; 132,134,135); Its operating portion 12 provides the part of doctor's holding operation, is provided with the crooked control wheel 123 in the first end of control, the button 122 of control scope state and instrument channel 121 etc.; External processing host 3 of FPDP 13 and light source main frames 5 provide the passage of output for the data of many ccd array module (131,132,134,135).
Be illustrated in figure 3 as the first end sketch map of novel 3 D stereo choledochoscope 1 according to the invention.The first end of soft electronics choledochoscope 1 is designed with many ccd array module (131,132,134,135), optical fibers part 133 and instrument channel outlet 1211, and optical fibers part 133 provides soft electronics choledochoscope 1 front end and circular end surface to observe necessary brightness.
Like Fig. 4; In conjunction with shown in Figure 3 be the first end sketch map and the profile of soft electronics choledochoscope 1; Many ccd array module comprises first ccd array 131 and range finder 132 of first end front end face, second ccd array 134 and the range finder 135 thereof of first end outer round surface.First ccd array 131 of elder generation's end front end face; Its internal structure is minimum to comprise 2 CCD elements; The CCD element linear is arranged, and 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 have per second at least and take 5 speed.Range finder 132 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 132 is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.Second ccd array 134 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 partly form images to same intracavity simultaneously; 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 1325 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 134 is installed on the rotating ring carrier 136 that can rotate with first end 111 main shafts of soft work end 11; The CCD filming image that can be rotated cavity; The speed of rotating ring carrier 136 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 131 of elder generation's end front end face is a fixed form with range finder 132, minimum 90 ° of the angle of visual field of first ccd array 131, and its effect mainly is a 3-D view of taking the scope front end; What second ccd array 134 and the range finder 135 of described first end outer round surface was installed in scope elder generation end can be on the rotating ring carrier 136 of 11 first ends, scope work end, 111 main axis rotation; Rotating ring carrier 136 is through the fixed mechanism 138 of matching and fixing in scope inside; Can carry out level and smooth relative rotary motion with fixed mechanism 138; The data of second ccd array 134 and range finder 135 also transfer to processing host through suitable transmission means through data wire 137; The power of rotating ring carrier 136 comes from the micromotor 139 of scope elder generation end, through drive mechanism the energy of rotating ring carrier 136 around fixed mechanism 138 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 choledochoscope 1 to carry out the ccd array scanning of cavity, and many ccd array module (131,132,134,135) rotation sweep shooting speed of the soft electronics choledochoscope of its translational speed and 3 D stereo 1 first end is 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 choledochoscope 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 station main frame.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 1 as the clinical practice sketch map of novel three-dimensional tridimensional electronic choledochoscope according to the invention system.Novel three-dimensional tridimensional electronic choledochoscope system connects as shown in Figure 1; Its clinical application method is: the doctor uses soft electronics choledochoscope 1 to get into the gallbladder intracavity via the miniature incision of gallbladder 9 bottoms; Also can in art, get into biliary tract through the little otch on the bile duct wall; The guide function of the controlled bending of active of the first end 111 through soft electronics choledochoscope 1 work end 11; Can conveniently find cystic duct and get into cystic duct 92, and then get into common bile duct 91, can obtain the picture rich in detail of common bile duct 91, cystic duct 92 etc. through many ccd array of first end 111 settings through suitable operation technique.To carry out the scanning of 3 D stereo to common bile duct 91 or cystic duct 92; Then at first need be fixed on soft electronics choledochoscope 1 on the stationary fixture 23 of external stability support 2; Scanning process keeps stablizing between gallbladder 9 and the soft electronics choledochoscope 1 as far as possible; Start the many ccd array module (131,132,134,135) and the external stability support 2 of soft electronics choledochoscope 1 simultaneously; When many ccd array module (131,132,134,135) is carried out the scanning shoot of straight line and rotation to common bile duct 91 and cystic duct 92; External stability support 2 is done moving at the uniform velocity, the ratio that is rotated into of its speed and second ccd array 134, and first ccd array 131 that range finder 135 will be measured first end in real time and common bile duct 91 be the accurate distance of cystic duct 92 walls perhaps; The packet of many ccd array module (131,132,134,135) 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 (10)
1. 3 D stereo electronics biliary tract mirror system; Comprise soft electronics choledochoscope, and connected processing host, light source main frame, work station assembly, said soft electronics choledochoscope comprises soft work end; Operating portion and the FPDP that is connected with the outside; This soft work end comprises the first end of controlled deflection, and this elder generation end is connected with said operating portion, it is characterized in that: said first end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image; And many ccd array module of the biliary tract chamber being carried out stereoscopic image reconstruct; Said many ccd array module comprises at least one first ccd array of being located at this elder generation's end front end face, and at least one second ccd array of being located at first end outer round surface, and correspondence is provided with range finder on the front end face of said first end and the first end outer round surface.
2. according to the said 3 D stereo electronics of claim 1 biliary tract mirror system, it is characterized in that: the diameter of said soft work end is smaller or equal to 6.0mm, and length is smaller or equal to 500mm, and said tip minister degree is 20mm at least.
3. according to the said 3 D stereo electronics of claim 1 biliary tract mirror system; It is characterized in that: said soft work end tip portion outer round surface is provided with the rotating ring carrier; Said second ccd array is located on this rotating ring carrier, and said range finder is located on the front end face and rotating ring carrier of first end.
4. according to the said 3 D stereo electronics of claim 1 biliary tract mirror system, it is characterized in that: said operating portion is provided with the crooked control wheel in the above-mentioned first end of control, the button and the instrument channel of the fine setting of control image.
5. according to the said 3 D stereo electronics of claim 3 biliary tract mirror system, it is characterized in that: the micromotor that is provided with the rotation of driven in rotation annulus carrier in the said soft work end.
6. according to each said 3 D stereo electronics biliary tract mirror system of claim 1 to 5, it is characterized in that: said first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
7. according to the said 3 D stereo electronics of claim 6 biliary tract mirror system, it is characterized in that: said CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
8. according to each said 3 D stereo electronics biliary tract mirror system of claim 1 to 5, it is characterized in that: said second ccd array comprises at least one group of ccd array, and one group of ccd array comprises at least 2 CCD elements and corresponding camera lens.
9. according to the said 3 D stereo electronics of claim 1 biliary tract mirror system; 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.
10. according to the said 3 D stereo electronics of claim 1 biliary tract mirror 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 to receive and handle the packet that the data of image information that soft electronics choledochoscope 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.
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| CN2011100334418A CN102058387B (en) | 2011-01-31 | 2011-01-31 | Novel three-dimensional electronic choledochoscope system and use method thereof |
| PCT/CN2011/083124 WO2012103767A1 (en) | 2011-01-31 | 2011-11-29 | New 3d electronic choledochoscopy system and method for use thereof |
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| CN2011100334418A CN102058387B (en) | 2011-01-31 | 2011-01-31 | Novel three-dimensional electronic choledochoscope system and use method thereof |
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| 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 |
| CN104757931B (en) * | 2015-04-13 | 2017-03-22 | 周宁新 | Choledochoscope for minimally invasive surgery robot |
| CN105105852A (en) * | 2015-09-16 | 2015-12-02 | 广州乔铁医疗科技有限公司 | Three-dimensional choledochoscope system with ranging function |
| WO2018179979A1 (en) * | 2017-03-29 | 2018-10-04 | ソニー・オリンパスメディカルソリューションズ株式会社 | Control device, external device, medical observation system, control method, display method, and program |
| CN113951809B (en) * | 2021-12-22 | 2022-03-22 | 广州乔铁医疗科技有限公司 | Electronic choledochoscope and electronic choledochoscope system |
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|---|---|
| CN102058387A (en) | 2011-05-18 |
| WO2012103767A1 (en) | 2012-08-09 |
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Application publication date: 20110518 Assignee: Guangzhou Tuoming Medical Technology Co.,Ltd. Assignor: GUANGZHOU BAODAN MEDICAL INSTRUMENT TECHNOLOGY Co.,Ltd. Contract record no.: X2022980014932 Denomination of invention: A new type of three-dimensional electronic choledochoscopy system and method of using the same Granted publication date: 20120530 License type: Exclusive License Record date: 20220914 |