CN102078176B - Three-dimensional rigid electronic colposcope system and application method thereof - Google Patents
Three-dimensional rigid electronic colposcope system and application method thereof Download PDFInfo
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Abstract
The invention belongs to the field of medical instruments, in particular relates to a three-dimensional rigid electronic colposcope system. The system comprises a rigid electronic colposcope, wherein the rigid electronic colposcope comprises a rigid working end and an endoscope main body; the rigid working end is provided with a multi-charge-coupled device (CCD) array module; the multi-CCD array module can carry out three-dimensional scanning shooting on a vagina, display a panoramic three-dimensional image and perform stereoscopic image reconstruction on the vagina; the multi-CCD array module comprises at least one end face CCD array module and at least one circumference CCD array module; the end face CCD array module is arranged on a front end face of the tip part of the rigid working end; and the circumference CCD array module is arranged on an excircle surface of the tip part of the rigid working end. In the system, at least two components of the CCD array module are utilized to coordinate with the endoscope to conduct longitudinal depth movement, so that the obtained image data on the inside of the vagina and distance data measured by a distometer are transmitted to a processing host machine so as to perform centralized processing reconstruction, thus reproducing the three-dimensional environment of the vagina, helping medical workers to have a good idea of pathological changes inside the vagina, providing preferable data basis for formulating a processing scheme, and having significant valuable significance.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of 3 D stereo hard electronic vaginoscope system that utilizes many ccd array to carry out stereoscopic image reconstruct.
Prior art
Endoscope can be divided into plane endoscope and stereo endoscope with it by its planar or spatial image that forms images.
Present employed endoscope can also be divided into monocular and binocular by the eyepiece quantity that it adopted:
The first, at present the plane endoscope that uses; Mainly be monocular endoscope, 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 second, at present some stereo endoscopes that use, use be the binocular structure, its endoscope distal end can be an optical lens or two optical lens; The image of object is through two eyepiece outputs; The doctor can observe the stereoscopic image with the similar object of human eye through binocular, also can be through connecting particular processing main frame and display, through the processing of processing host; Can in display, show spatial image; But this image also is single angle, has certain limitation, the stereo laparoscope of this structure occurred using at present.But also do not occur in other applications.
The doctor because monocular instrumnent becomes planar image, lacks spatial perception when using monocular endoscope to undergo surgery, so rely on doctor's technical merit.Though and binocular mirror 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.
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.
In the prior art, also the ccd array notion is not combined application with colposcope, therefore,, that many ccd array technology are extremely urgent with the bonded endoscopic technic of colposcope in order to obtain clearly 3 D stereoscopic image of intravaginal.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned prior art; A kind of 3 D stereo hard electronic colposcope is disclosed; This 3 D stereo hard electronic colposcope can carry out stereoscopic three-dimensional reconstruct to vagina in operation process; Help medical personnel to understand intravaginal pathological changes situation, formulate processing scheme the better pictures foundation is provided.
In order to reach above-mentioned technical purpose, the present invention realizes through following technical scheme:
3 D stereo hard electronic vaginoscope system of the present invention; Comprise hard electronic colposcope and the cold light source main frame that is connected with the hard electronic colposcope; Said hard electronic colposcope comprises hard work end, scope main part; Many ccd array module that said hard work end is provided with can carry out the 3 D stereo scanning shoot to vagina, show the panorama three-dimensional image and vagina carried out stereoscopic image reconstruct; Said many ccd array module comprises at least one end face ccd array module that places hard work end tip portion front end face, and at least one periphery ccd array module that places hard work end tip portion outer round surface.Said have many array modules and can carry out the 3 D stereo scanning shoot to vagina, show that the hard electronic colposcope of panorama three-dimensional image is referred to as 3 D stereo hard electronic colposcope.
3 D stereo hard electronic colposcope of the present invention; According to the function that whether has treatment and whether with handles; Can be divided into and have passage 3 D stereo hard electronic colposcope with handles, have passage not have the 3 D stereo hard electronic colposcope of handle; With handles, tape channel 3 D stereo hard electronic colposcope totally four kinds of versions of not having a handle not in tape channel not, specific as follows:
First kind, have the 3 D stereo hard electronic colposcope that passage does not have handle, it comprises hard work end, scope main part, data connector end, cold light source joint, instrument channel, intake tunnel and exhalant canal etc.
Second kind, have passage 3 D stereo hard electronic colposcope with handles, it comprises hard work end, scope main part, handle portion and integrated interface and cold light source joint, instrument channel, intake tunnel and exhalant canal
The third, the tape channel does not have the 3 D stereo hard electronic colposcope of handle, and its structure comprises hard work end, scope main part, data connector end and cold light source joint etc.
The 4th kind, tape channel 3 D stereo hard electronic colposcope with handles not, its structure comprises hard work end, scope main part, handle portion and integrated interface or data connector end and cold light source joint etc.
Among the present invention; The colpomicroscopic hard work of the 3 D stereo hard electronic end of above-mentioned tape channel; Its length is smaller or equal to 200mm; External diameter is smaller or equal to 15mm, and its front end 6～10mm is first end, and first end is designed with many ccd array module, optical fibers part, instrument channel outlet and Inlet and outlet water channel outlet.
Among the present invention; The colpomicroscopic hard work of the 3 D stereo hard electronic end of above-mentioned not tape channel, its length is smaller or equal to 200mm, and external diameter is smaller or equal to 15mm; Its front end 6～10mm is first end, and first end is designed with many ccd array module, optical fibers part.
Among the present invention; The said end face ccd array module of tip end surface that places comprises end face ccd array and end face range finder, and the inside of said end face ccd array is minimum to comprise 2 CCD elements, and said CCD element linear is arranged; And corresponding one group of optical lens of each CCD; Can partly form images to same intracavity simultaneously, at least 90 ° of the angles of visual field of every group of optical lens, ccd array has per second at least and takes 5 speed.Described end face range finder utilizes the principle of reflection of laser or sound wave etc., and vagina distance, the degree of depth are measured.The operating frequency of end face range finder is consistent with the operating frequency of end face ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.
Among the present invention; The said periphery ccd array module of first end outer round surface that places comprises periphery ccd array and periphery range finder; Said periphery ccd array comprises one group of ccd array at least, and one group of ccd array comprises at least 2 CCD elements and corresponding optical lens, can partly form images to same intracavity simultaneously; At least 90 ° of the angles of visual field of every group of optical lens, 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.Ccd array is installed on the annulus carrier that can rotate with main shaft; The CCD filming image that can be rotated vagina; The speed of annulus carrier rotation and the movement velocity of external stability support are proportional; To guarantee that intravaginal image energy carries out the seamless combination of multi-angle, significant to 3 D stereo reconstruct.
Optical fibers part of the present invention; It is the delivery optics that enough light sources are provided for the colpomicroscopic work of 3 D stereo hard electronic; Its outlet is divided into two parts at least, and 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 3 D stereo hard electronic colposcope that has passage of the present invention, its instrument channel internal diameter is smaller or equal to 3.0mm, and intake tunnel and exhalant canal are respectively smaller or equal to 1.0mm.
External stability support of the present invention, its effect are to cooperate 3 D stereo hard electronic colposcope to carry out the ccd array scanning of cavity, and many ccd array rotation sweep shooting speed of its translational speed and 3 D stereo hard electronic colposcope elder generation end is proportional.Its structure comprises stationary fixture, support, mobile device.Stationary fixture is used for closely the fixedly colpomicroscopic scope main part of 3 D stereo hard electronic, and support connects stationary fixture and mobile device, and mobile device uses high performance motor-driven, and the movement velocity of motor is by the unified control of processing host.The mobile device kind of drive is not limit, and can adopt screw mandrel transmission or guide rail transmission, and mobile device is fixed on the rigid platfor.
Processing host of the present invention; High speed central processing unit and high-performance video card are adopted in its core; Be used to receive and handle the packet that the data of image information that 3 D stereo hard electronic colposcope 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.Inner motion control card is used for accurately controlling the motion of external stability support.
Described work station assembly is connected through data wire with processing host, and the work station assembly comprises monitor, work station main frame, control assembly (keyboard and mouse etc.) and 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.
Described 3 D stereo hard electronic vaginoscope system, its clinical method for using and system connect as follows: patient gets calculi position and lies low, and operative region is disinfected; The use vaginal dilator is fixed, and feeds 3 D stereo hard electronic colposcope and observes earlier, need carry out the full-view stereo of vagina and rebuild; Then need use the external stability support to fix the scope main part,, make 3 D stereo hard electronic colposcope get in the vaginal canal through regulating support; Fix support; Simultaneously stablize patient as far as possible, make scope and vaginal canal reduce interference as far as possible, ready after; Open scan function, external stability carriage drive scope even speed outwards moves toward vaginal orifice.When many ccd array module is carried out the scanning shoot of straight line and rotation to vagina; The external stability support is done moving at the uniform velocity; The ratio that is rotated into of its speed and ccd array; Range finder will be measured the ccd array of first end and the accurate distance of vaginal wall or vaginal wall tissue in real time, and the packet of many ccd array module and range finder transfers to processing host through data wire and carries out computing, and the monitor that transfers to the work station assembly carries out the demonstration of three-dimensional image.
Compared with prior art, beneficial effect of the present invention:
3 D stereo colposcope of the present invention is with reference to the related notion and the principle of the CCD stereoscopic camera on the Chang'e-2 circumlunar satellite; Use many ccd array that body cavities is carried out stereoscan shooting and stereo reconstruction first; Through the processing of processing host, obtain the stereoscopic image of vagina, the stereo-picture of vagina is observed its intrinsic pathological changes and the research pathological changes origin cause of formation for the doctor with multi-angle; Formulate rational and effective processing scheme, have important and practical meanings.Therefore; 3 D stereo colposcope of the present invention makes things convenient for the doctor through the processing that under the guidance of spatial image, can undergo surgery; Clinical research with scientific research such as disease research; Doctor's operation custom is incorporated into spatial aspect from the plane, has reformed the operation means, the treatment effeciency of raising disease and accuracy rate etc.
Description of drawings
Fig. 1 is a 3 D stereo hard electronic vaginoscope system structural representation of the present invention.
Fig. 2 a, Fig. 2 b are the colpomicroscopic structure chart of tape channel 3 D stereo hard electronic of the present invention (comprising two kinds of forms not with handles and with handles).
Fig. 3 a is a tape channel 3 D stereo hard electronic colposcope elder generation end structural representation (corresponding to above-mentioned Fig. 2 a, Fig. 2 b) among the present invention.
Fig. 2 c, Fig. 2 d are the colpomicroscopic structure chart of not tape channel 3 D stereo hard electronic of the present invention (comprising two kinds of forms not with handles and with handles).
Fig. 3 b is a tape channel 3 D stereo hard electronic colposcope elder generation end structural representation (corresponding to above-mentioned Fig. 2 c, Fig. 2 d) among the present invention.
Fig. 4 is the colpomicroscopic first end of 3 D stereo hard electronic of the present invention many ccd array module generalized section.
Fig. 5 is the external stability supporting structure sketch map of not tape channel of the present invention 3 D stereo hard electronic vaginoscope system.
Fig. 6 is the clinical practice sketch map of not tape channel of the present invention 3 D stereo hard electronic vaginoscope system.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description:
As shown in Figure 1; 3 D stereo hard electronic vaginoscope system according to the invention comprises: 3 D stereo hard electronic colposcope 1, external stability support 2, processing host 3, light source main frame 5, work station assembly, said work station assembly comprises work station main frame 4, control assembly 6, monitor 7 and external equipment 8.
Whether 3 D stereo hard electronic colposcope of the present invention has passage and whether have handle according to it can be divided into following form; Specifically: shown in Fig. 2 a, Fig. 2 b; The structure chart of the 3 D stereo hard electronic colposcope 1 of tape channel of the present invention, 1 at least two kind of form of tape channel 3 D stereo hard electronic colposcope:
First kind is 3 D stereo hard electronic colposcope 1 not with handles, and its structure comprises hard work end 11, scope main part 10, data connector end 15, cold light source joint 12, instrument channel 17, intake tunnel 13 and exhalant canal 14.
Second kind is 3 D stereo hard electronic colposcope 1 with handles; Its structure comprises hard work end 11, scope main part 10, handle portion 18, integrated interface 19, instrument channel 17, intake tunnel 13 and exhalant canal 14; Said integrated interface 19 is integrated with the effect of cold light source joint and data connector end, and design is in handle portion 18 inside.
In the present invention; The hard work end 11 of the 3 D stereo hard electronic colposcope 1 of above-mentioned tape channel; Its length is smaller or equal to 200mm; External diameter is smaller or equal to 15mm; Its front end 10mm is first end 111, and first end 111 is designed with many ccd array module (comprising end face ccd array module, periphery ccd array module), optical fibers part 121, instrument channel outlet 171 and Inlet and outlet water channel outlet 131,141, and optical fibers part 121 provides stereoscopic three-dimensional electronic colposcope 1 front end and circular end surface to observe necessary brightness.
Like Fig. 2 c, 2d is the structure chart of the 3 D stereo hard electronic colposcope 1 of not tape channel of the present invention.The 3 D stereo hard electronic colposcope colposcope 1 of said not tape channel also has following two kinds of forms:
First kind is 3 D stereo hard electronic colposcope 1 not with handles, and shown in Fig. 2 c, it comprises hard work end 11, scope main part 10, data connector end 12, cold light source joint 15.
Second kind is 3 D stereo hard electronic colposcope colposcope 1 with handles; Shown in Fig. 2 d; It comprises hard work end 11, scope main part 10, handle portion 18, integrated interface 19; Said integrated interface 19 is integrated with the effect of cold light source joint and data connector end 12, and design is in handle portion 18 inside.
Above-mentioned two kinds of hard work ends 11 of the 3 D stereo hard electronic colposcope 1 of tape channel not; Its length is smaller or equal to 200mm; External diameter is smaller or equal to 15mm; Its front end 10mm is first end, and first end is designed with many ccd array module (comprising end face ccd array module, periphery ccd array module), optical fibers part 121, and optical fibers part 121 provides stereoscopic three-dimensional electronic colposcope 1 front end and circular end surface to observe necessary brightness.
Shown in Fig. 3 a, 3b, said end face ccd array module comprises the CCD end face array 151 and end face range finder 152 of tip end surface; Periphery ccd array 153 said end face periphery ccd array 153151, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged; The corresponding one group of optical lens of each CCD; Can be simultaneously to the part imaging of same vaginal wall, 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.Described end face range finder 152 utilizes the principle of reflection of laser or sound wave etc., and vagina distance, the degree of depth are carried out Determination of distance.The operating frequency of end face range finder 152 is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.
Can know that by figure said periphery array module comprises the periphery ccd array 153 and the periphery range finder 154 of first end outer round surface.Said periphery ccd array 153; At least comprise one group of ccd array; One group of ccd array comprises at least 2 CCD elements and corresponding optical lens; Can partly form images to same intracavity simultaneously, at least 90 ° of the angles of visual field of every group of optical lens, said periphery ccd array 153 has per second at least and takes 5 speed.Periphery range finder 154 of appropriate location configuration of each group ccd array, the operating frequency of this periphery range finder 154 is consistent with the operating frequency of periphery ccd array 153, thereby guarantees data sync, is beneficial to carry out stereo reconstruction.
Fig. 4 is the colpomicroscopic first end of 3 D stereo hard electronic of the present invention many ccd array module generalized section.The end face that the end face ccd array 151 of elder generation's end 111 end faces and end face range finder 152 are directly fixed on first end 11, minimum 90 ° of the angle of visual field of end face ccd array 151, its effect mainly is a 3-D view of taking the scope front end; What said periphery ccd array 153 and periphery range finder 154 were mounted in scope elder generation end can be on the annulus carrier 155 of scope work end main axis rotation; The CCD filming image that can be rotated vagina; The speed of annulus carrier 155 rotations and the movement velocity of external stability support 2 are proportional, carry out the seamless combination of multi-angle to guarantee intravaginal image energy.Said annulus 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 periphery ccd array 153 and range finder 154 also transfer to processing host through suitable transmission means through data wire 156; The power of annulus carrier 155 comes from the micromotor 157 of scope elder generation end, through drive mechanism the energy of annulus carrier around fixed mechanism 158 rotations is provided.
Fig. 5 is the structure diagram of external stability support 2 of the present invention.The effect of external stability support 2 is to cooperate 3 D stereo hard electronic colposcope 1 to carry out the ccd array scanning of vaginal canal, and many ccd array (comprising end face ccd array 151, periphery ccd array 153) rotation sweep shooting speed of its translational speed and 3 D stereo hard electronic colposcope 1 first end is proportional.Its structure comprises stationary fixture 23, support 22, mobile device 21.Stationary fixture 23 is used for closely the fixedly scope main part 10 of 3 D stereo hard electronic colposcope 1; Support 22 connects stationary fixture 23 and mobile device 21; Mobile device 21 uses high performance motor-driven, and the movement velocity of motor is by processing host 4 unified controls.Mobile device 21 kinds of drive are not limit, and can adopt screw mandrel transmission or guide rail transmission, and mobile device 21 is fixed on the rigid platfor.
Fig. 6 is the clinical practice sketch map of 3 D stereo hard electronic vaginoscope system of the present invention.3 D stereo hard electronic colposcope 1 connects cold light source main frame 5 and processing host 3; Work station assembly (work station main frame 4, control assembly 6, monitor 7 and external equipment 8) is in normal operating conditions; The hard work end 11 of 3 D stereo hard electronic colposcope 1 gets into vagina through vaginal dilator 91; 3 D stereo hard electronic colposcope 1 is fixed on the external stability support 2; Both are in stable condition, reduce external interference to vagina 9 and 3 D stereo hard electronic colposcope 1 as far as possible, start the scanning shoot function of many ccd array of 3 D stereo hard electronic colposcope 1 through work station assembly (work station main frame 4, control assembly 6, monitor 7 and external equipment 8); Start the mobile device 21 of external stability support 2 simultaneously; The rotary speed of the annular carrier 155 of the first end of its translational speed and 3 D stereo hard electronic colposcope 1 is proportional, carries out the 3 D stereo reconstruction to guarantee image quality and to help processing host, and the main frame 4 that transfers to the work station assembly after all data are handled through processing host 3 further calculates synthetic; Be reconstructed into 3 D stereoscopic image, be presented at monitor 7.After 1 pair of whole vagina 9 of 3 D stereo hard electronic colposcope scans, can clearly demonstrate the panorama graphics of vagina 9, the deep layer situation of understanding vagina 9 for the doctor provides more detailed foundation.After the 3 D stereoscopic image of vagina 9 was rebuild, the doctor can use the 1 pair of intravaginal pathological changes of 3 D stereo hard electronic colposcope that has passage to handle according to 3-D view.
Claims (9)
1. 3 D stereo hard electronic vaginoscope system; Comprise hard electronic colposcope and the cold light source main frame that is connected with the hard electronic colposcope; Said hard electronic colposcope comprises hard work end, scope main part; It is characterized in that: many ccd array module that said hard work end is provided with can carry out the 3 D stereo scanning shoot to vagina, show the panorama three-dimensional image and vagina carried out stereoscopic image reconstruct; Said many ccd array module comprises at least one end face ccd array module that places hard work end tip portion front end face, and at least one periphery ccd array module that places hard work end tip portion outer round surface; Said end face ccd array module comprises the end face ccd array and the end face range finder of hard work end tip portion; It comprises that at least two are linearly aligned CCD element said end face ccd array; And the corresponding one group of optical lens of each CCD element, the angle of visual field of every group of optical lens is 90 ° at least.
2. 3 D stereo hard electronic vaginoscope system according to claim 1; It is characterized in that: whether said hard electronic colposcope has passage and whether with handles according to it, is divided into and has passage hard electronic colposcope with handles, has passage not have the hard electronic colposcope of handle, not tape channel hard electronic colposcope with handles and tape channel hard electronic colposcope totally four kinds of versions of not having a handle not.
3. 3 D stereo hard electronic vaginoscope system according to claim 1 is characterized in that: the colpomicroscopic hard work of said hard electronic tip lengths is smaller or equal to 200mm, and its external diameter is smaller or equal to 15mm, and its front end 6～10mm is first end.
4. 3 D stereo hard electronic vaginoscope system according to claim 1 is characterized in that: said end face ccd array has per second at least and takes 5 speed, and the operating frequency of said end face range finder is consistent with the operating frequency of end face ccd array.
5. 3 D stereo hard electronic vaginoscope system according to claim 1; It is characterized in that: said periphery ccd array module comprises the periphery ccd array and the periphery range finder of hard work end tip portion; It comprises that at least two are linearly aligned CCD element said periphery ccd array; And the corresponding one group of optics optical lens of each CCD element, the angle of visual field of every group of optics optical lens is 90 ° at least.
6. 3 D stereo hard electronic vaginoscope system according to claim 5; It is characterized in that: said periphery ccd array has per second at least and takes 5 speed, and the operating frequency of said periphery range finder is consistent with the operating frequency of periphery ccd array.
7. 3 D stereo hard electronic vaginoscope system according to claim 6; It is characterized in that: the first end of said hard work end is equipped with the annulus carrier that can rotate with the main shaft of scope main body, and said periphery ccd array and periphery range finder are located on this annulus carrier.
8. 3 D stereo hard electronic vaginoscope system according to claim 7; It is characterized in that: also be fixedly connected with the external stability support on the scope main body of said colposcope endoscope part; This external stability support comprises and connects stationary fixture, support and mobile device successively that said mobile device is fixed on the rigid platfor and by drive motors and drives.
9. 3 D stereo hard electronic vaginoscope system according to claim 1; It is characterized in that: said hard electronic colposcope also is connected with processing host and the work station assembly that deal with data is used; Said work station assembly is connected through data wire with processing host, and the work station assembly comprises monitor, work station main frame, control assembly, external equipment; Said processing host; High speed central processing unit and high-performance video card are adopted in its core; Be used to receive and handle the packet that the data of image information that 3 D stereo hard electronic colposcope returns and range finder are formed; Through the various data of analytical data bag, the vagina image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction vagina.
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| CN2011100334333A CN102078176B (en) | 2011-01-31 | 2011-01-31 | Three-dimensional rigid electronic colposcope system and application method thereof |
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| CN104799946A (en) * | 2015-03-26 | 2015-07-29 | 朱秀红 | Gynecological inspectoscope |
| CN107095640A (en) * | 2017-05-17 | 2017-08-29 | 广东欧谱曼迪科技有限公司 | A kind of built-in gynecatoptron of many imaging patterns |
| CN107822587A (en) * | 2017-10-16 | 2018-03-23 | 上海市第妇婴保健院 | A kind of built-in gynecatoptron |
| CN109330563A (en) * | 2018-10-08 | 2019-02-15 | 浙江自贸区费米善科技发展有限公司 | A kind of system for measuring vaginal cavity structure |
| CN110251217B (en) * | 2019-06-26 | 2021-02-19 | 北京凡星光电医疗设备股份有限公司 | Embryo transplantation system |
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| JP2005040205A (en) * | 2003-07-23 | 2005-02-17 | Olympus Corp | Three-dimensional endoscope apparatus |
| CN101264002A (en) * | 2008-05-06 | 2008-09-17 | 中国科学院上海光学精密机械研究所 | Three-dimensional endoscope measuring device and method based on optical grating projection |
| CN201968655U (en) * | 2011-01-31 | 2011-09-14 | 广州宝胆医疗器械科技有限公司 | Three-dimensional hard electronic colposcope system |
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2011
- 2011-01-31 CN CN2011100334333A patent/CN102078176B/en not_active Expired - Fee Related
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| CN102078176A (en) | 2011-06-01 |
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